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Reduced calculations on WpNumber

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This commit is contained in:
Darren Lines 2022-12-14 21:52:53 +00:00
parent bc5cc39a1b
commit fe2e151583
3 changed files with 16 additions and 13 deletions
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24
src/main/programming/logic_condition.c
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@ -460,12 +460,12 @@ static int logicConditionGetWaypointOperandValue(int operand) {
case LOGIC_CONDITION_OPERAND_WAYPOINTS_WAYPOINT_DISTANCE:
{
uint32_t distance = 0;
if ((navGetCurrentStateFlags() & NAV_AUTO_WP) && NAV_Status.activeWpNumber > 0) {
if (navGetCurrentStateFlags() & NAV_AUTO_WP) {
fpVector3_t poi;
gpsLocation_t wp;
wp.lat = posControl.waypointList[NAV_Status.activeWpNumber-1].lat;
wp.lon = posControl.waypointList[NAV_Status.activeWpNumber-1].lon;
wp.alt = posControl.waypointList[NAV_Status.activeWpNumber-1].alt;
wp.lat = posControl.waypointList[NAV_Status.activeWpIndex].lat;
wp.lon = posControl.waypointList[NAV_Status.activeWpIndex].lon;
wp.alt = posControl.waypointList[NAV_Status.activeWpIndex].alt;
geoConvertGeodeticToLocal(&poi, &posControl.gpsOrigin, &wp, GEO_ALT_RELATIVE);
distance = calculateDistanceToDestination(&poi) / 100;
@ -478,12 +478,12 @@ static int logicConditionGetWaypointOperandValue(int operand) {
case LOGIC_CONDTIION_OPERAND_WAYPOINTS_DISTANCE_FROM_WAYPOINT:
{
uint32_t distance = 0;
if ((navGetCurrentStateFlags() & NAV_AUTO_WP) && NAV_Status.activeWpNumber > 1) {
if ((navGetCurrentStateFlags() & NAV_AUTO_WP) && NAV_Status.activeWpIndex > 0) {
fpVector3_t poi;
gpsLocation_t wp;
wp.lat = posControl.waypointList[NAV_Status.activeWpNumber-2].lat;
wp.lon = posControl.waypointList[NAV_Status.activeWpNumber-2].lon;
wp.alt = posControl.waypointList[NAV_Status.activeWpNumber-2].alt;
wp.lat = posControl.waypointList[NAV_Status.activeWpIndex-1].lat;
wp.lon = posControl.waypointList[NAV_Status.activeWpIndex-1].lon;
wp.alt = posControl.waypointList[NAV_Status.activeWpIndex-1].alt;
geoConvertGeodeticToLocal(&poi, &posControl.gpsOrigin, &wp, GEO_ALT_RELATIVE);
distance = calculateDistanceToDestination(&poi) / 100;
@ -494,19 +494,19 @@ static int logicConditionGetWaypointOperandValue(int operand) {
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER1_ACTION:
return (NAV_Status.activeWpNumber > 0) ? ((posControl.waypointList[NAV_Status.activeWpNumber-1].p3 & NAV_WP_USER1) == NAV_WP_USER1) : 0;
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex-1].p3 & NAV_WP_USER1) == NAV_WP_USER1) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER2_ACTION:
return (NAV_Status.activeWpNumber > 0) ? ((posControl.waypointList[NAV_Status.activeWpNumber-1].p3 & NAV_WP_USER2) == NAV_WP_USER2) : 0;
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex-1].p3 & NAV_WP_USER2) == NAV_WP_USER2) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER3_ACTION:
return (NAV_Status.activeWpNumber > 0) ? ((posControl.waypointList[NAV_Status.activeWpNumber-1].p3 & NAV_WP_USER3) == NAV_WP_USER3) : 0;
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex-1].p3 & NAV_WP_USER3) == NAV_WP_USER3) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER4_ACTION:
return (NAV_Status.activeWpNumber > 0) ? ((posControl.waypointList[NAV_Status.activeWpNumber-1].p3 & NAV_WP_USER4) == NAV_WP_USER4) : 0;
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex-1].p3 & NAV_WP_USER4) == NAV_WP_USER4) : 0;
break;
default: