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[pull] master from iNavFlight:master#22pull[bot] wants to merge 6592 commits intoemtrax-ltd:masterfrom
pull[bot] wants to merge 6592 commits intoemtrax-ltd:masterfrom
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The NEXUSX target was missing USE_MAG definition, which caused all magnetometer-related CLI settings to be unavailable. Users received "Invalid name" errors when attempting to configure align_mag_roll, align_mag_pitch, align_mag_yaw, and other compass settings. Changes: - Added USE_MAG to NEXUSX target.h - Configured MAG_I2C_BUS to use I2C3 (same bus as barometer) - Enables external magnetometer support for GPS navigation Hardware compatibility: - NEXUSX has I2C3 available (SCL: PA8, SDA: PC9) - Barometer already on I2C3 (SPL06) Testing: - Built NEXUSX target successfully - Verified settings present in binary via strings command - All compass settings now available in settings table: * align_mag_roll, align_mag_pitch, align_mag_yaw * mag_hardware, mag_declination * magzero_x/y/z, maggain_x/y/z * mag_calibration_time
updated link to Oscar Liang's guide
Update LedStrip.md
I2C3 is not physically accessible on NEXUSX hardware. Changed MAG_I2C_BUS from BUS_I2C3 to DEFAULT_I2C (BUS_I2C2). Added USE_MAG_ALL for auto-detection of magnetometer models.
The Puya PY25Q128HA is a W25Q128-compatible 128Mbit (16MB) SPI NOR flash chip. This PR adds detection support by including its JEDEC ID in the flash configuration table. Changes: - Added PY25Q128HA JEDEC ID (0x856018) to m25p16FlashConfig[] array - Updated Blackbox documentation with PY25Q128HA in supported chips list The chip uses the same SPI command set as other supported flash chips, so no driver modifications are required beyond adding the JEDEC ID for auto-detection during initialization.
Co-authored-by: qodo-code-review[bot] <151058649+qodo-code-review[bot]@users.noreply.github.com>
Co-authored-by: qodo-code-review[bot] <151058649+qodo-code-review[bot]@users.noreply.github.com>
Co-authored-by: qodo-code-review[bot] <151058649+qodo-code-review[bot]@users.noreply.github.com>
Add release creation guide
MSP2_INAV_SET_GVAR
…support Fix missing magnetometer support on NEXUSX target
Merge Maintenance 9.x to master
Returns 8-byte bitmask indicating which logic conditions differ from defaults. Enables configurator optimization to reduce MSP requests from 64 to 1+N.
…-enabled-mask Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command to make the OSD and programming tabs load much faster
Two bugs found by cppcheck static analysis: 1. fc/config.h:66 - Integer overflow in FEATURE_FW_AUTOTRIM - `1 << 31` could cause signed integer overflow (undefined behavior in C) - Fixed by using `1U << 31` for unsigned shift 2. sensors/temperature.c:101 - Buffer overrun in memset - sizeof(array) is already the size in bytes, so should not be multiplied by element size. - Fixed by using just `sizeof(sensorStatus)`
CRSF buffer overflow (rx/crsf.c): - fullFrameLength computed from untrusted frameLength field - Malformed packet with large frameLength could overflow crsfFrame.bytes[] - Added bounds check against CRSF_FRAME_SIZE_MAX before writing Dashboard sizeof bug (io/dashboard.c): - tickerCharacters was a pointer, so sizeof() returned pointer size (4/8) - On 64-bit systems, TICKER_CHARACTER_COUNT was 8 instead of 4 - Could read past end of string when indexing tickerCharacters[] - Changed to array declaration and sizeof()-1 for correct count 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
Small C nitpicks from static analysis
… error The --target flag was passing the inav commit SHA to gh release create in iNavFlight/pr-test-builds. That SHA does not exist in that repo so GitHub rejected it with HTTP 422 "Release.target_commitish is invalid". Remove --target so the release is anchored to the default branch (main) of pr-test-builds, which is the correct behaviour for a binary hosting repo. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…t-commitish CI: fix pr-test-builds release creation
Create per-pin AF lookup tables (bus_spi_stm32h7xx.h and bus_spi_stm32f7xx.h) and use them in bus_spi_hal_ll.c to automatically resolve the correct GPIO AF for each SPI pin. Previously, SPI3 on STM32H743 applied AF6 to all pins. On H743, AF6 on PB5 is SPI3_MISO - the MOSI function requires AF7. Targets routing SPI3_MOSI to PB5 (e.g. HAKRCH743 MAX7456 OSD) received no MOSI signal. Targets may still define SPI*_SCK/MISO/MOSI_AF in target.h to override the table.
Both bus_spi_stm32h7xx.h and bus_spi_stm32f7xx.h use CONCAT4 but relied on transitive includes from the including translation unit to provide it. Add an explicit include to make the dependency self-contained.
check_linker_flag() requires CMake 3.18. Use include(CheckLinkerFlag OPTIONAL) and if(COMMAND check_linker_flag) to probe for the module's availability rather than hardcoding a version number. On CMake < 3.18 the include silently does nothing, the guard skips the call, and LINKER_SUPPORTS_NO_RWX_WARNING is left unset — the flag is simply not added, which is safe because linkers old enough to ship with CMake < 3.18 do not produce the RWX warning anyway.
Add AGENT.md rules
Trackback flight controller lock up fix
Multicopter althold altitude adjustment manual climb rate fix
Multifunction add battery voltage warnings
Replace three uses of double-precision library functions with their float equivalents, eliminating software-emulated double math on the Cortex-M7 FPV5-SP-D16 (single-precision-only) FPU: - gps_ublox.c: atof() -> fastA2F() in gpsDecodeProtocolVersion(). atof() pulled in libc_nano strtod (28 KB of double-precision parsing machinery) to parse simple version strings like "18.00". fastA2F() is already in the codebase and covers this use case. - maths.c: exp/pow (double) -> expf/powf in gaussian(). The explicit (double) casts defeated the -fsingle-precision-constant flag. gaussian() is called from the IMU loop at up to 1000 Hz, so switching to hardware-accelerated single-precision also improves runtime performance. - vtx_smartaudio.c: pow(10.0, ...) -> powf(10.0f, ...) in saDbiToMw(). Combined with the maths.c change, removes all callers of double pow, dropping libm e_pow.o from the link entirely. Flash savings on MATEKF722 (STM32F722, 512 KB): text: -16,560 B data: -376 B total: -16,936 B (~16.5 KB)
Follow-up to the single-precision math change that saves ~17 KB of flash on STM32F722 targets: - maths.c: Replace powf(x, 2.0f) with explicit multiplies in gaussian(). Clearer intent and avoids any dependency on libm reducing integer-exponent powf to a multiply. - vtx_smartaudio.c: Add roundf() before uint16_t cast in saDbiToMw(). powf(10.0f, 1.0f) may return 9.999...f on some libm implementations, which would truncate to 9 mW instead of the correct 10 mW. roundf() closes the hazard at the cost of one FPU instruction.
Fix SPI GPIO alternate function assignment on STM32H7/F7
add HAKRCH743 target
…mands Comment 16 MSP commands as deprecated (for removal in INAV 10 or 11)
…isarm Fix servo throttle mix outputting wrong position when disarmed
Fix SD card busy-wait loops that can lock up flight controller
Fix USB VCP lockup on disconnect (issue #11348)
…iles Rename profile commands to control_profile
Fix hard faults when handling large MSP responses over CRSF
Add Loiter to LED control on mode flight
…r-flag cmake/sitl: use CheckLinkerFlag instead of GCC version check for --no-warn-rwx-segments
Position estimator corrections improvement and estimated velocity filtering
…-math Use single-precision math to save ~17 KB of flash on F722 targets
Master to maintenance-9
Bugfix: SDIO capacity shows incorrectly on F4 devices
Brahma H7 Support
Maintenance 9.x to master
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