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Merged
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Sep 7, 2020
Merged

New functions: sin, cos, tan and range scaling #6108

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58 changes: 48 additions & 10 deletions docs/Programming Framework.md
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Original file line number Diff line number Diff line change
Expand Up @@ -52,17 +52,22 @@ IPF can be edited using INAV Configurator user interface, of via CLI
| 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` |
| 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 |


### Operands
Expand Down Expand Up @@ -173,3 +178,36 @@ Sets Thhrottle output to about `50%` when Logic Condition `0` evaluates as `true

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
25 changes: 25 additions & 0 deletions src/main/programming/logic_condition.c
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Original file line number Diff line number Diff line change
Expand Up @@ -277,6 +277,31 @@ static int logicConditionCompute(
return operandB;
break;
#endif

case LOGIC_CONDITION_SIN:
temporaryValue = (operandB == 0) ? 500 : operandB;
return sin_approx(DEGREES_TO_RADIANS(operandA)) * temporaryValue;
break;

case LOGIC_CONDITION_COS:
temporaryValue = (operandB == 0) ? 500 : operandB;
return cos_approx(DEGREES_TO_RADIANS(operandA)) * temporaryValue;
break;
break;

case LOGIC_CONDITION_TAN:
temporaryValue = (operandB == 0) ? 500 : operandB;
return tan_approx(DEGREES_TO_RADIANS(operandA)) * temporaryValue;
break;

case LOGIC_CONDITION_MAP_INPUT:
return scaleRange(constrain(operandA, 0, operandB), 0, operandB, 0, 1000);
break;

case LOGIC_CONDITION_MAP_OUTPUT:
return scaleRange(constrain(operandA, 0, 1000), 0, 1000, 0, operandB);
break;

default:
return false;
break;
Expand Down
7 changes: 6 additions & 1 deletion src/main/programming/logic_condition.h
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Expand Up @@ -62,7 +62,12 @@ typedef enum {
LOGIC_CONDITION_SET_VTX_BAND = 30,
LOGIC_CONDITION_SET_VTX_CHANNEL = 31,
LOGIC_CONDITION_SET_OSD_LAYOUT = 32,
LOGIC_CONDITION_LAST = 33,
LOGIC_CONDITION_SIN = 33,
LOGIC_CONDITION_COS = 34,
LOGIC_CONDITION_TAN = 35,
LOGIC_CONDITION_MAP_INPUT = 36,
LOGIC_CONDITION_MAP_OUTPUT = 37,
LOGIC_CONDITION_LAST = 38,
} logicOperation_e;

typedef enum logicOperandType_s {
Expand Down