Add configurable OSD element refresh rate

.github/ISSUE_TEMPLATE/Bug_report.md

@@ -39,7 +39,7 @@ assignees: ''
 
 ## Additional context
 <!-- Add any other context about the problem here.  -->
-<!-- Go to CLI, execute `dump` command copy its output to [PasteBin](https://pastebin.com) and provide a link to a paste here -->
+<!-- Go to CLI, execute `diff` command copy its output to [PasteBin](https://pastebin.com) and provide a link to a paste here -->
 
 ---
 <!-- PLEASE FILL THIS OUT -->

.github/workflows/ci.yml

@@ -2,7 +2,7 @@ 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: 
+on:
   push:
     branches:
       - '!maintenance-8.x.x'
@@ -186,7 +186,7 @@ jobs:
       - uses: actions/checkout@v4
       - name: Install dependencies
         run: |
-          brew install cmake ninja ruby
+          brew install ruby
 
       - name: Setup environment
         env:
@@ -231,7 +231,7 @@ jobs:
       - name: Setup Cygwin
         uses: egor-tensin/setup-cygwin@v4
         with:
-          packages: cmake ruby ninja gcc-g++
+          packages: cmake ruby ninja gcc-g++ rubygems
       - name: Setup environment
         env:
           ACTIONS_ALLOW_UNSECURE_COMMANDS: true
@@ -248,19 +248,23 @@ jobs:
           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
+        run: gem install getoptlong && 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: Copy cygwin1.dll
+        run: cp /bin/cygwin1.dll ./build_SITL/
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
         with:
           name: ${{ env.BUILD_NAME }}_SITL-WIN
-          path: ./build_SITL/*.exe
+          path: |
+            ./build_SITL/*.exe
+            ./build_SITL/cygwin1.dll
 
   test:
     #needs: [build]

.github/workflows/pr-branch-suggestion.yml

@@ -0,0 +1,41 @@
+name: PR Branch Suggestion
+
+on:
+  pull_request_target:
+    types: [opened]
+    branches:
+      - master
+
+jobs:
+  suggest-branch:
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+    steps:
+      - name: Suggest maintenance branch
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const comment = `### Branch Targeting Suggestion
+
+            You've targeted the \`master\` branch with this PR. Please consider if a version branch might be more appropriate:
+
+            - **\`maintenance-9.x\`** - If your change is backward-compatible and won't create compatibility issues between INAV firmware and Configurator 9.x versions. This will allow your PR to be included in the next 9.x release.
+
+            - **\`maintenance-10.x\`** - If your change introduces compatibility requirements between firmware and configurator that would break 9.x compatibility. This is for PRs which will be included in INAV 10.x
+
+            If \`master\` is the correct target for this change, no action is needed.
+
+            ---
+            *This is an automated suggestion to help route contributions to the appropriate branch.*`;
+
+            try {
+              await github.rest.issues.createComment({
+                issue_number: context.issue.number,
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                body: comment
+              });
+            } catch (err) {
+              core.setFailed(`Failed to post suggestion comment: ${err}`);
+            }

.vscode/settings.json

@@ -8,7 +8,8 @@
         "platform.h": "c",
         "timer.h": "c",
         "bus.h": "c",
-        "io.h": "c"
+        "io.h": "c",
+        "fc_core.h": "c"
     },
     "editor.tabSize": 4,
     "editor.insertSpaces": true,

CMakeLists.txt

@@ -51,7 +51,9 @@ else()
     endif()
 endif()
 
-project(INAV VERSION 8.1.0)
+
+project(INAV VERSION 9.0.0)
+
 
 enable_language(ASM)
 

Dockerfile

@@ -2,23 +2,22 @@ FROM ubuntu:jammy
 
 ARG USER_ID
 ARG GROUP_ID
-ENV DEBIAN_FRONTEND noninteractive
+ARG GDB
 
-RUN apt-get update && apt-get install -y git cmake make ruby gcc python3 python3-pip gcc-arm-none-eabi ninja-build
+ENV DEBIAN_FRONTEND=noninteractive
 
-RUN if [ "$GDB" = "yes" ]; then apt-get install -y gdb; fi
+RUN apt-get update && apt-get install -y git cmake make ruby gcc python3 python3-yaml ninja-build gcc-arm-none-eabi
 
-RUN pip install pyyaml
+RUN if [ "$GDB" = "yes" ]; then apt-get install -y gdb; fi
 
-# if either of these are already set the same as the user's machine, leave them be and ignore the error
-RUN addgroup --gid $GROUP_ID inav; exit 0;
-RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID inav; exit 0;
+# If a group and user with the same IDs already exist, rename the group and recreate the user after deleting the existing one.
+RUN GROUP="$(id -n -g $GROUP_ID)"; if [ -n "$GROUP" ]; then groupmod -n inav "$GROUP"; else groupadd --gid $GROUP_ID inav; fi
+RUN USER="$(id -n -u $USER_ID)"; if [ -n "$USER" ]; then userdel -r "$USER"; fi && useradd -m --uid $USER_ID --gid $GROUP_ID inav
 
 USER inav
 
 RUN git config --global --add safe.directory /src
 
-VOLUME /src
-
 WORKDIR /src/build
+
 ENTRYPOINT ["/src/cmake/docker.sh"]

build.sh

@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-set -e
+set -euo pipefail
 
 if [[ $# == 0 ]]; then
   echo -e "\
@@ -8,6 +8,10 @@ Usage syntax: ./build.sh <TARGET>
 Notes:
   * You can specify multiple targets.
     ./build.sh <TARGET_1> <TARGET_2> <TARGET_N>
+  * To get a list of release targets use \"release_targets\"
+    ./build.sh release_targets
+  * To get a list of valid targets use \"valid_targets\"
+    ./build.sh valid_targets
   * To get a list of all targets use \"help\". Hint: pipe the output through a pager.
     ./build.sh help | less
   * To build all targets use \"all\"
@@ -19,10 +23,20 @@ Notes:
   exit 1
 fi
 
+run_docker() {
+    docker run --rm -it -v "$(pwd)":/src inav-build "$@"
+}
+
 if [ -z "$(docker images -q inav-build)" ]; then
-  echo -e "*** Building image\n"
-  docker build -t inav-build --build-arg USER_ID="$(id -u)" --build-arg GROUP_ID="$(id -g)" .
-  echo -ne "\n"
+    echo "*** Building Docker image"
+    docker build -t inav-build \
+                 --build-arg USER_ID="$(id -u)" \
+                 --build-arg GROUP_ID="$(id -g)" .
+else
+    docker build -q -t inav-build \
+                 --build-arg USER_ID="$(id -u)" \
+                 --build-arg GROUP_ID="$(id -g)" . >/dev/null ||
+    { echo "*** Building Docker image: ERROR"; exit 1; }
 fi
 
 if [ ! -d ./build ]; then
@@ -40,10 +54,20 @@ if [ ! -d ./tools ]; then
   mkdir ./tools && chmod 777 ./tools
 fi
 
-echo -e "*** Building targets [$@]\n"
-docker run --rm -it -v "$(pwd)":/src inav-build $@
+case "$1" in
+    release_targets)
+        run_docker targets | sed -n 's/^Release targets: \(.*\)/\1/p'|tr ' ' '\n'
+    ;;
+    valid_targets)
+        run_docker targets | sed -n 's/^Valid targets: \(.*\)/\1/p'|tr ' ' '\n'
+    ;;
+    *)
+        echo -e "*** Building targets [$@]\n"
+        run_docker "$@"
+        if ls ./build/*.hex &> /dev/null; then
+            echo -e "\n*** Built targets in ./build:"
+            stat -c "%n (%.19y)" ./build/*.hex
+        fi
+    ;;
+esac
 
-if [ -z "$(ls ./build/*.hex &> /dev/null)" ]; then
-  echo -e "\n*** Built targets in ./build:"
-  stat -c "%n (%.19y)" ./build/*.hex
-fi

cmake/arm-none-eabi-checks.cmake

@@ -125,12 +125,23 @@ function(arm_none_eabi_gcc_check)
     if(NOT version)
         message("-- could not find ${prog}")
         arm_none_eabi_gcc_install()
+        gcc_get_version(version
+            TRIPLET ${arm_none_eabi_triplet}
+            PROGRAM_NAME prog
+            PROGRAM_PATH prog_path
+        )
         return()
     endif()
     message("-- found ${prog} ${version} at ${prog_path}")
     if(COMPILER_VERSION_CHECK AND NOT arm_none_eabi_gcc_version STREQUAL version)
         message("-- expecting ${prog} version ${arm_none_eabi_gcc_version}, but got version ${version} instead")
 	arm_none_eabi_gcc_install()
+        unset(gcc CACHE)
+        gcc_get_version(version
+            TRIPLET ${arm_none_eabi_triplet}
+            PROGRAM_NAME prog
+            PROGRAM_PATH prog_path
+        )
         return()
     endif()
 endfunction()

cmake/at32-bootloader.cmake

@@ -21,7 +21,7 @@ main_sources(BOOTLOADER_SOURCES
     drivers/time.c
     drivers/timer.c
     drivers/flash_m25p16.c
-    drivers/flash_w25n01g.c 
+    drivers/flash_w25n.c
     drivers/flash.c
 
     fc/firmware_update_common.c

cmake/docker.sh

@@ -11,7 +11,7 @@ initialize_cmake() {
 }
 
 # Check if CMake has never been initialized
-if [ ! -f Makefile ]; then
+if [ ! -f build.ninja ]; then
     initialize_cmake
 fi
 

docs/ADSB.md

@@ -7,6 +7,26 @@ is an air traffic surveillance technology that enables aircraft to be accurately
 
 OSD can be configured to shows the closest aircraft.
 
+## OSD ADSB Info element
+* "-" no ADSB device detected
+* "H" IMU heading is not valid 
+* "G" no GPS fix or less than 4 stats
+* "[Number]" count of ADSB aircrafts
+
+## OSD ADSB Warning element
+OSD can be configured to simple view (one line) or to extended view (two lines) by \
+`set osd_adsb_warning_style=EXTENDED`
+
+### Simple view
+`{distance to vehicle} {direction to vehicle} {altitude diff}`
+
+### Extended view
+`{distance to vehicle} {direction to vehicle} {altitude diff}` \
+`{Emiter Type} {Vehicle direction} {Vehicle Speed}`
+
+![ADSB OSD](assets/images/adsb-info.png)
+
+
 ## Hardware
 
 All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/messages/common.html#ADSB_VEHICLE) message are supported