Merge remote-tracking branch 'origin/master' into mmosca-mavlinkrc

.github/workflows/ci.yml

@@ -49,8 +49,50 @@ jobs:
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
         with:
-          name: ${{ env.BUILD_NAME }}.${{ matrix.id }}
+          name: matrix-${{ env.BUILD_NAME }}.${{ matrix.id }}
           path: ./build/*.hex
+          retention-days: 1
+
+  upload-artifacts:
+    runs-on: ubuntu-latest
+    needs: [build]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Download artifacts
+        uses: actions/download-artifact@v4
+        with:
+          pattern: matrix-inav-*
+          merge-multiple: true
+          path: binaries
+      - name: Build target list
+        run: |
+          ls -1 binaries/*.hex | cut -d/ -f2 > targets.txt
+      - name: Upload firmware images
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.BUILD_NAME }}
+          path: binaries/*.hex
+      - name: Upload firmware images
+        uses: actions/upload-artifact@v4
+        with:
+          name: targets
+          path: targets.txt
 
   build-SITL-Linux:
     runs-on: ubuntu-latest

docs/Settings.md

@@ -1594,7 +1594,7 @@ Minimum number of GPS satellites in view to acquire GPS_FIX and consider GPS pos
 
 ### gps_provider
 
-Which GPS protocol to be used, note that UBLOX is 5Hz and UBLOX7 is 10Hz (M8N).
+Which GPS protocol to be used.
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -1614,7 +1614,7 @@ Which SBAS mode to be used
 
 ### gps_ublox_nav_hz
 
-Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer.
+Navigation update rate for UBLOX receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer.
 
 | Default | Min | Max |
 | --- | --- | --- |

src/main/fc/settings.yaml

@@ -42,7 +42,7 @@ tables:
     values: ["VELNED", "TURNRATE","ADAPTIVE"]
     enum: imu_inertia_comp_method_e
   - name: gps_provider
-    values: ["UBLOX", "UBLOX7", "MSP", "FAKE"]
+    values: ["UBLOX", "MSP", "FAKE"]
     enum: gpsProvider_e
   - name: gps_sbas_mode
     values: ["AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN", "SPAN", "NONE"]
@@ -1666,7 +1666,7 @@ groups:
     condition: USE_GPS
     members:
       - name: gps_provider
-        description: "Which GPS protocol to be used, note that UBLOX is 5Hz and UBLOX7 is 10Hz (M8N)."
+        description: "Which GPS protocol to be used."
         default_value: "UBLOX"
         field: provider
         table: gps_provider
@@ -1721,7 +1721,7 @@ groups:
         min: 5
         max: 10
       - name: gps_ublox_nav_hz
-        description: "Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer."
+        description: "Navigation update rate for UBLOX receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer."
         default_value: 10
         field: ubloxNavHz
         type: uint8_t

src/main/io/gps.c

@@ -102,13 +102,6 @@ static gpsProviderDescriptor_t gpsProviders[GPS_PROVIDER_COUNT] = {
     { false, 0, NULL, NULL },
 #endif
 
-    /* UBLOX7PLUS binary */
-#ifdef USE_GPS_PROTO_UBLOX
-    { false, MODE_RXTX, &gpsRestartUBLOX, &gpsHandleUBLOX },
-#else
-    { false, 0,  NULL, NULL },
-#endif
-
     /* MSP GPS */
 #ifdef USE_GPS_PROTO_MSP
     { true, 0, &gpsRestartMSP, &gpsHandleMSP },

src/main/io/gps.h

@@ -34,7 +34,6 @@
 
 typedef enum {
     GPS_UBLOX = 0,
-    GPS_UBLOX7PLUS,
     GPS_MSP,
     GPS_FAKE,
     GPS_PROVIDER_COUNT

src/main/io/gps_ublox.c

@@ -1224,7 +1224,7 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
         ptSemaphoreWait(semNewDataReady);
         gpsProcessNewSolutionData(false);
 
-        if ((gpsState.gpsConfig->autoConfig) && (gpsState.gpsConfig->provider == GPS_UBLOX || gpsState.gpsConfig->provider == GPS_UBLOX7PLUS)) {
+        if (gpsState.gpsConfig->autoConfig) {
             if ((millis() - gpsState.lastCapaPoolMs) > GPS_CAPA_INTERVAL) {
                 gpsState.lastCapaPoolMs = millis();
 
@@ -1271,7 +1271,7 @@ void gpsHandleUBLOX(void)
 
 bool isGpsUblox(void)
 {
-    if(gpsState.gpsPort != NULL && (gpsState.gpsConfig->provider == GPS_UBLOX || gpsState.gpsConfig->provider == GPS_UBLOX7PLUS)) {
+    if(gpsState.gpsPort != NULL && (gpsState.gpsConfig->provider == GPS_UBLOX)) {
         return true;
     }