Ability to read current waypoint index as part of LC

[DzikuVx]

This allows to trigger a servo output at waypoint with the help of Programming framework. See the following example

# If current waypoint is equal to previous waypoint index
logic 0 1 -1 1 5 7 2 29 0       
# Not LC#0
logic 1 1 -1 12 4 0 0 0 0
# If waypoint index changed and is WP mission, use this LC to react
logic 2 1 -1 7 2 23 4 1 0
# Store previous waypoint index
logic 31 1 -1 18 0 7 2 29 0

closes #5573
closes #5854

[damsport11]

Hi,
first, great implementation of both the LC and waypoint action.

I have been trying to find out whether it is also possible using this to actually change the current goal WP, e.g. you are moving to WP2, however, would like to omit WP2 in flight and fly to WP3 without going to WP2..?

It would be even more awesome if you could set the first WP (being something other than WP1) before switching on the WP mission, since that would allow re-initiating a WP mission or even start from another point.

Easy implementation would be a global current WP (that can also be viewed in OSD) and can be changed with RC switches/knobs.

Thanks for you time and great software! ;-)

[Momonator404]

Hi,
thanks for including this option. I want to use it as a autonomous delivery system, and i need a way to activate a servo at a waypoint for this.
I know the concerns about weaponising Inav, but this is a different disscussion. I also dont want to switch to Ardupilot, because iNav is more user friendly (I flashed Arduplane on my Matek 405 wing board, and it worked 👍 )

Can someone please explain how to use Pawel´s LCs? or how it works?

I am not a Programmer, but as far as i know i would rather programm something like this:

If current Waypoint index = 5 (The 5th Waypoint)
and FC is in WP-Mode
GVAR Set 1800 (or whatever servo position i need for release)
then connect the release servo to the GVAR.

The Documentation for Inav Logic-Conditions is limited, so i hope the forum can help me. thx