inav/docs/Programming Framework.md

INAV Programming Framework

INAV Programming Framework (abbr. IPF) 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
• To activate/deactivate system overrides

INAV Programming Framework coinsists of:

• 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

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

CLI

logic <rule> <enabled> <activatorId> <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
• <activatorId> - the ID of LogicCondition used to activate this Condition. Logic Condition will be evaluated only then Activator evaluates as true. -1 evaluates as true
• <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
14	ADD	Add Operand A to Operand B and returns the result
15	SUB	Substract Operand B from Operand A and returns the result
16	MUL	Multiply Operand A by Operand B and returns the result
17	DIV	Divide Operand A by Operand B and returns the result
18	GVAR SET	Store value from Operand B into the Global Variable addressed by Operand B. Bear in mind, that operand Global Variable means: Value stored in Global Variable of an index! To store in GVAR 1 use Value 1 not Global Variable 1
19	GVAR INC	Increase the GVAR indexed by Operand A with value from Operand B
20	GVAR DEC	Decrease the GVAR indexed by Operand A with value from Operand B
21	IO PORT SET	Set I2C IO Expander pin Operand A to value of Operand B. Operand A accepts values 0-7 and Operand B accepts 0 and 1
22	OVERRIDE_ARMING_SAFETY	Allows to arm on any angle even without GPS fix
23	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%.
24	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
25	SET_VTX_POWER_LEVEL	Sets VTX power level. Accepted values are 0-3 for SmartAudio and 0-4 for Tramp protocol
26	INVERT_ROLL	Inverts ROLL axis input for PID/PIFF controller
27	INVERT_PITCH	Inverts PITCH axis input for PID/PIFF controller
28	INVERT_YAW	Inverts YAW axis input for PID/PIFF controller
29	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
30	SET_VTX_BAND	Sets VTX band. Accepted values are 1-5
31	SET_VTX_CHANNEL	Sets VTX channel. Accepted values are 1-8
32	SET_OSD_LAYOUT	Sets OSD layout. Accepted values are 0-3

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
5	GVAR	Value stored in Global Variable indexed by value. GVAR 1 means: value in GVAR 1

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
17	IS_ARMED	boolean 0/1
18	IS_AUTOLAUNCH	boolean 0/1
19	IS_ALTITUDE_CONTROL	boolean 0/1
20	IS_POSITION_CONTROL	boolean 0/1
21	IS_EMERGENCY_LANDING	boolean 0/1
22	IS_RTH	boolean 0/1
23	IS_WP	boolean 0/1
24	IS_LANDING	boolean 0/1
25	IS_FAILSAFE	boolean 0/1

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

Examples

Dynamic THROTTLE scale

logic 0 1 0 23 0 50 0 0 0

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

Set VTX power level via Smart Audio

logic 0 1 0 25 0 3 0 0 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

logic 0 1 0 26 0 0 0 0 0
logic 1 1 0 27 0 0 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

logic 0 1 0 29 0 1000 0 0 0

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

Set throttle to 50% and keep other throttle bindings active

logic 0 1 0 29 0 1500 0 0 0

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

Set throttle control to different RC channel

logic 0 1 0 29 1 7 0 0 0

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