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256 lines
13 KiB
C
256 lines
13 KiB
C
/*
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* This file is part of INAV Project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this file,
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* You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* Alternatively, the contents of this file may be used under the terms
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* of the GNU General Public License Version 3, as described below:
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*
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* This file is free software: you may copy, redistribute and/or modify
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* it under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or (at your
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* option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see http://www.gnu.org/licenses/.
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*/
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#pragma once
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#include "config/parameter_group.h"
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#include "common/time.h"
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#define MAX_LOGIC_CONDITIONS 64
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typedef enum {
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LOGIC_CONDITION_TRUE = 0,
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LOGIC_CONDITION_EQUAL = 1,
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LOGIC_CONDITION_GREATER_THAN = 2,
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LOGIC_CONDITION_LOWER_THAN = 3,
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LOGIC_CONDITION_LOW = 4,
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LOGIC_CONDITION_MID = 5,
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LOGIC_CONDITION_HIGH = 6,
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LOGIC_CONDITION_AND = 7,
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LOGIC_CONDITION_OR = 8,
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LOGIC_CONDITION_XOR = 9,
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LOGIC_CONDITION_NAND = 10,
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LOGIC_CONDITION_NOR = 11,
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LOGIC_CONDITION_NOT = 12,
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LOGIC_CONDITION_STICKY = 13,
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LOGIC_CONDITION_ADD = 14,
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LOGIC_CONDITION_SUB = 15,
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LOGIC_CONDITION_MUL = 16,
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LOGIC_CONDITION_DIV = 17,
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LOGIC_CONDITION_GVAR_SET = 18,
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LOGIC_CONDITION_GVAR_INC = 19,
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LOGIC_CONDITION_GVAR_DEC = 20,
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LOGIC_CONDITION_PORT_SET = 21,
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LOGIC_CONDITION_OVERRIDE_ARMING_SAFETY = 22,
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LOGIC_CONDITION_OVERRIDE_THROTTLE_SCALE = 23,
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LOGIC_CONDITION_SWAP_ROLL_YAW = 24,
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LOGIC_CONDITION_SET_VTX_POWER_LEVEL = 25,
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LOGIC_CONDITION_INVERT_ROLL = 26,
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LOGIC_CONDITION_INVERT_PITCH = 27,
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LOGIC_CONDITION_INVERT_YAW = 28,
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LOGIC_CONDITION_OVERRIDE_THROTTLE = 29,
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LOGIC_CONDITION_SET_VTX_BAND = 30,
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LOGIC_CONDITION_SET_VTX_CHANNEL = 31,
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LOGIC_CONDITION_SET_OSD_LAYOUT = 32,
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LOGIC_CONDITION_SIN = 33,
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LOGIC_CONDITION_COS = 34,
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LOGIC_CONDITION_TAN = 35,
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LOGIC_CONDITION_MAP_INPUT = 36,
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LOGIC_CONDITION_MAP_OUTPUT = 37,
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LOGIC_CONDITION_RC_CHANNEL_OVERRIDE = 38,
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LOGIC_CONDITION_SET_HEADING_TARGET = 39,
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LOGIC_CONDITION_MODULUS = 40,
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LOGIC_CONDITION_LOITER_OVERRIDE = 41,
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LOGIC_CONDITION_SET_PROFILE = 42,
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LOGIC_CONDITION_MIN = 43,
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LOGIC_CONDITION_MAX = 44,
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LOGIC_CONDITION_FLIGHT_AXIS_ANGLE_OVERRIDE = 45,
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LOGIC_CONDITION_FLIGHT_AXIS_RATE_OVERRIDE = 46,
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LOGIC_CONDITION_EDGE = 47,
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LOGIC_CONDITION_DELAY = 48,
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LOGIC_CONDITION_TIMER = 49,
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LOGIC_CONDITION_DELTA = 50,
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LOGIC_CONDITION_APPROX_EQUAL = 51,
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LOGIC_CONDITION_LAST = 52,
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} logicOperation_e;
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typedef enum logicOperandType_s {
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LOGIC_CONDITION_OPERAND_TYPE_VALUE = 0,
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LOGIC_CONDITION_OPERAND_TYPE_RC_CHANNEL,
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LOGIC_CONDITION_OPERAND_TYPE_FLIGHT,
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LOGIC_CONDITION_OPERAND_TYPE_FLIGHT_MODE,
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LOGIC_CONDITION_OPERAND_TYPE_LC, // Result of different LC and LC operand
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LOGIC_CONDITION_OPERAND_TYPE_GVAR, // Value from a global variable
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LOGIC_CONDITION_OPERAND_TYPE_PID, // Value from a Programming PID
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LOGIC_CONDITION_OPERAND_TYPE_WAYPOINTS,
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LOGIC_CONDITION_OPERAND_TYPE_LAST
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} logicOperandType_e;
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typedef enum {
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LOGIC_CONDITION_OPERAND_FLIGHT_ARM_TIMER = 0, // in s // 0
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LOGIC_CONDITION_OPERAND_FLIGHT_HOME_DISTANCE, //in m // 1
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LOGIC_CONDITION_OPERAND_FLIGHT_TRIP_DISTANCE, //in m // 2
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LOGIC_CONDITION_OPERAND_FLIGHT_RSSI, // 3
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LOGIC_CONDITION_OPERAND_FLIGHT_VBAT, // Volt / 10 // 4
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LOGIC_CONDITION_OPERAND_FLIGHT_CELL_VOLTAGE, // Volt / 10 // 5
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LOGIC_CONDITION_OPERAND_FLIGHT_CURRENT, // Amp / 100 // 6
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LOGIC_CONDITION_OPERAND_FLIGHT_MAH_DRAWN, // mAh // 7
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LOGIC_CONDITION_OPERAND_FLIGHT_GPS_SATS, // 8
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LOGIC_CONDITION_OPERAND_FLIGHT_GROUD_SPEED, // cm/s // 9
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LOGIC_CONDITION_OPERAND_FLIGHT_3D_SPEED, // cm/s // 10
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LOGIC_CONDITION_OPERAND_FLIGHT_AIR_SPEED, // cm/s // 11
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LOGIC_CONDITION_OPERAND_FLIGHT_ALTITUDE, // cm // 12
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LOGIC_CONDITION_OPERAND_FLIGHT_VERTICAL_SPEED, // cm/s // 13
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LOGIC_CONDITION_OPERAND_FLIGHT_TROTTLE_POS, // % // 14
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LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_ROLL, // deg // 15
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LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_PITCH, // deg // 16
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LOGIC_CONDITION_OPERAND_FLIGHT_IS_ARMED, // 0/1 // 17
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LOGIC_CONDITION_OPERAND_FLIGHT_IS_AUTOLAUNCH, // 0/1 // 18
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LOGIC_CONDITION_OPERAND_FLIGHT_IS_ALTITUDE_CONTROL, // 0/1 // 19
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LOGIC_CONDITION_OPERAND_FLIGHT_IS_POSITION_CONTROL, // 0/1 // 20
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LOGIC_CONDITION_OPERAND_FLIGHT_IS_EMERGENCY_LANDING, // 0/1 // 21
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LOGIC_CONDITION_OPERAND_FLIGHT_IS_RTH, // 0/1 // 22
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LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING, // 0/1 // 23
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LOGIC_CONDITION_OPERAND_FLIGHT_IS_FAILSAFE, // 0/1 // 24
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LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_ROLL, // 25
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LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_PITCH, // 26
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LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_YAW, // 27
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LOGIC_CONDITION_OPERAND_FLIGHT_3D_HOME_DISTANCE, // 28
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LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_LQ, // 29
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LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_SNR, // 39
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LOGIC_CONDITION_OPERAND_FLIGHT_GPS_VALID, // 0/1 // 31
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LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS, // 32
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LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE, //int // 33
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LOGIC_CONDITION_OPERAND_FLIGHT_BATT_CELLS, // 34
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LOGIC_CONDITION_OPERAND_FLIGHT_AGL_STATUS, //0,1,2 // 35
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LOGIC_CONDITION_OPERAND_FLIGHT_AGL, //0,1,2 // 36
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LOGIC_CONDITION_OPERAND_FLIGHT_RANGEFINDER_RAW, //int // 37
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LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE, //int // 38
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LOGIC_CONDITION_OPERAND_FLIGHT_MIXER_TRANSITION_ACTIVE, //0,1 // 39
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LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_YAW, // deg // 40
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} logicFlightOperands_e;
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typedef enum {
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_FAILSAFE, // 0
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_MANUAL, // 1
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_RTH, // 2
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_POSHOLD, // 3
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_CRUISE, // 4
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ALTHOLD, // 5
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ANGLE, // 6
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_HORIZON, // 7
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_AIR, // 8
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER1, // 9
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER2, // 10
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_COURSE_HOLD, // 11
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER3, // 12
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER4, // 13
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ACRO, // 14
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_WAYPOINT_MISSION, // 15
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LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ATTIMODE, // 16
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} logicFlightModeOperands_e;
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typedef enum {
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LOGIC_CONDITION_OPERAND_WAYPOINTS_IS_WP, // 0/1 // 0
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LOGIC_CONDITION_OPERAND_WAYPOINTS_WAYPOINT_INDEX, // 1
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LOGIC_CONDITION_OPERAND_WAYPOINTS_WAYPOINT_ACTION, // 2
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LOGIC_CONDITION_OPERAND_WAYPOINTS_NEXT_WAYPOINT_ACTION, // 3
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LOGIC_CONDITION_OPERAND_WAYPOINTS_WAYPOINT_DISTANCE, // 4
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LOGIC_CONDTIION_OPERAND_WAYPOINTS_DISTANCE_FROM_WAYPOINT, // 5
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LOGIC_CONDITION_OPERAND_WAYPOINTS_USER1_ACTION, // 6
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LOGIC_CONDITION_OPERAND_WAYPOINTS_USER2_ACTION, // 7
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LOGIC_CONDITION_OPERAND_WAYPOINTS_USER3_ACTION, // 8
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LOGIC_CONDITION_OPERAND_WAYPOINTS_USER4_ACTION, // 9
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LOGIC_CONDITION_OPERAND_WAYPOINTS_USER1_ACTION_NEXT_WP, // 10
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LOGIC_CONDITION_OPERAND_WAYPOINTS_USER2_ACTION_NEXT_WP, // 11
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LOGIC_CONDITION_OPERAND_WAYPOINTS_USER3_ACTION_NEXT_WP, // 12
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LOGIC_CONDITION_OPERAND_WAYPOINTS_USER4_ACTION_NEXT_WP, // 13
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} logicWaypointOperands_e;
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typedef enum {
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_ARMING_SAFETY = (1 << 0),
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE_SCALE = (1 << 1),
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_SWAP_ROLL_YAW = (1 << 2),
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_ROLL = (1 << 3),
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_PITCH = (1 << 4),
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_YAW = (1 << 5),
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE = (1 << 6),
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_OSD_LAYOUT = (1 << 7),
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_RC_CHANNEL = (1 << 8),
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS = (1 << 9),
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LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_FLIGHT_AXIS = (1 << 10),
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} logicConditionsGlobalFlags_t;
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typedef enum {
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LOGIC_CONDITION_FLAG_LATCH = 1 << 0,
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LOGIC_CONDITION_FLAG_TIMEOUT_SATISFIED = 1 << 1,
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} logicConditionFlags_e;
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typedef struct logicOperand_s {
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int32_t value;
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logicOperandType_e type;
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} logicOperand_t;
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typedef struct logicCondition_s {
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logicOperand_t operandA;
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logicOperand_t operandB;
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uint8_t enabled;
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int8_t activatorId;
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logicOperation_e operation;
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uint8_t flags;
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} logicCondition_t;
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PG_DECLARE_ARRAY(logicCondition_t, MAX_LOGIC_CONDITIONS, logicConditions);
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typedef struct logicConditionState_s {
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int value;
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int32_t lastValue;
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uint8_t flags;
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timeMs_t timeout;
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} logicConditionState_t;
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typedef struct rcChannelOverride_s {
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int value;
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uint8_t active;
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} rcChannelOverride_t;
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typedef struct flightAxisOverride_s {
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int angleTarget;
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int rateTarget;
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uint8_t rateTargetActive;
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uint8_t angleTargetActive;
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} flightAxisOverride_t;
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extern int logicConditionValuesByType[LOGIC_CONDITION_LAST];
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extern uint64_t logicConditionsGlobalFlags;
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#define LOGIC_CONDITION_GLOBAL_FLAG_DISABLE(mask) (logicConditionsGlobalFlags &= ~(mask))
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#define LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(mask) (logicConditionsGlobalFlags |= (mask))
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#define LOGIC_CONDITION_GLOBAL_FLAG(mask) (logicConditionsGlobalFlags & (mask))
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void logicConditionProcess(uint8_t i);
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int logicConditionGetOperandValue(logicOperandType_e type, int operand);
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int logicConditionGetValue(int8_t conditionId);
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void logicConditionUpdateTask(timeUs_t currentTimeUs);
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void logicConditionReset(void);
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float getThrottleScale(float globalThrottleScale);
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int16_t getRcCommandOverride(int16_t command[], uint8_t axis);
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int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue);
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uint32_t getLoiterRadius(uint32_t loiterRadius);
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float getFlightAxisAngleOverride(uint8_t axis, float angle);
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float getFlightAxisRateOverride(uint8_t axis, float rate);
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bool isFlightAxisAngleOverrideActive(uint8_t axis);
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bool isFlightAxisRateOverrideActive(uint8_t axis);
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