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Ability to read current waypoint index as part of LC #6137

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Merged
DzikuVx merged 1 commit into from
Sep 21, 2020
Merged

Ability to read current waypoint index as part of LC #6137

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18 changes: 18 additions & 0 deletions docs/Programming Framework.md
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Original file line number Diff line number Diff line change
Expand Up @@ -111,6 +111,24 @@ IPF can be edited using INAV Configurator user interface, of via CLI
| 23 | IS_WP | boolean `0`/`1` |
| 24 | IS_LANDING | boolean `0`/`1` |
| 25 | IS_FAILSAFE | boolean `0`/`1` |
| 26 | STABILIZED_ROLL | Roll PID controller output `[-500:500]` |
| 27 | STABILIZED_PITCH | Pitch PID controller output `[-500:500]` |
| 28 | STABILIZED_YAW | Yaw PID controller output `[-500:500]` |
| 29 | ACTIVE_WAYPOINT_INDEX | Indexed from `1`. To verify WP is in progress, use `IS_WP` |
| 30 | ACTIVE_WAYPOINT_ACTION | See ACTIVE_WAYPOINT_ACTION paragraph |

##### ACTIVE_WAYPOINT_ACTION

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


#### FLIGHT_MODE

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8 changes: 8 additions & 0 deletions src/main/programming/logic_condition.c
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Expand Up @@ -466,6 +466,14 @@ static int logicConditionGetFlightOperandValue(int operand) {
return axisPID[PITCH];
break;

case LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_INDEX:
return NAV_Status.activeWpNumber;
break;

case LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_ACTION:
return NAV_Status.activeWpAction;
break;

default:
return 0;
break;
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2 changes: 2 additions & 0 deletions src/main/programming/logic_condition.h
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Expand Up @@ -110,6 +110,8 @@ typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_ROLL, // 26
LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_PITCH, // 27
LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_YAW, // 28
LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_INDEX, // 29
LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_ACTION, // 30
} logicFlightOperands_e;

typedef enum {
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