Global Functions

Global Functions (abbr. GF) are a mechanism allowing to override certain flight parameters (during flight). Global Functions are activated by Logic Conditions

CLI

gf <rule> <enabled> <logic condition> <action> <operand type> <operand value> <flags>

<rule> - GF ID, indexed from 0
<enabled> - 0 evaluates as disabled, 1 evaluates as enabled. Only enabled GFs are executed
<logic condition> - the ID of LogicCondition used to trigger GF On/Off. Then LC evaluates true, GlobalFunction will be come active
<action> - action to execute when GF is active
<operand type> - allows to pass arguments into Global Function action. Syntax is the same as in case of Logic Conditions operands. Used only when action requires it. Should be kept at 0 in other case. See Logic Conditions
<operand value> - allows to pass arguments into Global Function action. Syntax is the same as in case of Logic Conditions operands. Used only when action requires it. Should be kept at 0 in other case. See Logic Conditions
<flags> - allows to pass arguments into Global Function action. Syntax is the same as in case of Logic Conditions operands

Actions

Action ID	Name	Notes
0	OVERRIDE_ARMING_SAFETY	Allows to arm on any angle even without GPS fix
1	OVERRIDE_THROTTLE_SCALE	Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%.
2	SWAP_ROLL_YAW	basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes
3	SET_VTX_POWER_LEVEL	Sets VTX power level. Accepted values are `0-3` for SmartAudio and `0-4` for Tramp protocol
4	INVERT_ROLL	Inverts ROLL axis input for PID/PIFF controller
5	INVERT_PITCH	Inverts PITCH axis input for PID/PIFF controller
6	INVERT_YAW	Inverts YAW axis input for PID/PIFF controller
7	OVERRIDE_THROTTLE	Override throttle value that is fed to the motors by mixer. Operand is scaled in us. `1000` means throttle cut, `1500` means half throttle
8	SET_VTX_BAND	Sets VTX band. Accepted values are `1-5`
8	SET_VTX_CHANNEL	Sets VTX channel. Accepted values are `1-8`

Flags

Current no flags are implemented

Example

Dynamic THROTTLE scale

gf 0 1 0 1 0 50 0

Limits the THROTTLE output to 50% when Logic Condition 0 evaluates as true

Set VTX power level via Smart Audio

gf 0 1 0 3 0 3 0

Sets VTX power level to 3 when Logic Condition 0 evaluates as true

Invert ROLL and PITCH when rear facing camera FPV is used

Solves the problem from https://github.com/iNavFlight/inav/issues/4439

gf 0 1 0 4 0 0 0
gf 1 1 0 5 0 0 0

Inverts ROLL and PITCH input when Logic Condition 0 evaluates as true. Moving Pitch stick up will cause pitch down (up for rear facing camera). Moving Roll stick right will cause roll left of a quad (right in rear facing camera)

Cut motors but keep other throttle bindings active

gf 0 1 0 7 0 1000 0

Sets Thhrottle output to 0% when Logic Condition 0 evaluates as true

Set throttle to 50% and keep other throttle bindings active

gf 0 1 0 7 0 1500 0

Sets Thhrottle output to about 50% when Logic Condition 0 evaluates as true

Set throttle control to different RC channel

gf 0 1 0 7 1 7 0

If Logic Condition 0 evaluates as true, motor throttle control is bound to RC channel 7 instead of throttle channel

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