Merge pull request #6699 from MingchenZhang/zmc-modulus-opeator

Add modulus operator support

Author: DzikuVx

docs/Programming Framework.md

@@ -73,6 +73,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 37            | MAP_OUTPUT         | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
 | 38            | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
 | 39            | SET_HEADING_TARGET  | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
+| 40            | MOD           | Divide `Operand A` by `Operand B` and returns the remainder |
 
 
 ### Operands

src/main/programming/logic_condition.c

@@ -324,6 +324,14 @@ static int logicConditionCompute(
             return temporaryValue;
         break;
 
+        case LOGIC_CONDITION_MODULUS:
+            if (operandB != 0) {
+                return constrain(operandA % operandB, INT16_MIN, INT16_MAX);
+            } else {
+                return operandA;
+            }
+            break;
+
         default:
             return false;
             break; 

src/main/programming/logic_condition.h

@@ -69,7 +69,8 @@ typedef enum {
     LOGIC_CONDITION_MAP_OUTPUT                  = 37,
     LOGIC_CONDITION_RC_CHANNEL_OVERRIDE         = 38,
     LOGIC_CONDITION_SET_HEADING_TARGET          = 39,
-    LOGIC_CONDITION_LAST                        = 40,
+    LOGIC_CONDITION_MODULUS                     = 40,
+    LOGIC_CONDITION_LAST                        = 41,
 } logicOperation_e;
 
 typedef enum logicOperandType_s {