inav/docs/Global Functions.md

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

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