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

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Roman Lut 2023-10-01 00:05:07 +02:00
commit e4453c36d8
233 changed files with 3760 additions and 1918 deletions
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10
src/main/programming/logic_condition.c
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@ -46,6 +46,7 @@
#include "sensors/rangefinder.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "flight/mixer_profile.h"
#include "drivers/io_port_expander.h"
#include "io/osd_common.h"
#include "sensors/diagnostics.h"
@ -424,6 +425,7 @@ static int logicConditionCompute(
pidInit();
pidInitFilters();
schedulePidGainsUpdate();
navigationUsePIDs(); //set navigation pid gains
profileChanged = true;
}
return profileChanged;
@ -785,6 +787,14 @@ static int logicConditionGetFlightOperandValue(int operand) {
case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE: // int
return getConfigProfile() + 1;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE: // int
return currentMixerProfileIndex + 1;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MIXER_TRANSITION_ACTIVE: //0,1
return isMixerTransitionMixing ? 1 : 0;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS:
return getLoiterRadius(navConfig()->fw.loiter_radius);