Updates to wind in the IPF

[MrD-RC]

User description

• Correct the wind heading value. It was 180 degrees off and another 22 degrees clockwise.
• Added Relative wind offset which gives the relative difference in degrees between the wind heading and aircraft heading. 0 degrees is flying directly in to the headwind. -180 to 1 degree(s) signifies a counter-clockwise offset.

For this test I had a 13.5knots (approx. 25km/h) wind speed at 550ft AMSL with a 225° heading (south westerly). The altitude reads 0 due to many reboots of the FC during the flight. After each reboot, I loitered until the wind speed was estimated around 25km/h. I realise that the wind direction arrow from my IPF is 180 degrees out.

Requires Configurator iNavFlight/inav-configurator#2426

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PR Type

Enhancement, Bug fix

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Description

• Corrected wind heading calculation by adding 18000 centidegrees offset

• Removed incorrect 22-degree clockwise adjustment from wind heading

• Added new Relative Wind Offset operand for aircraft-to-wind heading comparison

• Updated documentation with new operand definition and behavior

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Diagram Walkthrough

flowchart LR
  A["Wind Heading Calculation"] -->|"Add 18000 centidegrees"| B["Corrected Wind Heading"]
  B -->|"Remove 22° adjustment"| C["Accurate Wind Direction"]
  D["Aircraft Heading"] -->|"Compare with Wind"| E["Relative Wind Offset"]
  C -->|"0° = headwind"| E
  E -->|"Negative = left offset"| F["Navigation Logic"]

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File Walkthrough

	Relevant files
Bug fix, enhancement	logic_condition.c Wind heading fix and relative wind offset implementation  src/main/programming/logic_condition.c Fixed wind heading calculation by adding 18000 centidegrees offset instead of using incorrect 22-degree adjustment Renamed variable from windAngle to windHeading for clarity Implemented new LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET case with relative wind offset calculation Relative wind offset compares aircraft heading to wind heading with proper angle normalization +41/-8
Enhancement	logic_condition.h Add relative wind offset operand enum                                        src/main/programming/logic_condition.h Added new enum value LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET with operand ID 49 Maintains sequential operand numbering for logic condition framework +1/-0
Documentation	Programming Framework.md Document relative wind offset operand                                        docs/Programming Framework.md Added documentation for operand 49 (Relative Wind Offset) with detailed description Clarified behavior: 0° indicates flying directly into headwind, negative values indicate left offset Documented fallback behavior when wind estimator is unavailable +1/-0

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[qodo-code-review]

PR Compliance Guide 🔍

(Compliance updated until commit 0b7d9e4)

Below is a summary of compliance checks for this PR:

Security Compliance
🟢	No security concerns identified No security vulnerabilities detected by AI analysis. Human verification advised for critical code.
Ticket Compliance
⚪	🎫 No ticket provided Create ticket/issue
Codebase Duplication Compliance
⚪	Codebase context is not defined Follow the guide to enable codebase context checks.
Custom Compliance
🟢	Generic: Meaningful Naming and Self-Documenting Code Objective: Ensure all identifiers clearly express their purpose and intent, making code self-documenting Status: Passed Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Robust Error Handling and Edge Case Management Objective: Ensure comprehensive error handling that provides meaningful context and graceful degradation Status: Passed Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Secure Error Handling Objective: To prevent the leakage of sensitive system information through error messages while providing sufficient detail for internal debugging. Status: Passed Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Secure Logging Practices Objective: To ensure logs are useful for debugging and auditing without exposing sensitive information like PII, PHI, or cardholder data. Status: Passed Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Security-First Input Validation and Data Handling Objective: Ensure all data inputs are validated, sanitized, and handled securely to prevent vulnerabilities Status: Passed Learn more about managing compliance generic rules or creating your own custom rules
⚪	Generic: Comprehensive Audit Trails Objective: To create a detailed and reliable record of critical system actions for security analysis and compliance. Status: No auditing: The newly added wind-related operands modify runtime behavior but introduce no logging of critical actions or outcomes, and it is unclear whether such actions require auditability in this context. Referred Code case LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION: // deg 0 - 360; -1 if not valid #ifdef USE_WIND_ESTIMATOR { if (isEstimatedWindSpeedValid()) { uint16_t windAngle; getEstimatedHorizontalWindSpeed(&windAngle); int32_t windHeading = (int32_t)windAngle + 18000; // Correct heading to display correctly. while (windHeading < 0) windHeading += 36000; while (windHeading >= 36000) windHeading -= 36000; return (int32_t)CENTIDEGREES_TO_DEGREES(windHeading); } else return -1; } #else return -1; #endif break; case LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET: // deg -180 to 180; 0 if not valid ... (clipped 22 lines) Learn more about managing compliance generic rules or creating your own custom rules

Compliance status legend

🟢 - Fully Compliant
🟡 - Partial Compliant
🔴 - Not Compliant
⚪ - Requires Further Human Verification
🏷️ - Compliance label

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Previous compliance checks

Compliance check up to commit 4db578e

Security Compliance
🟢	No security concerns identified No security vulnerabilities detected by AI analysis. Human verification advised for critical code.
Ticket Compliance
⚪	🎫 No ticket provided Create ticket/issue
Codebase Duplication Compliance
⚪	Codebase context is not defined Follow the guide to enable codebase context checks.
Custom Compliance
🟢	Generic: Meaningful Naming and Self-Documenting Code Objective: Ensure all identifiers clearly express their purpose and intent, making code self-documenting Status: Passed Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Secure Error Handling Objective: To prevent the leakage of sensitive system information through error messages while providing sufficient detail for internal debugging. Status: Passed Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Secure Logging Practices Objective: To ensure logs are useful for debugging and auditing without exposing sensitive information like PII, PHI, or cardholder data. Status: Passed Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Security-First Input Validation and Data Handling Objective: Ensure all data inputs are validated, sanitized, and handled securely to prevent vulnerabilities Status: Passed Learn more about managing compliance generic rules or creating your own custom rules
⚪	Generic: Comprehensive Audit Trails Objective: To create a detailed and reliable record of critical system actions for security analysis and compliance. Status: No audit logs: New logic computing wind heading and relative wind offset performs critical flight-related calculations without any added audit logging, but this subsystem may not be expected to log at this layer. Referred Code case LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION: // deg #ifdef USE_WIND_ESTIMATOR { if (isEstimatedWindSpeedValid()) { uint16_t windAngle; getEstimatedHorizontalWindSpeed(&windAngle); int32_t windHeading = windAngle + 18000; // Correct heading to display correctly. windHeading = (CENTIDEGREES_TO_DEGREES((int)windHeading)); while (windHeading < 0) { windHeading += 360; } while (windHeading >= 360) { windHeading -= 360; } return windHeading; } else return -1; } #else return -1; ... (clipped 33 lines) Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Robust Error Handling and Edge Case Management Objective: Ensure comprehensive error handling that provides meaningful context and graceful degradation Status: Invalid wind case: When wind estimation is invalid, LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET returns 0 which is indistinguishable from a valid “headwind” reading, potentially masking an error; prior pattern returns -1 for invalid values. Referred Code return relativeWindHeading; } else return 0; } #else return 0; #endif Learn more about managing compliance generic rules or creating your own custom rules

[qodo-code-review]

PR Code Suggestions ✨

Explore these optional code suggestions:

Category	Suggestion	Impact
Possible issue	✅ Remove leftover debugging code Suggestion Impact: The commit removed the gvSet(3, DECIDEGREES_TO_DEGREES(attitude.values.yaw)); call from the RELATIVE_WIND_OFFSET case, eliminating the side effect as suggested. code diff: - gvSet(3, DECIDEGREES_TO_DEGREES(attitude.values.yaw)); - int32_t relativeWindHeading = windAngle + 18000 - DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw); + int32_t relativeWindHeading = (int32_t)windAngle + 18000 - DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw); Remove the call to gvSet from logicConditionGetFlightOperandValue to eliminate unintended side effects, as it appears to be leftover debugging code. src/main/programming/logic_condition.c [793] -gvSet(3, DECIDEGREES_TO_DEGREES(attitude.values.yaw)); + [Suggestion processed] Suggestion importance[1-10]: 6 __ Why: The suggestion correctly identifies that a 'getter' function should not have side effects, and the gvSet call is likely leftover debugging code that could cause unpredictable behavior.	Low
Learned best practice	✅ Harmonize operand semantics and docs Suggestion Impact: The commit updated LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION to document the valid range and invalid sentinel, corrected angle normalization using centidegrees before converting to degrees, and adjusted returns accordingly. It also harmonized relative wind offset normalization and return semantics. code diff: - case LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION: // deg + case LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION: // deg 0 - 360; -1 if not valid #ifdef USE_WIND_ESTIMATOR { if (isEstimatedWindSpeedValid()) { uint16_t windAngle; getEstimatedHorizontalWindSpeed(&windAngle); - int32_t windHeading = windAngle + 18000; // Correct heading to display correctly. + int32_t windHeading = (int32_t)windHeading + 18000; // Correct heading to display correctly. - windHeading = (CENTIDEGREES_TO_DEGREES((int)windHeading)); - while (windHeading < 0) { - windHeading += 360; - } - while (windHeading >= 360) { - windHeading -= 360; - } - return windHeading; + while (windHeading < 0) windHeading += 36000; + while (windHeading >= 36000) windHeading -= 36000; + + return (int32_t)CENTIDEGREES_TO_DEGREES(windHeading); } else return -1; } #else - return -1; -#endif - break; - - case LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET: // deg + return -1; +#endif + break; + + case LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET: // deg -180 to 180; 0 if not valid #ifdef USE_WIND_ESTIMATOR { if (isEstimatedWindSpeedValid()) { uint16_t windAngle; getEstimatedHorizontalWindSpeed(&windAngle); - gvSet(3, DECIDEGREES_TO_DEGREES(attitude.values.yaw)); - int32_t relativeWindHeading = windAngle + 18000 - DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw); + int32_t relativeWindHeading = (int32_t)windAngle + 18000 - DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw); - relativeWindHeading = (CENTIDEGREES_TO_DEGREES((int)relativeWindHeading)); - while (relativeWindHeading < 0) { - relativeWindHeading += 360; - } - while (relativeWindHeading >= 360) { - relativeWindHeading -= 360; - } + while (relativeWindHeading < 0) relativeWindHeading += 36000; + while (relativeWindHeading >= 36000) relativeWindHeading -= 36000; relativeWindHeading = -relativeWindHeading; - if (relativeWindHeading <= -180) { - relativeWindHeading = 180 + (relativeWindHeading + 180); - } - - return relativeWindHeading; + if (relativeWindHeading <= -18000) + relativeWindHeading = 18000 + (relativeWindHeading + 18000); + + return (int32_t)CENTIDEGREES_TO_DEGREES(relativeWindHeading); } else return 0; } #else - return 0; -#endif - break; + return 0; +#endif + break; Mirror the sign and invalid-return conventions with the new relative wind field in docs and keep operand meanings consistent; update docs and ensure both operands follow the same invalid sentinel and frame definitions. src/main/programming/logic_condition.c [763-785] -case LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION: // deg +case LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION: // deg, 0..359, -1 invalid #ifdef USE_WIND_ESTIMATOR { if (isEstimatedWindSpeedValid()) { - uint16_t windAngle; - getEstimatedHorizontalWindSpeed(&windAngle); - int32_t windHeading = windAngle + 18000; // Correct heading to display correctly. - - windHeading = (CENTIDEGREES_TO_DEGREES((int)windHeading)); - while (windHeading < 0) { - windHeading += 360; - } - while (windHeading >= 360) { - windHeading -= 360; - } - return windHeading; - } else + uint16_t windAngleCd; + getEstimatedHorizontalWindSpeed(&windAngleCd); + // Convert wind vector angle (towards) to heading-from (meteorological) in degrees [0,360) + int32_t headingDeg = CENTIDEGREES_TO_DEGREES((int)(windAngleCd + 18000)); + while (headingDeg < 0) headingDeg += 360; + while (headingDeg >= 360) headingDeg -= 360; + return headingDeg; + } else { return -1; + } } #else - return -1; + return -1; #endif - break; + break; [To ensure code accuracy, apply this suggestion manually] Suggestion importance[1-10]: 6 __ Why: Relevant best practice - Align mode/enum priorities and documented fields across modules and docs to keep a single source of truth.	Low
	✅ Normalize angles in one unit Suggestion Impact: The commit changed both wind direction and relative wind offset calculations to normalize in centidegrees (0–36000 / ±18000) and convert to degrees only at return, removing intermediate degree conversions and loops. It also fixed types/casts accordingly. code diff: - case LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION: // deg + case LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION: // deg 0 - 360; -1 if not valid #ifdef USE_WIND_ESTIMATOR { if (isEstimatedWindSpeedValid()) { uint16_t windAngle; getEstimatedHorizontalWindSpeed(&windAngle); - int32_t windHeading = windAngle + 18000; // Correct heading to display correctly. + int32_t windHeading = (int32_t)windHeading + 18000; // Correct heading to display correctly. - windHeading = (CENTIDEGREES_TO_DEGREES((int)windHeading)); - while (windHeading < 0) { - windHeading += 360; - } - while (windHeading >= 360) { - windHeading -= 360; - } - return windHeading; + while (windHeading < 0) windHeading += 36000; + while (windHeading >= 36000) windHeading -= 36000; + + return (int32_t)CENTIDEGREES_TO_DEGREES(windHeading); } else return -1; } #else - return -1; -#endif - break; - - case LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET: // deg + return -1; +#endif + break; + + case LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET: // deg -180 to 180; 0 if not valid #ifdef USE_WIND_ESTIMATOR { if (isEstimatedWindSpeedValid()) { uint16_t windAngle; getEstimatedHorizontalWindSpeed(&windAngle); - gvSet(3, DECIDEGREES_TO_DEGREES(attitude.values.yaw)); - int32_t relativeWindHeading = windAngle + 18000 - DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw); + int32_t relativeWindHeading = (int32_t)windAngle + 18000 - DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw); - relativeWindHeading = (CENTIDEGREES_TO_DEGREES((int)relativeWindHeading)); - while (relativeWindHeading < 0) { - relativeWindHeading += 360; - } - while (relativeWindHeading >= 360) { - relativeWindHeading -= 360; - } + while (relativeWindHeading < 0) relativeWindHeading += 36000; + while (relativeWindHeading >= 36000) relativeWindHeading -= 36000; relativeWindHeading = -relativeWindHeading; - if (relativeWindHeading <= -180) { - relativeWindHeading = 180 + (relativeWindHeading + 180); - } - - return relativeWindHeading; + if (relativeWindHeading <= -18000) + relativeWindHeading = 18000 + (relativeWindHeading + 18000); + + return (int32_t)CENTIDEGREES_TO_DEGREES(relativeWindHeading); } else return 0; } #else - return 0; -#endif - break; + return 0; +#endif + break; Keep all math in centidegrees until final conversion and normalize once; avoid redundant casts and flips that can introduce off-by-one errors. src/main/programming/logic_condition.c [787-816] -case LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET: // deg +case LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET: // deg, signed [-180,180], 0 = headwind, left negative #ifdef USE_WIND_ESTIMATOR { if (isEstimatedWindSpeedValid()) { - uint16_t windAngle; - getEstimatedHorizontalWindSpeed(&windAngle); - gvSet(3, DECIDEGREES_TO_DEGREES(attitude.values.yaw)); - int32_t relativeWindHeading = windAngle + 18000 - DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw); - - relativeWindHeading = (CENTIDEGREES_TO_DEGREES((int)relativeWindHeading)); - while (relativeWindHeading < 0) { - relativeWindHeading += 360; - } - while (relativeWindHeading >= 360) { - relativeWindHeading -= 360; - } - - relativeWindHeading = -relativeWindHeading; - if (relativeWindHeading <= -180) { - relativeWindHeading = 180 + (relativeWindHeading + 180); - } - - return relativeWindHeading; - } else + uint16_t windAngleCd; + getEstimatedHorizontalWindSpeed(&windAngleCd); // [0,36000) + // Convert wind vector angle (towards) to heading-from + int32_t windHeadingCd = (int32_t)windAngleCd + 18000; // centidegrees + // Normalize to [0,36000) + while (windHeadingCd < 0) windHeadingCd += 36000; + while (windHeadingCd >= 36000) windHeadingCd -= 36000; + // Aircraft yaw is in decidegrees; convert to centidegrees + int32_t yawCd = DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw); + // Relative offset: wind heading relative to aircraft nose (right positive) + int32_t relCd = windHeadingCd - yawCd; // centidegrees + // Normalize to (-18000, 18000] + while (relCd <= -18000) relCd += 36000; + while (relCd > 18000) relCd -= 36000; + // Convert to degrees with sign convention: left negative + int32_t relDeg = CENTIDEGREES_TO_DEGREES(relCd); + return relDeg; + } else { return 0; + } } #else - return 0; + return 0; #endif - break; + break; [Suggestion processed] Suggestion importance[1-10]: 5 __ Why: Relevant best practice - Use correct operators and types; avoid unnecessary casts and ensure angle normalization matches units without mixing decidegrees/centidegrees.	Low
Update

[MrD-RC]

Seems like there's an issue with the SITL generation. Have any changes been made recently to SITL?

[stronnag]

Seems like there's an issue with the SITL generation. Have any changes been made recently to SITL?

As the SITL builds for Linux and MacOS, this seems to be an issue with GH's Windows/Cygwin environment.