add arc functions to ipf

[xznhj8129]

User description

Added asin/acos/atan2 functions to IPF

[github-actions]

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[qodo-code-review]

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[github-actions]

Test firmware build ready — commit b54ff13

Download firmware for PR #11179

228 targets built. Find your board's .hex file by name on that page (e.g. MATEKF405SE.hex). Files are individually downloadable — no GitHub login required.

Development build for testing only. Use Full Chip Erase when flashing.

[sensei-hacker]

Note: This comment was generated by an automated code review system.

Thanks for adding trig inverse functions to IPF — these enable useful bearing and arc calculations in logic conditions.

A two issues were found that should be addressed before merge:

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Critical: Opcode number mismatch between code and docs

The documentation assigns ACOS=57, ASIN=58, ATAN2=59. However, if LOGIC_CONDITION_SET_ALTITUDE_TARGET = 57 already exists in the target branch, the actual enum values would be 58, 59, 60.

IPF opcodes are persisted in EEPROM. A doc/code mismatch means users following the documentation will silently get wrong behavior, and correctly-configured craft could behave incorrectly after a firmware upgrade. Please verify the enum values against the target branch and update whichever side is wrong.

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Minor: ATAN2 output range not documented

atan2_approx returns values in the range (-180°, 180°]. The docs should state this explicitly so users don't assume [0°, 360°) when computing bearings.

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Bot concern refuted

The Qodo bot flagged ASIN (importance 9) as computing ACOS instead of ASIN. This is incorrect — the implementation correctly calls asin_approx. Furthermore, the bot's suggested fix references acos_to_asin_approx, a macro that does not exist in the INAV codebase. Do not apply that suggestion.

[xznhj8129]

Note: This comment was generated by an automated code review system.

Thanks for adding trig inverse functions to IPF — these enable useful bearing and arc calculations in logic conditions.

A two issues were found that should be addressed before merge:

Critical: Opcode number mismatch between code and docs

The documentation assigns ACOS=57, ASIN=58, ATAN2=59. However, if LOGIC_CONDITION_SET_ALTITUDE_TARGET = 57 already exists in the target branch, the actual enum values would be 58, 59, 60.

IPF opcodes are persisted in EEPROM. A doc/code mismatch means users following the documentation will silently get wrong behavior, and correctly-configured craft could behave incorrectly after a firmware upgrade. Please verify the enum values against the target branch and update whichever side is wrong.

Minor: ATAN2 output range not documented

atan2_approx returns values in the range (-180°, 180°]. The docs should state this explicitly so users don't assume [0°, 360°) when computing bearings.

Bot concern refuted

The Qodo bot flagged ASIN (importance 9) as computing ACOS instead of ASIN. This is incorrect — the implementation correctly calls asin_approx. Furthermore, the bot's suggested fix references acos_to_asin_approx, a macro that does not exist in the INAV codebase. Do not apply that suggestion.

Gotcha, small drift because we've been adding a few logic conditions in other merges. Fixed.