Fix broken SITL build: unbalanced #if SITL_BUILD in taskSystem() (merge #11727 artifact) - #11738
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sensei-hacker merged 1 commit intoJul 20, 2026
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The release/9.1 merge (iNavFlight#11727) hit a conflict in taskSystem() where two independent fixes for the SITL load-accounting bug (iNavFlight#11710) — one from release/9.1, one from the mavlink stack — were concatenated instead of one being chosen. The result nested a duplicate '#if defined(SITL_BUILD)' block inside the '#else' branch, leaving the outer '#if' with no matching '#endif' and failing every SITL build with 'unterminated #else'. Remove the duplicated block, restoring the single intended (release/9.1) version. No functional change to load accounting; unit builds were unaffected (UNIT_TEST, not SITL_BUILD).
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sensei-hacker
merged commit Jul 20, 2026
27052b1
into
iNavFlight:maintenance-10.x
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Problem
maintenance-10.xdoes not build for SITL. Every SITL build fails atscheduler.c:(plus a cascade of
-Werror=unused-function/unused-variableon the scheduler queue statics, because the malformed conditional excludes their users). Unit-test builds are unaffected — they defineUNIT_TEST, notSITL_BUILD, so the broken branch isn't compiled there and CI's unit jobs stay green while SITL is dead.Cause
taskSystem()had two independent fixes for the SITL load-accounting bug (#11710) land on different lines — one onrelease/9.1, one via the MAVLink stack — that both rewrote the same block. Therelease/9.1merge (#11727) resolved that conflict by concatenating both copies rather than choosing one: it kept therelease/9.1block as the outer#if defined(SITL_BUILD)and pasted the other copy inside the#elsebranch. The inner#endifthen closes the duplicate's#if, leaving the outer#if(line 131) with no matching#endif.Fix
Remove the duplicated
#if defined(SITL_BUILD)block from inside the#else, restoring the single intended (release/9.1) version. No functional change to load accounting — the two copies were the same wall-clock algorithm.Verified
SITL builds and links cleanly with
-Werrorafter the change.taskSystem()is now byte-identical to the intendedrelease/9.1version.