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Add logic condition for 3D home distance based on Pythagorean theorem.

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This commit is contained in:
Alexander van Saase 2020-10-19 22:30:23 +02:00
parent 4359590f14
commit d17bfc67e3
3 changed files with 6 additions and 0 deletions
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1
docs/Programming Framework.md
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@ -116,6 +116,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
| 28 | STABILIZED_YAW | Yaw PID controller output `[-500:500]` | | 28 | STABILIZED_YAW | Yaw PID controller output `[-500:500]` |
| 29 | ACTIVE_WAYPOINT_INDEX | Indexed from `1`. To verify WP is in progress, use `IS_WP` | | 29 | ACTIVE_WAYPOINT_INDEX | Indexed from `1`. To verify WP is in progress, use `IS_WP` |
| 30 | ACTIVE_WAYPOINT_ACTION | See ACTIVE_WAYPOINT_ACTION paragraph | | 30 | ACTIVE_WAYPOINT_ACTION | See ACTIVE_WAYPOINT_ACTION paragraph |
| 31 | 3D HOME_DISTANCE | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem |
##### ACTIVE_WAYPOINT_ACTION ##### ACTIVE_WAYPOINT_ACTION

4
src/main/programming/logic_condition.c
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@ -478,6 +478,10 @@ static int logicConditionGetFlightOperandValue(int operand) {
return NAV_Status.activeWpAction; return NAV_Status.activeWpAction;
break; break;
case LOGIC_CONDITION_OPERAND_FLIGHT_3D_HOME_DISTANCE: //in m
return constrain(sqrtf(sq(GPS_distanceToHome) + sq(getEstimatedActualPosition(Z)/100)), 0, INT16_MAX);
break;
default: default:
return 0; return 0;
break; break;

1
src/main/programming/logic_condition.h
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@ -112,6 +112,7 @@ typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_YAW, // 28 LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_YAW, // 28
LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_INDEX, // 29 LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_INDEX, // 29
LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_ACTION, // 30 LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_ACTION, // 30
LOGIC_CONDITION_OPERAND_FLIGHT_3D_HOME_DISTANCE, // 31
} logicFlightOperands_e; } logicFlightOperands_e;
typedef enum { typedef enum {