Optimize PG struct field ordering to eliminate alignment padding

.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 +1,153 @@
+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 }}
+          PR_NUMBER: ${{ steps.pr.outputs.number }}
+          SHORT_SHA: ${{ steps.info.outputs.short_sha }}
+          HEX_COUNT: ${{ steps.info.outputs.count }}
+          HEAD_SHA: ${{ github.event.workflow_run.head_sha }}
+          REPO: ${{ github.repository }}
+        run: |
+          PR_URL="https://github.com/${REPO}/pull/${PR_NUMBER}"
+          printf '%s\n\n%s\n\n%s\n' \
+            "Test build for [PR #${PR_NUMBER}](${PR_URL}) — commit \`${SHORT_SHA}\`" \
+            "**${HEX_COUNT} targets built.** Find your board's \`.hex\` file by name (e.g. \`MATEKF405SE.hex\`)." \
+            "> Development build for testing only. Use Full Chip Erase when flashing." \
+            > release-notes.md
+          gh release create "pr-${PR_NUMBER}" hexes/*.hex \
+            --repo iNavFlight/pr-test-builds \
+            --prerelease \
+            --target "${HEAD_SHA}" \
+            --title "PR #${PR_NUMBER} (${SHORT_SHA})" \
+            --notes-file release-notes.md
+
+      - 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,
+              });
+            }

docs/policies/NEW_HARDWARE_POLICY.md

@@ -67,7 +67,7 @@ If one of the core developers has the hardware in possession they may opt in and
 
 1. Requester is advised to open a feature request to add support for certain hardware to INAV by following [this link](https://github.com/iNavFlight/inav/issues/new/choose)
 
-2. After opening a feature request, Requester is advised to contact the core development team by [email](mailto:coredev@inavflight.com) mentioning the open feature request and communicate with developer team via email to arrange hardware and specifications delivery.
+2. After opening a feature request, Requester is advised to contact the core development team via [Discord](https://discord.gg/peg2hhbYwN) mentioning the open feature request and communicate with developer team via email to arrange hardware and specifications delivery.
 
 
 ## See also

src/main/blackbox/blackbox.c

@@ -99,7 +99,7 @@
 #define BLACKBOX_INVERTED_CARD_DETECTION 0
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 4);
+PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 5);
 
 PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
     .device = DEFAULT_BLACKBOX_DEVICE,

src/main/blackbox/blackbox.h

@@ -54,11 +54,11 @@ typedef enum BlackboxState {
 } BlackboxState;
 
 typedef struct blackboxConfig_s {
+    uint32_t includeFlags;
     uint16_t rate_num;
     uint16_t rate_denom;
     uint8_t device;
     uint8_t invertedCardDetection;
-    uint32_t includeFlags;
     int8_t arm_control;
 } blackboxConfig_t;
 

src/main/fc/stats.c

@@ -21,7 +21,7 @@
 #define MIN_FLIGHT_DISTANCE_M 30    // minimum distance flown for a flight to be registered [m]
 
 
-PG_REGISTER_WITH_RESET_TEMPLATE(statsConfig_t, statsConfig, PG_STATS_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(statsConfig_t, statsConfig, PG_STATS_CONFIG, 3);
 
 PG_RESET_TEMPLATE(statsConfig_t, statsConfig,
     .stats_enabled = SETTING_STATS_DEFAULT,

src/main/fc/stats.h

@@ -5,10 +5,10 @@
 typedef struct statsConfig_s {
     uint32_t stats_total_time; // [Seconds]
     uint32_t stats_total_dist; // [Metres]
-    uint16_t stats_flight_count;
 #ifdef USE_ADC
     uint32_t stats_total_energy; // deciWatt hour (x0.1Wh)
 #endif
+    uint16_t stats_flight_count;
     uint8_t  stats_enabled;
 } statsConfig_t;
 

src/main/flight/pid.c

@@ -179,7 +179,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
 static EXTENDED_FASTRAM float fixedWingLevelTrim;
 static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
 
-PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 11);
+PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 12);
 
 PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .bank_mc = {

src/main/flight/pid.h

@@ -97,71 +97,72 @@ typedef enum {
 } itermRelax_e;
 
 typedef struct pidProfile_s {
-    uint8_t pidControllerType;
+    // Fields ordered largest-to-smallest to eliminate alignment padding holes
     pidBank_t bank_fw;
     pidBank_t bank_mc;
 
-    uint8_t dterm_lpf_type;                 // Dterm LPF type: PT1, BIQUAD
-    uint16_t dterm_lpf_hz;
-
-    uint8_t yaw_lpf_hz;
-
-    uint8_t heading_hold_rate_limit;        // Maximum rotation rate HEADING_HOLD mode can feed to yaw rate PID controller
-
-    uint8_t itermWindupPointPercent;        // Experimental ITerm windup threshold, percent of motor saturation
-
-    uint32_t axisAccelerationLimitYaw;          // Max rate of change of yaw angular rate setpoint (deg/s^2 = dps/s)
-    uint32_t axisAccelerationLimitRollPitch;    // Max rate of change of roll/pitch angular rate setpoint (deg/s^2 = dps/s)
-
-    int16_t max_angle_inclination[ANGLE_INDEX_COUNT];       // Max possible inclination (roll and pitch axis separately
-
-    uint16_t pidItermLimitPercent;
-
     // Airplane-specific parameters
     float       fixedWingReferenceAirspeed;     // Reference tuning airspeed for the airplane - the speed for which PID gains are tuned
     float       fixedWingCoordinatedYawGain;    // This is the gain of the yaw rate required to keep the yaw rate consistent with the turn rate for a coordinated turn.
-    float       fixedWingCoordinatedPitchGain;    // This is the gain of the pitch rate to keep the pitch angle constant during coordinated turns.
-    uint16_t    fixedWingYawItermBankFreeze;       // Freeze yaw Iterm when bank angle is more than this many degrees
-
+    float       fixedWingCoordinatedPitchGain;  // This is the gain of the pitch rate to keep the pitch angle constant during coordinated turns.
     float       navVelXyDTermLpfHz;
-    uint8_t navVelXyDtermAttenuation;       // VEL_XY dynamic Dterm scale: Dterm will be attenuatedby this value (in percent) when UAV is traveling with more than navVelXyDtermAttenuationStart percents of max velocity
-    uint8_t navVelXyDtermAttenuationStart;  // VEL_XY dynamic Dterm scale: Dterm attenuation will begin at this percent of max velocity
-    uint8_t navVelXyDtermAttenuationEnd;    // VEL_XY dynamic Dterm scale: Dterm will be fully attenuated at this percent of max velocity
-    uint8_t iterm_relax_cutoff;             // This cutoff frequency specifies a low pass filter which predicts average response of the quad to setpoint
-    uint8_t iterm_relax;                    // Enable iterm suppression during stick input
+    float       fixedWingLevelTrim;
+    float       fixedWingLevelTrimGain;
 
 #ifdef USE_D_BOOST
     float dBoostMin;
     float dBoostMax;
     float dBoostMaxAtAlleceleration;
-    uint8_t dBoostGyroDeltaLpfHz;
 #endif
 
 #ifdef USE_ANTIGRAVITY
     float antigravityGain;
     float antigravityAccelerator;
-    uint8_t antigravityCutoff;
 #endif
 
-    uint16_t navFwPosHdgPidsumLimit;
-    uint8_t controlDerivativeLpfHz;
-
-    float fixedWingLevelTrim;
-    float fixedWingLevelTrimGain;
-
-    uint8_t fwAltControlResponseFactor;
-    bool fwAltControlUsePos;
 #ifdef USE_SMITH_PREDICTOR
     float smithPredictorStrength;
     float smithPredictorDelay;
-    uint16_t smithPredictorFilterHz;
 #endif
 
+    uint32_t axisAccelerationLimitYaw;          // Max rate of change of yaw angular rate setpoint (deg/s^2 = dps/s)
+    uint32_t axisAccelerationLimitRollPitch;    // Max rate of change of roll/pitch angular rate setpoint (deg/s^2 = dps/s)
 
+    int16_t max_angle_inclination[ANGLE_INDEX_COUNT];       // Max possible inclination (roll and pitch axis separately
+    uint16_t pidItermLimitPercent;
+    uint16_t    fixedWingYawItermBankFreeze;    // Freeze yaw Iterm when bank angle is more than this many degrees
+    uint16_t navFwPosHdgPidsumLimit;
     uint16_t fwItermLockTimeMaxMs;
+    uint16_t dterm_lpf_hz;
+
+#ifdef USE_SMITH_PREDICTOR
+    uint16_t smithPredictorFilterHz;
+#endif
+
+    uint8_t pidControllerType;
+    uint8_t dterm_lpf_type;                 // Dterm LPF type: PT1, BIQUAD
+    uint8_t yaw_lpf_hz;
+    uint8_t heading_hold_rate_limit;        // Maximum rotation rate HEADING_HOLD mode can feed to yaw rate PID controller
+    uint8_t itermWindupPointPercent;        // Experimental ITerm windup threshold, percent of motor saturation
+    uint8_t navVelXyDtermAttenuation;       // VEL_XY dynamic Dterm scale: Dterm will be attenuated by this value (in percent) when UAV is traveling with more than navVelXyDtermAttenuationStart percents of max velocity
+    uint8_t navVelXyDtermAttenuationStart;  // VEL_XY dynamic Dterm scale: Dterm attenuation will begin at this percent of max velocity
+    uint8_t navVelXyDtermAttenuationEnd;    // VEL_XY dynamic Dterm scale: Dterm will be fully attenuated at this percent of max velocity
+    uint8_t iterm_relax_cutoff;             // This cutoff frequency specifies a low pass filter which predicts average response of the quad to setpoint
+    uint8_t iterm_relax;                    // Enable iterm suppression during stick input
+    uint8_t controlDerivativeLpfHz;
+    uint8_t fwAltControlResponseFactor;
+    bool    fwAltControlUsePos;
     uint8_t fwItermLockRateLimit;
     uint8_t fwItermLockEngageThreshold;
 
+#ifdef USE_D_BOOST
+    uint8_t dBoostGyroDeltaLpfHz;
+#endif
+
+#ifdef USE_ANTIGRAVITY
+    uint8_t antigravityCutoff;
+#endif
+
 } pidProfile_t;
 
 typedef struct pidAutotuneConfig_s {

src/main/io/displayport_msp_osd.c

@@ -64,7 +64,6 @@
 typedef enum {          // defines are from hdzero code
     SD_3016,
     HD_5018,
-    HD_3016,           // Special HDZERO mode that just sends the centre 30x16 of the 50x18 canvas to the VRX
     HD_6022,           // added to support DJI wtfos 60x22 grid
     HD_5320            // added to support Avatar and BetaflightHD
 } resolutionType_e;
@@ -139,31 +138,6 @@ static int output(displayPort_t *displayPort, uint8_t cmd, uint8_t *subcmd, int
     return sent;
 }
 
-static uint8_t determineHDZeroOsdMode(void)
-{
-    if (cmsInMenu) {
-        return HD_5018;
-    }
-
-    // Check if all visible widgets are in the center 30x16 chars of the canvas.
-    int activeLayout = osdGetActiveLayout(NULL);
-    osd_items_e index = 0;
-    do {
-        index = osdIncElementIndex(index);
-        uint16_t pos = osdLayoutsConfig()->item_pos[activeLayout][index];
-        if (OSD_VISIBLE(pos)) {
-            uint8_t elemPosX = OSD_X(pos);
-            uint8_t elemPosY = OSD_Y(pos);
-            if (!osdItemIsFixed(index) && (elemPosX < 10 || elemPosX > 39 || elemPosY == 0 || elemPosY == 17)) {
-                return HD_5018;
-            }
-        }
-    } while (index > 0);
-
-    return HD_3016;
-}
-
-
 uint8_t setAttrPage(uint8_t origAttr, uint8_t page)
 {
         return (origAttr & ~DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK) | (page & DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK);
@@ -181,10 +155,6 @@ uint8_t setAttrVersion(uint8_t origAttr, uint8_t version)
 
 static int setDisplayMode(displayPort_t *displayPort)
 {
-    if (osdVideoSystem == VIDEO_SYSTEM_HDZERO) {
-        currentOsdMode = determineHDZeroOsdMode(); // Can change between layouts
-    }
-
     uint8_t subcmd[] = { MSP_DP_OPTIONS, 0, currentOsdMode }; // Font selection, mode (SD/HD)
     return output(displayPort, MSP_DISPLAYPORT, subcmd, sizeof(subcmd));
 }