Logic Conditions

Logic Conditions (abbr. LC) is a mechanism that allows to evaluate cenrtain flight parameters (RC channels, switches, altitude, distance, timers, other logic conditions) and use the value of evaluated expression in different places of INAV. Currently, the result of LCs can be used in:

Servo mixer to activate/deactivate certain servo mix rulers
Global functions to activate/deactivate system overrides

Logic conditions can be edited using INAV Configurator user interface, of via CLI

CLI

logic <rule> <enabled> <operation> <operand A type> <operand A value> <operand B type> <operand B value> <flags>

<rule> - ID of Logic Condition rule
<enabled> - 0 evaluates as disabled, 1 evaluates as enabled
<operation> - See Operations paragraph
<operand A type> - See Operands paragraph
<operand A value> - See Operands paragraph
<operand B type> - See Operands paragraph
<operand B value> - See Operands paragraph
<flags> - See Flags paragraph

Operations

Operation ID	Name	Notes
0	TRUE	Always evaluates as true
1	EQUAL	Evaluates `false` if `false` or `0`
2	GREATER_THAN
3	LOWER_THAN
4	LOW	`true` if `<1333`
5	MID	`true` if `>=1333 and <=1666`
6	HIGH	`true` if `>1666`
7	AND
8	OR
9	XOR
10	NAND
11	NOR
12	NOT
13	STICKY	`Operand A` is activation operator, `Operand B` is deactivation operator. After activation, operator will return `true` until Operand B is evaluated as `true`

Operands

Operand Type	Name	Notes
0	VALUE	Value derived from `value` field
1	RC_CHANNEL	`value` points to RC channel number, indexed from 1
2	FLIGHT	`value` points to flight parameter table
3	FLIGHT_MODE	`value` points to flight modes table
4	LC	`value` points to other logic condition ID

FLIGHT

Operand Value	Name	Notes
0	ARM_TIMER	in `seconds`
1	HOME_DISTANCE	in `meters`
2	TRIP_DISTANCE	in `meters`
3	RSSI
4	VBAT	in `Volts * 10`, eg. `12.1V` is `121`
5	CELL_VOLTAGE	in `Volts * 10`, eg. `12.1V` is `121`
6	CURRENT	in `Amps * 100`, eg. `9A` is `900`
7	MAH_DRAWN	in `mAh`
8	GPS_SATS
9	GROUD_SPEED	in `cm/s`
10	3D_SPEED	in `cm/s`
11	AIR_SPEED	in `cm/s`
12	ALTITUDE	in `cm`
13	VERTICAL_SPEED	in `cm/s`
14	TROTTLE_POS	in `%`
15	ATTITUDE_ROLL	in `degrees`
16	ATTITUDE_PITCH	in `degrees`

FLIGHT_MODE

Operand Value	Name	Notes
0	FAILSAFE
1	MANUAL
2	RTH
3	POSHOLD
4	CRUISE
5	ALTHOLD
6	ANGLE
7	HORIZON
8	AIR

Flags

All flags are reseted on ARM and DISARM event.

bit	Decimal	Function
0	1	Latch - after activation LC will stay active until LATCH flag is reseted

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