Ipf trig

[xznhj8129]

User description

Add support for arc function IPF LCs (see iNavFlight/inav#11179)

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PR Type

Enhancement, New Feature

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Description

• Add support for inverse trigonometric functions (acos, asin, atan2)

• Replace hardcoded operation numbers with named constants for maintainability

• Update error messages and diagnostics to reflect new supported functions

• Define new logic operators 57, 58, 59 for arc trigonometry operations

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Diagram Walkthrough

flowchart LR
  A["New Arc Trig Functions"] -->|acos, asin, atan2| B["Expression Generator"]
  B -->|Generate Logic Commands| C["Logic Operators 57-59"]
  C -->|Map to Operations| D["INAV Constants"]
  A -->|Update Type Definitions| E["TypeScript Declarations"]
  B -->|Update Diagnostics| F["Editor Validation"]

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File Walkthrough

	Relevant files
Enhancement	5 files helpers.js Add arc trig functions and refactor operation constants    +42/-14  expression_generator.js Implement code generation for arc trigonometric functions +26/-3    logicConditionOperators.js Define new logic operators for arc trigonometry                    +19/-1    diagnostics.js Update diagnostics to support arc trigonometric functions +3/-3      inav_constants.js Add operation constants for arc trigonometric functions    +7/-0
Documentation	1 files types.js Add TypeScript type declarations for arc functions              +3/-0
Additional files	3 files inav_SITL [link]    inav_SITL [link]    inav_SITL [link]

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[github-actions]

Branch Targeting Suggestion

You've targeted the master branch with this PR. Please consider if a version branch might be more appropriate:

• maintenance-9.x - If your change is backward-compatible and won't create compatibility issues between INAV firmware and Configurator 9.x versions. This will allow your PR to be included in the next 9.x release.

• maintenance-10.x - If your change introduces compatibility requirements between firmware and configurator that would break 9.x compatibility. This is for PRs which will be included in INAV 10.x

If master is the correct target for this change, no action is needed.

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[qodo-code-review]

PR Compliance Guide 🔍

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[sensei-hacker]

It looks like you did a lot of great work here. Thanks.
Adding to the Qodo comments comments above, Claude suggests maybe checking the following.
Of course, Claude can be wrong, or you can choose to do things differently. We just want to make sure any choices are intentional.

  CRITICAL — Block merge
                                                                                                                                       
  1. Wrong opcode numbers (inav_constants.js, logicConditionOperators.js)                                                              
  Firmware PR #11179 already took opcode 57 for SET_ALTITUDE_TARGET. This PR assigns ACOS=57, ASIN=58, ATAN2=59 — but the correct      
  values are ACOS=58, ASIN=59, ATAN2=60. Sending wrong opcodes silently commands the wrong Logic Condition operation on the FC.        
                      
  2. Broken import path (helpers.js line 12)                                                                                           
  // Wrong — resolves to a non-existent path:
  import { OPERATION } from '../../transpiler/transpiler/inav_constants.js';                                                           
                                                                            
  // Correct:                                                                                                                          
  import { OPERATION } from '../../transpiler/inav_constants.js';
  This will crash the transpiler module on load.                                                                                       
                      
  ---                                                                                                                                  
  IMPORTANT — Should fix
                                                                                                                                       
  3. acos/asin input scaling is undocumented (expression_generator.js)
  The firmware divides operandA by operandB, and when operandB=0 it defaults to 1000. So Math.acos(0.5) actually computes              
  acos(0.5/1000) ≈ acos(0) = 90°, not acos(0.5) = 60°. The API docs say params: ['ratio'] implying -1..1 input, but the real expected  
  range is -1000..1000. Needs either a documentation fix or explicit operandB=1000.                                                    
                                                                                                                                       
  4. abs inavOperation silently removed (helpers.js)                                                                                   
  All sibling math functions got their hardcoded numbers replaced with named constants — correct. But abs had the inavOperation field
  removed entirely with no comment explaining why (it's because abs is emulated via MAX(x, SUB(0,x)) since firmware opcode 32 is       
  actually SET_OSD_LAYOUT). Should have an inline comment.
                                                                                                                                       
  5. SET_ALTITUDE_TARGET (57) missing from OPERATION_NAMES (inav_constants.js)                                                         
  Fixing the opcode numbers (item 1) will also require adding this missing entry.

[xznhj8129]

The inav part was merged but i somehow missed this, i'll finish it

[xznhj8129]

This is ready, reminder to me to update inav's docs/Programming Framework.md

[sonarqubecloud]

Quality Gate passed

Issues
1 New issue
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud