Release/9.1 to master#11622
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Add documentation about using CMAKE_BUILD_TYPE=Release to save disk space
when building firmware for production/CI/releases.
Key points:
- Default RelWithDebInfo mode uses ~109 GB for all targets
- Release mode uses ~4-6 GB (96% reduction)
- Debug symbols are stripped from final .hex files anyway
- Final binaries are identical in both modes
Updated files:
- docs/development/Building in Linux.md
- Add brief note about debug symbols in single target section
- Add new "Building All Targets or Release Builds" section with
disk usage comparison and Release mode instructions
- docs/development/release-create.md
- Add "Building Firmware Locally" section with Release mode
instructions and disk usage information
Also fixes typo: "Bulding" -> "Building"
Both osdGetSystemMessage() and osdGetMultiFunctionMessage() accumulate
message pointers into a fixed-size array with no bounds checking. With
recent additions (geozone avoidance, pitot validation, etc.) the number
of potential writes exceeds the array size, causing stack corruption.
Introduce a scoped ADD_MSG() macro that guards each write:
#define ADD_MSG(msg) if (messageCount < ARRAYLEN(messages)) \
messages[messageCount++] = (msg)
Excess messages are silently dropped rather than written past the end
of the array. The macro is #undef'd at the end of each function.
Fixes: #10048 (Yury-MonZon)
ANYFC, CLRACINGF4AIR (V1/V2/V3), FF_F35_LIGHTNING, WINGFC, FLYINGRCF4WINGMINI_NOT_RECOMMENDED, AIRBOTF7, and OMNIBUSF7NANOV7 all lack USE_FLASHFS/USE_SDCARD in their target config. Building _bl/_for_bl/_with_bl variants for these targets produces binaries that define MSP_FIRMWARE_UPDATE but have no storage backend, making OTA firmware update silently non-functional. Add NO_BOOTLOADER to cmake/stm32.cmake (following the DISABLE_MSC pattern) and set it on each affected target. This suppresses the broken bootloader build variants while leaving open the possibility of adding proper storage support to these targets in the future. Note: bootloader variants are not built by CI (they are not added to VALID_TARGETS), so this bug was never caught by automated builds. Fixes: #11521
- MSP_SIMULATOR v2/v3 protocol: refactor into readMspSimulatorValues() and mspProcessSimulatorCommand(); v3 uses 2-byte flags field - New HITL flags: HITL_RANGEFINDER, HITL_CURRENT_SENSOR, HITL_SIM_RC_INPUT, HITL_FAILSAFE_TRIGGERED, HITL_SITL_MODE - Fix GPS velocity: exclude HITL mode from validVelNE path (same as SITL) - battery.c: inject simulated current when HITL_CURRENT_SENSOR active - displayport_msp_osd.c: enable OSD vtxActive in SITL mode - runtime_config: add SIMULATOR_MSP_VERSION_3 and new HITL flag bits - common.h: promote RX_SIM and RANGEFINDER_FAKE out of SITL-only target.h - xplane.h: add stdbool.h include and simXPlaneClose() declaration - xplane.c: INAV-XITL plugin with DataRef state machine; add atomic thread safety and simXPlaneClose() from maintenance-9.x
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
STM32H743 based FC with dual ICM42688P gyros on SPI1/SPI4, MAX7456 OSD on SPI2, M25P16 flash on SPI3, BMP280/DPS310 baro on I2C1, 8 motors (TIM1x4, TIM8x2, TIM3x2), 8 UARTs, and PINIO for VTX and camera switching.
Corrected the spelling of 'Bulding' to 'Building' in the documentation.
Sensei hacker patch 8
Under INTERPROCEDURAL_OPTIMIZATION, the compiler inlines settingGet and settingGetIndex with divergent static settingsTable base addresses, causing MSPV2_SETTING to return wrong data for some settings while MSP2_COMMON_SETTING_INFO (name lookup) is correct.
OSD flight efficiency formatting fix
- Improve comment accuracy: describe observed behavior rather than the inferred mechanism; note why raw attribute is used instead of NOINLINE macro (NOINLINE is empty on non-F7/H7 targets but bug affects all LTO release builds) - Add noinline to settingGetPgn which has identical pointer arithmetic against settingsTable and is called from settingGetValuePointer - Add brief comments above settingGetIndex and settingGetPgn pointing back to the main explanation on settingGet
…tting-index fix: prevent LTO from breaking settingGet/settingGetIndex round-trip
PC-port pins on STM32H743 require ADC3. PC1 (VBat, ADC123_INP11) and PC2 (Current, ADC3_INP0) both work on ADC3; ADC1 init silently fails for these pins. Same fix applied to MAMBAH743, FOXEERH743.
…rage fix: disable bootloader variants for targets without storage backend
- Add USE_I2C_DEVICE_2 (PB10/PB11) for external magnetometer - Route MAG_I2C_BUS to BUS_I2C2 to match board layout - Fix VBAT_SCALE_DEFAULT (was Betaflight value, not INAV scale) Both ADC and magnetometer verified working on hardware.
New target: SPEDIXH743
HITL/SITL X-Plane improvements (merge of #11253)
Removed redundant phrases and clarified manufacturer information.
# Conflicts: # src/main/io/osd.c
[FIX] Prevent stack smashing via unbounded OSD message array writes
…dcoded constant The configurable CLI setting added in #11215 was based on a default of 2 with no empirical basis. Blackbox analysis of real flight data shows i-term rates of 4–9 units/s (median) and up to 30 units/s (90th percentile) during settled cruise flight. A hardcoded constant of 30 gives reasonable protection against turbulence-driven i-term spikes without exposing a tuning knob that pilots cannot meaningfully calibrate.
…m-rate-limit-setting FW autotrim: replace servo_autotrim_iterm_rate_limit setting with hardcoded constant
Bump firmware version to 9.1.0
pinioBoxConfig_t was missing from the reference database despite SPEEDYBEEF745AIO having USE_PINIOBOX defined. The struct is uint8_t permanentId[PINIO_COUNT] (4 bytes), PG version 1.
…nioBoxConfig_t Add pinioBoxConfig_t to PG struct sizes reference database
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- Add version string format section: lowercase rc + hyphen required by Configurator firmware flasher regex (uppercase RC causes firmware to be invisible in flasher after upload) - Fix rename script: use hyphen separator in output filename to match the required inav_<version>-rc<n>_<TARGET>.hex pattern - Replace directory-flattening find command with platform-organized mkdir/mv; flattening caused a Windows .exe inside macOS DMG in 9.0.0 - Add PR branch verification step in changelog section: gh pr list shows PRs by date regardless of target branch, so PRs on maintenance-10.x can appear falsely - Update gh release create examples: add --prerelease for RC releases, use --target <sha> for atomic tagging at a specific commit - Add post-publish verification: confirm firmware appears in Configurator Firmware Flasher before publishing the Configurator release
Commit 58dc107 re-added SERVO_AUTOTRIM_FILTER_CUTOFF and related constants to servos.c as local #defines, but they were already moved to servos.h by a prior refactor (dcc404e). The duplicate caused a build error: the .c definition used integer 1 while the header has 1.0f, triggering -Werror,-Wmacro-redefined on all targets. Remove the redundant block from servos.c and add the one genuinely new constant (SERVO_AUTOTRIM_ITERM_RATE_LIMIT) to servos.h alongside the existing autotrim constants.
…dcoded constant The configurable CLI setting added in #11215 was based on a default of 2 with no empirical basis. Blackbox analysis of real flight data shows i-term rates of 4–9 units/s (median) and up to 30 units/s (90th percentile) during settled cruise flight. A hardcoded constant of 30 gives reasonable protection against turbulence-driven i-term spikes without exposing a tuning knob that pilots cannot meaningfully calibrate.
9.1 catch up
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