Update US LoRa modem preset to region defaults for compliance

* Improve GPS stale probe recovery

* Address GPS review feedback

.github/workflows/test_native.yml

@@ -37,13 +37,33 @@ jobs:
           sed -i -e "s#${PWD}#.#" coverage_base.info # Make paths relative.
 
       - name: Integration test
+        # Cap the whole step: if the simulator ever fails to exit (e.g. the
+        # exit_simulator admin path regresses again) the job must fail fast,
+        # not run to GitHub's 6-hour limit.
+        timeout-minutes: 5
         run: |
           .pio/build/coverage/meshtasticd -s &
           PID=$!
+          trap 'kill "$PID" 2>/dev/null || true' EXIT
           timeout 20 bash -c "until ls -al /proc/$PID/fd | grep socket; do sleep 1; done"
           echo "Simulator started, launching python test..."
           python3 -c 'from meshtastic.test import testSimulator; testSimulator()'
-          wait
+          # The Python harness sends exit_simulator and exits; the simulator is
+          # expected to terminate on its own. Give it a moment, then verify.
+          # If it is still alive the exit handshake is broken — fail loudly and
+          # do NOT fall through to `wait`, which would otherwise block until the
+          # job's hard timeout.
+          for i in $(seq 1 10); do
+            kill -0 "$PID" 2>/dev/null || break
+            sleep 1
+          done
+          if kill -0 "$PID" 2>/dev/null; then
+            echo "::error title=Simulator did not exit::meshtasticd ignored exit_simulator and is still running after the integration test. The exit_simulator admin path is broken (see AdminModule::handleReceivedProtobuf, ARCH_PORTDUINO bypass). Killing it to avoid a 6-hour CI overrun."
+            kill -9 "$PID" 2>/dev/null || true
+            wait "$PID" 2>/dev/null || true
+            exit 1
+          fi
+          wait "$PID" 2>/dev/null || true
 
       - name: Capture coverage information
         if: always() # run this step even if previous step failed

boards/wiscore_rak4600.json

@@ -1,50 +0,0 @@
-{
-  "build": {
-    "arduino": {
-      "ldscript": "nrf52832_s132_v6.ld"
-    },
-    "core": "nRF5",
-    "cpu": "cortex-m4",
-    "extra_flags": "-DNRF52832_XXAA -DNRF52",
-    "f_cpu": "64000000L",
-    "hwids": [
-      ["0x239A", "0x8029"],
-      ["0x239A", "0x0029"],
-      ["0x239A", "0x002A"],
-      ["0x239A", "0x802A"]
-    ],
-    "usb_product": "Feather nRF52832 Express",
-    "mcu": "nrf52832",
-    "variant": "WisCore_RAK4600_Board",
-    "bsp": {
-      "name": "adafruit"
-    },
-    "softdevice": {
-      "sd_flags": "-DS132",
-      "sd_name": "s132",
-      "sd_version": "6.1.1",
-      "sd_fwid": "0x00B7"
-    },
-    "zephyr": {
-      "variant": "nrf52_adafruit_feather"
-    }
-  },
-  "connectivity": ["bluetooth"],
-  "debug": {
-    "jlink_device": "nRF52832_xxAA",
-    "svd_path": "nrf52.svd",
-    "openocd_target": "nrf52840-mdk-rs"
-  },
-  "frameworks": ["arduino", "zephyr"],
-  "name": "Adafruit Bluefruit nRF52832 Feather",
-  "upload": {
-    "maximum_ram_size": 65536,
-    "maximum_size": 524288,
-    "require_upload_port": true,
-    "speed": 115200,
-    "protocol": "nrfutil",
-    "protocols": ["jlink", "nrfjprog", "nrfutil", "stlink"]
-  },
-  "url": "https://www.adafruit.com/product/3406",
-  "vendor": "Adafruit"
-}

mcp-server/tests/test_00_bake.py

@@ -44,7 +44,7 @@ _ESP32_ARCHES = {
     "esp32-c6",
     "esp32c6",
 }
-_NRF52_ARCHES = {"nrf52", "nrf52840", "nrf52832"}
+_NRF52_ARCHES = {"nrf52", "nrf52840"}
 
 
 def _wait_port_free(port: str, *, timeout_s: float = 15.0, role: str = "") -> None:

src/configuration.h

@@ -576,9 +576,10 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 // -----------------------------------------------------------------------------
 // MESHTASTIC_LOCKDOWN — runtime, client-toggleable hardening (nRF52 only)
 //
-// There is NO build flag to turn lockdown on or off. On nRF52 (CC310 hardware
-// crypto) the lockdown machinery is ALWAYS compiled in; whether it is ACTIVE
-// is decided entirely at runtime by EncryptedStorage::isLockdownActive()
+// Lockdown/protect support is opt-in at build time. Builds that need it pass
+// -DMESHTASTIC_ENABLE_LOCKDOWN=1. When enabled on nRF52 (CC310 hardware
+// crypto), whether it is ACTIVE is decided entirely at runtime by
+// EncryptedStorage::isLockdownActive()
 // (== a passphrase has been provisioned, i.e. /prefs/.dek exists). A device
 // that has never been provisioned — or that the operator disabled from the
 // client app — behaves exactly like stock firmware: plaintext storage, no
@@ -594,11 +595,10 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //               reboots into normal mode. APPROTECT is the one thing that
 //               does NOT revert (see below).
 //
-// MESHTASTIC_LOCKDOWN here is an INTERNAL capability marker, auto-defined for
-// nRF52. It gates the UI bits (lock screen, pairing-PIN handling). It is NOT
-// something a variant sets. Flash-constrained nRF52 variants that genuinely
-// cannot afford the ~tens-of-KB of crypto + access-control code may opt OUT
-// with -DMESHTASTIC_EXCLUDE_LOCKDOWN=1.
+// MESHTASTIC_LOCKDOWN here is an INTERNAL capability marker. It gates the UI
+// bits (lock screen, pairing-PIN handling). Flash-constrained nRF52 variants
+// that genuinely cannot afford the ~tens-of-KB of crypto + access-control code
+// may also opt out with -DMESHTASTIC_EXCLUDE_LOCKDOWN=1.
 //
 //   MESHTASTIC_PHONEAPI_ACCESS_CONTROL — per-connection auth + redaction,
 //                                        gated at runtime on isLockdownActive()
@@ -615,7 +615,22 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 // -DMESHTASTIC_LOCKDOWN_DEBUG=1 keeps the irreversible APPROTECT burn disabled
 // even when provisioned — for development so dev boards never lose SWD.
 // -----------------------------------------------------------------------------
-#if defined(ARCH_NRF52) && !defined(MESHTASTIC_EXCLUDE_LOCKDOWN)
+#if defined(ARCH_NRF52)
+#ifndef MESHTASTIC_ENABLE_LOCKDOWN
+#define MESHTASTIC_ENABLE_LOCKDOWN 0
+#endif
+
+#if !MESHTASTIC_ENABLE_LOCKDOWN
+#undef MESHTASTIC_LOCKDOWN
+#undef MESHTASTIC_PHONEAPI_ACCESS_CONTROL
+#undef MESHTASTIC_ENCRYPTED_STORAGE
+#undef MESHTASTIC_ENABLE_APPROTECT
+#ifndef MESHTASTIC_EXCLUDE_LOCKDOWN
+#define MESHTASTIC_EXCLUDE_LOCKDOWN 1
+#endif
+#endif
+
+#if MESHTASTIC_ENABLE_LOCKDOWN && !defined(MESHTASTIC_EXCLUDE_LOCKDOWN)
 #define MESHTASTIC_LOCKDOWN 1
 #define MESHTASTIC_PHONEAPI_ACCESS_CONTROL 1
 #define MESHTASTIC_ENCRYPTED_STORAGE 1
@@ -623,6 +638,7 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define MESHTASTIC_ENABLE_APPROTECT 1
 #endif
 #endif
+#endif
 
 #ifdef MESHTASTIC_LOCKDOWN
 

src/gps/GPS.cpp

@@ -80,6 +80,12 @@ namespace
 constexpr uint32_t GPS_PROBE_CACHE_MAGIC = 0x47504348UL; // "GPCH"
 constexpr uint16_t GPS_PROBE_CACHE_VERSION = 1;
 constexpr const char *GPS_PROBE_CACHE_FILE = "/prefs/gps_probe_cache.dat";
+constexpr int MIN_PLAUSIBLE_GPS_YEAR = 2020;
+constexpr int MAX_PLAUSIBLE_GPS_YEAR = 2100;
+#ifdef TRACKER_T1000_E
+constexpr uint32_t T1000_E_AIROHA_WAKE_MS = 1000;
+constexpr uint32_t T1000_E_AIROHA_WAKE_INTERVAL_MS = 40;
+#endif
 
 struct GPSProbeCacheRecord {
     uint32_t magic;
@@ -101,6 +107,45 @@ bool isValidProbeBaud(uint32_t baud)
     return baud >= 1200 && baud <= 921600;
 }
 
+template <typename T> void wakeAirohaForActiveProbe(T *serialGps)
+{
+#ifdef TRACKER_T1000_E
+    digitalWrite(PIN_GPS_EN, GPS_EN_ACTIVE);
+    digitalWrite(GPS_RTC_INT, HIGH);
+    delay(3);
+    digitalWrite(GPS_RTC_INT, LOW);
+    delay(50);
+
+    const uint32_t start = millis();
+    do {
+        serialGps->write("$PAIR382,1*2E\r\n");
+        delay(T1000_E_AIROHA_WAKE_INTERVAL_MS);
+    } while (Throttle::isWithinTimespanMs(start, T1000_E_AIROHA_WAKE_MS));
+#elif defined(GNSS_AIROHA)
+    serialGps->write("$PAIR382,1*2E\r\n");
+    delay(20);
+#else
+    (void)serialGps;
+#endif
+}
+
+bool isPlausibleNmeaTime(const struct tm &t)
+{
+    const int year = t.tm_year + 1900;
+    if (year < MIN_PLAUSIBLE_GPS_YEAR || year > MAX_PLAUSIBLE_GPS_YEAR) {
+        return false;
+    }
+
+#ifdef BUILD_EPOCH
+    const int64_t candidate = static_cast<int64_t>(gm_mktime(&t));
+    const int64_t minEpoch = static_cast<int64_t>(BUILD_EPOCH);
+    const int64_t maxEpoch = minEpoch + static_cast<int64_t>(FORTY_YEARS);
+    return candidate >= minEpoch && candidate <= maxEpoch;
+#else
+    return true;
+#endif
+}
+
 template <typename T> bool sawNmeaSentenceAtBaud(T *serialGps, uint32_t timeoutMs)
 {
     // Lightweight passive check: look for at least one complete
@@ -689,6 +734,7 @@ bool GPS::verifyCachedProbePresence()
     case GNSS_MODEL_AG3352:
         if (cachedProbeModel == GNSS_MODEL_AG3352)
             cachedProbeModelName = "AG3352";
+        wakeAirohaForActiveProbe(_serial_gps);
         _serial_gps->write("$PAIR021*39\r\n");
         present = (getACK("$PAIR021,", 900) == GNSS_RESPONSE_OK);
         break;
@@ -741,7 +787,6 @@ bool GPS::verifyCachedProbePresence()
     if (!present) {
         LOG_WARN("Cached GPS probe is stale (%s @ %d), clearing cache", cachedProbeModelName, cachedProbeBaud);
         clearProbeCache();
-        cachedProbeFailedThisBoot = true;
         return false;
     }
 
@@ -762,13 +807,6 @@ bool GPS::setup()
 {
     if (!didSerialInit) {
         int msglen = 0;
-        if (cachedProbeFailedThisBoot) {
-            // If cached verification failed, suppress further probing until
-            // reboot.
-            didSerialInit = true;
-            return true;
-        }
-
         if (tx_gpio && gnssModel == GNSS_MODEL_UNKNOWN) {
             if (!hasProbeCache && !triedProbeCache) {
                 (void)loadProbeCache();
@@ -777,12 +815,13 @@ bool GPS::setup()
             if (hasProbeCache && !triedProbeCache) {
                 triedProbeCache = true;
                 if (!verifyCachedProbePresence()) {
-                    // Cache was stale and got wiped; skip scanning this boot
-                    // and let next boot do a full probe.
-                    didSerialInit = true;
-                    return true;
+                    currentStep = 0;
+                    speedSelect = 0;
+                    probeTries = 0;
                 }
-            } else if (probeTries < GPS_PROBETRIES) {
+            }
+
+            if (gnssModel == GNSS_MODEL_UNKNOWN && probeTries < GPS_PROBETRIES) {
                 // No usable cache: walk common baud rates first.
                 gnssModel = probe(serialSpeeds[speedSelect]);
                 if (gnssModel != GNSS_MODEL_UNKNOWN) {
@@ -794,7 +833,7 @@ bool GPS::setup()
             }
             // Rare Serial Speeds
 #ifndef CONFIG_IDF_TARGET_ESP32C6
-            else if (probeTries == GPS_PROBETRIES) {
+            else if (gnssModel == GNSS_MODEL_UNKNOWN && probeTries == GPS_PROBETRIES) {
                 // Then try less common baud rates before giving up.
                 gnssModel = probe(rareSerialSpeeds[speedSelect]);
                 if (gnssModel != GNSS_MODEL_UNKNOWN) {
@@ -1125,6 +1164,15 @@ void GPS::setPowerState(GPSPowerState newState, uint32_t sleepTime)
             break;
         if (oldState != GPS_ACTIVE && oldState != GPS_IDLE) // If hardware just waking now, clear buffer
             clearBuffer();
+#ifdef TRACKER_T1000_E
+        pinMode(GPS_VRTC_EN, OUTPUT);
+        digitalWrite(GPS_VRTC_EN, HIGH);
+        pinMode(GPS_SLEEP_INT, OUTPUT);
+        digitalWrite(GPS_SLEEP_INT, HIGH);
+        pinMode(GPS_RTC_INT, OUTPUT);
+        digitalWrite(GPS_RTC_INT, LOW);
+        pinMode(GPS_RESETB_OUT, INPUT_PULLUP);
+#endif
         powerMon->setState(meshtastic_PowerMon_State_GPS_Active); // Report change for power monitoring (during testing)
         writePinEN(true);                                         // Power (EN pin): on
         setPowerPMU(true);                                        // Power (PMU): on
@@ -1383,9 +1431,8 @@ int32_t GPS::runOnce()
         if (!setup())
             return currentDelay; // Setup failed, re-run in two seconds
 
-        if (cachedProbeFailedThisBoot || gnssModel == GNSS_MODEL_UNKNOWN) {
-            LOG_WARN("GPS not detected at cached settings; marked not present "
-                     "for this boot");
+        if (gnssModel == GNSS_MODEL_UNKNOWN) {
+            LOG_WARN("GPS not detected; marked not present for this boot");
             return disable();
         }
 
@@ -1585,6 +1632,9 @@ GnssModel_t GPS::probe(int serialSpeed)
         digitalWrite(PIN_GPS_RESET, GPS_RESET_MODE); // assert for 10ms
         delay(10);
         digitalWrite(PIN_GPS_RESET, !GPS_RESET_MODE);
+#ifdef TRACKER_T1000_E
+        delay(100);
+#endif
 
         // attempt to detect the chip based on boot messages
         std::vector<ChipInfo> passive_detect = {
@@ -1637,6 +1687,7 @@ GnssModel_t GPS::probe(int serialSpeed)
     }
     case 3: {
         /* Airoha (Mediatek) AG3335A/M/S, A3352Q, Quectel L89 2.0, SimCom SIM65M */
+        wakeAirohaForActiveProbe(_serial_gps);
         _serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF to reduce volume
         _serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF to reduce volume
         _serial_gps->write("$PAIR513*3D\r\n");     // save configuration
@@ -1968,6 +2019,9 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
         t.tm_year = d.year() - 1900;
         t.tm_isdst = false;
         if (t.tm_mon > -1) {
+            if (!isPlausibleNmeaTime(t)) {
+                return false;
+            }
             if (perhapsSetRTC(RTCQualityGPS, t) == RTCSetResultSuccess) {
                 LOG_DEBUG("NMEA GPS time set %02d-%02d-%02d %02d:%02d:%02d age %d", d.year(), d.month(), t.tm_mday, t.tm_hour,
                           t.tm_min, t.tm_sec, ti.age());

src/gps/GPS.h

@@ -193,8 +193,6 @@ class GPS : private concurrency::OSThread
     bool hasProbeCache = false;
     // Ensures cached probe is attempted once per boot.
     bool triedProbeCache = false;
-    // Latched when cached presence check fails
-    bool cachedProbeFailedThisBoot = false;
 
     /**
      * hasValidLocation - indicates that the position variables contain a complete

src/graphics/Screen.cpp

@@ -233,6 +233,16 @@ static inline float wrapHeading360(float heading)
     return heading;
 }
 
+static inline float wrapDelta180(float delta)
+{
+    if (delta > 180.0f) {
+        delta -= 360.0f;
+    } else if (delta < -180.0f) {
+        delta += 360.0f;
+    }
+    return delta;
+}
+
 void Screen::setHeading(float heading)
 {
     const float wrappedHeading = wrapHeading360(heading);
@@ -244,37 +254,30 @@ void Screen::setHeading(float heading)
     }
 
     // Interpolate using shortest-path angular delta to avoid jumps around 0/360.
-    float delta = wrappedHeading - compassHeading;
-    if (delta > 180.0f) {
-        delta -= 360.0f;
-    } else if (delta < -180.0f) {
-        delta += 360.0f;
-    }
+    float delta = wrapDelta180(wrappedHeading - compassHeading);
 
     // Adaptive filtering:
     // - Strong damping for tiny deltas (jitter)
     // - Faster response for larger turns
     const float absDelta = (delta >= 0.0f) ? delta : -delta;
-    if (absDelta < 1.0f) {
-        return;
-    }
+    if (absDelta >= 1.0f) {
+        float alpha = 0.35f;
+        if (absDelta > 25.0f) {
+            alpha = 0.85f;
+        } else if (absDelta > 10.0f) {
+            alpha = 0.65f;
+        }
 
-    float alpha = 0.35f;
-    if (absDelta > 25.0f) {
-        alpha = 0.85f;
-    } else if (absDelta > 10.0f) {
-        alpha = 0.65f;
-    }
+        float step = delta * alpha;
+        const float maxStep = 12.0f;
+        if (step > maxStep) {
+            step = maxStep;
+        } else if (step < -maxStep) {
+            step = -maxStep;
+        }
 
-    float step = delta * alpha;
-    const float maxStep = 12.0f;
-    if (step > maxStep) {
-        step = maxStep;
-    } else if (step < -maxStep) {
-        step = -maxStep;
+        compassHeading = wrapHeading360(compassHeading + step);
     }
-
-    compassHeading = wrapHeading360(compassHeading + step);
 }
 
 // ==============================

src/mesh/Channels.cpp

@@ -82,7 +82,7 @@ void Channels::initDefaultLoraConfig()
 {
     meshtastic_Config_LoRaConfig &loraConfig = config.lora;
 
-    loraConfig.modem_preset = meshtastic_Config_LoRaConfig_ModemPreset_LONG_FAST; // Default to Long Range & Fast
+    loraConfig.modem_preset = getRegion(loraConfig.region)->getDefaultPreset(); // region default (US: LONG_TURBO for FCC)
     loraConfig.use_preset = true;
     loraConfig.tx_power = 0; // default
     loraConfig.channel_num = 0;

src/mesh/NodeDB.cpp

@@ -834,7 +834,10 @@ void NodeDB::installDefaultConfig(bool preserveKey = false)
 #ifdef USERPREFS_LORACONFIG_MODEM_PRESET
     config.lora.modem_preset = USERPREFS_LORACONFIG_MODEM_PRESET;
 #else
-    config.lora.modem_preset = meshtastic_Config_LoRaConfig_ModemPreset_LONG_FAST;
+    // Default to the region's own default preset (US is LONG_TURBO for FCC §15.247; every other region
+    // is LONG_FAST). region is set just above, so a region-locked board is born on the compliant default
+    // without any runtime "upgrade" step.
+    config.lora.modem_preset = getRegion(config.lora.region)->getDefaultPreset();
 #endif
 #ifdef USERPREFS_LORACONFIG_USE_PRESET
     config.lora.use_preset = USERPREFS_LORACONFIG_USE_PRESET;

src/mesh/RadioInterface.cpp

@@ -77,7 +77,12 @@ const RegionInfo regions[] = {
         https://link.springer.com/content/pdf/bbm%3A978-1-4842-4357-2%2F1.pdf
         https://www.thethingsnetwork.org/docs/lorawan/regional-parameters/
     */
-    RDEF(US, 902.0f, 928.0f, 100, 30, false, false, PROFILE_STD, PRESET(LONG_FAST), 0),
+    // FCC §15.247 requires >=500 kHz of 6 dB bandwidth for digital (non-frequency-hopping)
+    // modulation in the 902-928 MHz band, so the US region's default preset is LONG_TURBO (500 kHz)
+    // rather than the 250 kHz LONG_FAST. A fresh US board adopts this as its factory default via
+    // getDefaultPreset() (see installDefaultConfig); LONG_FAST and the other presets stay available
+    // for users who opt in.
+    RDEF(US, 902.0f, 928.0f, 100, 30, false, false, PROFILE_STD, PRESET(LONG_TURBO), 0),
 
     /*
         EN300220 ETSI V3.2.1 [Table B.1, Item H, p. 21]

src/modules/AdminModule.cpp

@@ -19,6 +19,7 @@
 #include "main.h"
 #endif
 #ifdef ARCH_PORTDUINO
+#include "PortduinoGlue.h"
 #include "unistd.h"
 #endif
 
@@ -106,6 +107,18 @@ bool AdminModule::handleReceivedProtobuf(const meshtastic_MeshPacket &mp, meshta
     if (mp.which_payload_variant != meshtastic_MeshPacket_decoded_tag) {
         return handled;
     }
+#ifdef ARCH_PORTDUINO
+    // Simulator only: honor exit_simulator unconditionally for the local client (from==0).
+    // The from==0 branch below now covers pki_encrypted local packets too, but is_managed
+    // can still block it. Rather than threading simulator awareness through the auth gates,
+    // intercept here before any auth logic runs. Local-origin + force_simradio only.
+    // TODO: should a local client bypass admin auth at all? Fenced to the simulator for now.
+    if (portduino_config.force_simradio && mp.from == 0 &&
+        r->which_payload_variant == meshtastic_AdminMessage_exit_simulator_tag) {
+        LOG_INFO("Exiting simulator");
+        exit(0);
+    }
+#endif
     meshtastic_Channel *ch = &channels.getByIndex(mp.channel);
     // Could tighten this up further by tracking the last public_key we went an AdminMessage request to
     // and only allowing responses from that remote.

src/modules/Telemetry/AirQualityTelemetry.cpp

@@ -428,20 +428,6 @@ bool AirQualityTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
                 LOG_DEBUG("Start next execution in 5s, then sleep");
                 setIntervalFromNow(FIVE_SECONDS_MS);
             }
-
-            if (config.device.role == meshtastic_Config_DeviceConfig_Role_SENSOR && config.power.is_power_saving) {
-                meshtastic_ClientNotification *notification = clientNotificationPool.allocZeroed();
-                notification->level = meshtastic_LogRecord_Level_INFO;
-                notification->time = getValidTime(RTCQualityFromNet);
-                sprintf(notification->message, "Sending telemetry and sleeping for %us interval in a moment",
-                        Default::getConfiguredOrDefaultMs(moduleConfig.telemetry.air_quality_interval,
-                                                          default_telemetry_broadcast_interval_secs) /
-                            1000U);
-                service->sendClientNotification(notification);
-                sleepOnNextExecution = true;
-                LOG_DEBUG("Start next execution in 5s, then sleep");
-                setIntervalFromNow(FIVE_SECONDS_MS);
-            }
         }
         return true;
     }

src/motion/ICM42607PSensor.cpp

@@ -4,10 +4,16 @@
 
 #include "detect/ScanI2CTwoWire.h"
 #include <ICM42670P.h>
+#include <math.h>
 
 static constexpr uint16_t ICM42607P_ACCEL_ODR_HZ = 50;
 static constexpr uint16_t ICM42607P_ACCEL_FSR_G = 2;
-static constexpr float ICM42607P_COUNTS_PER_G = 32768.0f / ICM42607P_ACCEL_FSR_G;
+static constexpr float ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG_VALUE =
+#ifdef ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG
+    ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG;
+#else
+    0.0f;
+#endif
 
 #ifdef ICM_42607P_INT_PIN
 volatile static bool ICM42607P_IRQ = false;
@@ -18,10 +24,7 @@ void ICM42607PSetInterrupt()
 }
 #endif
 
-ICM42607PSensor::ICM42607PSensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice)
-{
-    wire = ScanI2CTwoWire::fetchI2CBus(foundDevice.address);
-}
+ICM42607PSensor::ICM42607PSensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
 
 ICM42607PSensor::~ICM42607PSensor() = default;
 
@@ -30,6 +33,7 @@ bool ICM42607PSensor::init()
     bool addressLsb = deviceAddress() == ICM42607P_ADDR_ALT;
 
     LOG_DEBUG("ICM-42607-P begin on addr 0x%02X (port=%d)", deviceAddress(), devicePort());
+    TwoWire *wire = ScanI2CTwoWire::fetchI2CBus(device.address);
     sensor.reset();
     auto newSensor = std::make_unique<ICM42670>(*wire, addressLsb);
 
@@ -82,8 +86,22 @@ int32_t ICM42607PSensor::runOnce()
         return MOTION_SENSOR_CHECK_INTERVAL_MS;
     }
 
-    // LOG_DEBUG("ICM-42607-P accel read x=%.3fg y=%.3fg z=%.3fg", (float)event.accel[0] / ICM42607P_COUNTS_PER_G,
-    //           (float)event.accel[1] / ICM42607P_COUNTS_PER_G, (float)event.accel[2] / ICM42607P_COUNTS_PER_G);
+    float ax = static_cast<float>(event.accel[0]);
+    float ay = static_cast<float>(event.accel[1]);
+    const float az = static_cast<float>(event.accel[2]);
+
+    if (ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG_VALUE != 0.0f) {
+        static const float rotRad = ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG_VALUE * DEG_TO_RAD;
+        static const float cosTheta = cosf(rotRad);
+        static const float sinTheta = sinf(rotRad);
+        const float rotatedX = (ax * cosTheta) - (ay * sinTheta);
+        const float rotatedY = (ax * sinTheta) + (ay * cosTheta);
+        ax = rotatedX;
+        ay = rotatedY;
+    }
+
+    // Match the accel sign convention used by other FusionCompass sensor paths.
+    publishCompassAccelSample(ax, -ay, -az);
 
     return MOTION_SENSOR_CHECK_INTERVAL_MS;
 #endif

src/motion/ICM42607PSensor.h

@@ -14,7 +14,6 @@ class ICM42607PSensor : public MotionSensor
 {
   private:
     std::unique_ptr<ICM42670> sensor;
-    TwoWire *wire = nullptr;
 
   public:
     explicit ICM42607PSensor(ScanI2C::FoundDevice foundDevice);

src/motion/MMC5983MASensor.cpp

@@ -2,6 +2,7 @@
 
 #if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<SparkFun_MMC5983MA_Arduino_Library.h>)
 
+#include "Fusion/Fusion.h"
 #include "detect/ScanI2CTwoWire.h"
 
 #if !defined(MESHTASTIC_EXCLUDE_SCREEN)
@@ -10,8 +11,11 @@ extern graphics::Screen *screen;
 
 static constexpr float MMC5983MA_ZERO_FIELD = 131072.0f;
 static constexpr float MMC5983MA_COUNTS_PER_GAUSS = 16384.0f;
-static constexpr uint16_t MMC5983MA_CONTINUOUS_FREQUENCY_HZ = 10;
+static constexpr uint16_t MMC5983MA_CONTINUOUS_FREQUENCY_HZ = 50;
+static constexpr int32_t MMC5983MA_UPDATE_INTERVAL_MS = 20;
 static constexpr float MMC5983MA_HEADING_OFFSET_DEG = 180.0f;
+static constexpr uint32_t MMC5983MA_ACCEL_STALE_MS = 300;
+static constexpr float MMC5983MA_MIN_AXIS_RADIUS = 1e-4f;
 
 MMC5983MASensor::MMC5983MASensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
 
@@ -62,7 +66,7 @@ int32_t MMC5983MASensor::runOnce()
 {
     float magX = 0, magY = 0, magZ = 0;
     if (!readMagnetometer(magX, magY, magZ)) {
-        return MOTION_SENSOR_CHECK_INTERVAL_MS;
+        return MMC5983MA_UPDATE_INTERVAL_MS;
     }
 
 #if !defined(MESHTASTIC_EXCLUDE_SCREEN)
@@ -74,25 +78,53 @@ int32_t MMC5983MASensor::runOnce()
     }
 #endif
 
-    magX -= (highestX + lowestX) / 2;
-    magY -= (highestY + lowestY) / 2;
-    magZ -= (highestZ + lowestZ) / 2;
+    // Hard-iron bias removal.
+    magX -= (highestX + lowestX) * 0.5f;
+    magY -= (highestY + lowestY) * 0.5f;
+    magZ -= (highestZ + lowestZ) * 0.5f;
+
+    // Soft-iron diagonal scaling from calibration extrema.
+    const float radiusX = (highestX - lowestX) * 0.5f;
+    const float radiusY = (highestY - lowestY) * 0.5f;
+    const float radiusZ = (highestZ - lowestZ) * 0.5f;
+    const float avgRadius = (radiusX + radiusY + radiusZ) / 3.0f;
+    magX *= (radiusX > MMC5983MA_MIN_AXIS_RADIUS) ? (avgRadius / radiusX) : 1.0f;
+    magY *= (radiusY > MMC5983MA_MIN_AXIS_RADIUS) ? (avgRadius / radiusY) : 1.0f;
+    magZ *= (radiusZ > MMC5983MA_MIN_AXIS_RADIUS) ? (avgRadius / radiusZ) : 1.0f;
 
 #if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
-    float heading = atan2f(magY, magX) * RAD_TO_DEG + MMC5983MA_HEADING_OFFSET_DEG;
-    if (heading < 0.0f) {
-        heading += 360.0f;
-    } else if (heading >= 360.0f) {
-        heading -= 360.0f;
+    float heading;
+    float accelX = 0.0f;
+    float accelY = 0.0f;
+    float accelZ = 0.0f;
+    uint32_t accelAgeMs = 0;
+
+    if (getLatestCompassAccelSample(accelX, accelY, accelZ, accelAgeMs) && accelAgeMs <= MMC5983MA_ACCEL_STALE_MS) {
+        FusionVector ga = {.axis = {accelX, accelY, accelZ}};
+        FusionVector ma = {.axis = {magX, magY, magZ}};
+        if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
+            ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
+            ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
+        }
+        heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma) + MMC5983MA_HEADING_OFFSET_DEG;
+    } else {
+        heading = atan2f(magY, magX) * RAD_TO_DEG + MMC5983MA_HEADING_OFFSET_DEG;
     }
 
+    if (heading >= 360.0f)
+        heading -= 360.0f;
+    else if (heading < 0.0f)
+        heading += 360.0f;
+    heading = 360.0f - heading;
+    if (heading >= 360.0f)
+        heading -= 360.0f;
+
     heading = applyCompassOrientation(heading);
-    if (screen) {
+    if (screen)
         screen->setHeading(heading);
-    }
 #endif
 
-    return MOTION_SENSOR_CHECK_INTERVAL_MS;
+    return MMC5983MA_UPDATE_INTERVAL_MS;
 }
 
 void MMC5983MASensor::calibrate(uint16_t forSeconds)

src/motion/MagnetometerThread.h

@@ -47,9 +47,8 @@ class MagnetometerThread : public concurrency::OSThread
     {
         canSleep = true;
 
-        if (isInitialised) {
+        if (isInitialised)
             return sensor->runOnce();
-        }
 
         return MOTION_SENSOR_CHECK_INTERVAL_MS;
     }

src/motion/MotionSensor.cpp

@@ -2,6 +2,7 @@
 #include "FSCommon.h"
 #include "SPILock.h"
 #include "SafeFile.h"
+#include "concurrency/LockGuard.h"
 #include "graphics/draw/CompassRenderer.h"
 
 #if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
@@ -30,6 +31,17 @@ bool isRangeValid(float highest, float lowest)
     // NaN/Inf guard without pulling in extra math helpers.
     return (highest == highest) && (lowest == lowest) && (highest > lowest);
 }
+
+struct CompassAccelSample {
+    float x = 0.0f;
+    float y = 0.0f;
+    float z = 0.0f;
+    uint32_t sampledAtMs = 0;
+    bool valid = false;
+};
+
+concurrency::Lock latestCompassAccelLock;
+CompassAccelSample latestCompassAccelSample;
 } // namespace
 
 // screen is defined in main.cpp
@@ -204,6 +216,35 @@ float MotionSensor::applyCompassOrientation(float heading)
     }
 }
 
+void MotionSensor::publishCompassAccelSample(float x, float y, float z)
+{
+    concurrency::LockGuard guard(&latestCompassAccelLock);
+    latestCompassAccelSample.x = x;
+    latestCompassAccelSample.y = y;
+    latestCompassAccelSample.z = z;
+    latestCompassAccelSample.sampledAtMs = millis();
+    latestCompassAccelSample.valid = true;
+}
+
+bool MotionSensor::getLatestCompassAccelSample(float &x, float &y, float &z, uint32_t &ageMs)
+{
+    uint32_t sampledAtMs = 0;
+    {
+        concurrency::LockGuard guard(&latestCompassAccelLock);
+        if (!latestCompassAccelSample.valid) {
+            return false;
+        }
+
+        x = latestCompassAccelSample.x;
+        y = latestCompassAccelSample.y;
+        z = latestCompassAccelSample.z;
+        sampledAtMs = latestCompassAccelSample.sampledAtMs;
+    }
+
+    ageMs = millis() - sampledAtMs;
+    return true;
+}
+
 #if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
 void MotionSensor::drawFrameCalibration(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
 {

src/motion/MotionSensor.h

@@ -67,6 +67,8 @@ class MotionSensor
     static void updateCalibrationExtrema(float x, float y, float z, float &highestX, float &lowestX, float &highestY,
                                          float &lowestY, float &highestZ, float &lowestZ);
     static float applyCompassOrientation(float heading);
+    static void publishCompassAccelSample(float x, float y, float z);
+    static bool getLatestCompassAccelSample(float &x, float &y, float &z, uint32_t &ageMs);
 
     ScanI2C::FoundDevice device;
 

src/platform/nrf52/NRF52Bluetooth.cpp

@@ -71,9 +71,11 @@ void onConnect(uint16_t conn_handle)
     // the (single, reused) bluetoothPhoneAPI instance, so a prior session's
     // authorization can otherwise survive a quick reconnect. handleStartConfig()
     // re-locks on every want_config too; this closes the window before that.
+#ifdef MESHTASTIC_PHONEAPI_ACCESS_CONTROL
     if (bluetoothPhoneAPI) {
         bluetoothPhoneAPI->setAdminAuthorized(false);
     }
+#endif
 
     // Notify UI (or any other interested firmware components)
     meshtastic::BluetoothStatus newStatus(meshtastic::BluetoothStatus::ConnectionState::CONNECTED);

test/test_admin_radio/test_main.cpp

@@ -1112,6 +1112,26 @@ void tearDown(void)
     testAdmin = nullptr;
 }
 
+// -----------------------------------------------------------------------
+// US region factory default preset (LONG_TURBO for FCC §15.247). A fresh board adopts its region's
+// default via getDefaultPreset() in installDefaultConfig() — there is no runtime "upgrade" path.
+// -----------------------------------------------------------------------
+
+static void test_usRegionDefaultPresetIsLongTurbo()
+{
+    // FCC §15.247: the US region's default preset is the 500 kHz LONG_TURBO, so a fresh US board is
+    // born compliant.
+    TEST_ASSERT_EQUAL(meshtastic_Config_LoRaConfig_ModemPreset_LONG_TURBO,
+                      getRegion(meshtastic_Config_LoRaConfig_RegionCode_US)->getDefaultPreset());
+}
+
+static void test_nonUsRegionDefaultPresetUnchanged()
+{
+    // Only US changed: every other region still defaults to LONG_FAST.
+    TEST_ASSERT_EQUAL(meshtastic_Config_LoRaConfig_ModemPreset_LONG_FAST,
+                      getRegion(meshtastic_Config_LoRaConfig_RegionCode_EU_868)->getDefaultPreset());
+}
+
 void setup()
 {
     delay(10);
@@ -1180,6 +1200,10 @@ void setup()
     RUN_TEST(test_regionFieldsAreSane);
     RUN_TEST(test_onlyLORA24HasWideLora);
 
+    // US region factory default preset
+    RUN_TEST(test_usRegionDefaultPresetIsLongTurbo);
+    RUN_TEST(test_nonUsRegionDefaultPresetUnchanged);
+
     // OVERRIDE_SLOT_PRESET_HASH (-1) slot formula tests
     RUN_TEST(test_overrideSlotPresetHash_longFast_customChannelMatchesDefaultNameSlot);
     RUN_TEST(test_overrideSlotPresetHash_mediumFast_customChannelMatchesDefaultNameSlot);

variants/nrf52840/heltec_mesh_node_t1/variant.h

@@ -18,21 +18,20 @@
 
 #ifndef _VARIANT_HELTEC_MESH_NODE_T1_
 #define _VARIANT_HELTEC_MESH_NODE_T1_
-/** Master clock frequency */
+
 #define VARIANT_MCK (64000000ul)
-
 #define USE_LFXO // Board uses 32khz crystal for LF
 
-/*----------------------------------------------------------------------------
- *        Headers
- *----------------------------------------------------------------------------*/
-
 #include "WVariant.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif // __cplusplus
 
+#define HELTEC_MESH_NODE_T1
+
+// Display (ST7735, 80x160 TFT via SPI1)
+
 #define ST7735_CS (0 + 12)
 #define ST7735_RS (0 + 22) // DC
 #define ST7735_SDA (0 + 24)
@@ -41,7 +40,7 @@ extern "C" {
 #define ST7735_MISO -1
 #define ST7735_BUSY -1
 #define ST7735_BL (0 + 15)
-#define VTFT_CTRL (0 + 13)  // Active HIGH, powers the ST7735 display
+#define VTFT_CTRL (0 + 13) // Active HIGH, powers the ST7735 display
 #define SPI_FREQUENCY 80000000
 #define SPI_READ_FREQUENCY 16000000
 #define SCREEN_ROTATE
@@ -50,51 +49,47 @@ extern "C" {
 #define TFT_OFFSET_X 24
 #define TFT_OFFSET_Y 0
 #define TFT_INVERT false
-#define SCREEN_TRANSITION_FRAMERATE 3 // fps
 #define DISPLAY_FORCE_SMALL_FONTS
+#define FORCE_LOW_RES 1 // 80px-wide panel causes artifacts with full-res UI elements
+
+// Pins
 
-// Number of pins defined in PinDescription array
 #define PINS_COUNT (48)
 #define NUM_DIGITAL_PINS (48)
 #define NUM_ANALOG_INPUTS (1)
 #define NUM_ANALOG_OUTPUTS (0)
 
 // LEDs
+
 #define PIN_LED1 (0 + 16)
 #define LED_BLUE PIN_LED1 // fake for bluefruit library
 #define LED_GREEN PIN_LED1
 #define LED_STATE_ON 0 // State when LED is lit
 
-/*
- * Buttons
- */
+// Buttons
+
 #define PIN_BUTTON1 (32 + 10)
 #define PIN_BUTTON2 (0 + 14)
 
-/*
-No longer populated on PCB
-*/
+// Serial (unused, not populated on PCB)
+
 #define PIN_SERIAL2_RX (-1)
 #define PIN_SERIAL2_TX (-1)
 
-/*
- * I2C
- */
+// I2C (ICM42607P IMU and MMC5983MA compass)
 
 #define WIRE_INTERFACES_COUNT 1
-
-// I2C bus 1
 #define PIN_WIRE_SDA (32 + 3)
 #define PIN_WIRE_SCL (0 + 10)
 
-#define PIN_SENSOR_EN (32 + 6)   // Power control pin for sensors
-#define PIN_SENSOR_EN_ACTIVE LOW // Power control active state
-// #define ICM_42607P_INT_PIN (32 + 1)  // ICM42607P INT1, Arduino pin 33 / nRF P1.01
-// #define ICM_42607P_INT2_PIN (32 + 7) // ICM42607P INT2, Arduino pin 39 / nRF P1.07
+#define PIN_SENSOR_EN (32 + 6) // Active LOW — controls IMU and compass VDD
+#define PIN_SENSOR_EN_ACTIVE LOW
 
-/*
- * Lora radio
- */
+// ICM42607P interrupt pins — populated on PCB, not yet used in firmware
+// #define ICM_42607P_INT_PIN  (32 + 1) // INT1 — P1.01
+// #define ICM_42607P_INT2_PIN (32 + 7) // INT2 — P1.07
+
+// LoRa (SX1262)
 
 #define USE_SX1262
 #define SX126X_CS (32 + 11) // FIXME - we really should define LORA_CS instead
@@ -105,46 +100,48 @@ No longer populated on PCB
 #define SX126X_DIO2_AS_RF_SWITCH
 #define SX126X_DIO3_TCXO_VOLTAGE 1.8
 
-/*
- * SPI Interfaces
- */
+// SPI
+
 #define SPI_INTERFACES_COUNT 2
 
-// For LORA, spi 0
+// SPI0 — LoRa
 #define PIN_SPI_MISO (0 + 3)
 #define PIN_SPI_MOSI (32 + 14)
 #define PIN_SPI_SCK (32 + 13)
 
-#define PIN_SPI1_MISO ST7735_MISO 
+// SPI1 — Display (ST7735, write-only)
+#define PIN_SPI1_MISO ST7735_MISO
 #define PIN_SPI1_MOSI ST7735_SDA
-#define PIN_SPI1_SCK  ST7735_SCK
+#define PIN_SPI1_SCK ST7735_SCK
+
+// GPS (UC6580)
 
-/*
- * GPS pins
- */
 #define GPS_UC6580
 #define GPS_BAUDRATE 115200
 #define PIN_GPS_RESET (0 + 26)
 #define GPS_RESET_MODE LOW
 #define PIN_GPS_EN (0 + 4)
 #define GPS_EN_ACTIVE LOW
-#define PERIPHERAL_WARMUP_MS 1000 // Make sure I2C QuickLink has stable power before continuing
+#define PERIPHERAL_WARMUP_MS 1000 // Allow I2C bus to stabilise after sensor power-on
 #define PIN_GPS_PPS (32 + 9)      // Pulse per second input from the GPS
 #define GPS_TX_PIN (0 + 7)
 #define GPS_RX_PIN (0 + 8)
-
 #define GPS_THREAD_INTERVAL 50
 
 #define PIN_SERIAL1_RX GPS_RX_PIN
 #define PIN_SERIAL1_TX GPS_TX_PIN
 
+// Buzzer
+
 #define PIN_BUZZER (0 + 9)
 #define PIN_BUZZER_VOLTAGE_MULTIPLIER_1 (32 + 2)
 #define PIN_BUZZER_VOLTAGE_MULTIPLIER_2 (32 + 5)
 
+// Battery / ADC
+
 #define ADC_CTRL 11
 #define ADC_CTRL_ENABLED HIGH
-#define BATTERY_PIN 5
+#define BATTERY_PIN 5 // nRF52840 AIN3
 #define ADC_RESOLUTION 14
 
 #define BATTERY_SENSE_RESOLUTION_BITS 12
@@ -154,24 +151,15 @@ No longer populated on PCB
 #define VBAT_AR_INTERNAL AR_INTERNAL_3_0
 #define ADC_MULTIPLIER (4.916F)
 
-// nrf52840 AIN3 = Pin 5
-// commented out due to power leakage of 2.9mA in shutdown state see reported issue #8801
-#define BATTERY_LPCOMP_INPUT NRF_LPCOMP_INPUT_3
+// #define BATTERY_LPCOMP_INPUT NRF_LPCOMP_INPUT_3 // UNSAFE: causes 2.9 mA deep-sleep leakage (issue #8801)
 
-// We have AIN3 with a VBAT divider so AIN3 = VBAT * (100/490)
-// We have the device going deep sleep under 3.1V, which is AIN3 = 0.63V
-// So we can wake up when VBAT>=VDD is restored to 3.3V, where AIN3 = 0.67V
-// Ratio 0.67/3.3 = 0.20, so we can pick a bit higher, 2/8 VDD, which means
-// VBAT=4.04V
-#define BATTERY_LPCOMP_THRESHOLD NRF_LPCOMP_REF_SUPPLY_2_8
+// Power / USB
+
+#define NRF_APM   // USB VBUS detection via nrfx_power_usbstatus_get() — no dedicated charging IC on this board
+#define HAS_RTC 0 // No external RTC fitted
 
-#define HAS_RTC 0
 #ifdef __cplusplus
 }
 #endif
 
-/*----------------------------------------------------------------------------
- *        Arduino objects - C++ only
- *----------------------------------------------------------------------------*/
-
 #endif

variants/nrf52840/nrf52832.ini

@@ -1,6 +0,0 @@
-[nrf52832_base]
-extends = nrf52_base
-
-build_flags =
-  ${nrf52_base.build_flags}
-  -DSERIAL_BUFFER_SIZE=1024

variants/nrf52840/tracker-t1000-e/variant.cpp

@@ -45,13 +45,13 @@ void initVariant()
     digitalWrite(BUZZER_EN_PIN, HIGH);
 
     pinMode(PIN_GPS_EN, OUTPUT);
-    digitalWrite(PIN_GPS_EN, LOW);
+    digitalWrite(PIN_GPS_EN, GPS_EN_ACTIVE);
 
     pinMode(GPS_VRTC_EN, OUTPUT);
     digitalWrite(GPS_VRTC_EN, HIGH);
 
     pinMode(PIN_GPS_RESET, OUTPUT);
-    digitalWrite(PIN_GPS_RESET, LOW);
+    digitalWrite(PIN_GPS_RESET, !GPS_RESET_MODE);
 
     pinMode(GPS_SLEEP_INT, OUTPUT);
     digitalWrite(GPS_SLEEP_INT, HIGH);
@@ -59,5 +59,5 @@ void initVariant()
     pinMode(GPS_RTC_INT, OUTPUT);
     digitalWrite(GPS_RTC_INT, LOW);
 
-    pinMode(GPS_RESETB_OUT, INPUT);
-}
+    pinMode(GPS_RESETB_OUT, INPUT_PULLUP);
+}