[pull] master from iNavFlight:master

.dir-locals.el

@@ -0,0 +1,5 @@
+;;; Directory Local Variables            -*- no-byte-compile: t -*-
+;;; For more information see (info "(emacs) Directory Variables")
+
+((nil . ((c-basic-offset . 4)
+	 (c-default-style . "k&r"))))

.gitattributes

@@ -10,4 +10,4 @@
 Makefile text
 *.bat eol=crlf
 *.txt text
-*.sh text
+*.sh text eol=lf

.github/ISSUE_TEMPLATE/Bug_report.md

@@ -9,9 +9,9 @@ assignees: ''
 
 **PLEASE MAKE SURE YOU READ AND UNDERSTAND THE SOCIAL MEDIA SUPPORT CHANNELS. QUESTIONS ABOUT FLASHING, CONFIGURING, PILOTING MAY BE CLOSED WITHOUT FURTHER INTERACTION.**
 
-* [Telegram channel](https://t.me/INAVFlight)
-* [Facebook group](https://www.facebook.com/groups/INAVOfficial)
-* [RC Groups thread](https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-%28navigation-rewrite%29-project)
+* [INAV Discord Server](https://discord.gg/peg2hhbYwN)
+* [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
+* [INAV Official on Telegram](https://t.me/INAVFlight)
 
 **Please double-check that nobody reported the issue before by using search in this bug tracker.**
 

.github/PULL_REQUEST_TEMPLATE/new_target_pull_request.md

@@ -0,0 +1,38 @@
+This pull requests adds support for ``$TARGET_NAME``
+
+ * [ ] Target complies with ``docs/policies/NEW_HARDWARE_POLICY.md``
+
+The following items have been checked and confirmed working by an INAV developer on actual hardware: (feel free to remove non-relevant items)
+
+ * [ ] Samples received
+ * [ ] Flash firmware
+ * [ ] Calibrate
+ * [ ] Orientation matches
+ * [ ] Gyro working
+ * [ ] Accel working
+ * [ ] Voltage correct
+ * [ ] Current correct
+ * [ ] Baro working
+ * [ ] Mag I2C Bus
+ * [ ] Additional I2C2 Buses (Airspeed/other accessories)
+ * [ ] UART1
+ * [ ] UART2
+ * [ ] UART3
+ * [ ] UART4
+ * [ ] UART5
+ * [ ] UART6
+ * [ ] UART7
+ * [ ] UART8
+ * [ ] Analog Camera working
+ * [ ] Video Out working
+ * [ ] OSD working
+ * [ ] LEDs working
+ * [ ] Buzzer working
+ * [ ] Motor outputs
+ * [ ] DShot support on m1-4
+ * [ ] Servo outputs
+ * [ ] Blackbox
+ * [ ] PINIO1
+ * [ ] PINIO2
+ * [ ] PINIO3
+ * [ ] PINIO4

.github/workflows/ci.yml

@@ -2,20 +2,43 @@ name: Build firmware
 # Don't enable CI on push, just on PR. If you
 # are working on the main repo and want to trigger
 # a CI build submit a draft PR.
-on: pull_request
+on: 
+  push:
+    branches:
+      - '!maintenance-8.x.x'
+  pull_request:
+    paths:
+      - 'src/**'
+      - '.github/**'
+      - 'cmake/**'
+      - 'lib/**'
+      - 'docs/Settings.md'
+      - 'CMakeLists.txt'
+      - '*.sh'
+
+  workflow_call:
+    #inputs:
+    #  release_build:
+    #   description: 'Specifies if it is a build that should include commit hash in hex file names or not'
+    #   default: false
+    #   required: false
+    #   type: boolean
+
 
 jobs:
   build:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-latest
     strategy:
         matrix:
-          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get -y install ninja-build
       - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
         run: |
           # This is the hash of the commit for the PR
           # when the action is triggered by PR, empty otherwise
@@ -26,26 +49,224 @@ jobs:
           # why we try github.event.pull_request.head.sha first
           COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
           BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - uses: actions/cache@v1
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - uses: actions/cache@v4
         with:
           path: downloads
           key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
       - name: Build targets (${{ matrix.id }})
-        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -G Ninja .. && ninja ci
+        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j${{ env.NUM_CORES }} ci
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2-preview
+        uses: actions/upload-artifact@v4
         with:
-          name: ${{ env.BUILD_NAME }}.zip
+          name: matrix-${{ env.BUILD_NAME }}.${{ matrix.id }}
           path: ./build/*.hex
+          retention-days: 1
 
-  test:
+  upload-artifacts:
+    runs-on: ubuntu-latest
     needs: [build]
-    runs-on: ubuntu-18.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - name: Download artifacts
+        uses: actions/download-artifact@v4
+        with:
+          pattern: matrix-inav-*
+          merge-multiple: true
+          path: binaries
+      - name: Build target list
+        run: |
+          ls -1 binaries/*.hex | cut -d/ -f2 > targets.txt
+      - name: Upload firmware images
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.BUILD_NAME }}
+          path: binaries/*.hex
+      - name: Upload firmware images
+        uses: actions/upload-artifact@v4
+        with:
+          name: targets
+          path: targets.txt
+
+  build-SITL-Linux-arm64:
+    runs-on: ubuntu-22.04-arm
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }}
+      - name: Strip version number
+        run: |
+          for f in build_SITL/*_SITL; do
+            mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
+          done
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-Linux-aarch64
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Linux:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }}
+      - name: Strip version number
+        run: |
+          for f in build_SITL/*_SITL; do
+            mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
+          done
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-Linux
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Mac:
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: |
+          brew install cmake ninja ruby
+
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - name: Build SITL
+        run: |
+          mkdir -p build_SITL && cd build_SITL
+          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja ..
+          ninja -j4
+      - name: Strip version number
+        run: |
+          for f in build_SITL/*_SITL; do
+            mv -v $f $(echo $f | sed -Ee 's/_[0-9]+\.[0-9]+\.[0-9]+//')
+          done
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-MacOS
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Windows:
+    runs-on: windows-latest
+    defaults:
+      run:
+        shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
+    steps:
+      - uses: actions/checkout@v4
+      - name: Setup Cygwin
+        uses: egor-tensin/setup-cygwin@v4
+        with:
+          packages: cmake ruby ninja gcc-g++
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$( grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }' )
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4
+      - name: Strip version number
+        run: |
+          for f in ./build_SITL/*_SITL.exe; do
+            mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
+          done
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-WIN
+          path: ./build_SITL/*.exe
+
+  test:
+    #needs: [build]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get -y install ninja-build
       - name: Run Tests

.github/workflows/docs.yml

@@ -11,10 +11,10 @@ on:
 
 jobs:
   settings_md:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get -y install python3-yaml
       - name: Check that Settings.md is up to date