Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-13 11:29:56 +03:00
Code Issues Wiki Activity

Basic doc update

Browse source
This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-12-25 14:09:29 +01:00
parent 9c11ceddf1
commit fa9251f8b0
1 changed files with 26 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

28
docs/Programming Framework.md
View file

@ -9,10 +9,13 @@ INAV Programming Framework coinsists of:
* Logic Conditions - each Logic Condition can be understood as a single command, a single line of code * Logic Conditions - each Logic Condition can be understood as a single command, a single line of code
* Global Variables - variables that can store values from and for LogiC Conditions and servo mixer * Global Variables - variables that can store values from and for LogiC Conditions and servo mixer
* Programming PID - general purpose, user configurable PID controllers
IPF can be edited using INAV Configurator user interface, of via CLI IPF can be edited using INAV Configurator user interface, of via CLI
## CLI ## Logic Conditions
### CLI
`logic <rule> <enabled> <activatorId> <operation> <operand A type> <operand A value> <operand B type> <operand B value> <flags>` `logic <rule> <enabled> <activatorId> <operation> <operand A type> <operand A value> <operand B type> <operand B value> <flags>`
@ -121,7 +124,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
| 32 | CROSSFIRE LQ | Crossfire Link quality as returned by the CRSF protocol | | 32 | CROSSFIRE LQ | Crossfire Link quality as returned by the CRSF protocol |
| 33 | CROSSFIRE SNR | Crossfire SNR as returned by the CRSF protocol | | 33 | CROSSFIRE SNR | Crossfire SNR as returned by the CRSF protocol |
##### ACTIVE_WAYPOINT_ACTION #### ACTIVE_WAYPOINT_ACTION
| Action | Value | | Action | Value |
|---- |---- | |---- |---- |
@ -159,6 +162,27 @@ All flags are reseted on ARM and DISARM event.
|---- |---- |---- | |---- |---- |---- |
| 0 | 1 | Latch - after activation LC will stay active until LATCH flag is reseted | | 0 | 1 | Latch - after activation LC will stay active until LATCH flag is reseted |
## Global variables
### CLI
`gvar <index> <default value> <min> <max>`
## Programming PID
`pid <index> <enabled> <setpoint type> <setpoint value> <measurement type> <measurement value> <P gain> <I gain> <D gain> <FF gain>`
* `<index>` - ID of PID Controller, starting from `0`
* `<enabled>` - `0` evaluates as disabled, `1` evaluates as enabled
* `<setpoint type>` - See `Operands` paragraph
* `<setpoint value>` - See `Operands` paragraph
* `<measurement type>` - See `Operands` paragraph
* `<measurement value>` - See `Operands` paragraph
* `<P gain>` - P-gain, scaled to `1/1000`
* `<I gain>` - I-gain, scaled to `1/1000`
* `<D gain>` - D-gain, scaled to `1/1000`
* `<FF gain>` - FF-gain, scaled to `1/1000`
## Examples ## Examples
### Dynamic THROTTLE scale ### Dynamic THROTTLE scale