Merge branch 'iNavFlight:master' into zdwarpf7

.github/workflows/ci.yml

@@ -106,7 +106,7 @@ jobs:
           path: targets.txt
 
   build-SITL-Linux-arm64:
-    runs-on: ubuntu-24.04-arm
+    runs-on: ubuntu-22.04-arm
     steps:
       - uses: actions/checkout@v4
       - name: Install dependencies
@@ -130,6 +130,11 @@ jobs:
           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 $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
+          done
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
         with:
@@ -161,6 +166,11 @@ jobs:
           echo "NUM_CORES=$(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:
@@ -197,7 +207,11 @@ jobs:
           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:
@@ -234,13 +248,17 @@ jobs:
           
       - 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

.github/workflows/nightly-build.yml

@@ -44,13 +44,13 @@ jobs:
         uses: actions/download-artifact@v4
         with:
           path: resources/sitl/linux
-          pattern: inav-*SITIL-Linux
+          pattern: inav-*SITL-Linux
           merge-multiple: true
       - name: download sitl linux aarch64
         uses: actions/download-artifact@v4
         with:
           path: resources/sitl/linux/arm64
-          pattern: inav-*SITIL-Linux-aarch64
+          pattern: inav-*SITL-Linux-aarch64
           merge-multiple: true
       - name: download sitl windows
         uses: actions/download-artifact@v4

CMakeLists.txt

@@ -51,7 +51,7 @@ else()
     endif()
 endif()
 
-project(INAV VERSION 8.0.0)
+project(INAV VERSION 9.0.0)
 
 enable_language(ASM)
 

readme.md

@@ -1,18 +1,10 @@
-# INAV 8.0 feature freeze
-
-It is that time of the year again, and the time for a new INAV release is near!
-
-The current plan is to have a feature freeze on **15th of November 2024**.
-
-For a preview of what is comming, have a look at ![milestone 8.0](https://github.com/iNavFlight/inav/milestone/43).
-
 # INAV - navigation capable flight controller
 
 # F411 PSA
 
 > INAV no longer accepts targets based on STM32 F411 MCU.
 
-> INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.
+> INAV 7 was the last INAV official release available for F411 based flight controllers. INAV 8 is not officially available for F411 boards.
 
 # ICM426xx IMUs PSA
 

src/main/fc/cli.c

@@ -2803,11 +2803,11 @@ static void osdCustom(char *cmdline){
         int32_t i = args[INDEX];
         if (
                 i >= 0 && i < MAX_CUSTOM_ELEMENTS &&
-                args[PART0_TYPE] >= 0 && args[PART0_TYPE] <= 26 &&
+                args[PART0_TYPE] >= 0 && args[PART0_TYPE] < CUSTOM_ELEMENT_TYPE_END &&
                 args[PART0_VALUE] >= 0 && args[PART0_VALUE] <= UINT8_MAX &&
-                args[PART1_TYPE] >= 0 && args[PART1_TYPE] <= 26 &&
+                args[PART1_TYPE] >= 0 && args[PART1_TYPE] < CUSTOM_ELEMENT_TYPE_END &&
                 args[PART1_VALUE] >= 0 && args[PART1_VALUE] <= UINT8_MAX &&
-                args[PART2_TYPE] >= 0 && args[PART2_TYPE] <= 26 &&
+                args[PART2_TYPE] >= 0 && args[PART2_TYPE] < CUSTOM_ELEMENT_TYPE_END &&
                 args[PART2_VALUE] >= 0 && args[PART2_VALUE] <= UINT8_MAX &&
                 args[VISIBILITY_TYPE] >= 0 && args[VISIBILITY_TYPE] <= 2 &&
                 args[VISIBILITY_VALUE] >= 0 && args[VISIBILITY_VALUE] <= UINT8_MAX

src/main/fc/fc_msp.c

@@ -3520,7 +3520,11 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         sbufReadU8Safe(&tmp_u8, src);
         if ((dataSize == (OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1) + (CUSTOM_ELEMENTS_PARTS * 3) + 4) && (tmp_u8 < MAX_CUSTOM_ELEMENTS)) {
             for (int i = 0; i < CUSTOM_ELEMENTS_PARTS; i++) {
-                osdCustomElementsMutable(tmp_u8)->part[i].type = sbufReadU8(src);
+                uint8_t type = sbufReadU8(src);
+                if (type >= CUSTOM_ELEMENT_TYPE_END)
+                    return MSP_RESULT_ERROR;
+
+                osdCustomElementsMutable(tmp_u8)->part[i].type = type;
                 osdCustomElementsMutable(tmp_u8)->part[i].value = sbufReadU16(src);
             }
             osdCustomElementsMutable(tmp_u8)->visibility.type = sbufReadU8(src);

src/main/io/displayport_msp_dji_compat.c

@@ -27,10 +27,10 @@
 #include <string.h>
 
 //                       0123456789
-static char *dji_logo = " DJI, FIX "
-                        " THE OSD  "
-                        "  FOR O3  "
-                        "  AND O4  ";
+static char *dji_logo = " DJI,     "
+                        " PLEASE   "
+                        " FIX YOUR "
+                        " OSD FONT ";
 
 uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 {
@@ -57,7 +57,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
             return DJI_SYM_RSSI;
 
         case SYM_LQ:
-            return 'Q';
+            return DJI_SYM_LINK_QUALITY;
 
         case SYM_LAT:
             return DJI_SYM_LAT;
@@ -142,13 +142,13 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 
         case SYM_MAH:
             return DJI_SYM_MAH;
+/*
+        case SYM_AH_KM: // AH / KM
+            return '?';
 
-        case SYM_AH_KM:
-            return 'K';
+        case SYM_AH_MI: // AH / MI
+            return '?';
 
-        case SYM_AH_MI:
-            return 'M';
-/*
         case SYM_VTX_POWER:
             return DJI_SYM_VTX_POWER;
 
@@ -225,8 +225,9 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
             return DJI_SYM_M;
 
         case SYM_TOTAL:
-            return DJI_SYM_FLY_H;
-/*
+            return DJI_SYM_TOTAL_DISTANCE;
+
+    /*
 
         case SYM_ALT_KM:
             return DJI_SYM_ALT_KM;
@@ -249,28 +250,31 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
         case SYM_DIST_NM:
             return DJI_SYM_DIST_NM;
 */
+
         case SYM_M:
             return DJI_SYM_M;
 
         case SYM_KM:
-            return 'K';
+            return DJI_SYM_KM;
 
         case SYM_MI:
-            return 'M';
+            return DJI_SYM_MILES;
+
 /*
         case SYM_NM:
             return DJI_SYM_NM;
-*/
         case SYM_WIND_HORIZONTAL:
             return 'W';     // W for wind
+ */
 
 /*
         case SYM_WIND_VERTICAL:
             return DJI_SYM_WIND_VERTICAL;
 
         case SYM_3D_KT:
             return DJI_SYM_3D_KT;
-*/
+ */
+/*
         case SYM_AIR:
             return 'A';     // A for airspeed
 
@@ -279,7 +283,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 
         case SYM_3D_MPH:
             return DJI_SYM_MPH;
-
+ */
         case SYM_RPM:
             return DJI_SYM_RPM;
 
@@ -288,7 +292,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 /*
         case SYM_100FTM:
             return DJI_SYM_100FTM;
-*/
+ */
         case SYM_MS:
             return DJI_SYM_MPS;
 
@@ -306,7 +310,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 
         case SYM_MAH_MI_1:
             return DJI_SYM_MAH_MI_1;
-*/
+ */
         case SYM_THR:
             return DJI_SYM_THR;
 
@@ -319,11 +323,13 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
         case SYM_BLANK:
             return DJI_SYM_BLANK;
 
+/*
         case SYM_ON_H:
             return DJI_SYM_ON_H;
 
         case SYM_FLY_H:
             return DJI_SYM_FLY_H;
+ */
 
         case SYM_ON_M:
             return DJI_SYM_ON_M;
@@ -345,7 +351,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 
         case SYM_ZERO_HALF_LEADING_DOT:
             return DJI_SYM_ZERO_HALF_LEADING_DOT;
-*/
+ */
 
         case SYM_AUTO_THR0:
             return 'A';
@@ -380,7 +386,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 
         case SYM_GFORCE_Z:
             return DJI_SYM_GFORCE_Z;
-*/
+ */
         case SYM_BARO_TEMP:
             return DJI_SYM_TEMPERATURE;
 
@@ -401,7 +407,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 
         case TEMP_SENSOR_SYM_COUNT:
             return DJI_TEMP_SENSOR_SYM_COUNT;
-*/
+ */
         case SYM_HEADING_N:
             return DJI_SYM_HEADING_N;
 
@@ -425,7 +431,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 /*
         case SYM_PROFILE:
             return DJI_SYM_PROFILE;
-*/
+ */
         case SYM_SWITCH_INDICATOR_LOW:
             return DJI_SYM_STICK_OVERLAY_SPRITE_LOW;
 
@@ -467,7 +473,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 
         case SYM_CROSS_TRACK_ERROR:
             return DJI_SYM_CROSS_TRACK_ERROR;
-*/
+ */
 
         case SYM_AH_LEFT:
             return DJI_SYM_AH_LEFT;
@@ -477,16 +483,17 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 /*
         case SYM_AH_DECORATION_COUNT:
             return DJI_SYM_AH_DECORATION_COUNT;
-*/
+ */
+
         case SYM_AH_CH_LEFT:
         case SYM_AH_CH_AIRCRAFT1:
-            return DJI_SYM_CROSSHAIR_LEFT;
+            return DJI_SYM_AH_CENTER_LINE;
         case SYM_AH_CH_CENTER:
         case SYM_AH_CH_AIRCRAFT2:
-            return DJI_SYM_CROSSHAIR_CENTRE;
+            return DJI_SYM_AH_CENTER;
         case SYM_AH_CH_RIGHT:
         case SYM_AH_CH_AIRCRAFT3:
-            return DJI_SYM_CROSSHAIR_RIGHT;
+            return DJI_SYM_AH_CENTER_LINE_RIGHT;
 
         case SYM_AH_CH_AIRCRAFT0:
         case SYM_AH_CH_AIRCRAFT4:
@@ -495,21 +502,21 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
         case SYM_AH_CH_TYPE3:
             return DJI_SYM_NONE;
         case (SYM_AH_CH_TYPE3+1):
-            return DJI_SYM_SMALL_CROSSHAIR;
+            return DJI_SYM_AH_CENTER;
         case (SYM_AH_CH_TYPE3+2):
             return DJI_SYM_NONE;
 
         case SYM_AH_CH_TYPE4:
             return DJI_SYM_HYPHEN;
         case (SYM_AH_CH_TYPE4+1):
-            return DJI_SYM_SMALL_CROSSHAIR;
+            return DJI_SYM_AH_CENTER;
         case (SYM_AH_CH_TYPE4+2):
             return DJI_SYM_HYPHEN;
 
         case SYM_AH_CH_TYPE5:
             return DJI_SYM_STICK_OVERLAY_HORIZONTAL;
         case (SYM_AH_CH_TYPE5+1):
-            return DJI_SYM_SMALL_CROSSHAIR;
+            return DJI_SYM_AH_CENTER;
         case (SYM_AH_CH_TYPE5+2):
             return DJI_SYM_STICK_OVERLAY_HORIZONTAL;
 
@@ -523,14 +530,14 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
         case SYM_AH_CH_TYPE7:
             return DJI_SYM_ARROW_SMALL_LEFT;
         case (SYM_AH_CH_TYPE7+1):
-            return DJI_SYM_SMALL_CROSSHAIR;
+            return DJI_SYM_AH_CENTER;
         case (SYM_AH_CH_TYPE7+2):
             return DJI_SYM_ARROW_SMALL_RIGHT;
 
         case SYM_AH_CH_TYPE8:
             return DJI_SYM_AH_LEFT;
         case (SYM_AH_CH_TYPE8+1):
-            return DJI_SYM_SMALL_CROSSHAIR;
+            return DJI_SYM_AH_CENTER;
         case (SYM_AH_CH_TYPE8+2):
             return DJI_SYM_AH_RIGHT;
 
@@ -690,7 +697,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 
         case SYM_FLIGHT_DIST_REMAINING:
             return DJI_SYM_FLIGHT_DIST_REMAINING;
-*/
+ */
         case SYM_HUD_ARROWS_L1:
             return DJI_SYM_ARROW_SMALL_LEFT;