add arc functions to ipf

.github/workflows/pr-branch-suggestion.yml

@@ -0,0 +1,41 @@
+name: PR Branch Suggestion
+
+on:
+  pull_request_target:
+    types: [opened]
+    branches:
+      - master
+
+jobs:
+  suggest-branch:
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+    steps:
+      - name: Suggest maintenance branch
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const comment = `### 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.
+
+            ---
+            *This is an automated suggestion to help route contributions to the appropriate branch.*`;
+
+            try {
+              await github.rest.issues.createComment({
+                issue_number: context.issue.number,
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                body: comment
+              });
+            } catch (err) {
+              core.setFailed(`Failed to post suggestion comment: ${err}`);
+            }

docs/Programming Framework.md

@@ -119,6 +119,9 @@ for complete documentation on using JavaScript to program your flight controller
 | 54            | Mag calibration               | Trigger a magnetometer calibration. |
 | 55            | Set Gimbal Sensitivity        | Scales `Operand A` from [`-16` : `15`]
 | 56            | Override Minimum Ground Speed | When active, sets the minimum ground speed to the value specified in `Operand A` [m/s]. Minimum allowed value is set in `nav_min_ground_speed`. Maximum value is `150` |
+| 57            | Trigonometry: ACos            | Computes ACOS of (`Operand A` / `Operand B`) using the fast approximation. If `Operand B` is `0`, `1000` is used. Input is clamped to [-1, 1] and the result is returned in degrees. |
+| 58            | Trigonometry: ASin            | Computes ASIN of (`Operand A` / `Operand B`) using the fast approximation. If `Operand B` is `0`, `1000` is used. Input is clamped to [-1, 1] and the result is returned in degrees. |
+| 59            | Trigonometry: ATan2           | Computes ATAN2 using `Operand A` as Y and `Operand B` as X with the fast approximation. Returns the angle in degrees. |
 
 ### Operands
 

docs/javascript_programming/OPERATIONS_REFERENCE.md

@@ -11,7 +11,7 @@ All INAV logic condition operations supported by the firmware are now fully impl
 ✅ **Arithmetic**: ADD, SUB, MUL, DIV, MODULUS (via +, -, *, /, %)
 ✅ **Comparisons**: EQUAL, GREATER_THAN, LOWER_THAN, APPROX_EQUAL (via ===, >, <, approxEqual())
 ✅ **Logical**: AND, OR, NOT, XOR, NAND, NOR (via &&, ||, !, xor(), nand(), nor())
-✅ **Math**: MIN, MAX, SIN, COS, TAN, ABS (via Math.min/max/sin/cos/tan/abs)
+✅ **Math**: MIN, MAX, SIN, COS, TAN, ACOS, ASIN, ATAN2, ABS (via Math.min/max/sin/cos/tan/acos/asin/atan2/abs)
 ✅ **Scaling**: MAP_INPUT, MAP_OUTPUT (via mapInput(), mapOutput())
 ✅ **Flow control**: STICKY, EDGE, DELAY, TIMER, DELTA (via on.* and helper functions)
 ✅ **Variables**: GVAR_SET, GVAR_INC, GVAR_DEC (via assignments, ++, --)
@@ -98,7 +98,7 @@ if (rc[0].low && rc[1].mid && rc[2].high) {
 
 - RC channels: `rc[0]` through `rc[17]` (18 channels)
 - RC channel properties: `.value` (1000-2000us), `.low` (<1333us), `.mid` (1333-1666us), `.high` (>1666us)
-- All trig functions (sin/cos/tan) take degrees, not radians
+- Trig functions: sin/cos/tan take degrees; acos/asin use ratios (-1..1) and atan2 returns degrees from y/x inputs
 - MODULUS operator bug fixed: `%` now correctly generates MODULUS operation
 - MAP_INPUT normalizes to [0:1000], MAP_OUTPUT scales from [0:1000]
 

docs/javascript_programming/api_definitions_summary.md

@@ -72,7 +72,7 @@ Waypoint mission data:
 
 Math functions:
 - **Basic**: min, max, abs
-- **Trig**: sin, cos, tan (degrees)
+- **Trig**: sin, cos, tan (degrees), acos/asin (ratio inputs), atan2 (y, x -> degrees)
 - **Mapping**: mapInput, mapOutput
 - **Arithmetic**: add, sub, mul, div, mod (operators)
 

docs/javascript_programming/index.md

@@ -65,7 +65,7 @@ Comprehensive guide to all INAV logic condition operations:
 - ✅ Arithmetic: `+`, `-`, `*`, `/`, `%`
 - ✅ Comparisons: `===`, `>`, `<`, `approxEqual()`
 - ✅ Logical: `&&`, `||`, `!`, `xor()`, `nand()`, `nor()`
-- ✅ Math: `Math.min()`, `Math.max()`, `Math.sin()`, `Math.cos()`, `Math.tan()`, `Math.abs()`
+- ✅ Math: `Math.min()`, `Math.max()`, `Math.sin()`, `Math.cos()`, `Math.tan()`, `Math.acos()`, `Math.asin()`, `Math.atan2()`, `Math.abs()`
 - ✅ Scaling: `mapInput()`, `mapOutput()`
 - ✅ Flow control: `edge()`, `sticky()`, `delay()`, `timer()`, `whenChanged()`
 - ✅ Variables: `gvar[0-7]`, `let`, `var`

src/main/programming/logic_condition.c

@@ -404,6 +404,20 @@ static int logicConditionCompute(
             return tan_approx(DEGREES_TO_RADIANS(operandA)) * temporaryValue;
         break;
 
+        case LOGIC_CONDITION_ACOS:
+            temporaryValue = (operandB == 0) ? 1000 : operandB;
+            return RADIANS_TO_DEGREES(acos_approx(constrainf((float)operandA / (float)temporaryValue, -1.0f, 1.0f)));
+        break;
+
+        case LOGIC_CONDITION_ASIN:
+            temporaryValue = (operandB == 0) ? 1000 : operandB;
+            return RADIANS_TO_DEGREES(asin_approx(constrainf((float)operandA / (float)temporaryValue, -1.0f, 1.0f)));
+        break;
+
+        case LOGIC_CONDITION_ATAN2:
+            return RADIANS_TO_DEGREES(atan2_approx((float)operandA, (float)operandB));
+        break;
+
         case LOGIC_CONDITION_MIN:
             return (operandA < operandB) ? operandA : operandB;
         break;

src/main/programming/logic_condition.h

@@ -86,6 +86,9 @@ typedef enum {
     LOGIC_CONDITION_RESET_MAG_CALIBRATION       = 54,
     LOGIC_CONDITION_SET_GIMBAL_SENSITIVITY      = 55,
     LOGIC_CONDITION_OVERRIDE_MIN_GROUND_SPEED   = 56,
+    LOGIC_CONDITION_ACOS                        = 57,
+    LOGIC_CONDITION_ASIN                        = 58,
+    LOGIC_CONDITION_ATAN2                       = 59,
     LOGIC_CONDITION_LAST
 } logicOperation_e;