[SITL OSX] Fix some of the warnings and add macosx SITL build to workflows

[mmosca]

clang can be verbose with warnings, but some of it is probably valid when building a 64bit binary.

Highlighted changes:

• Call float versions of math functions to avoid conversion to double by the compiler (absf, sqrtf, roundf, etc)
• Make sure floating point constants are marked as floats, to avoid conversion to double by the compiler. (1.0 is a double, 1.0f is a float and when doing math between float and double, all values get upgraded to double!)
• Changed memcpy_fn in unit test AND SITL builds to be a macro to memcpy (instead of inline function calling memcpy), this fixes linker errors for memcpy as macos compiler mangles the symbol in a different way and would not work with asm("memcpy") call.
• Some simulator code made heavy use of doubles, but since all the data in INAV is float, that is probably overkill and some functions/macros had float in the name, while upconvertting to double.

Open questions:

• Should scale in osdFormatCentiNumber be changed to float? It is currently uint32_t but some of the scale defines are, correctly, not integer numbers.
• I changed CENTIDEGREES_TO_DEGREES to use float on the division path, but the code seems to be ok, or assuming it would be converted to integer anyway. Is this the correct solution?
• This still does not fix the invalid settings issues, but overall should make it easier to test mac builds.

[mmosca]

@Scavanger and @stronnag would you mind having a look and providing some feedback?

[mmosca]

A quick indoor line of sight flight test with a quad was successful.

Configurator appears to be happy with the results.

I haven't tested any of the simulators.

[stronnag]

Linux is content with xplane/fl2sitl. I guess FreeBSD will be to (test pending) and probably even Windows (test further pending).

FreeBSD is also happy, suppose I must test it on Windows ... alas

[stronnag]

And while waiting for the Win10 VM to boot, lets build it on the VisionFive2 board. Yes, it's happy on linux/riscv64 ... looks good to me.

[stronnag]

And finally, it builds on Windows. Works as well as any other recent patch set ...

[fl2sitm] 19:01:15.232034 Boxflags: 0 Armflags: Overload (0x420)
[fl2sitm] 19:01:15.346264 Boxflags: 0 Armflags: Ready to arm (0x20)
[fl2sitm] 19:01:17.495188 Boxflags: 0 Armflags: Overload (0x420)
[fl2sitm] 19:01:17.714590 Boxflags: 0 Armflags: Ready to arm (0x20)
[fl2sitm] 19:01:17.838657 Stats 10s: Tx: 97 RSSI 0 Stats 96 (0)

[stronnag]

For completeness, built on an antediluvian MacOS VM

[149/287] Building C object src/main/t...iles/SITL.elf.dir/__/__/flight/imu.c.o
/Users/jrh/Projects/inav/src/main/flight/imu.c:331:55: warning: suggest braces around initialization of subobject [-Wmissing-braces]
    STATIC_FASTRAM fpVector3_t vGyroDriftEstimate = { 0 };                                                     ^

Noting also that the more serious issue that MacOS SITL corrupts its own settings still exists; but that's a different and rather more difficult problem.

[mmosca]

For completeness, built on an antediluvian MacOS VM

[149/287] Building C object src/main/t...iles/SITL.elf.dir/__/__/flight/imu.c.o
/Users/jrh/Projects/inav/src/main/flight/imu.c:331:55: warning: suggest braces around initialization of subobject [-Wmissing-braces]
    STATIC_FASTRAM fpVector3_t vGyroDriftEstimate = { 0 };                                                     ^

Noting also that the more serious issue that MacOS SITL corrupts its own settings still exists; but that's a different and rather more difficult problem.

That warning is not on the latest macosx compiler which is used by github (Apple clang version 14.0.3 (clang-1403.0.22.14.1))

I also no longer see the settings corruption over here. Can you try with the binary in the artifacts, instead of building your own?

I may need to change the build a bit to support older versions of MacOSX though, but I only have access to 13 (Ventura)

[stronnag]

On my ancient MacOS VM, the settings are always corrupt (even with fresh settings). Fix one corrupt setting, then there's another, fix that, go back one step . The settings ARMing flag can never be cleared. Either with the artefacts build or self built.

But if this doesn't happen on a real, modern Mac (vice my ancient VM), it's not a problem.

[stronnag]

Thusly