blueberryF435wing initial cleanup#1
Merged
sunyanmeng963 merged 1 commit intoOct 20, 2025
Conversation
sensei-hacker
changed the title
sunyanmeng963
approved these changes
Oct 20, 2025
sensei-hacker
pushed a commit
that referenced
this pull request
Oct 23, 2025
Update VTOL.md with a more detailed guide on how to set up tilting se…
sensei-hacker
pushed a commit
that referenced
this pull request
Oct 23, 2025
botwing f722 - fix timers, blackbox
sunyanmeng963
pushed a commit
that referenced
this pull request
Dec 15, 2025
HUMMINGBIRD_FC305 motor order
sunyanmeng963
pushed a commit
that referenced
this pull request
May 22, 2026
This commit fixes the critical bugs that caused PR iNavFlight#11025 to be reverted (PR iNavFlight#11139). The original implementation caused telemetry stream corruption by emitting malformed frames when sensors were unavailable. Root Cause: The original PR scheduled telemetry frames unconditionally (if feature compiled in) but frame functions only wrote data when sensors were available. This resulted in frames containing only [SYNC][CRC] instead of the proper [SYNC][LENGTH][TYPE][PAYLOAD][CRC] structure, corrupting the CRSF protocol stream and breaking ALL telemetry (not just new frames). Fixes Implemented: 1. RPM Frame (Bug #1 - CRITICAL): - Added conditional scheduling: only schedule if ESC_SENSOR_ENABLED and motorCount > 0 - Added protocol limit enforcement: max 19 RPM values per CRSF spec - Location: src/main/telemetry/crsf.c:705-707, 337-343 2. Temperature Frame (Bug iNavFlight#2 - CRITICAL): - Added conditional scheduling: only schedule if temperature sources are actually available (ESC sensors OR temperature sensors) - Added bounds checking: prevent buffer overflow beyond 20 temperatures - Location: src/main/telemetry/crsf.c:709-732, 361-381 3. Buffer Overflow Protection (Bug iNavFlight#4): - Added MAX_CRSF_TEMPS constant and bounds checks in loops - Prevents array overflow if >20 temperature sources configured - Location: src/main/telemetry/crsf.c:361, 368, 376 4. Protocol Limit Enforcement (Bug iNavFlight#5): - Added MAX_CRSF_RPM_VALUES constant (19 per CRSF spec) - Clamp motorCount to protocol limit before sending - Location: src/main/telemetry/crsf.c:337, 342-344 Implementation Pattern: Follows the GPS frame pattern: ✓ Conditional scheduling - only schedule if sensor available ✓ Unconditional writing - always write complete frame data when called Testing: - Code compiles successfully (verified with SITL build) - No syntax errors or warnings - All fixes follow existing code patterns in crsf.c Related Issues: - Original PR: iNavFlight#11025 (merged Nov 28, 2025, reverted same day) - Revert PR: iNavFlight#11139 - Investigation: claude/developer/sent/pr11025-root-cause-analysis.md Co-Authored-By: Claude Sonnet 4.5 <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Mostly I cleaned up commented-out code and whitespace.