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Merge branch 'master' of https://github.com/RomanLut/inav into submit-gps-fix-estimation

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removed GPS Off box
implemented Disable GPS sensor fix logic condition
This commit is contained in:
Roman Lut 2022-12-10 19:26:08 +02:00
commit cb2d448911
379 changed files with 5433 additions and 3656 deletions
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95
src/main/programming/logic_condition.c
View file

@ -35,6 +35,7 @@
#include "rx/rx.h"
#include "common/maths.h"
#include "fc/config.h"
#include "fc/cli.h"
#include "fc/fc_core.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
@ -85,10 +86,11 @@ void pgResetFn_logicConditions(logicCondition_t *instance)
logicConditionState_t logicConditionStates[MAX_LOGIC_CONDITIONS];
static int logicConditionCompute(
int32_t currentVaue,
int32_t currentValue,
logicOperation_e operation,
int32_t operandA,
int32_t operandB
int32_t operandB,
uint8_t lcIndex
) {
int temporaryValue;
vtxDeviceCapability_t vtxDeviceCapability;
@ -103,6 +105,13 @@ static int logicConditionCompute(
return operandA == operandB;
break;
case LOGIC_CONDITION_APPROX_EQUAL:
{
uint16_t offest = operandA / 100;
return ((operandB >= (operandA - offest)) && (operandB <= (operandA + offest)));
}
break;
case LOGIC_CONDITION_GREATER_THAN:
return operandA > operandB;
break;
@ -158,7 +167,67 @@ static int logicConditionCompute(
}
//When both operands are not met, keep current value
return currentVaue;
return currentValue;
break;
case LOGIC_CONDITION_EDGE:
if (operandA && logicConditionStates[lcIndex].timeout == 0 && !(logicConditionStates[lcIndex].flags & LOGIC_CONDITION_FLAG_TIMEOUT_SATISFIED)) {
if (operandB < 100) {
logicConditionStates[lcIndex].timeout = millis();
} else {
logicConditionStates[lcIndex].timeout = millis() + operandB;
}
logicConditionStates[lcIndex].flags |= LOGIC_CONDITION_FLAG_TIMEOUT_SATISFIED;
return true;
} else if (logicConditionStates[lcIndex].timeout > 0) {
if (logicConditionStates[lcIndex].timeout < millis()) {
logicConditionStates[lcIndex].timeout = 0;
} else {
return true;
}
}
if (!operandA) {
logicConditionStates[lcIndex].flags &= ~LOGIC_CONDITION_FLAG_TIMEOUT_SATISFIED;
}
return false;
break;
case LOGIC_CONDITION_DELAY:
if (operandA) {
if (logicConditionStates[lcIndex].timeout == 0) {
logicConditionStates[lcIndex].timeout = millis() + operandB;
} else if (millis() > logicConditionStates[lcIndex].timeout ) {
logicConditionStates[lcIndex].flags |= LOGIC_CONDITION_FLAG_TIMEOUT_SATISFIED;
return true;
} else if (logicConditionStates[lcIndex].flags & LOGIC_CONDITION_FLAG_TIMEOUT_SATISFIED) {
return true;
}
} else {
logicConditionStates[lcIndex].timeout = 0;
logicConditionStates[lcIndex].flags &= ~LOGIC_CONDITION_FLAG_TIMEOUT_SATISFIED;
}
return false;
break;
case LOGIC_CONDITION_TIMER:
if ((logicConditionStates[lcIndex].timeout == 0) || (millis() > logicConditionStates[lcIndex].timeout && !currentValue)) {
logicConditionStates[lcIndex].timeout = millis() + operandA;
return true;
} else if (millis() > logicConditionStates[lcIndex].timeout && currentValue) {
logicConditionStates[lcIndex].timeout = millis() + operandB;
return false;
}
return currentValue;
break;
case LOGIC_CONDITION_DELTA:
{
int difference = logicConditionStates[lcIndex].lastValue - operandA;
logicConditionStates[lcIndex].lastValue = operandA;
return ABS(difference) >= operandB;
}
break;
case LOGIC_CONDITION_GVAR_SET:
@ -400,6 +469,15 @@ static int logicConditionCompute(
return false;
}
break;
case LOGIC_CONDITION_DISABLE_GPS_FIX:
if (operandA > 0) {
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_DISABLE_GPS_FIX);
} else {
LOGIC_CONDITION_GLOBAL_FLAG_DISABLE(LOGIC_CONDITION_GLOBAL_FLAG_DISABLE_GPS_FIX);
}
return true;
break;
default:
return false;
@ -411,7 +489,7 @@ void logicConditionProcess(uint8_t i) {
const int activatorValue = logicConditionGetValue(logicConditions(i)->activatorId);
if (logicConditions(i)->enabled && activatorValue) {
if (logicConditions(i)->enabled && activatorValue && !cliMode) {
/*
* Process condition only when latch flag is not set
@ -424,7 +502,8 @@ void logicConditionProcess(uint8_t i) {
logicConditionStates[i].value,
logicConditions(i)->operation,
operandAValue,
operandBValue
operandBValue,
i
);
logicConditionStates[i].value = newValue;
@ -687,6 +766,10 @@ static int logicConditionGetFlightModeOperandValue(int operand) {
return IS_RC_MODE_ACTIVE(BOXUSER3);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER4:
return IS_RC_MODE_ACTIVE(BOXUSER4);
break;
default:
return 0;
break;
@ -780,7 +863,9 @@ void logicConditionUpdateTask(timeUs_t currentTimeUs) {
void logicConditionReset(void) {
for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
logicConditionStates[i].value = 0;
logicConditionStates[i].lastValue = 0;
logicConditionStates[i].flags = 0;
logicConditionStates[i].timeout = 0;
}
}