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…STATUS-frame Put getConfigMixerProfile as the last byte in message
…ty_fix Multirotor arming safety course hold/cruise mode fix
…nition [GPS] fix Neo6M recognition
This was requested by flywoo support. Also add other baros to match their internal target.
…baro-flywoof745 Add DPS310 and SPL06 to FLYWOOF745 target (and other baros)
…with new timer allocation
…tput-fixes Various PWM output changes. Mainly to get rid of potential conflicts
…en-transitioning-to-linear-descent
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May 30, 2026
…nd error recovery (#11) * docs(dronecan): Finalize DroneCAN integration with tests, examples, and error recovery documentation This commit completes the high-priority code review recommendations for the libcanard DroneCAN integration (PR iNavFlight#11313): ## Phase 1: Enhanced Unit Tests - Added 9 new error case tests to dronecan_messages_unittest.cc (23 total tests) - Coverage areas: - Truncated/malformed buffer handling (GNSSFix2_TruncatedBuffer tests all truncation points) - Empty payload handling (GNSSFix2_ZeroPayload) - Boundary value testing (battery SOC 0%-255%, uptime max values, satellite counts) - Signed value handling (negative currents, extreme temperatures -40°C to 125°C) - Variable-length array edge cases (covariance arrays with len=0) - State consistency (10 consecutive encode/decode cycles with buffer reuse) - Estimated coverage improvement: >90% for decoder critical paths ## Phase 2: Comprehensive Configuration Examples - Added 7 practical configuration examples to DroneCAN.md: 1. GPS-only setup (DroneCAN GPS without battery monitoring) 2. Battery monitoring-only (without GPS) 3. Combined GPS + Battery on single CAN bus 4. Multi-node DroneCAN network setup (3+ devices) 5. SITL simulation configuration 6. Hardware-specific: MATEKH743 (FDCAN, 1000 KBPS) 7. Hardware-specific: MATEKF765SE (bxCAN, 500/1000 KBPS) - Includes CAN bus topology diagrams, node ID assignment guidance, configuration verification commands ## Phase 3: Error Recovery Documentation - New section in DroneCAN-Driver.md: "Error Recovery and Graceful Disable" - Documented safe initialization sequence (interrupt enable moved to end of init) - Explains graceful disable behavior (interrupt → TX queue cleanup → hardware stop) - Documents automatic bus-off recovery and incomplete initialization safety - Highlights the critical interrupt race condition fix that prevents crashes on unconfigured hardware ## Benefits - Future developers have clear guidance on common DroneCAN configurations - Error case tests provide confidence in decoder robustness - Documentation of the graceful disable fix ensures maintainers understand the safety architecture - All examples are backward-compatible and non-breaking Related to PR iNavFlight#11313: DroneCAN/libcanard implementation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> * fix(tests): Correct DroneCAN unit test boundary values The tests used values exceeding DSDL field sizes: - state_of_charge_pct: 7-bit field (max 127), test used 255 - sats_used: 6-bit field (max 63), test used 255 Fixed by using valid boundary values that match the DSDL spec. --------- Co-authored-by: Claude Haiku 4.5 <noreply@anthropic.com>
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