The pr-review-poster was flagging `gtest/gtest.h file not found` on any
PR that added or modified a test file, because clang-tidy-diff-18.py
ran against files that weren't in the compilation database. PR #27004
and PR #26233 both hit this. The root cause is that test TUs only
enter compile_commands.json when BUILD_TESTING is ON, which the
historical clang-tidy build does not enable.
This PR fixes both halves of the problem:
1. Add a second make target `px4_sitl_default-clang-test` that configures
a separate build dir with -DCMAKE_TESTING=ON. Test TUs land in its
compile_commands.json with resolved gtest/fuzztest include paths.
2. Add an umbrella `clang-ci` target that depends on both
`px4_sitl_default-clang` and `px4_sitl_default-clang-test` so the PR
job prepares both build dirs with one make invocation.
3. On PR events the workflow uses `make clang-ci`, installs
libclang-rt-18-dev (needed so fuzztest's FUZZTEST_FUZZING_MODE flags
do not fail the abseil try_compile with a misleading "pthreads not
found" error), and routes the clang-tidy-diff producer at the
test-enabled build dir.
4. Push-to-main is left entirely alone: same single build dir, same
`make px4_sitl_default-clang`, same `make clang-tidy`. Test files
are not in that DB so run-clang-tidy.py keeps ignoring them exactly
as before. This preserves green main while ~189 pre-existing
clang-tidy issues in test files remain untouched; fixing those is
out of scope for this change.
5. Replace the fragile `:!*/test/*` pathspec filter (which missed flat
`*Test.cpp` files in module roots) with
`Tools/ci/clang-tidy-diff-filter.py`, which reads the compilation
database and drops any changed source file that is not a TU.
Headers always pass through. Production code that happens to use
test-like names (src/systemcmds/actuator_test, src/drivers/test_ppm,
etc.) stays analyzed because those are real px4_add_module targets.
Verified in the ghcr.io/px4/px4-dev:v1.17.0-rc2 container and on the
real CI runner:
- cmake configure with CMAKE_TESTING=ON succeeds after installing
libclang-rt-18-dev (Found Threads: TRUE)
- compile_commands.json grows from 1333 to 1521 TUs
- Modifying HysteresisTest.cpp with a new `const char *p = NULL`
correctly flags hicpp-use-nullptr and
clang-diagnostic-unused-variable on the new line, while pre-existing
issues on other lines of the same file stay suppressed by
clang-tidy-diff-18.py's line filter ("Suppressed ... 1 due to line
filter")
- No gtest/gtest.h false positives
- Push-to-main path unchanged, still green
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Replace make quick_check with two explicit build targets:
px4_sitl_default (validates native SITL toolchain) and
px4_fmu-v5_default (validates NuttX cross-compile toolchain).
quick_check built four targets: px4_sitl_test, px4_fmu-v5_default,
tests, and check_format. The tests and check_format targets are
redundant with checks.yml which already runs them on 8cpu RunsOn
with ccache.
The purpose of this workflow is to validate that PX4 builds from a
fresh ubuntu.sh install on both Ubuntu 22.04 and 24.04, not to run
tests or check formatting. Two targeted builds are sufficient.
px4_fmu-v5_default is kept as the hardware target (same as
quick_check) since it builds with the arm-none-eabi-gcc version
that ubuntu.sh installs on both 22.04 and 24.04.
Expected duration drop from 16-17 min to 6-8 min per matrix entry.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
The v1.17.0-rc2 container's clang 18 + cmake 3.28 combination fails
abseil's cmake try_compile tests for C++17 and pthreads. This breaks
the fuzztest build which depends on abseil. Verified locally:
- px4io/px4-dev:v1.16.0-rc2 + apt install clang: cmake configure passes
- ghcr.io/px4/px4-dev:v1.17.0-rc2 (clang 18 pre-installed): cmake
configure fails with "ABSL_INTERNAL_AT_LEAST_CXX17 - Failed" and
"Could NOT find Threads"
- apt install clang on v1.17.0-rc2 is a no-op (already installed)
Revert to the old container image which has a working clang+cmake
combination. The apt install clang step (already in the workflow)
installs clang on the old container which doesn't ship it by default.
Remove the explicit fetch-depth: 0 added in the previous fix attempt
since the original workflow used the default depth (1) and it worked.
Fixes#27060
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Branch protection rules block the GITHUB_TOKEN from dismissing reviews
(HTTP 403), so every push added another undismissable REQUEST_CHANGES
review. PR #27004 accumulated 12 identical blocking reviews.
Switch to COMMENT-only reviews. Findings still show inline on the diff
but don't create blocking reviews that require manual maintainer
dismissal. The CI check status (pass/fail) gates merging, not the
review state.
Also enable CMAKE_TESTING=ON in the clang-tidy build so test files get
proper include paths in compile_commands.json. Without this,
clang-tidy-diff runs on test files from the PR diff but can't resolve
gtest headers, producing false positives.
Fixes#27004
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
.claude/settings.local.json contains user-specific Claude Code
permissions and should never be in the repo. Remove it and add
a .gitignore entry to prevent it from being committed again.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This board is not available for purchase online and the author confirmed
that it is "only used for research and educational purposes". Given
there are no docs about it, we should just remove it.
Add Debug & Logging entries and Read Before Upgrading notes for the
SDLOG_ROTATE addition, SDLOG_DIRS_MAX removal, the SDLOG_MAX_SIZE
default change (4095 -> 1024 MB), small-flash storage support, and
the new mklittlefs systemcmd.
The previous cleanup logic conflated two independent concerns into
SDLOG_MAX_SIZE: the maximum size of a single log file (rotation
trigger) AND the minimum free space to maintain. That was broken:
the 4095 MB default meant "keep 4 GB free", which over-cleaned on
large SD cards and was impossible to satisfy on small flash.
Disentangle the two:
- SDLOG_ROTATE (new, int %, default 90): maximum disk usage percentage.
Cleanup guarantees at least (100 - SDLOG_ROTATE)% free even during
writing of a new log file. Setting 0 disables space-based cleanup;
100 allows filling the disk completely.
- SDLOG_MAX_SIZE (default lowered from 4095 to 1024): pure max file
size. The value is added on top of the rotate-derived threshold as
headroom for the next file write, so the rotate guarantee holds
even mid-write.
- SDLOG_DIRS_MAX: removed. Directory count limits were confusing and
orthogonal to the space-management goal; free-space cleanup alone
covers the use case. Drop the param and all remaining overrides
(rc.board_defaults, rcS, rc.replay, 1002_standard_vtol.hil).
Cleanup threshold is now:
((100 - SDLOG_ROTATE)% of disk) + SDLOG_MAX_SIZE
Small-flash boards can override SDLOG_MAX_SIZE to get more retained
logs within the available space. kakuteh7v2 and airbrainh743 drop
their SDLOG_DIRS_MAX overrides accordingly.
Update docs/en/dev_log/logging.md with the new semantics and a
worked example for the typical 8 GB SD case.
The kakuteh7mini ships with a W25N01GV (1Gbit/128MB) SPI NAND flash on
SPI1, but the board init was treating SPI1 as an MMC/SD slot and the
W25N driver was not enabled. Enable the chip and use it for logging:
- spi.cpp: register the device as SPIDEV_FLASH(0) instead of SPIDEV_MMCSD(0)
- init.c: initialize the W25N MTD driver, register /dev/mtd0, mount
littlefs at /fs/flash with autoformat, and print the flash geometry
on boot for verification.
- nuttx defconfig: enable CONFIG_MTD_W25N, CONFIG_FS_LITTLEFS,
SPI1 DMA + DMAMUX1, drop the unused RAMTRON config.
- board_dma_map.h: define DMAMAP_SPI1_RX/TX for the SPI1 DMA channels.
- default.px4board: set CONFIG_BOARD_ROOT_PATH to /fs/flash.
- rc.board_defaults: drop the SDLOG_BACKEND=0 override that was
disabling logging entirely and the COM_ARM_SDCARD override (the
flash logging replaces the need for an SD card). Set SDLOG_MAX_SIZE=30
so a few recent logs fit within the 128 MB flash.
Add an NSH command to format a device with littlefs, analogous to
mkfatfs for FAT filesystems. The command unmounts the mount point,
then remounts with forceformat to format and mount in one step.
Enable the command on boards that use littlefs as primary storage
(airbrainh743 and kakuteh7v2), and document it in the airbrainh743
flight controller page as a recovery procedure for a corrupted
flash filesystem.
Usage: mklittlefs /dev/mtd0 /fs/flash
Move log cleanup from boot to log start, delete individual .ulg files
(oldest first) instead of entire directories, and add a max log file
size. This makes it practical to run the logger on small flash targets
(e.g. 128 MB W25N NAND) while still allowing logs to be downloaded via
MAVLink FTP before they are removed.
- Move cleanup from boot to log start so logs can be downloaded first.
- Delete individual .ulg files (oldest first) instead of whole dirs.
- Add SDLOG_MAX_SIZE parameter (default 4095 MiB, just under FAT32 limit).
- Prioritize directories from the naming scheme not currently in use
(e.g. delete sess dirs first when using date dirs).
- Simplify get_log_time to rely on clock_gettime (GPS driver sets it).
- Safer string handling in directory parsing.
- Log elapsed cleanup time for diagnostics.
- Split pure parsing helpers into util_parse.{h,cpp} and add unit tests
(loggerUtilTest.cpp). Move px4_add_unit_gtest outside the BUILD_TESTING
guard for consistency with the rest of the tree; the macro already
checks BUILD_TESTING internally.
Sponsored by CubePilot.
Migrate the fuzzing workflow from GitHub-hosted ubuntu-latest to
RunsOn 4cpu with s3-cache. Bump the container from the stale
px4io/px4-dev:v1.16.0-rc2 to ghcr.io/px4/px4-dev:v1.17.0-rc2.
Wire setup-ccache / save-ccache with cache-key-prefix ccache-sitl
and max-size 300M, sharing the SITL build cache with checks:tests.
Both build px4_sitl_test/px4_sitl_default so the ccache contents
overlap significantly.
Drop the manual apt install clang step since the v1.17.0-rc2
container already ships clang. Replace the git config --global
safe.directory workaround with --system to match the repo convention.
Add runs-on/action@v2 for the S3 cache proxy. Add fetch-depth: 1
since the fuzzer doesn't need git history.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Bump every GitHub Action in the repository to its latest major
version, addressing the upcoming Node.js 20 deprecation. Several
of the old versions (checkout v4, cache v4, setup-node v4,
labeler v5) use the Node 20 runtime which GitHub is deprecating.
The new versions use Node 22.
- actions/checkout v4/v5 to v6
- actions/upload-artifact v4 to v7
- actions/download-artifact v4 to v8
- actions/cache, cache/restore, cache/save v4 to v5
- actions/setup-node v4 to v6
- actions/setup-python v5 to v6
- actions/github-script v7/v8 to v9
- actions/labeler v5 to v6
- peter-evans/find-comment v3 to v4
- dorny/paths-filter v3 to v4
- codecov/codecov-action v4 to v6
- docker/setup-buildx-action v3 to v4
- docker/build-push-action v6 to v7
- tj-actions/changed-files v46 to v47
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Consolidate mavros_mission_tests.yml and mavros_offboard_tests.yml into a
single mavros_tests.yml with a matrix strategy. Switch from docker-in-docker
with px4-dev-ros-melodic to a native container using px4-dev-ros-noetic,
enabling ccache and composite actions (setup-ccache, build-gazebo-sitl,
save-ccache). Migrate all five MAVROS Python test files from Python 2 to
Python 3 (remove six/xrange, from __future__ imports, replace px4tools
with pyulog for estimator analysis). Bump git-auto-commit-action from v4
to v7 in ekf_update_change_indicator.yml.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
The stale workflow was hitting its 250 operations-per-run cap every
daily run, causing the "No more operations left! Exiting..." warning
and leaving a growing backlog of stale-labeled items that were never
being closed. GitHub API headroom is plentiful (250 ops uses ~1.6% of
the 15k/hour bucket), so raising to 1500 drains the backlog without
any rate-limit risk.
Also adds workflow_dispatch so maintainers can trigger the workflow
from the Actions tab or via gh workflow run stale.yml.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Port the checks.yml and python_checks.yml improvements from the CI
orchestrator branch (mrpollo/ci_orchestration, PR #26257) without
doing the full T1/T2 split.
checks.yml:
- Drop 5 matrix entries the orchestrator removed:
tests_coverage, px4_fmu-v2_default stack_check,
NO_NINJA_BUILD=1 px4_fmu-v5_default,
NO_NINJA_BUILD=1 px4_sitl_default, px4_sitl_allyes.
- Remove the codecov/codecov-action@v1 step (deprecated, only ran
for the dropped tests_coverage entry).
- Wire the setup-ccache / save-ccache composite actions around
make tests (cache-key-prefix ccache-sitl, max-size 300M) so
repeat runs reuse the SITL build tree. Matches the orchestrator
basic-tests job 1:1.
python_checks.yml:
- Replace the apt-get install python3 + pip install
--break-system-packages + hardcoded $HOME/.local/bin paths with
actions/setup-python@v5 pinned to 3.10 and plain pip install.
- Linters now run from PATH instead of $HOME/.local/bin.
Stacks on top of mrpollo/ci-checkout-hygiene (#27032) which shipped
fail-fast: true, fetch-depth: 1, and the safe.directory step
extraction.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Port checkout hygiene from the CI orchestrator branch
(mrpollo/ci_orchestration) to current workflows without merging the
orchestrator itself.
- checks.yml: enable fail-fast (99% success rate observed, cancel on
first failure saves runner time), switch to fetch-depth 1, extract
safe.directory to its own step
- itcm_check.yml: fetch-depth 1, drop submodules: recursive (the
Makefile bootstraps submodules as a prerequisite of board targets)
- sitl_tests.yml, ros_integration_tests.yml, mavros_mission_tests.yml,
mavros_offboard_tests.yml, python_checks.yml: fetch-depth 1
Each change matches the corresponding job in ci-orchestrator.yml on
mrpollo/ci_orchestration 1:1. Workflows that legitimately need history
(clang-tidy, flash_analysis, failsafe_sim, ros_translation_node,
ekf_*_change_indicator, build_all_targets) are left alone.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Delete the nuttx_env_config workflow. It validated the
PX4_EXTRA_NUTTX_CONFIG env var handling in
platforms/nuttx/NuttX/CMakeLists.txt by building px4_fmu-v5_default
with CONFIG_NSH_LOGIN_PASSWORD injected at configure time.
The CI orchestrator rewrite (mrpollo/ci_orchestration, PR #26257) drops
this workflow entirely. The cmake feature itself remains; only the CI
gate is removed.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Upgrade the RunsOn runner for sitl_tests and ros_integration_tests
from 4cpu-linux-x64 / ubuntu22-full-x64 to 8cpu-linux-x64 /
ubuntu24-full-x64 with extras=s3-cache.
Matches the runner_medium spec used by the sitl-tests and
ros-integration-tests jobs in the CI orchestrator branch
(mrpollo/ci_orchestration). Both jobs are compile-heavy and benefit
from the 2x core count. The ubuntu24 image and s3-cache extras align
with the house style already used by clang-tidy, dev_container,
docs_deploy, docs-orchestrator, and build_deb_package.
No other changes (speed factor unchanged, container images unchanged).
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci(pr-review-poster): add line-anchored review poster and migrate clang-tidy
Adds a generic PR review-comment poster as a sibling of the issue-comment
poster from #27021. Replaces platisd/clang-tidy-pr-comments@v1 in the
Static Analysis workflow with an in-tree, fork-friendly producer + poster
pair so fork PRs get inline clang-tidy annotations on the Files changed
tab without trusting a third-party action with a write token.
Architecture mirrors pr-comment-poster: a producer (clang-tidy.yml) runs
inside the px4-dev container and writes a `pr-review` artifact containing
manifest.json and a baked comments.json. A separate workflow_run-triggered
poster runs on ubuntu-latest with the base-repo write token, validates the
artifact, dismisses any stale matching review, and posts a fresh review
on the target PR. The poster never checks out PR code and only ever reads
two opaque JSON files from the artifact.
Stale-review dismissal is restricted to reviews authored by
github-actions[bot] AND whose body contains the producer's marker. A fork
cannot impersonate the bot login or inject the marker into a human
reviewer's body, so the poster can never dismiss a human review. APPROVE
events are explicitly forbidden so a bot cannot approve a pull request.
To avoid duplicating ~120 lines of HTTP plumbing between the two posters,
the GitHub REST helpers (single-request, pagination, error handling) are
extracted into Tools/ci/_github_helpers.py with a small GitHubClient
class. The existing pr-comment-poster.py is refactored to use it; net
change is roughly -80 lines on that script. The shared module is
sparse-checked-out alongside each poster script and is stdlib only.
The clang-tidy producer reuses MIT-licensed translation logic from
platisd/clang-tidy-pr-comments (generate_review_comments,
reorder_diagnostics, get_diff_line_ranges_per_file and helpers) under a
preserved attribution header. The HTTP layer is rewritten on top of
_github_helpers so the producer does not pull in `requests`. Conversation
resolution (the GraphQL path) is intentionally dropped for v1.
clang-tidy.yml now produces the pr-review artifact in the same job as
the build, so the cross-runner compile_commands.json hand-off and
workspace-path rewriting are no longer needed and the
post_clang_tidy_comments job is removed.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci(workflows): bump action versions to clear Node 20 deprecation
GitHub has deprecated the Node 20 runtime for Actions as of
September 16, 2026. Bump the pinned action versions in the three poster
workflows to the latest majors, all of which run on Node 24:
actions/checkout v4 -> v6
actions/github-script v7 -> v8
actions/upload-artifact v4 -> v7
No behavior changes on our side: upload-artifact v5/v6/v7 only added an
optional direct-file-upload mode we do not use, and checkout v5/v6 are
runtime-only bumps. The security-invariant comment headers in both
poster workflows are updated to reference the new version so they stay
accurate.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci(pr-posters): skip job when producer was not a pull_request event
Both poster workflows previously ran on every workflow_run completion of
their listed producers and then silently no-oped inside the script when
the triggering producer run was a push-to-main (or any other non-PR
event). That made the UI ambiguous: the job was always green, never
showed the reason it did nothing, and looked like a failure whenever
someone clicked in looking for the comment that was never there.
Gate the job at the workflow level on
github.event.workflow_run.event == 'pull_request'. Non-PR producer runs
now surface as a clean "Skipped" entry in the run list, which is
self-explanatory and needs no in-script summary plumbing.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
CMake 3.27+ warns on cmake_minimum_required(VERSION < 3.10), and CMake
4.x will make it a hard error. Align the lockstep_scheduler subdir with
the root CMakeLists.txt, which is already at 3.10.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Adds documentation for the SITL containers and .deb packages introduced in #26495. The containers are now live on Docker Hub: [`px4io/px4-sitl:latest`](https://hub.docker.com/r/px4io/px4-sitl) and [`px4io/px4-sitl-gazebo:latest`](https://hub.docker.com/r/px4io/px4-sitl-gazebo).
The main addition is a [Try PX4 Simulation](https://docs.px4.io/main/en/dev_setup/try_px4) page that leads with a single `docker run` command and gets someone flying in under a minute. It lives in Getting Started, right after Recommended Hardware/Setup, so it's one of the first things new users see.
The existing `.deb` package reference has been moved from `packaging/px4_sitl_deb.md` to `simulation/px4_sitl.md` and expanded to cover both containers and `.deb` packages on one page. Sections are ordered by how people use them: what's available, install, configure, connect QGC/MAVSDK, connect ROS 2.
Other changes:
- README now has a "Try PX4" section with the docker one-liner above "Build from Source"
- Landing page (`index.md`) reworked to lead with "Try PX4" before "For Developers"
- Toolchain page (`dev_env.md`) gets a tip redirecting simulation-only users to pre-built packages
- `getting_started.md` and `SUMMARY.md` updated with links to the new pages
- Simulation index tip updated to mention containers alongside `.deb` packages
The SIH container image is published as `px4io/px4-sitl` (renamed from `px4io/px4-sitl-sih`) so the default lightweight option carries the simplest name. The Gazebo image remains `px4io/px4-sitl-gazebo`.
Also upgrades all GitHub Actions in the SITL workflow to Node.js 24 compatible versions (`actions/checkout@v6`, `actions/cache@v5`, `actions/upload-artifact@v7`, `actions/download-artifact@v8`, `docker/setup-buildx-action@v4`, `docker/build-push-action@v7`) to fix the Node.js 20 deprecation warning ahead of the June 2026 deadline.
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
- Replace all MINDPX/MINDPXv2/PX4FMU board references with SaamPixV1_1
- Update Airmind Development Team to Saam Drones Development Team in copyright headers
- Update PX4 copyright year range to 2020-2026 on all C/C++ files
- Rename bootloader binary to match board version (v1_1)
- Remove untracked backup files
