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
• Programming PID - general purpose, user configurable PID controllers

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

Logic Conditions

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	true if Operand A is a higher value than Operand B
3	LOWER_THAN	true if Operand A is a lower value than Operand B
4	LOW	true if <1333
5	MID	true if >=1333 and <=1666
6	HIGH	true if >1666
7	AND	true if Operand A and Operand B are the same value or both true
8	OR	true if Operand A and/or OperandB is true
9	XOR	true if Operand A or Operand B is true, but not both
10	NAND	false if Operand A and Operand B are both true
11	NOR	true if Operand A and Operand B are both false
12	NOT	The boolean opposite to Operand A
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
33	SIN	Computes SIN of Operand A value in degrees. Output is multiplied by Operand B value. If Operand B is 0, result is multiplied by 500
34	COS	Computes COS of Operand A value in degrees. Output is multiplied by Operand B value. If Operand B is 0, result is multiplied by 500
35	TAN	Computes TAN of Operand A value in degrees. Output is multiplied by Operand B value. If Operand B is 0, result is multiplied by 500
36	MAP_INPUT	Scales Operand A from [0 : Operand B] to [0 : 1000]. Note: input will be constrained and then scaled
37	MAP_OUTPUT	Scales Operand A from [0 : 1000] to [0 : Operand B]. Note: input will be constrained and then scaled
38	RC_CHANNEL_OVERRIDE	Overrides channel set by Operand A to value of Operand B
39	SET_HEADING_TARGET	Sets heading-hold target to Operand A, in degrees. Value wraps-around.
40	MOD	Divide Operand A by Operand B and returns the remainder
41	LOITER_RADIUS_OVERRIDE	Sets the loiter radius to Operand A [0 : 100000] in cm. If the value is lower than the loiter radius set in the Advanced Tuning, that will be used.
42	SET_PROFILE	Sets the active config profile (PIDFF/Rates/Filters/etc) to Operand A. Operand A must be a valid profile number, currently from 1 to 3. If not, the profile will not change
43	MIN	Finds the lowest value of Operand A and Operand B
44	MAX	Finds the highest value of Operand A and Operand B
45	FLIGHT_AXIS_ANGLE_OVERRIDE	Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). Operand A defines the axis: 0 - Roll, 1 - Pitch, 2 - Yaw. Operand B defines the angle in degrees
46	FLIGHT_AXIS_RATE_OVERRIDE	Sets the target rate (rotation speed) for axis. Operand A defines the axis: 0 - Roll, 1 - Pitch, 2 - Yaw. Operand B defines the rate in degrees per second
47	EDGE	Operand A is activation operator [boolean], Operand B (Optional) is the time for the edge to stay active [ms]. After activation, operator will return true until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave Operand B as the default Value: 0 setting.
48	DELAY	This will return true when Operand A is true, and the delay time in Operand B [ms] has been exceeded.
49	TIMER	true for the duration of Operand A [ms]. Then false for the duration of Operand B [ms].
50	DELTA	This returns true when the value of Operand A has changed by the value of Operand B or greater.
51	APPROX_EQUAL	true if Operand B is within 1% of Operand A.

Operands

Operand Type	Name	Notes
0	VALUE	Value derived from value field
1	GET_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
5	PID	Output of a Programming PID indexed by value. PID 1 means: value in PID 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 * 100, eg. 12.1V is 1210
5	CELL_VOLTAGE	in Volts * 100, eg. 12.1V is 1210
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_LANDING	boolean 0/1
24	IS_FAILSAFE	boolean 0/1
25	STABILIZED_ROLL	Roll PID controller output [-500:500]
26	STABILIZED_PITCH	Pitch PID controller output [-500:500]
27	STABILIZED_YAW	Yaw PID controller output [-500:500]
28	3D HOME_DISTANCE	in meters, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem
29	CROSSFIRE LQ	Crossfire Link quality as returned by the CRSF protocol
30	CROSSFIRE SNR	Crossfire SNR as returned by the CRSF protocol
31	GPS_VALID	boolean 0/1. True when the GPS has a valid 3D Fix
32	LOITER_RADIUS	The current loiter radius in cm.
33	ACTIVE_PROFILE	integer for the active config profile [1..MAX_PROFILE_COUNT]
34	BATT_CELLS	Number of battery cells detected
35	AGL_STATUS	boolean 1 when AGL can be trusted, 0 when AGL estimate can not be trusted
36	AGL	integer Above The Groud Altitude in cm
37	RANGEFINDER_RAW	integer raw distance provided by the rangefinder in cm

FLIGHT_MODE

Operand Value	Name	Notes
0	FAILSAFE
1	MANUAL
2	RTH
3	POSHOLD
4	CRUISE
5	ALTHOLD
6	ANGLE
7	HORIZON
8	AIR
9	USER1
10	USER2
11	COURSE_HOLD
12	USER3
13	USER4
14	ACRO
15	WAYPOINT_MISSION

WAYPOINTS

Operand Value	Name	Notes
0	Is WP	boolean 0/1
1	Current Waypoint Index	Current waypoint leg. Indexed from 1. To verify WP is in progress, use Is WP
2	Current Waypoint Action	Action active in current leg. See ACTIVE_WAYPOINT_ACTION table
3	Next Waypoint Action	Action active in next leg. See ACTIVE_WAYPOINT_ACTION table
4	Distance to next Waypoint	Distance to next WP in metres
5	Distance from Waypoint	Distance from the last WP in metres
6	User Action 1	User Action 1 is active on this waypoint leg [boolean 0/1]
7	User Action 2	User Action 2 is active on this waypoint leg [boolean 0/1]
8	User Action 3	User Action 3 is active on this waypoint leg [boolean 0/1]
9	User Action 4	User Action 4 is active on this waypoint leg [boolean 0/1]
10	Next Waypoint User Action 1	User Action 1 is active on the next waypoint leg [boolean 0/1]
11	Next Waypoint User Action 2	User Action 2 is active on the next waypoint leg [boolean 0/1]
12	Next Waypoint User Action 3	User Action 3 is active on the next waypoint leg [boolean 0/1]
13	Next Waypoint User Action 4	User Action 4 is active on the next waypoint leg [boolean 0/1]

ACTIVE_WAYPOINT_ACTION

Action	Value
WAYPOINT	1
HOLD_TIME	3
RTH	4
SET_POI	5
JUMP	6
SET_HEAD	7
LAND	8

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 reset
1	2	Timeout satisfied - Used in timed operands to determine if the timeout has been met

Global variables

CLI

gvar <index> <default value> <min> <max>

Programming PID

pid <index> <enabled> <setpoint type> <setpoint value> <measurement type> <measurement value> <P gain> <I gain> <D gain> <FF gain>

• <index> - ID of PID Controller, starting from 0
• <enabled> - 0 evaluates as disabled, 1 evaluates as enabled
• <setpoint type> - See Operands paragraph
• <setpoint value> - See Operands paragraph
• <measurement type> - See Operands paragraph
• <measurement value> - See Operands paragraph
• <P gain> - P-gain, scaled to 1/1000
• <I gain> - I-gain, scaled to 1/1000
• <D gain> - D-gain, scaled to 1/1000
• <FF gain> - FF-gain, scaled to 1/1000

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 throttle 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 throttle 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

Set VTX channel with a POT

Set VTX channel with a POT on the radio assigned to RC channel 6

logic 0 1 -1 15 1 6 0 1000 0
logic 1 1 -1 37 4 0 0 7 0
logic 2 1 -1 14 4 1 0 1 0
logic 3 1 -1 31 4 2 0 0 0

Steps:

1. Normalize range [1000:2000] to [0:1000] by substracting 1000
2. Scale range [0:1000] to [0:7]
3. Increase range by 1 to have the range of [1:8]
4. Assign LC#2 to VTX channel function

Set VTX power with a POT

Set VTX power with a POT on the radio assigned to RC channel 6. In this example we scale POT to 4 power level [1:4]

logic 0 1 -1 15 1 6 0 1000 0
logic 1 1 -1 37 4 0 0 3 0
logic 2 1 -1 14 4 1 0 1 0
logic 3 1 -1 25 4 2 0 0 0

Steps:

1. Normalize range [1000:2000] to [0:1000] by substracting 1000
2. Scale range [0:1000] to [0:3]
3. Increase range by 1 to have the range of [1:4]
4. Assign LC#2 to VTX power function