Backport various bugfixes to v3#2936
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Backports the following fixes from main to v3: - 10c1196 core: fix out-of-bounds read in MavlinkFtpServer::_data_as_string - 93a625b core: check ofstream (not ifstream) after seekp in FTP _work_write - 9235e52 core: fix FTP server deadlock joining burst thread while holding _mutex - 48b4987 core: make FTP server target ids atomic - cbac9c0 core: reject FTP burst offset past file size to avoid huge allocation - a565b66 fix: reject FTP responses with unexpected seq_number (#2850)
Backports the following fixes from main to v3: - bd632eb core: fix UAF when unregister_all_blocking misses _register_later_table (#2876) - 4fea94b core: avoid std::stoi terminate() when parsing metadata uri component id - 5c5eea8 core: check fopen result before using it in download_file_to_path - 1bfd363 core: fix out-of-bounds read on non-terminated PARAM_EXT_SET custom value - 2e1c78c core: guard against NULL getpwuid() in get_cache_directory - c97fa91 fix to properly remove the trailing null byte (#2899) - 46b3c9a core: reject trailing garbage when parsing port and baudrate - 6d68e3d core: check inet_ntop result in resolve_hostname_to_ip
Backports the following fixes from main to v3: - 62c60ac core: fix message matching in MavlinkRequestMessage::handle_any_message - 020777a core: fix deleting of callback on rapid requests of messages (#2894) - c863cdf core: cancel pending timeouts in MavlinkRequestMessage destructor - 89e663d core: lock _system_ids when inserting from the libmav receive path - fa747afe core: ignore duplicate/out-of-order mission items on the server - 8737229 core: reindex non-extended parameter view contiguously - 21cba79 core: enlarge libmav accumulation buffer to avoid dropping messages
Backports the following fixes from main to v3: - 845f382 core: send PARAM_ERROR for missing/wrong-type non-extended PARAM_SET - dfac8d4 param_server: allow updating an already-provided param after lockdown (#2916) - 673cecd core: notify param value changes on every used protocol (#2915) - 3e70e89 core: don't invoke param subscription callbacks under _all_params_mutex Note: main uses asio::post to defer the value-change broadcast/callbacks; on v3 this is re-expressed with the existing _work_queue and by invoking subscription callbacks after releasing _all_params_mutex.
Backports the following fixes from main to v3: - cffa8f6 core: fix erase-remove idiom in unregister_statustext_handler - 67d4631 core: synchronize statustext and param-changed handler lists - 6c643aa core: guard MavsdkImpl::_configuration with a dedicated mutex - 79534d2 core: capture callback watchdog fields by value to avoid data race Note: main's asio-executor confinement does not apply to v3; the underlying races are fixed here with dedicated std::mutex members instead.
Backports the following fixes from main to v3: - 546cd8e camera_server: fix deadlock between send_capture_status and send_tracking_status_with_interval (#2893) - c371785 Join sending_tracking_status thread before destruction (#2912) - 35686f1 mavlink_direct: fix setting target_component (#2919) - 1155116 fix: clear MavlinkDirect callbacks on deinit to avoid teardown race (#2869) - fd43ce5 log_streaming: fix backend teardown race - 85e7dc6 fix(mavlink_passthrough): export operator<< for Result with MAVSDK_PUBLIC (#2881)
Backport of dfc69b5 (#2927). process_heartbeat() stops setpoint streaming when the vehicle is not in offboard mode more than 3 seconds after the grace start. That timestamp was only written in start(), so before the first start() it was still epoch 0 and the guard always passed: any heartbeat between the first set_*() and start() reset the setpoint state, and start() then failed with NoSetpointSet. Frequent under lockstep SITL with a speed factor. Stamp the grace start whenever streaming transitions out of NotActive so the watchdog covers the gap between the first setpoint and start().
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Backports ~35 bugfixes from
maintov3ahead of the next v3 patch release.Since
maindiverged fromv3(moved tocpp/src/, migrated core to asio, renamed headers to.hpp, switched to fmt-style logging), none of these cherry-picked mechanically — each was semantically ported to v3's layout (src/,.hheaders, threadpool/_work_queue,LogWarn() <<logging) and verified. asio-contract-only fixes were excluded because the underlying bug doesn't exist in v3's model.Builds clean; 290 unit tests + 83 system tests pass.
Fixes by area
FTP client/server
MavlinkFtpServer::_data_as_string(remotely triggerable)_mutexseq_number(fix: reject FTP responses with unexpected seq_number to prevent stale-packet corruption #2850)ofstream(notifstream) afterseekp; atomic FTP target idsParsing / safety
unregister_all_blockingmisses_register_later_table(core: fix UAF in unregister_all_blocking when registrations were deferred #2876)std::stoiterminate()on autopilot-supplied metadata URIfopenresult before use; OOB read on non-terminatedPARAM_EXT_SETgetpwuid()guard; trailing-NUL fix (core: fix Android cache directory path null byte handling #2899); port/baud trailing garbage;inet_ntopreturn checkRequest-message / mission / libmav
MavlinkRequestMessage::handle_any_message_system_idson the libmav receive path; ignore duplicate/out-of-order mission itemsParameter server
PARAM_ERRORfor missing/wrong-type non-extendedPARAM_SET_all_params_mutexCore races
unregister_statustext_handler; synchronize statustext/param-changed handler lists_configurationwith a dedicated mutex; capture watchdog fields by valuePlugins
target_componentfix (mavlink_direct: fix setting target_component #2919); clear callbacks on deinit (fix: eliminate TSAN races in MavlinkDirectImpl subscribe/deinit #2869)operator<<withMAVSDK_PUBLIC(fix(mavlink_passthrough): export operator<< for Result with MAVSDK_PUBLIC #2881)start()intermittently failing withNoSetpointSet, frequent under lockstep SITLDeliberately not backported
7081e0c10.Commits are grouped by area rather than one-per-PR; happy to reshape if preferred.
CI
windows-2025runner migrated from VS 2022 to VS 2026, breaking v3's Windows builds