Sync inav to Gitea

.github/workflows/README.md

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+# GitHub Actions Workflows
+
+This directory contains automated CI/CD workflows for the INAV project.
+
+## Active Workflows
+
+### Build and Test
+
+#### `ci.yml` - Build Firmware
+**Triggers:** Pull requests, pushes to maintenance branches
+**Purpose:** Compiles INAV firmware for all targets to verify builds succeed
+**Matrix:** 15 parallel build jobs for faster CI
+
+#### `nightly-build.yml` - Nightly Builds
+**Triggers:** Scheduled nightly
+**Purpose:** Creates nightly development builds for testing
+
+### Documentation
+
+#### `docs.yml` - Documentation Build
+**Triggers:** Pull requests affecting documentation
+**Purpose:** Validates documentation builds correctly
+
+### Code Quality
+
+#### `pg-version-check.yml` - Parameter Group Version Check
+**Triggers:** Pull requests to maintenance-9.x and maintenance-10.x
+**Purpose:** Detects parameter group struct modifications and verifies version increments
+**Why:** Prevents settings corruption when struct layout changes without version bump
+
+**How it works:**
+1. Scans changed .c/.h files for `PG_REGISTER` entries
+2. Detects if associated struct typedefs were modified
+3. Checks if the PG version parameter was incremented
+4. Posts helpful comment if version not incremented
+
+**Reference:** See `docs/development/parameter_groups/` for PG system documentation
+
+**Script:** `.github/scripts/check-pg-versions.sh`
+
+**When to increment PG versions:**
+- ✅ Adding/removing fields from struct
+- ✅ Changing field types or sizes
+- ✅ Reordering fields
+- ✅ Adding/removing packing attributes
+- ❌ Only changing `PG_RESET_TEMPLATE` default values
+- ❌ Only changing comments
+
+### Pull Request Helpers
+
+#### `pr-branch-suggestion.yml` - Branch Targeting Suggestion
+**Triggers:** PRs targeting master branch
+**Purpose:** Suggests using maintenance-9.x or maintenance-10.x instead
+
+#### `non-code-change.yaml` - Non-Code Change Detection
+**Triggers:** Pull requests
+**Purpose:** Detects PRs with only documentation/formatting changes
+
+## Configuration Files
+
+- `../.github/stale.yml` - Stale issue/PR management
+- `../.github/no-response.yml` - Auto-close issues without response
+- `../.github/issue_label_bot.yaml` - Automatic issue labeling
+
+## Adding New Workflows
+
+When adding workflows:
+
+1. **Use descriptive names** - Make purpose clear from filename
+2. **Document in this README** - Add entry above with purpose and triggers
+3. **Set appropriate permissions** - Principle of least privilege
+4. **Test in fork first** - Verify before submitting to main repo
+5. **Handle errors gracefully** - Don't block CI unnecessarily
+
+### Common Patterns
+
+**Checkout with history:**
+```yaml
+- uses: actions/checkout@v4
+  with:
+    fetch-depth: 0
+```
+
+**Post PR comments:**
+```yaml
+- uses: actions/github-script@v7
+  with:
+    script: |
+      await github.rest.issues.createComment({
+        owner: context.repo.owner,
+        repo: context.repo.repo,
+        issue_number: context.issue.number,
+        body: 'Comment text'
+      });
+```
+
+**Run bash scripts:**
+```yaml
+- run: bash .github/scripts/script-name.sh
+  env:
+    GITHUB_BASE_REF: ${{ github.base_ref }}
+```
+
+## Permissions
+
+Workflows use GitHub's fine-grained permissions:
+
+- `contents: read` - Read repository code
+- `pull-requests: write` - Post/update PR comments
+- `actions: read` - Read workflow run data
+
+## Local Testing
+
+Scripts in `.github/scripts/` can be run locally:
+
+```bash
+cd inav
+export GITHUB_BASE_REF=maintenance-9.x
+export GITHUB_HEAD_REF=feature-branch
+bash .github/scripts/check-pg-versions.sh
+```
+
+## References
+
+- [GitHub Actions Documentation](https://docs.github.com/en/actions)
+- [Workflow Syntax](https://docs.github.com/en/actions/reference/workflow-syntax-for-github-actions)
+- [GitHub Script Action](https://github.com/actions/github-script)

.github/workflows/ci.yml

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+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:
+  push:
+    branches:
+      - '!maintenance-8.x.x'
+  pull_request:
+    paths:
+      - 'src/**'
+      - '.github/**'
+      - 'cmake/**'
+      - 'lib/**'
+      - 'docs/Settings.md'
+      - 'CMakeLists.txt'
+      - '*.sh'
+
+  workflow_call:
+    #inputs:
+    #  release_build:
+    #   description: 'Specifies if it is a build that should include commit hash in hex file names or not'
+    #   default: false
+    #   required: false
+    #   type: boolean
+
+
+jobs:
+  detect:
+    runs-on: ubuntu-latest
+    outputs:
+      single_target: ${{ steps.check.outputs.single_target }}
+      target_names: ${{ steps.check.outputs.target_names }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Detect single-target PR
+        id: check
+        run: |
+          if [ "${{ github.event_name }}" != "pull_request" ]; then
+            echo "single_target=false" >> $GITHUB_OUTPUT
+            exit 0
+          fi
+
+          CHANGED=$(git diff --name-only origin/${{ github.base_ref }}...HEAD)
+
+          if [ -z "$CHANGED" ]; then
+            echo "single_target=false" >> $GITHUB_OUTPUT
+            exit 0
+          fi
+
+          # Fail fast if any changed file is outside src/main/target/<dir>/
+          NON_TARGET=$(echo "$CHANGED" | grep -Ev '^src/main/target/[^/]+/.+' | head -1)
+          if [ -n "$NON_TARGET" ]; then
+            echo "Non-target file changed: $NON_TARGET — full build required"
+            echo "single_target=false" >> $GITHUB_OUTPUT
+            exit 0
+          fi
+
+          # Count how many distinct target directories were touched
+          TARGET_DIRS=$(echo "$CHANGED" | sed -n 's|^src/main/target/\([^/]*\)/.*|\1|p' | sort -u)
+          DIR_COUNT=$(echo "$TARGET_DIRS" | wc -l)
+          if [ "$DIR_COUNT" != "1" ]; then
+            echo "$DIR_COUNT target directories changed — full build required"
+            echo "single_target=false" >> $GITHUB_OUTPUT
+            exit 0
+          fi
+
+          TARGET_DIR="$TARGET_DIRS"
+          CMAKE="src/main/target/${TARGET_DIR}/CMakeLists.txt"
+          if [ ! -f "$CMAKE" ]; then
+            echo "No CMakeLists.txt for $TARGET_DIR — full build required"
+            echo "single_target=false" >> $GITHUB_OUTPUT
+            exit 0
+          fi
+
+          TARGET_NAMES=$(grep -oP '(?<=\()[^)]+' "$CMAKE" | tr '\n' ' ' | xargs)
+          if [ -z "$TARGET_NAMES" ]; then
+            echo "No target names in CMakeLists.txt — full build required"
+            echo "single_target=false" >> $GITHUB_OUTPUT
+            exit 0
+          fi
+
+          echo "Single-target PR: building $TARGET_NAMES"
+          echo "single_target=true" >> $GITHUB_OUTPUT
+          echo "target_names=$TARGET_NAMES" >> $GITHUB_OUTPUT
+
+  build:
+    needs: [detect]
+    if: needs.detect.outputs.single_target != 'true'
+    runs-on: ubuntu-latest
+    strategy:
+        matrix:
+          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ 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)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - uses: actions/cache@v4
+        with:
+          path: downloads
+          key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
+      - name: Build targets (${{ matrix.id }})
+        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j${{ env.NUM_CORES }} ci
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: matrix-${{ env.BUILD_NAME }}.${{ matrix.id }}
+          path: ./build/*.hex
+          retention-days: 1
+
+  build-single-target:
+    needs: [detect]
+    if: needs.detect.outputs.single_target == 'true'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          COMMIT_ID=${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)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - uses: actions/cache@v4
+        with:
+          path: downloads
+          key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
+      - name: Build targets (${{ needs.detect.outputs.target_names }})
+        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j${{ env.NUM_CORES }} ${{ needs.detect.outputs.target_names }}
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: matrix-${{ env.BUILD_NAME }}.single
+          path: ./build/*.hex
+          retention-days: 1
+
+  upload-artifacts:
+    runs-on: ubuntu-latest
+    needs: [build, build-single-target]
+    if: always() && !cancelled() && (needs.build.result == 'success' || needs.build-single-target.result == 'success')
+    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)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $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: ${{ env.BUILD_NAME }}
+          path: binaries/*.hex
+      - name: Upload firmware images
+        uses: actions/upload-artifact@v4
+        with:
+          name: targets
+          path: targets.txt
+      - name: Save PR number
+        if: github.event_name == 'pull_request'
+        run: echo "${{ 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
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - 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)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }}
+      - name: Strip version number
+        run: |
+          for f in build_SITL/*_SITL; do
+            mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
+          done
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-Linux-aarch64
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Linux:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ 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)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }}
+      - name: Strip version number
+        run: |
+          for f in build_SITL/*_SITL; do
+            mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
+          done
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-Linux
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Mac:
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: |
+          brew install ruby
+
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ 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)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - name: Build SITL
+        run: |
+          mkdir -p build_SITL && cd build_SITL
+          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja ..
+          ninja -j4
+      - name: Strip version number
+        run: |
+          for f in build_SITL/*_SITL; do
+            mv -v $f $(echo $f | sed -Ee 's/_[0-9]+\.[0-9]+\.[0-9]+//')
+          done
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-MacOS
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Windows:
+    runs-on: windows-latest
+    defaults:
+      run:
+        shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
+    steps:
+      - uses: actions/checkout@v4
+      - name: Setup Cygwin
+        uses: egor-tensin/setup-cygwin@v4
+        with:
+          packages: cmake ruby ninja gcc-g++ rubygems
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ 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)]/, "", $2); print $2 }' )
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+
+      - name: Build SITL
+        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
+            ./build_SITL/cygwin1.dll
+
+  test:
+    #needs: [build]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Run Tests
+        run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check

.github/workflows/docs.yml

@@ -0,0 +1,27 @@
+name: Make sure docs are updated
+on:
+  pull_request:
+    paths:
+      - src/main/fc/settings.yaml
+      - docs/Settings.md
+  push:
+    paths:
+      - src/main/fc/settings.yaml
+      - docs/Settings.md
+
+jobs:
+  settings_md:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install python3-yaml
+      - name: Check that Settings.md is up to date
+        run: |
+          cp docs/Settings.md{,.ci}
+          python3 src/utils/update_cli_docs.py -q
+          if ! diff -q docs/Settings.md{,.ci} >/dev/null; then
+            echo "::error ::\"docs/Settings.md\" is not up to date, please run \"src/utils/update_cli_docs.py\""
+            exit 1
+          fi

.github/workflows/nightly-build.yml

@@ -0,0 +1,105 @@
+name: Build pre-release
+# 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:
+  push:
+    branches:
+      - master
+      - maintenance-8.x.x
+      - maintenance-9.x
+    paths:
+      - 'src/**'
+      - '.github/**'
+      - 'cmake/**'
+      - 'lib/**'
+      - 'docs/Settings.md'
+      - 'CMakeLists.txt'
+      - '*.sh'
+
+jobs:
+  build:
+    name: build
+    uses: ./.github/workflows/ci.yml
+
+  release:
+    name: Release
+    needs: [build]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Get version
+        id: version
+        run: |
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]/, "", $2); print $2 }')
+          echo "version=${VERSION}" >> $GITHUB_OUTPUT
+      - name: Get current date
+        id: date
+        run: echo "today=$(date '+%Y%m%d')" >> $GITHUB_OUTPUT
+      - name: download artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: hexes
+          pattern: matrix-inav-*
+          merge-multiple: true
+      - name: download sitl linux
+        uses: actions/download-artifact@v4
+        with:
+          path: resources/sitl/linux
+          pattern: inav-*SITL-Linux
+          merge-multiple: true
+      - name: download sitl linux aarch64
+        uses: actions/download-artifact@v4
+        with:
+          path: resources/sitl/linux/arm64
+          pattern: inav-*SITL-Linux-aarch64
+          merge-multiple: true
+      - name: download sitl windows
+        uses: actions/download-artifact@v4
+        with:
+          path: resources/sitl/windows
+          pattern: inav-*SITL-WIN
+          merge-multiple: true
+      - name: download sitl mac
+        uses: actions/download-artifact@v4
+        with:
+          path: resources/sitl/macos
+          pattern: inav-*SITL-MacOS
+          merge-multiple: true
+      - name: Consolidate sitl files
+        run: |
+          zip -r -9 sitl-resources.zip resources/
+      - name: Upload release artifacts
+        uses: softprops/action-gh-release@v2
+        with:
+          name: inav-${{ steps.version.outputs.version }}-dev-${{ steps.date.outputs.today }}-${{ github.run_number }}-${{ github.sha }}
+          tag_name: v${{ steps.version.outputs.version }}-${{ steps.date.outputs.today }}.${{ github.run_number }}
+          # To create release on a different repo, we need a token setup
+          token: ${{ secrets.NIGHTLY_TOKEN }}
+          repository: iNavFlight/inav-nightly
+          prerelease: true
+          draft: false
+          #generate_release_notes: true
+          make_latest: false
+          files: |
+            hexes/*.hex
+            sitl-resources.zip
+          body: |
+            ${{ steps.notes.outputs.notes }}
+
+            ### Flashing
+            These are nightly builds and configuration settings can be added and removed often. Flashing with Full chip erase is strongly recommended to avoid issues.
+            Firmware related issues should be opened in the iNavflight/inav repository, not in inav-nightly.
+
+            ### Repository:
+            ${{ github.repository }} ([link](${{ github.event.repository.html_url }}))
+
+            ### Branch:
+            ${{ github.ref_name }} ([link](${{ github.event.repository.html_url }}/tree/${{ github.ref_name }}))
+
+            ### Latest changeset:
+            ${{ github.event.head_commit.id }} ([link](${{ github.event.head_commit.url }}))
+
+            ### Changes:
+            ${{ github.event.head_commit.message }}
+

.github/workflows/non-code-change.yaml

@@ -0,0 +1,25 @@
+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: 
+  pull_request:
+    paths-ignore:
+      - 'src/**'
+      - '.github/**'
+      - 'cmake/**'
+      - 'lib/**'
+      - 'docs/Settings.md'
+      - 'CMakeLists.txt'
+      - '*.sh'
+
+jobs:
+  test:
+    #needs: [build]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Run Tests
+        run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check

.github/workflows/pg-version-check.yml

@@ -0,0 +1,128 @@
+name: Parameter Group Version Check
+
+on:
+  pull_request:
+    types: [opened, synchronize, reopened]
+    branches:
+      - maintenance-9.x
+      - maintenance-10.x
+    paths:
+      - 'src/**/*.c'
+      - 'src/**/*.h'
+
+jobs:
+  check-pg-versions:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: write
+
+    steps:
+      - name: Checkout PR code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0  # Need full history to compare with base branch
+
+      - name: Fetch base branch
+        run: |
+          git fetch origin ${{ github.base_ref }}:refs/remotes/origin/${{ github.base_ref }}
+
+      - name: Run PG version check script
+        id: pg_check
+        run: |
+          set +e  # Don't fail the workflow, just capture exit code
+          # Run script and capture output. Exit code 1 is expected for issues.
+          # The output is captured and encoded to be passed between steps.
+          output=$(bash .github/scripts/check-pg-versions.sh 2>&1)
+          exit_code=$?
+          echo "exit_code=${exit_code}" >> $GITHUB_OUTPUT
+          echo "output<<EOF" >> $GITHUB_OUTPUT
+          echo "$output" >> $GITHUB_OUTPUT
+          echo "EOF" >> $GITHUB_OUTPUT
+        env:
+          GITHUB_BASE_REF: ${{ github.base_ref }}
+          GITHUB_HEAD_REF: ${{ github.head_ref }}
+
+      - name: Post comment if issues found
+        if: steps.pg_check.outputs.exit_code == '1'
+        uses: actions/github-script@v7
+        with:
+          script: |
+            // Use the captured output from the previous step
+            const output = '${{ steps.pg_check.outputs.output }}';
+            let issuesContent = '';
+
+            try {
+              // Extract issues from output (everything after the warning line)
+              const lines = output.split('\n');
+              let capturing = false;
+              let issues = [];
+
+              for (const line of lines) {
+                if (line.includes('###')) {
+                  capturing = true;
+                }
+                if (capturing) {
+                  issues.push(line);
+                }
+              }
+
+              issuesContent = issues.join('\n');
+            } catch (err) {
+              console.log('Error capturing issues:', err);
+              issuesContent = '*Unable to extract detailed issues*';
+            }
+
+            const commentBody = '## ⚠️ Parameter Group Version Check\n\n' +
+              'The following parameter groups may need version increments:\n\n' +
+              issuesContent + '\n\n' +
+              '**Why this matters:**\n' +
+              'Modifying PG struct fields without incrementing the version can cause settings corruption when users flash new firmware. The `pgLoad()` function validates versions and will use defaults if there\'s a mismatch, preventing corruption.\n\n' +
+              '**When to increment the version:**\n' +
+              '- ✅ Adding/removing fields\n' +
+              '- ✅ Changing field types or sizes\n' +
+              '- ✅ Reordering fields\n' +
+              '- ✅ Adding/removing packing attributes\n' +
+              '- ❌ Only changing default values in `PG_RESET_TEMPLATE`\n' +
+              '- ❌ Only changing comments\n\n' +
+              '**Reference:**\n' +
+              '- [Parameter Group Documentation](../docs/development/parameter_groups/)\n' +
+              '- Example: [PR #11236](https://github.com/iNavFlight/inav/pull/11236) (field removal requiring version increment)\n\n' +
+              '---\n' +
+              '*This is an automated check. False positives are possible. If you believe the version increment is not needed, please explain in a comment.*';
+
+            try {
+              // Check if we already commented
+              const { data: comments } = await github.rest.issues.listComments({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: context.issue.number,
+              });
+
+              const botComment = comments.find(comment =>
+                comment.user.login === 'github-actions[bot]' &&
+                comment.body.includes('Parameter Group Version Check')
+              );
+
+              if (botComment) {
+                // Update existing comment
+                await github.rest.issues.updateComment({
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  comment_id: botComment.id,
+                  body: commentBody
+                });
+                console.log('Updated existing PG version check comment');
+              } else {
+                // Post new comment
+                await github.rest.issues.createComment({
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  issue_number: context.issue.number,
+                  body: commentBody
+                });
+                console.log('Posted new PG version check comment');
+              }
+            } catch (err) {
+              core.setFailed(`Failed to post comment: ${err}`);
+            }

.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}`);
+            }

.github/workflows/pr-test-builds.yml

@@ -0,0 +1,151 @@
+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 }}
+          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 \
+            --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,
+              });
+            }