adjust clang-tidy checks and workflow

.github/workflows/clang-tidy.yml

@@ -11,6 +11,7 @@ on:
       - '**'
     paths-ignore:
       - 'docs/**'
+
 jobs:
   build:
     runs-on: ubuntu-latest
@@ -18,13 +19,22 @@ jobs:
     - uses: actions/checkout@v4
       with:
         fetch-depth: 0
+        fetch-tags: true
+
+    - name: Determine PX4 version for container image
+      id: px4_version
+      run: |
+        echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
 
     - name: Testing (clang-tidy)
       uses: addnab/docker-run-action@v3
       with:
-        image: px4io/px4-dev-clang:2021-09-08
+        image: px4io/px4-dev:${{ steps.px4_version.outputs.px4_version }}
         options: -v ${{ github.workspace }}:/workspace
         run: |
           cd /workspace
-          git config --global --add safe.directory /workspace
+          apt install clang-tidy-18 -y
+          update-alternatives --install /usr/bin/clang-tidy clang-tidy /usr/bin/clang-tidy-18 100
+          update-alternatives --install /usr/bin/clang clang /usr/bin/clang-18 100
+          update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-18 100
           make clang-tidy