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Refactor the inverted-flight maneuver out of HeliQuadInvertedFlight into a shared fly_inverted_flight() helper, and add a generic InvertedFlight test that attempts inverted flight on each heli frame and asserts the set that succeeds matches an expected-pass list: a frame that flies inverted but is not expected to, or an expected frame that does not, fails the test. heli-quad has its own dedicated test. The frames need a more negative collective range to hold inverted, so the test sets H_COL_MIN, H_COL_ANG_MIN and the IM_STB_COL_* points for the duration of the test. Heading is not checked for the traditional frames: a single tail rotor re-trims when inverted and drifts slowly, which is orthogonal to whether the frame can hold inverted altitude (the property under test). The quad keeps its strict heading and per-rotor negative-collective checks. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
After the rename of the FMUv3 hardware definitions to .inc, add a thin hwdef.dat for each board which simply includes its .inc. This keeps the fmuv3 and fmuv3-bdshot build targets working and lets other boards share the .inc without the board-level hwdef.dat. No functional change.
fmuv3-bdshot.inc was a complete sideways copy of the fmuv3 definition that had to be kept in sync by hand. It now includes fmuv3.inc and overrides only what differs for bi-directional dshot: PWM2/PWM3 gain BIDIR, PWM5/PWM6 gain NODMA, SPI4 and its devices are removed to free up DMA streams, and the DMA priorities are set accordingly. The standalone copy lacked the Solo-specific, 1M-flash-check and external IST8310 probing defines that fmuv3 carries, so those are undef'd to keep behaviour identical. The generated hwdef.h for fmuv3-bdshot, Pixhawk1-bdshot and Pixhawk1-1M-bdshot is byte-for-byte unchanged.
fmuv3.inc no longer enables HAL_HAVE_IMU_HEATER (and fmuv3-bdshot.inc, which now includes it, inherits that). Boards based on FMUv3 declare the IMU heater explicitly, so whether a board has a heater is recorded on the board itself rather than inherited. The fmuv3 / fmuv3-bdshot reference targets keep the heater in their own hwdef.dat. Boards which enable the heater but set no HAL_IMU_TEMP_DEFAULT (and do not set BRD_HEAT_TARG in defaults.parm) carry a comment querying whether they really have a heater. No functional change.
These boards are based on FMUv3 but, unlike the Pixhawk2/Cube, do not have an IMU heater. Now that the heater is enabled per-board rather than inherited from fmuv3, these boards simply do not enable it.
The nullptr guard is in the calling function already. All if-else end up using identical values, so it does nothing.
Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
CORVON 743V2 is a 10-motor / 2-servo flight controller based on the STM32H743VIH6. ICM-42688P and BMI088 IMUs on SPI3, BMP581 baro and IST8310 compass on the internal I2C2 bus, dual analog battery monitor, analog airspeed and RSSI, 8 UARTs, FDCAN1 and microSD logging.
Promote the parameter-system subtests into their own top-level tests: ParameterDocumentation, ParametersMIS_TOTAL and ParametersDownload. This makes them individually selectable and reportable. No behaviour change beyond the split; the per-vehicle balancebot skip is preserved on each new test. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The test sampled MIS_TOTAL, attempted a (correctly rejected) GCS set, then asserted the value was unchanged. But MIS_TOTAL changes legitimately from 0 to 1 the moment the EKF establishes home: AP_AHRS::set_home() calls AP_Mission::write_home_to_storage(), which sets _cmd_total to 1. When that home-set landed between the two reads the test failed intermittently with "Total has changed". Disable the simulated GPS and reboot before the checks so home is never established during the test, keeping MIS_TOTAL stable. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Add a PR comment step to global-summary that posts the size table and updates it in place on re-runs using a HTML marker. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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