Fix upstream issue audit round three

Drivers/Holybro.inf

@@ -87,14 +87,18 @@ ServiceBinary=%12%\%DRIVERFILENAME%.sys
 [DeviceList]
 %DESCRIPTION47%=DriverInstall, USB\VID_3162&PID_0047
 %DESCRIPTION49%=DriverInstall, USB\VID_3162&PID_0049
-%DESCRIPTION4B%=DriverInstall, USB\VID_3162&PID_004B&MI_00
-%DESCRIPTION4BSL%=DriverInstall, USB\VID_3162&PID_004B&MI_02
+%DESCRIPTION4B%=DriverInstall, USB\VID_3162&PID_004B&MI_00
+%DESCRIPTION4BSL%=DriverInstall, USB\VID_3162&PID_004B&MI_02
+%DESCRIPTION53%=DriverInstall, USB\VID_3162&PID_0053&MI_00
+%DESCRIPTION53SL%=DriverInstall, USB\VID_3162&PID_0053&MI_02
 
 [DeviceList.NTamd64]
 %DESCRIPTION47%=DriverInstall, USB\VID_3162&PID_0047
 %DESCRIPTION49%=DriverInstall, USB\VID_3162&PID_0049
-%DESCRIPTION4B%=DriverInstall, USB\VID_3162&PID_004B&MI_00
-%DESCRIPTION4BSL%=DriverInstall, USB\VID_3162&PID_004B&MI_02
+%DESCRIPTION4B%=DriverInstall, USB\VID_3162&PID_004B&MI_00
+%DESCRIPTION4BSL%=DriverInstall, USB\VID_3162&PID_004B&MI_02
+%DESCRIPTION53%=DriverInstall, USB\VID_3162&PID_0053&MI_00
+%DESCRIPTION53SL%=DriverInstall, USB\VID_3162&PID_0053&MI_02
 
 ;------------------------------------------------------------------------------
 ;  String Definitions
@@ -108,6 +112,8 @@ MFGNAME="Holybro"
 INSTDISK="Holybro Installer"
 DESCRIPTION47="Pixhawk4"
 DESCRIPTION49="Pixhawk4-mini"
-DESCRIPTION4B="Durandal"
-DESCRIPTION4BSL="Durandal SLCAN"
-SERVICE="USB RS-232 Emulation Driver"
+DESCRIPTION4B="Durandal"
+DESCRIPTION4BSL="Durandal SLCAN"
+SERVICE="USB RS-232 Emulation Driver"
+DESCRIPTION53="Pixhawk6C-MAVLink"
+DESCRIPTION53SL="Pixhawk6C-SLCAN"

ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs

@@ -1699,8 +1699,9 @@ public async Task<bool> setParamAsync(byte sysid, byte compid, string paramname,
 
             Array.Resize(ref temp, 16);
             req.param_id = temp.ToByteArray();
-            if ((MAVlist[sysid, compid].cs.capabilities & (uint) MAV_PROTOCOL_CAPABILITY.PARAM_FLOAT) > 0 ||
-                MAVlist[sysid, compid].apname == MAV_AUTOPILOT.ARDUPILOTMEGA)
+            if (!UsesBytewiseParameterEncoding(
+                    MAVlist[sysid, compid].cs.capabilities,
+                    MAVlist[sysid, compid].apname))
             {
                 req.param_value = new MAVLinkParam(paramname, value, (MAV_PARAM_TYPE.REAL32)).float_value;
             }
@@ -2090,8 +2091,9 @@ public async Task<MAVLinkParamList> getParamListAsync(byte sysid, byte compid)
                     //Console.WriteLine(DateTime.Now.Millisecond + " gp2a ");
 
                     // item uses float based param system
-                    if ((MAVlist[sysid, compid].cs.capabilities & (uint) MAV_PROTOCOL_CAPABILITY.PARAM_FLOAT) > 0 ||
-                        MAVlist[sysid, compid].apname == MAV_AUTOPILOT.ARDUPILOTMEGA)
+                    if (!UsesBytewiseParameterEncoding(
+                            MAVlist[sysid, compid].cs.capabilities,
+                            MAVlist[sysid, compid].apname))
                     {
                         var offset = Marshal.OffsetOf(typeof(mavlink_param_value_t), "param_value");
                         newparamlist[paramID] = new MAVLinkParam(paramID, BitConverter.GetBytes(par.param_value),
@@ -2319,9 +2321,28 @@ public float GetParam(string name = "", short index = -1, bool requireresponce =
         public float GetParam(byte sysid, byte compid, string name = "", short index = -1, bool requireresponce = true)
         {
             return GetParamAsync(sysid, compid, name, index, requireresponce).AwaitSync();
-        }
-
-        /// <summary>
+        }
+
+        internal static bool UsesBytewiseParameterEncoding(
+            uint capabilities, MAV_AUTOPILOT autopilot)
+        {
+            // The current flags are authoritative. In particular, a peripheral may identify its
+            // firmware as ArduPilot while still using the byte-wise protocol required to preserve
+            // UINT32/INT32 bits in the float-shaped PARAM_VALUE and PARAM_SET fields.
+            if ((capabilities & (uint) MAV_PROTOCOL_CAPABILITY.PARAM_ENCODE_BYTEWISE) != 0)
+                return true;
+            if ((capabilities & (uint) MAV_PROTOCOL_CAPABILITY.PARAM_ENCODE_C_CAST) != 0)
+                return false;
+#pragma warning disable CS0612 // Legacy devices advertised PARAM_FLOAT before the encoding flags.
+            if ((capabilities & (uint) MAV_PROTOCOL_CAPABILITY.PARAM_FLOAT) != 0)
+                return false;
+#pragma warning restore CS0612
+
+            // ArduPilot historically used C-cast encoding without advertising a capability.
+            return autopilot != MAV_AUTOPILOT.ARDUPILOTMEGA;
+        }
+
+        /// <summary>
         /// Get param by either index or name
         /// </summary>
         /// <param name="index"></param>

GCSViews/FlightPlannerView.axaml

@@ -19,7 +19,8 @@
 
     <Grid x:Name="WaypointPanel" Grid.Row="2" Grid.Column="0" RowDefinitions="Auto,*">
         <WrapPanel Grid.Row="0" Margin="6,4" VerticalAlignment="Center">
-          <ctl:FormField Label="{Binding WpRadiusLabel}" LabelWidth="92" Margin="0,2,12,2">
+          <ctl:FormField Label="{Binding WpRadiusLabel}" LabelWidth="92" Margin="0,2,12,2"
+                         IsVisible="{Binding ShowWpRadius}">
             <NumericUpDown Classes="sm" Value="{Binding WpRadius}" />
           </ctl:FormField>
           <ctl:FormField Label="{Binding LoiterRadiusLabel}" LabelWidth="104" Margin="0,2,12,2"
@@ -83,6 +84,8 @@
                   <ComboBox
                     ItemsSource="{x:Static vm:WpRow.CommandList}"
                     SelectedItem="{Binding CommandName, Mode=TwoWay}"
+                    KeyDown="OnMissionCommandKeyDown"
+                    PointerWheelChanged="OnMissionCommandPointerWheelChanged"
                     HorizontalAlignment="Stretch"
                     HorizontalContentAlignment="Stretch"
                     Width="180"

GCSViews/FlightPlannerView.axaml.cs

@@ -62,6 +62,24 @@ public FlightPlannerView() {
 
   internal void SwitchDocking() => ApplyDockingLayout(!_actionDockBottom, persist: true);
 
+  internal static bool BlocksClosedMissionCommandKey(
+      bool isDropDownOpen, Key key, KeyModifiers modifiers) =>
+      !isDropDownOpen && modifiers == KeyModifiers.None
+      && key is Key.Up or Key.Down or Key.PageUp or Key.PageDown or Key.Home or Key.End;
+
+  private void OnMissionCommandKeyDown(object? sender, KeyEventArgs e) {
+    if (sender is ComboBox combo
+        && BlocksClosedMissionCommandKey(combo.IsDropDownOpen, e.Key, e.KeyModifiers)) {
+      e.Handled = true;
+    }
+  }
+
+  private void OnMissionCommandPointerWheelChanged(object? sender, PointerWheelEventArgs e) {
+    if (sender is ComboBox { IsDropDownOpen: false }) {
+      e.Handled = true;
+    }
+  }
+
   internal void ApplyDockingLayout(bool actionBottom, bool persist) {
     _actionDockBottom = actionBottom;
 

MissionPlannerTests/Avalonia/MissionPlanner.Tests/DataFlashMetadataTests.cs

@@ -20,4 +20,29 @@ public void Parameter_export_is_sorted_and_uses_mission_planner_format() {
       File.Delete(path);
     }
   }
+
+  [Fact]
+  public void Parameter_history_keeps_every_change_and_computes_final_values() {
+    string path = Path.Combine(Path.GetTempPath(), $"mp_param_history_{Guid.NewGuid():N}.log");
+    try {
+      File.WriteAllLines(path, [
+        "FMT, 128, 89, FMT, BBnNZ, Type,Length,Name,Format,Columns",
+        "FMT, 130, 40, PARM, QNff, TimeUS,Name,Value,Default",
+        "PARM, 1000000, ATC_STR_RAT_FF, 0.5, 0.2",
+        "PARM, 2000000, ARMING_CHECK, 1, 1",
+        "PARM, 3000000, ATC_STR_RAT_FF, 0.8, 0.2",
+      ]);
+
+      DataFlashParameterHistory history = DataFlashLog.ReadParameterHistory(path);
+
+      Assert.Equal(3, history.Changes.Count);
+      Assert.Equal(new[] { 1d, 2d, 3d },
+          history.Changes.Select(change => change.TimeSeconds));
+      Assert.Equal("0.8", history.FinalValues.Single(
+          parameter => parameter.Name == "ATC_STR_RAT_FF").Value);
+      Assert.Equal(2, history.FinalValues.Count);
+    } finally {
+      File.Delete(path);
+    }
+  }
 }

MissionPlannerTests/Avalonia/MissionPlanner.Tests/DroneCanParameterFileTests.cs

@@ -57,4 +57,23 @@ public void DroneCan_value_conversion_preserves_string_type_and_rejects_bad_numb
     Assert.False(ConfigDroneCanViewModel.TryConvertParameterValue(
         numericParameter, "not-a-number", out _));
   }
+
+  [Theory]
+  [InlineData("-1", false)]
+  [InlineData("0", true)]
+  [InlineData("5.5", true)]
+  [InlineData("10", true)]
+  [InlineData("11", false)]
+  public void DroneCan_numeric_values_respect_reported_node_limits(
+      string text, bool expected) {
+    var parameter = new DroneCanParam {
+      Name = "RATE",
+      IsString = false,
+      Min = "0",
+      Max = "10",
+    };
+
+    Assert.Equal(expected,
+        ConfigDroneCanViewModel.TryConvertParameterValue(parameter, text, out _));
+  }
 }

MissionPlannerTests/Avalonia/MissionPlanner.Tests/ExternalAdsbReceiverTests.cs

@@ -56,6 +56,30 @@ public void Sbs_decoder_merges_callsign_and_velocity_before_emitting_position()
     Assert.Equal(0x7700, plane.Squawk);
   }
 
+  [Fact]
+  public void Sbs_decoder_keeps_recent_nonempty_squawk_and_expires_it() {
+    DateTime now = new(2026, 8, 24, 12, 0, 0, DateTimeKind.Utc);
+    var decoder = new ExternalAdsbDecoder(() => now);
+
+    Assert.False(decoder.TryDecodeLine(Sbs("6", "ABC123", fields => {
+      fields[17] = "7700";
+    }), out _));
+    Assert.True(decoder.TryDecodeLine(Sbs("3", "ABC123", fields => {
+      fields[11] = "10000";
+      fields[14] = "34.5";
+      fields[15] = "33.25";
+    }), out var recent));
+    Assert.Equal(0x7700, recent.Squawk);
+
+    now = now.AddSeconds(31);
+    Assert.True(decoder.TryDecodeLine(Sbs("3", "ABC123", fields => {
+      fields[11] = "10000";
+      fields[14] = "34.5";
+      fields[15] = "33.25";
+    }), out var expired));
+    Assert.Equal(0, expired.Squawk);
+  }
+
   [Fact]
   public void Mode_s_decoder_accepts_valid_cpr_pair_in_avr_and_beast_framing() {
     const string even = "*8D75804B580FF2CF7E9BA6F701D0;";

MissionPlannerTests/Avalonia/MissionPlanner.Tests/FlightDataSafetyAndTabTests.cs

@@ -27,9 +27,9 @@ public void Destructive_action_prompts_explain_the_consequence() {
         FlightDataViewModel.ActionConfirmationText("Terminate_Flight"));
     Assert.Contains("permanently erased",
         FlightDataViewModel.ActionConfirmationText("Format_SD_Card"));
-    Assert.Contains("Disable automatic parachute release",
+    Assert.Contains("cannot be undone",
         FlightDataViewModel.ActionConfirmationText("Do_Parachute"));
-    Assert.Equal(MAVLink.PARACHUTE_ACTION.PARACHUTE_DISABLE,
+    Assert.Equal(MAVLink.PARACHUTE_ACTION.PARACHUTE_RELEASE,
         FlightDataViewModel.ParachuteCommandAction);
   }
 

MissionPlannerTests/Avalonia/MissionPlanner.Tests/MavlinkParameterEncodingTests.cs

@@ -0,0 +1,27 @@
+namespace MissionPlanner.Tests;
+
+public sealed class MavlinkParameterEncodingTests {
+  [Fact]
+  public void Explicit_bytewise_capability_overrides_firmware_identity() {
+    uint bytewise = (uint)MAVLink.MAV_PROTOCOL_CAPABILITY.PARAM_ENCODE_BYTEWISE;
+
+    Assert.True(MAVLinkInterface.UsesBytewiseParameterEncoding(
+        bytewise, MAVLink.MAV_AUTOPILOT.ARDUPILOTMEGA));
+    Assert.False(MAVLinkInterface.UsesBytewiseParameterEncoding(
+        (uint)MAVLink.MAV_PROTOCOL_CAPABILITY.PARAM_ENCODE_C_CAST,
+        MAVLink.MAV_AUTOPILOT.INVALID));
+  }
+
+  [Fact]
+  public void Bytewise_uint32_round_trip_preserves_all_bits() {
+    const uint expected = 60180513;
+    var encoded = new MAVLink.MAVLinkParam(
+        "DEVICE_CODE", expected, MAVLink.MAV_PARAM_TYPE.UINT32);
+    var decoded = new MAVLink.MAVLinkParam(
+        "DEVICE_CODE", BitConverter.GetBytes(encoded.float_value),
+        MAVLink.MAV_PARAM_TYPE.UINT32, MAVLink.MAV_PARAM_TYPE.UINT32);
+
+    Assert.Equal(expected, decoded.Value);
+    Assert.NotEqual(expected, (double)(float)expected);
+  }
+}

MissionPlannerTests/Avalonia/MissionPlanner.Tests/NvModemTests.cs

@@ -301,6 +301,63 @@ public void Supports_every_current_gtu_identity_mode_without_id_ranges() {
         item.Label.Contains("NV5 88:222", StringComparison.Ordinal));
   }
 
+  [Theory]
+  [InlineData((byte)0, (byte)4)]
+  [InlineData((byte)1, (byte)1)]
+  public void Nv5_unlocked_receiver_displays_current_channel_signal_only(
+      byte modulation, byte radioChip) {
+    var transport = new FakeTransport();
+    using var viewModel = new NvModemViewModel(transport, () => DateTime.UtcNow,
+        startTimer: false);
+    var source = new NvModemLink(new MAVLinkInterface(), "shared UDP");
+
+    viewModel.HandlePacket(source, Packet(NvModemMessageIds.Nv5LinkStatus,
+        new Nv5LinkStatusMessage {
+          SampleMs = 1000,
+          Channel = 1,
+          RadioChip = radioChip,
+          Role = 0,
+          Modulation = modulation,
+          Flags = 0xfb,
+          PacketRssiDbmX10 = -395,
+          PacketSnrDbX10 = 112,
+          ChannelRssiDbmX10 = -970,
+        }, 5, 68));
+
+    Assert.Contains("L no", viewModel.RadioStatuses[0].Link, StringComparison.Ordinal);
+    Assert.Contains("R -97.0", viewModel.RadioStatuses[0].Link, StringComparison.Ordinal);
+    Assert.Contains("S —", viewModel.RadioStatuses[0].Link, StringComparison.Ordinal);
+    Assert.DoesNotContain("-39.5", viewModel.RadioStatuses[0].Link, StringComparison.Ordinal);
+  }
+
+  [Fact]
+  public void Nv5_locked_receiver_prefers_packet_signal_and_allows_channel_fallback() {
+    var transport = new FakeTransport();
+    using var viewModel = new NvModemViewModel(transport, () => DateTime.UtcNow,
+        startTimer: false);
+    var source = new NvModemLink(new MAVLinkInterface(), "shared UDP");
+    var status = new Nv5LinkStatusMessage {
+      SampleMs = 1000,
+      Channel = 1,
+      RadioChip = 0,
+      Role = 0,
+      Flags = 1 << 2,
+      PacketRssiDbmX10 = -395,
+      PacketSnrDbX10 = 112,
+      ChannelRssiDbmX10 = -970,
+    };
+
+    viewModel.HandlePacket(source,
+        Packet(NvModemMessageIds.Nv5LinkStatus, status, 5, 68));
+    Assert.Contains("R -39.5", viewModel.RadioStatuses[0].Link, StringComparison.Ordinal);
+    Assert.Contains("S 11.2", viewModel.RadioStatuses[0].Link, StringComparison.Ordinal);
+
+    status.PacketRssiDbmX10 = short.MinValue;
+    viewModel.HandlePacket(source,
+        Packet(NvModemMessageIds.Nv5LinkStatus, status, 5, 68));
+    Assert.Contains("R -97.0", viewModel.RadioStatuses[0].Link, StringComparison.Ordinal);
+  }
+
   [Fact]
   public void Invalid_passport_and_unscoped_nv4_parameter_do_not_create_devices() {
     var transport = new FakeTransport();

MissionPlannerTests/Avalonia/MissionPlanner.Tests/PackagingAuthoringTests.cs

@@ -27,6 +27,25 @@ public void Make_package_targets_select_their_platform_rid() {
         StringComparison.Ordinal);
   }
 
+  [Fact]
+  public void Windows_driver_catalog_recognizes_both_Pixhawk6C_interfaces() {
+    string inf = File.ReadAllText(Path.Combine(FindRepoRoot(), "Drivers", "Holybro.inf"));
+
+    Assert.Equal(2, Count(inf, @"USB\VID_3162&PID_0053&MI_00"));
+    Assert.Equal(2, Count(inf, @"USB\VID_3162&PID_0053&MI_02"));
+    Assert.Contains("DESCRIPTION53=\"Pixhawk6C-MAVLink\"", inf, StringComparison.Ordinal);
+    Assert.Contains("DESCRIPTION53SL=\"Pixhawk6C-SLCAN\"", inf, StringComparison.Ordinal);
+  }
+
+  private static int Count(string text, string value) {
+    int count = 0;
+    for (int index = 0; (index = text.IndexOf(value, index, StringComparison.Ordinal)) >= 0;
+         index += value.Length) {
+      count++;
+    }
+    return count;
+  }
+
   private static void AssertPayload(
       XElement feature, XNamespace wix, string id, string expectedName) {
     XElement file = Assert.Single(feature.Descendants(wix + "File"),

MissionPlannerTests/Avalonia/MissionPlanner.Tests/PlannerPortParityTests.cs

@@ -602,8 +602,12 @@ public void Loiter_turns_radius_respects_copter_panorama_semantics(
   }
 
   [Fact]
-  public void Global_loiter_radius_is_not_exposed_for_copter() {
+  public void Global_waypoint_and_loiter_radii_are_not_exposed_for_copter_or_rover() {
+    Assert.False(FlightPlannerViewModel.SupportsGlobalWaypointRadius(Firmwares.ArduCopter2));
+    Assert.False(FlightPlannerViewModel.SupportsGlobalWaypointRadius(Firmwares.ArduRover));
+    Assert.True(FlightPlannerViewModel.SupportsGlobalWaypointRadius(Firmwares.ArduPlane));
     Assert.False(FlightPlannerViewModel.SupportsGlobalLoiterRadius(Firmwares.ArduCopter2));
+    Assert.False(FlightPlannerViewModel.SupportsGlobalLoiterRadius(Firmwares.ArduRover));
     Assert.True(FlightPlannerViewModel.SupportsGlobalLoiterRadius(Firmwares.ArduPlane));
   }