Merge release/9.1 into maintenance-10.x

[sensei-hacker]

Summary

Forward ports the 15 commits currently on release/9.1 that aren't yet on maintenance-10.x: SITL-Mac VLA/STATIC_ASSERT build fixes, ICM42686P support, TBS_LUCID_H7_OEM and TBS_LUCID_H7_V3 targets, GCC 16 warning fixes, and two fixed-wing nav fixes (WP JUMP target skip, cross-track state reset on re-engagement).

release/9.1 itself is untouched — this only advances maintenance-10.x.

Changes

• Merge commit resolving two conflicts:
  • lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c: maintenance-10.x's existing HAL driver rewrite already superseded release/9.1's debug-instrumentation removal; kept the maintenance-10.x version.
  • src/main/navigation/navigation_fixedwing.c: combined maintenance-10.x's filter-state refactor (hoisted fwCrossTrackErrorRateFilterState to file scope, pt1FilterSetCutoff/pt1FilterApply3) with release/9.1's fix (resync cross-track state when tracking disengages, to avoid a stale-data kick on re-engagement). Also caught and fixed a git auto-merge artifact that would have re-declared fwCrossTrackErrorRateFilterState as a shadowing local static.
• Separate follow-up commit: fixed unresolved merge-conflict markers left in docs/ADSB.md by a previous merge (PR Merge/9.1 into 10.x #11626, 2026-06-06) that duplicated the "Alert and Warning" section — found while auditing this merge for silently-dropped content.

Testing

• Built SITL and KAKUTEF7 (STM32F7) — both clean, zero warnings under -Werror.
• Built the two new targets, TBS_LUCID_H7_OEM and TBS_LUCID_H7_V3 — both clean.
• Diffed every file touched by both branches since their merge-base against both maintenance-10.x and release/9.1 to confirm no feature or fix was silently dropped by the merge.

[qodo-code-review]

PR Summary by Qodo

Backport release/9.1 fixes and targets into maintenance-10.x

🐞 Bug fix ✨ Enhancement 📝 Documentation 🕐 40+ Minutes

AI Description

• Backport release/9.1 navigation fixes for WP JUMP and FW cross-track re-engagement.
• Add IMU/target support updates (ICM42686P detect/config, new TBS_LUCID_H7_* targets).
• Resolve build/doc regressions (GCC16 warnings, VLA/STATIC_ASSERT, leftover merge markers).

Diagram

graph TD
  A["maintenance-10.x backport"] --> B["Nav core"] --> C["FW nav ctrl"]
  A --> D["IMU drivers"] --> E["H7 targets"]
  A --> F["Build fixes"]
  A --> G["Docs"]

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High-Level Assessment

The following are alternative approaches to this PR:

1. Cherry-pick the 15 commits instead of merging

• ➕ Avoids bringing over unrelated conflict history
• ➕ Lets maintainers reorder/split changes by subsystem for easier review
• ➖ Higher risk of missing hunks or subtly diverging conflict resolutions
• ➖ More manual effort to keep parity with release branch

2. Split into focused PRs (nav vs targets vs toolchain vs docs)

• ➕ Smaller, faster reviews per area
• ➕ Easier to revert/forward-port a single subsystem if needed
• ➖ More coordination overhead
• ➖ Harder to guarantee exact equivalence with release/9.1 backport set

Recommendation: A direct merge/backport is appropriate here because it preserves the release/9.1 history and reduces the chance of silently dropping fixes; given the breadth (nav + targets + toolchain), keep the merge as-is but ensure CI/build coverage on representative F7/H7 targets and spot-check the fixed-wing controller paths affected by the state reseeding.

Files changed (27) +662 / -78

Enhancement (14) +630 / -15

accgyro_icm42605.cAdd ICM42686P variant detection and configuration handling +40/-13

Add ICM42686P variant detection and configuration handling

• Introduces an explicit variant enum for ICM42605/42686P/42688P, detects 42686P via WHO_AM_I, and adjusts FS selection accordingly. Updates AAF config selection and logging to be variant-aware.

src/main/drivers/accgyro/accgyro_icm42605.c

accgyro_mpu.hAdd WHO_AM_I constant for ICM42686P +1/-0

Add WHO_AM_I constant for ICM42686P

• Defines ICM42686P_WHO_AM_I_CONST to support runtime identification in the ICM426xx driver.

src/main/drivers/accgyro/accgyro_mpu.h

target.cRegister ICM45686 as an additional supported gyro option +2/-0

Register ICM45686 as an additional supported gyro option

• Adds bus device descriptors for DEVHW_ICM45686 alongside existing MPU6000 and ICM42605 entries for both IMUs.

src/main/target/TBS_LUCID_H7/target.c

target.hEnable ICM45686 IMU support for TBS_LUCID_H7 +2/-1

Enable ICM45686 IMU support for TBS_LUCID_H7

• Defines USE_IMU_ICM45686 so the target can build and expose ICM45686 support.

src/main/target/TBS_LUCID_H7/target.h

config.cAdd OEM targetConfiguration() defaults (PINIO + beeper PWM) +42/-0

Add OEM targetConfiguration() defaults (PINIO + beeper PWM)

• Defines target-specific defaults mapping user box IDs to PINIO and enabling PWM beeper mode.

src/main/target/TBS_LUCID_H7_OEM/config.c

target.cAdd OEM target timer map and IMU bus descriptors +64/-0

Add OEM target timer map and IMU bus descriptors

• Introduces timerHardware mappings and registers SPI IMU devices (MPU6000/ICM42605/ICM45686) with EXTI pins for both gyros.

src/main/target/TBS_LUCID_H7_OEM/target.c

target.hAdd OEM target header (pins, buses, features) +183/-0

Add OEM target header (pins, buses, features)

• Defines board identifier/product string, IO pinout (UART/SPI/I2C/CAN/ADC), default features, and dual-gyro configuration including ICM45686 enablement.

src/main/target/TBS_LUCID_H7_OEM/target.h

config.cAdd V3 targetConfiguration() defaults (PINIO + beeper PWM) +42/-0

Add V3 targetConfiguration() defaults (PINIO + beeper PWM)

• Defines target-specific defaults mapping user box IDs to PINIO and enabling PWM beeper mode.

src/main/target/TBS_LUCID_H7_V3/config.c

target.cAdd V3 target timer map and IMU bus descriptors +64/-0

Add V3 target timer map and IMU bus descriptors

• Introduces timerHardware mappings and registers SPI IMU devices (MPU6000/ICM42605/ICM45686) with EXTI pins for both gyros.

src/main/target/TBS_LUCID_H7_V3/target.c

target.hAdd V3 target header (pins, buses, features) +183/-0

Add V3 target header (pins, buses, features)

• Defines board identifier/product string, IO pinout (UART/SPI/I2C/CAN/ADC), default features, and dual-gyro configuration including ICM45686 enablement.

src/main/target/TBS_LUCID_H7_V3/target.h

target.cRegister ICM45686 as an additional supported gyro option +2/-0

Register ICM45686 as an additional supported gyro option

• Adds bus device descriptors for DEVHW_ICM45686 alongside existing MPU6000 and ICM42605 entries for both IMUs.

src/main/target/TBS_LUCID_H7_WING/target.c

target.hEnable ICM45686 IMU support for TBS_LUCID_H7_WING +1/-0

Enable ICM45686 IMU support for TBS_LUCID_H7_WING

• Defines USE_IMU_ICM45686 so the target can build and expose ICM45686 support.

src/main/target/TBS_LUCID_H7_WING/target.h

target.cRegister ICM45686 as an additional supported gyro option +2/-0

Register ICM45686 as an additional supported gyro option

• Adds bus device descriptors for DEVHW_ICM45686 alongside existing MPU6000 and ICM42605 entries for both IMUs.

src/main/target/TBS_LUCID_H7_WING_MINI/target.c

target.hEnable ICM45686 IMU support and fix missing newline +2/-1

Enable ICM45686 IMU support and fix missing newline

• Defines USE_IMU_ICM45686 and normalizes end-of-file newline to satisfy tooling/format expectations.

src/main/target/TBS_LUCID_H7_WING_MINI/target.h

Bug fix (5) +24 / -8

log.cFix GCC VLA warning by making buffer sizing compile-time constant +6/-2

Fix GCC VLA warning by making buffer sizing compile-time constant

• Replaces function-local const size_t values with an enum so the log buffer size is a constant expression. Prevents compilers from treating the stack buffer as a VLA under stricter toolchains.

src/main/common/log.c

osd.cMake GPS divider STATIC_ASSERT toolchain-safe +1/-1

Make GPS divider STATIC_ASSERT toolchain-safe

• Changes the STATIC_ASSERT comparison from 1e7 to an integer literal (10000000L) to avoid floating/constant-expression issues with some compilers.

src/main/io/osd.c

serial_4way_avrootloader.cAvoid string initializer warnings in fixed-size uint8_t array +1/-1

Avoid string initializer warnings in fixed-size uint8_t array

• Replaces a string literal initializer with an explicit character list for BootMsg to avoid toolchain warnings and ensure exact sizing.

src/main/io/serial_4way_avrootloader.c

navigation.cReset turn-smoothing flag when activating a waypoint +1/-0

Reset turn-smoothing flag when activating a waypoint

• Clears wpTurnSmoothingActive on waypoint activation so newly activated waypoints (including JUMP targets) cannot inherit prior smoothing state.

src/main/navigation/navigation.c

navigation_fixedwing.cReseed FW cross-track controller state when tracking is disengaged +15/-4

Reseed FW cross-track controller state when tracking is disengaged

• Moves cross-track statics to a wider scope and, when tracking accuracy steering is inactive, reseeds previous error/time and resets filter state. Prevents stale-state kicks when re-engaging waypoint tracking after loiter/turn phases.

src/main/navigation/navigation_fixedwing.c

Refactor (4) +6 / -12

fport.cRemove unused frame error counter to silence warnings +0/-2

Remove unused frame error counter to silence warnings

• Drops an unused volatile static counter in reportFrameError(), leaving the hook as a no-op while still consuming the parameter.

src/main/rx/fport.c

xplane.cWhitespace cleanup in SITL X-Plane integration +4/-4

Whitespace cleanup in SITL X-Plane integration

• Removes trailing whitespace and normalizes formatting in a few call sites for cleaner builds/linting.

src/main/target/SITL/sim/xplane.c

hott.cRemove unused debug counter and fix preprocessor whitespace +1/-3

Remove unused debug counter and fix preprocessor whitespace

• Drops an unused static counter in hottSerialWrite() and normalizes an #else line to avoid warning/noise under stricter builds.

src/main/telemetry/hott.c

jetiexbus.cRemove unused debug frame-loss counter and minor formatting cleanup +1/-3

Remove unused debug frame-loss counter and minor formatting cleanup

• Eliminates an unused framesLost counter and related increment to avoid warnings; also normalizes whitespace in a switch case.

src/main/telemetry/jetiexbus.c

Documentation (2) +0 / -43

ADSB.mdRemove leftover merge markers and duplicated ADS-B alert section +0/-42

Remove leftover merge markers and duplicated ADS-B alert section

• Eliminates unresolved conflict markers and removes a duplicated ADS-B alert/warning block. Restores the document to a single coherent Alert and Warning section.

docs/ADSB.md

Display.mdRemove stale display vendor link +0/-1

Remove stale display vendor link

• Drops an outdated multiwiicopter.com display link from the displays list.

docs/Display.md

Other (2) +2 / -0

CMakeLists.txtAdd build definition for new TBS_LUCID_H7_OEM target +1/-0

Add build definition for new TBS_LUCID_H7_OEM target

• Registers the new STM32H743XI-based target with the build system.

src/main/target/TBS_LUCID_H7_OEM/CMakeLists.txt

CMakeLists.txtAdd build definition for new TBS_LUCID_H7_V3 target +1/-0

Add build definition for new TBS_LUCID_H7_V3 target

• Registers the new STM32H743XI-based target with the build system.

src/main/target/TBS_LUCID_H7_V3/CMakeLists.txt

[qodo-code-review]

Code Review by Qodo

🐞 Bugs (0) 📘 Rule violations (0) 📎 Requirement gaps (0) 🎨 UX issues (0) 🔗 Cross-repo conflicts (0) 📜 Skill insights (0)

1. AAF freq overflow ✓ Resolved 🐞 Bug ≡ Correctness

Description

In getGyroAafConfig(), selectedFreq is stored as int8_t but the AAF lookup table contains
frequencies like 258 and 303, so selectedFreq overflows and can corrupt the “closest frequency”
comparison, selecting the wrong AAF parameters for ICM42688P/ICM42686P.

Code

src/main/drivers/accgyro/accgyro_icm42605.c[433]

        }

Evidence

The LUT used for ICM42688P/42686P includes frequencies (e.g. 258, 303) that do not fit into int8_t,
while getGyroAafConfig stores the selected frequency in an int8_t and uses it in the ABS()
comparison that determines the chosen candidate.

src/main/drivers/accgyro/accgyro_icm42605.c[121-135]
src/main/drivers/accgyro/accgyro_icm42605.c[415-443]

Agent prompt

The issue below was found during a code review. Follow the provided context and guidance below and implement a solution

### Issue description
`getGyroAafConfig()` uses `int8_t selectedFreq` to hold LUT frequencies. For the 42688/42686 path the LUT includes values >127 (e.g. 258, 303), which overflow `int8_t` and can cause the function to pick the wrong AAF candidate.

### Issue Context
This function selects the closest supported AAF cutoff frequency by comparing `ABS(desiredFreq - aafConfigs[i].freq)` against `ABS(desiredFreq - selectedFreq)`. If `selectedFreq` wraps, the comparison becomes invalid.

### Fix
- Change `selectedFreq` to a wide signed type (e.g. `int32_t` or `uint16_t`, but prefer `int32_t` for safe signed subtraction).
- Ensure the subtraction is performed in a sufficiently wide signed type, e.g.:
 - `const int32_t desired = desiredFreq;`
 - compare `ABS(desired - (int32_t)aafConfigs[i].freq)`

### Fix Focus Areas
- src/main/drivers/accgyro/accgyro_icm42605.c[415-443]

ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools

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[github-actions]

Test firmware build ready — commit 9fd17c0

Download firmware for PR #11681

240 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.