Merge pull request #11382 from iNavFlight/maintenance-9.x

Maintenance 9.x to master

Author: sensei-hacker

.github/scripts/check-pg-versions.sh

@@ -59,8 +59,8 @@ check_file_for_pg_changes() {
     local file=$1
     local diff_output=$(git diff $BASE_COMMIT..$HEAD_COMMIT -- "$file")
 
-    # Check if file contains PG_REGISTER (in either old or new version)
-    if ! echo "$diff_output" | grep -q "PG_REGISTER"; then
+    # Check if file contains PG_REGISTER in current version
+    if ! git show $HEAD_COMMIT:"$file" 2>/dev/null | grep -q "PG_REGISTER"; then
         return 0
     fi
 
@@ -93,53 +93,75 @@ check_file_for_pg_changes() {
 
             echo "    📋 Found: $struct_type (version $version)"
 
-            # Check if this struct's typedef was modified
+            # Check if this struct's typedef was modified in ANY changed file
             local struct_pattern="typedef struct ${struct_type%_t}_s"
-            # Isolate struct body from diff, remove comments and empty lines, then check for remaining changes
-            local struct_body_diff=$(echo "$diff_output" | sed -n "/${struct_pattern}/,/\}.*${struct_type};/p")
+            local struct_body_diff=""
+            local struct_found_in=""
+
+            # Search all changed files for this struct definition
+            while IFS= read -r changed_file; do
+                [ -z "$changed_file" ] && continue
+
+                local file_diff=$(git diff $BASE_COMMIT..$HEAD_COMMIT -- "$changed_file")
+                local struct_in_file=$(echo "$file_diff" | sed -n "/${struct_pattern}/,/\}.*${struct_type};/p")
+
+                if [ -n "$struct_in_file" ]; then
+                    struct_body_diff="$struct_in_file"
+                    struct_found_in="$changed_file"
+                    echo "    🔍 Found struct definition in $changed_file"
+                    break
+                fi
+            done <<< "$CHANGED_FILES"
+
             local struct_changes=$(echo "$struct_body_diff" | grep -E "^[-+]" \
                 | grep -v -E "^[-+]\s*(typedef struct|}|//|\*)" \
                 | sed -E 's://.*$::' \
                 | sed -E 's:/\*.*\*/::' \
                 | tr -d '[:space:]')
 
             if [ -n "$struct_changes" ]; then
-                echo "    ⚠️  Struct definition modified"
+                echo "    ⚠️  Struct definition modified in $struct_found_in"
 
-                # Check if version was incremented in this diff
+                # Check if version was incremented in PG_REGISTER
                 local old_version=$(echo "$diff_output" | grep "^-.*PG_REGISTER.*$struct_type" | grep -oP ',\s*\K\d+(?=\s*\))' || echo "")
                 local new_version=$(echo "$diff_output" | grep "^+.*PG_REGISTER.*$struct_type" | grep -oP ',\s*\K\d+(?=\s*\))' || echo "")
 
+                # Find line number of PG_REGISTER for error reporting
+                local line_num=$(git show $HEAD_COMMIT:"$file" | grep -n "PG_REGISTER.*$struct_type" | cut -d: -f1 | head -1)
+
                 if [ -n "$old_version" ] && [ -n "$new_version" ]; then
+                    # PG_REGISTER was modified - check if version increased
                     if [ "$new_version" -le "$old_version" ]; then
                         echo "    ❌ Version NOT incremented ($old_version → $new_version)"
-
-                        # Find line number of PG_REGISTER
-                        local line_num=$(git show $HEAD_COMMIT:"$file" | grep -n "PG_REGISTER.*$struct_type" | cut -d: -f1 | head -1)
-
-                        # Add to issues list
                         cat >> $ISSUES_FILE << EOF
 ### \`$struct_type\` ($file:$line_num)
-- **Struct modified:** Field changes detected
+- **Struct modified:** Field changes detected in $struct_found_in
 - **Version status:** ❌ Not incremented (version $version)
-- **Recommendation:** Review changes and increment version if needed
+- **Recommendation:** Increment version from $old_version to $(($old_version + 1))
 
 EOF
                     else
                         echo "    ✅ Version incremented ($old_version → $new_version)"
                     fi
-                elif [ -z "$old_version" ] || [ -z "$new_version" ]; then
-                    # Couldn't determine version change, but struct was modified
-                    echo "    ⚠️  Could not determine if version was incremented"
-
-                    local line_num=$(git show $HEAD_COMMIT:"$file" | grep -n "PG_REGISTER.*$struct_type" | cut -d: -f1 | head -1)
+                elif [ -z "$old_version" ] && [ -z "$new_version" ]; then
+                    # PG_REGISTER wasn't modified but struct was - THIS IS THE BUG!
+                    echo "    ❌ PG_REGISTER not modified, version still $version"
+                    cat >> $ISSUES_FILE << EOF
+### \`$struct_type\` ($file:$line_num)
+- **Struct modified:** Field changes detected in $struct_found_in
+- **Version status:** ❌ Not incremented (still version $version)
+- **Recommendation:** Increment version to $(($version + 1)) in $file
 
+EOF
+                else
+                    # One exists but not the other - unusual edge case
+                    echo "    ⚠️  Unusual version change pattern detected"
                     cat >> $ISSUES_FILE << EOF
 ### \`$struct_type\` ($file:$line_num)
-- **Struct modified:** Field changes detected
-- **Version status:** ⚠️  Unable to verify version increment
+- **Struct modified:** Field changes detected in $struct_found_in
+- **Version status:** ⚠️ Unusual change pattern (old: ${old_version:-none}, new: ${new_version:-none})
 - **Current version:** $version
-- **Recommendation:** Verify version was incremented if struct layout changed
+- **Recommendation:** Manually verify version increment
 
 EOF
                 fi
@@ -150,11 +172,46 @@ EOF
     done <<< "$pg_registers"
 }
 
-# Check each changed file
+# Build list of files to check (changed files + companions with PG_REGISTER)
+echo "🔍 Building file list including companions with PG_REGISTER..."
+FILES_TO_CHECK=""
+ALREADY_ADDED=""
+
 while IFS= read -r file; do
-    check_file_for_pg_changes "$file"
+    [ -z "$file" ] && continue
+
+    # Add this file to check list
+    if ! echo "$ALREADY_ADDED" | grep -qw "$file"; then
+        FILES_TO_CHECK="$FILES_TO_CHECK$file"$'\n'
+        ALREADY_ADDED="$ALREADY_ADDED $file"
+    fi
+
+    # Determine companion file (.c <-> .h)
+    local companion=""
+    if [[ "$file" == *.c ]]; then
+        companion="${file%.c}.h"
+    elif [[ "$file" == *.h ]]; then
+        companion="${file%.h}.c"
+    fi
+
+    # If companion exists and contains PG_REGISTER, add it to check list
+    if [ -n "$companion" ]; then
+        if git show $HEAD_COMMIT:"$companion" 2>/dev/null | grep -q "PG_REGISTER"; then
+            if ! echo "$ALREADY_ADDED" | grep -qw "$companion"; then
+                echo "  📎 Adding $companion (companion of $file with PG_REGISTER)"
+                FILES_TO_CHECK="$FILES_TO_CHECK$companion"$'\n'
+                ALREADY_ADDED="$ALREADY_ADDED $companion"
+            fi
+        fi
+    fi
 done <<< "$CHANGED_FILES"
 
+# Check each file (including companions)
+while IFS= read -r file; do
+    [ -z "$file" ] && continue
+    check_file_for_pg_changes "$file"
+done <<< "$FILES_TO_CHECK"
+
 # Check if any issues were found
 if [ -s $ISSUES_FILE ]; then
     echo ""

.github/workflows/ci.yml

@@ -107,6 +107,16 @@ jobs:
         with:
           name: targets
           path: targets.txt
+      - name: Save PR number
+        if: github.event_name == 'pull_request'
+        run: echo "${{ github.event.pull_request.number }}" > pr_number.txt
+      - name: Upload PR number
+        if: github.event_name == 'pull_request'
+        uses: actions/upload-artifact@v4
+        with:
+          name: pr-number
+          path: pr_number.txt
+          retention-days: 1
 
   build-SITL-Linux-arm64:
     runs-on: ubuntu-22.04-arm

.github/workflows/pr-test-builds.yml

@@ -0,0 +1,154 @@
+name: PR Test Builds
+
+# Runs after "Build firmware" completes. Uses workflow_run (rather than
+# pull_request directly) so that secrets are available even for PRs from forks.
+#
+# Requires a repository secret PR_BUILDS_TOKEN with Contents: write access
+# to iNavFlight/pr-test-builds (fine-grained PAT or classic PAT with repo scope).
+on:
+  workflow_run:
+    workflows: ["Build firmware"]
+    types: [completed]
+
+jobs:
+  publish:
+    runs-on: ubuntu-latest
+    # Only act on pull_request-triggered runs that succeeded.
+    if: >
+      github.event.workflow_run.event == 'pull_request' &&
+      github.event.workflow_run.conclusion == 'success'
+    # Prevent concurrent runs for the same PR branch racing on the
+    # release delete/create cycle.
+    concurrency:
+      group: pr-test-build-${{ github.event.workflow_run.head_repository.full_name }}-${{ github.event.workflow_run.head_branch }}
+      cancel-in-progress: true
+    permissions:
+      actions: read          # to download artifacts from the triggering workflow run
+      issues: write          # github.rest.issues.* endpoints used to post PR comments
+      pull-requests: write   # to post the PR comment
+
+    steps:
+      - name: Download PR number
+        uses: actions/download-artifact@v4
+        with:
+          name: pr-number
+          run-id: ${{ github.event.workflow_run.id }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Read PR number
+        id: pr
+        run: |
+          PR_NUM=$(tr -dc '0-9' < pr_number.txt)
+          if [ -z "$PR_NUM" ]; then
+            echo "::error::Invalid PR number in artifact"
+            exit 1
+          fi
+          echo "number=${PR_NUM}" >> $GITHUB_OUTPUT
+
+      - name: Download firmware artifacts
+        uses: actions/download-artifact@v4
+        with:
+          pattern: matrix-inav-*
+          merge-multiple: true
+          path: hexes
+          run-id: ${{ github.event.workflow_run.id }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Get build info
+        id: info
+        run: |
+          COUNT=$(find hexes -name '*.hex' -type f | wc -l)
+          if [ "$COUNT" -eq 0 ]; then
+            echo "::error::No .hex files found in downloaded artifacts"
+            exit 1
+          fi
+          echo "count=${COUNT}" >> $GITHUB_OUTPUT
+          echo "short_sha=$(echo '${{ github.event.workflow_run.head_sha }}' | cut -c1-7)" >> $GITHUB_OUTPUT
+
+      # Delete the previous release for this PR (if any) so assets are replaced
+      # cleanly on each new commit. --cleanup-tag removes the old tag so it is
+      # recreated fresh pointing to the new commit.
+      - name: Delete existing PR release
+        env:
+          GH_TOKEN: ${{ secrets.PR_BUILDS_TOKEN }}
+        run: |
+          gh release delete "pr-${{ steps.pr.outputs.number }}" \
+            --repo iNavFlight/pr-test-builds --cleanup-tag --yes 2>/dev/null || true
+
+      - name: Create PR release
+        env:
+          GH_TOKEN: ${{ secrets.PR_BUILDS_TOKEN }}
+        run: |
+          PR_NUMBER="${{ steps.pr.outputs.number }}"
+          SHORT_SHA="${{ steps.info.outputs.short_sha }}"
+          COUNT="${{ steps.info.outputs.count }}"
+          PR_URL="https://github.com/${{ github.repository }}/pull/${PR_NUMBER}"
+
+          NOTES="Test build for [PR #${PR_NUMBER}](${PR_URL}) — commit \`${SHORT_SHA}\`
+
+**${COUNT} targets built.** Find your board's \`.hex\` file by name (e.g. \`MATEKF405SE.hex\`).
+
+> Development build for testing only. Use Full Chip Erase when flashing."
+
+          cd hexes
+          gh release create "pr-${PR_NUMBER}" *.hex \
+            --repo iNavFlight/pr-test-builds \
+            --prerelease \
+            --target "${{ github.event.workflow_run.head_sha }}" \
+            --title "PR #${PR_NUMBER} (${SHORT_SHA})" \
+            --notes "${NOTES}"
+
+      - name: Post or update PR comment
+        uses: actions/github-script@v7
+        env:
+          PR_NUMBER: ${{ steps.pr.outputs.number }}
+          SHORT_SHA: ${{ steps.info.outputs.short_sha }}
+          HEX_COUNT: ${{ steps.info.outputs.count }}
+        with:
+          script: |
+            const prNumber = parseInt(process.env.PR_NUMBER, 10);
+            if (isNaN(prNumber)) throw new Error(`Invalid PR number: ${process.env.PR_NUMBER}`);
+            const shortSha  = process.env.SHORT_SHA;
+            const count     = process.env.HEX_COUNT;
+            const releaseUrl = `https://github.com/iNavFlight/pr-test-builds/releases/tag/pr-${prNumber}`;
+
+            const body = [
+              '<!-- pr-test-build -->',
+              '**Test firmware build ready** — commit `' + shortSha + '`',
+              '',
+              `[Download firmware for PR #${prNumber}](${releaseUrl})`,
+              '',
+              `${count} targets built. Find your board's \`.hex\` file by name on that page ` +
+              '(e.g. `MATEKF405SE.hex`). Files are individually downloadable — no GitHub login required.',
+              '',
+              '> Development build for testing only. Use Full Chip Erase when flashing.',
+            ].join('\n');
+
+            const comments = await github.paginate(
+              github.rest.issues.listComments,
+              {
+                owner: context.repo.owner,
+                repo:  context.repo.repo,
+                issue_number: prNumber,
+              }
+            );
+
+            const existing = comments.find(c =>
+              c.user.type === 'Bot' && c.body.includes('<!-- pr-test-build -->')
+            );
+
+            if (existing) {
+              await github.rest.issues.updateComment({
+                owner:      context.repo.owner,
+                repo:       context.repo.repo,
+                comment_id: existing.id,
+                body,
+              });
+            } else {
+              await github.rest.issues.createComment({
+                owner:        context.repo.owner,
+                repo:         context.repo.repo,
+                issue_number: prNumber,
+                body,
+              });
+            }

.gitignore

@@ -46,3 +46,7 @@ launch.json
 # Assitnow token and files for test script
 tokens.yaml
 *.ubx
+
+# Local development files
+.semgrepignore
+build_sitl/

CMakeLists.txt

@@ -52,7 +52,7 @@ else()
 endif()
 
 
-project(INAV VERSION 9.0.0)
+project(INAV VERSION 9.0.1)
 
 
 enable_language(ASM)

cmake/pg_struct_sizes.reference.db

@@ -0,0 +1,49 @@
+adcChannelConfig_t               4 0
+armingConfig_t                   6 3
+barometerConfig_t                8 5
+batteryMetersConfig_t           24 2
+beeperConfig_t                  12 2
+blackboxConfig_t                16 4
+compassConfig_t                 24 6
+displayConfig_t                  1 0
+djiOsdConfig_t                   6 3
+escSensorConfig_t                4 1
+ezTuneSettings_t                12 1
+failsafeConfig_t                22 3
+featureConfig_t                  4 0
+generalSettings_t                1 0
+geozone_config_t                20 0
+gimbalConfig_t                  10 1
+gimbalSerialConfig_t             1 0
+gpsConfig_t                     11 5
+gyroConfig_t                    64 12
+headTrackerConfig_t             16 1
+imuConfig_t                     16 2
+ledPinConfig_t                   1 0
+logConfig_t                      8 0
+modeActivationOperatorConfig_t   1 0
+motorConfig_t                   10 11
+navConfig_t                    156 7
+navFwAutolandConfig_t           16 0
+opticalFlowConfig_t              8 2
+osdCommonConfig_t                1 0
+osdConfig_t                    160 15
+osdJoystickConfig_t              6 0
+pidAutotuneConfig_t             10 2
+pidProfile_t                   292 11
+pitotmeterConfig_t               8 2
+positionEstimationConfig_t      72 8
+powerLimitsConfig_t              8 1
+rangefinderConfig_t              2 3
+rcControlsConfig_t              10 4
+reversibleMotorsConfig_t         6 0
+rpmFilterConfig_t               10 1
+rxConfig_t                      36 13
+servoConfig_t                   12 3
+smartportMasterConfig_t          2 0
+statsConfig_t                   20 2
+systemConfig_t                  40 7
+telemetryConfig_t               58 8
+timeConfig_t                     4 1
+vtxConfig_t                     55 4
+vtxSettingsConfig_t             12 2