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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
060aa496de |
@@ -0,0 +1,220 @@
|
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#!/usr/bin/env groovy
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pipeline {
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agent none
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stages {
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stage('Build') {
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steps {
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script {
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def build_nodes = [:]
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def docker_images = [
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armhf: "px4io/px4-dev-armhf:2023-06-26",
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arm64: "px4io/px4-dev-aarch64:2022-08-12",
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base: "px4io/px4-dev-ros2-foxy:2022-08-12",
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nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
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]
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def armhf_builds = [
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target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
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image: docker_images.armhf,
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archive: false
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]
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def arm64_builds = [
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target: ["scumaker_pilotpi_arm64"],
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image: docker_images.arm64,
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archive: false
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]
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def base_builds = [
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target: ["px4_sitl_default"],
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image: docker_images.base,
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archive: false
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]
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def nuttx_builds_archive = [
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target: [
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"airmind_mindpx-v2_default",
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"ark_can-flow_canbootloader",
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"ark_can-flow_default",
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"ark_can-gps_canbootloader",
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"ark_can-gps_default",
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"ark_can-rtk-gps_canbootloader",
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"ark_can-rtk-gps_default",
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"ark_cannode_canbootloader",
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"ark_cannode_default",
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"ark_fmu-v6x_bootloader",
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"ark_fmu-v6x_default",
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"atl_mantis-edu_default",
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"av_x-v1_default",
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"bitcraze_crazyflie21_default",
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"bitcraze_crazyflie_default",
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"cuav_can-gps-v1_canbootloader",
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"cuav_can-gps-v1_default",
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"cuav_nora_default",
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"cuav_x7pro_default",
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"cubepilot_cubeorange_default",
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"cubepilot_cubeorangeplus_default",
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"cubepilot_cubeyellow_default",
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"diatone_mamba-f405-mk2_default",
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"flywoo_gn-f405_default",
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"freefly_can-rtk-gps_canbootloader",
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"freefly_can-rtk-gps_default",
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"holybro_can-gps-v1_canbootloader",
|
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"holybro_can-gps-v1_default",
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"holybro_durandal-v1_default",
|
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"holybro_kakutef7_default",
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"holybro_kakuteh7_default",
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"holybro_kakuteh7mini_default",
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||||
"holybro_kakuteh7v2_default",
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"holybro_pix32v5_default",
|
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"matek_gnss-m9n-f4_canbootloader",
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"matek_gnss-m9n-f4_default",
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"matek_h743-mini_default",
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"matek_h743-slim_default",
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"matek_h743_default",
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"modalai_fc-v1_default",
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"modalai_fc-v2_default",
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"mro_ctrl-zero-classic_default",
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"mro_ctrl-zero-f7-oem_default",
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"mro_ctrl-zero-f7_default",
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"mro_ctrl-zero-h7-oem_default",
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"mro_ctrl-zero-h7_default",
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"mro_pixracerpro_default",
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"mro_x21-777_default",
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"mro_x21_default",
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"nxp_fmuk66-e_default",
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"nxp_fmuk66-e_socketcan",
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"nxp_fmuk66-v3_default",
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"nxp_fmuk66-v3_socketcan",
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"nxp_mr-canhubk3_default",
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"nxp_ucans32k146_canbootloader",
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"nxp_ucans32k146_default",
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"omnibus_f4sd_default",
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"px4_fmu-v2_default",
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"px4_fmu-v2_fixedwing",
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"px4_fmu-v2_lto",
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"px4_fmu-v2_multicopter",
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"px4_fmu-v2_rover",
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"px4_fmu-v3_default",
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"px4_fmu-v4_default",
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"px4_fmu-v4pro_default",
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"px4_fmu-v5_cyphal",
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"px4_fmu-v5_debug",
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"px4_fmu-v5_default",
|
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"px4_fmu-v5_lto",
|
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"px4_fmu-v5_rover",
|
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"px4_fmu-v5_stackcheck",
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"px4_fmu-v5_uavcanv0periph",
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"px4_fmu-v5x_default",
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"px4_fmu-v5x_rover",
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"px4_fmu-v6c_default",
|
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"px4_fmu-v6c_rover",
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"px4_fmu-v6u_default",
|
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"px4_fmu-v6u_rover",
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"px4_fmu-v6x_default",
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"px4_fmu-v6x_rover",
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"px4_fmu-v6xrt_bootloader",
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"px4_fmu-v6xrt_default",
|
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"px4_fmu-v6xrt_rover",
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"px4_io-v2_default",
|
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"raspberrypi_pico_default",
|
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"siyi_n7_default"
|
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"sky-drones_smartap-airlink_default",
|
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"spracing_h7extreme_default",
|
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"thepeach_k1_default",
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"thepeach_r1_default",
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"uvify_core_default",
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],
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image: docker_images.nuttx,
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archive: true
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]
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def docker_builds = [
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armhf_builds, base_builds, nuttx_builds_archive
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]
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for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
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for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
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build_nodes.put(docker_builds[build_type].target[build_target],
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createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
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)
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}
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}
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parallel build_nodes
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} // script
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} // steps
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} // stage Build
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// TODO: actually upload artifacts to S3
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// stage('S3 Upload') {
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// agent {
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// docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
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// }
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// options {
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// skipDefaultCheckout()
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// }
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// when {
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// anyOf {
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// branch 'master'
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// branch 'beta'
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// branch 'stable'
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// branch 'pr-jenkins' // for testing
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// }
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// }
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// steps {
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// sh 'echo "uploading to S3"'
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// }
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// }
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} // stages
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environment {
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CCACHE_DIR = '/tmp/ccache'
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CI = true
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}
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options {
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buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
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timeout(time: 120, unit: 'MINUTES')
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}
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}
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def createBuildNode(Boolean archive, String docker_image, String target) {
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return {
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bypass_entrypoint = ''
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node {
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docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
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docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
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stage(target) {
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try {
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sh('export')
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checkout(scm)
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sh('make distclean; git clean -ff -x -d .')
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sh('git fetch --tags')
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sh('ccache -s')
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sh('make ' + target)
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sh('ccache -s')
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sh('make sizes')
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if (archive) {
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archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
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}
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sh('make ' + target + ' package')
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archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
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archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
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}
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catch (exc) {
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throw (exc)
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}
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finally {
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sh('make distclean; git clean -ff -x -d .')
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}
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}
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}
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||||
}
|
||||
}
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||||
}
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||||
}
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@@ -0,0 +1,904 @@
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||||
#!/usr/bin/env groovy
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
stages {
|
||||
stage('Hardware Test') {
|
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||||
parallel {
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stage("cubepilot_cubeorange_test") {
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stages {
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stage("build cubepilot_cubeorange_test") {
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agent {
|
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docker {
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image 'px4io/px4-dev-nuttx-focal:2022-08-12'
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args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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||||
}
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||||
steps {
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checkoutSCM()
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sh 'make cubepilot_cubeorange_bootloader'
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sh 'make cubepilot_cubeorange_test'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
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}
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post {
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||||
always {
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sh 'make distclean; git clean -ff -x -d .'
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}
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}
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} // stage build
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stage("hardware") {
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agent {
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label 'cubepilot_cubeorange'
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}
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stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
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||||
unstash 'cubepilot_cubeorange_test'
|
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
|
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// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
runTests()
|
||||
|
||||
// load all airframes
|
||||
// sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("cuav_x7pro_test") {
|
||||
stages {
|
||||
stage("build cuav_x7pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make cuav_x7pro_bootloader'
|
||||
sh 'make cuav_x7pro_test'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'cuav_x7pro'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'cuav_x7pro_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v4_test'
|
||||
sh 'make px4_fmu-v4_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v4'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4pro_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v4pro_test'
|
||||
sh 'make px4_fmu-v4pro_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v4pro'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4pro_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_debug") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_debug") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_debug'
|
||||
sh 'make px4_fmu-v5_debug bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_debug'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_stackcheck") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_stackcheck") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_stackcheck'
|
||||
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_stackcheck'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'nxp_fmuk66-v3'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'nxp_fmuk66-v3_test'
|
||||
//sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
} // parallel
|
||||
} // stage Hardware Test
|
||||
} // stages
|
||||
environment {
|
||||
CCACHE_DIR = '/tmp/ccache'
|
||||
CCACHE_NOHASHDIR = 1
|
||||
CI = true
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
|
||||
timeout(time: 180, unit: 'MINUTES')
|
||||
skipDefaultCheckout()
|
||||
}
|
||||
}
|
||||
|
||||
void checkoutSCM() {
|
||||
retry(3) {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'git fetch --tags'
|
||||
sh 'ccache -z'
|
||||
}
|
||||
}
|
||||
|
||||
void quickCalibrate() {
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
}
|
||||
|
||||
void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
|
||||
}
|
||||
|
||||
void runTests() {
|
||||
|
||||
// test loading a range of airframes
|
||||
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// tests (stop modules first)
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
|
||||
// these are for casually inspecting the system, output failure doesn't matter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
|
||||
}
|
||||
|
||||
void resetBoard() {
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
}
|
||||
-73
@@ -105,79 +105,6 @@ Checks: '*,
|
||||
-readability-redundant-declaration,
|
||||
-readability-static-accessed-through-instance,
|
||||
-readability-static-definition-in-anonymous-namespace,
|
||||
-altera-struct-pack-align,
|
||||
-bugprone-easily-swappable-parameters,
|
||||
-concurrency-mt-unsafe,
|
||||
-cppcoreguidelines-avoid-const-or-ref-data-members,
|
||||
-cppcoreguidelines-macro-usage,
|
||||
-cppcoreguidelines-non-private-member-variables-in-classes,
|
||||
-hicpp-uppercase-literal-suffix,
|
||||
-llvm-qualified-auto,
|
||||
-misc-non-private-member-variables-in-classes,
|
||||
-misc-use-anonymous-namespace,
|
||||
-modernize-concat-nested-namespaces,
|
||||
-readability-const-return-type,
|
||||
-readability-identifier-length,
|
||||
-readability-isolate-declaration,
|
||||
-readability-qualified-auto,
|
||||
-readability-redundant-access-specifiers,
|
||||
-cppcoreguidelines-avoid-do-while,
|
||||
-misc-include-cleaner,
|
||||
-misc-const-correctness,
|
||||
-llvm-else-after-return,
|
||||
-readability-function-cognitive-complexity,
|
||||
-cppcoreguidelines-init-variables,
|
||||
-bugprone-reserved-identifier,
|
||||
-cert-dcl37-c,
|
||||
-cert-dcl51-cpp,
|
||||
-modernize-use-nodiscard,
|
||||
-misc-confusable-identifiers,
|
||||
-cert-err33-c,
|
||||
-readability-redundant-inline-specifier,
|
||||
-readability-uppercase-literal-suffix,
|
||||
-bugprone-narrowing-conversions,
|
||||
-cppcoreguidelines-narrowing-conversions,
|
||||
-bugprone-switch-missing-default-case,
|
||||
-cppcoreguidelines-avoid-goto,
|
||||
-hicpp-avoid-goto,
|
||||
-bugprone-branch-clone,
|
||||
-performance-enum-size,
|
||||
-readability-avoid-nested-conditional-operator,
|
||||
-cppcoreguidelines-prefer-member-initializer,
|
||||
-cppcoreguidelines-explicit-virtual-functions,
|
||||
-readability-convert-member-functions-to-static,
|
||||
-readability-make-member-function-const,
|
||||
-bugprone-implicit-widening-of-multiplication-result,
|
||||
-bugprone-multi-level-implicit-pointer-conversion,
|
||||
-bugprone-signed-char-misuse,
|
||||
-cppcoreguidelines-avoid-non-const-global-variables,
|
||||
-cppcoreguidelines-use-default-member-init,
|
||||
-hicpp-multiway-paths-covered,
|
||||
-hicpp-named-parameter,
|
||||
-misc-header-include-cycle,
|
||||
-misc-no-recursion,
|
||||
-performance-no-int-to-ptr,
|
||||
-readability-avoid-return-with-void-value,
|
||||
-readability-avoid-unconditional-preprocessor-if,
|
||||
-readability-delete-null-pointer,
|
||||
-readability-redundant-casting,
|
||||
-readability-redundant-member-init,
|
||||
-readability-reference-to-constructed-temporary,
|
||||
-readability-simplify-boolean-expr,
|
||||
-cert-msc32-c,
|
||||
-cert-msc33-c,
|
||||
-cert-msc51-cpp,
|
||||
-cert-str34-c,
|
||||
-cppcoreguidelines-macro-to-enum,
|
||||
-modernize-macro-to-enum,
|
||||
-abseil-string-find-str-contains,
|
||||
-bugprone-suspicious-include,
|
||||
-clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
|
||||
-clang-analyzer-optin.core.EnumCastOutOfRange,
|
||||
-modernize-type-traits,
|
||||
-misc-definitions-in-headers,
|
||||
-bugprone-casting-through-void,
|
||||
-readability-redundant-string-init,
|
||||
'
|
||||
WarningsAsErrors: '*'
|
||||
CheckOptions:
|
||||
|
||||
@@ -1,28 +0,0 @@
|
||||
---
|
||||
name: commit
|
||||
description: Create a conventional commit for PX4 changes
|
||||
disable-model-invocation: true
|
||||
argument-hint: "[optional: description of changes]"
|
||||
allowed-tools: Bash, Read, Glob, Grep
|
||||
---
|
||||
|
||||
# PX4 Conventional Commit
|
||||
|
||||
Create a git commit: `type(scope): description`
|
||||
|
||||
**NEVER add Co-Authored-By lines. No Claude attribution in commits.**
|
||||
|
||||
Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
|
||||
|
||||
## Steps
|
||||
|
||||
1. **Read [CONTRIBUTING.md](../../CONTRIBUTING.md)** for commit message format, types, scopes, and conventions.
|
||||
2. Check branch (`git branch --show-current`). If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
|
||||
3. Run `git status` and `git diff --staged`. If nothing staged, ask what to stage.
|
||||
4. Follow the commit message convention from CONTRIBUTING.md: pick the correct **type** and **scope**, write a concise imperative description.
|
||||
5. Body (if needed): explain **why**, not what.
|
||||
6. Run `make format` or `./Tools/astyle/fix_code_style.sh <file>` on changed C/C++ files before committing.
|
||||
7. Check if GPG signing is available: `git config --get user.signingkey`. If set, use `git commit -S -s`. Otherwise, use `git commit -s`.
|
||||
8. Stage and commit. No `Co-Authored-By`.
|
||||
|
||||
If the user provided arguments, use them as context: $ARGUMENTS
|
||||
@@ -1,24 +0,0 @@
|
||||
---
|
||||
name: pr
|
||||
description: Create a pull request with conventional commit title and description
|
||||
disable-model-invocation: true
|
||||
argument-hint: "[optional: target branch or description]"
|
||||
allowed-tools: Bash, Read, Glob, Grep
|
||||
---
|
||||
|
||||
# PX4 Pull Request
|
||||
|
||||
**No Claude attribution anywhere (no Co-Authored-By, no "Generated with Claude").**
|
||||
|
||||
Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
|
||||
|
||||
## Steps
|
||||
|
||||
1. Check branch. If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
|
||||
2. Gather context: `git status`, `git log --oneline main..HEAD`, `git diff main...HEAD --stat`, check if remote tracking branch exists.
|
||||
3. PR **title**: `type(scope): description` — under 72 chars, describes the overall change across all commits. This becomes the squash-merge commit message.
|
||||
4. PR **body**: brief summary + bullet points for key changes. No filler.
|
||||
5. Push with `-u` if needed, then `gh pr create`. Default base is `main` unless user says otherwise.
|
||||
6. Return the PR URL.
|
||||
|
||||
If the user provided arguments, use them as context: $ARGUMENTS
|
||||
@@ -1,73 +0,0 @@
|
||||
---
|
||||
name: rebase-onto-main
|
||||
description: Rebase a branch onto main, handling squash-merged parent branches cleanly
|
||||
argument-hint: "[optional: branch name, defaults to current branch]"
|
||||
allowed-tools: Bash, Read, Glob, Grep, Agent
|
||||
---
|
||||
|
||||
# Rebase Branch onto Main
|
||||
|
||||
Rebase the current (or specified) branch onto `main`, correctly handling the case where the branch was built on top of another branch that has since been squash-merged into `main`.
|
||||
|
||||
## Background
|
||||
|
||||
When a parent branch is squash-merged, its individual commits become a single new commit on `main` with a different hash. A normal `git rebase main` will try to replay the parent's original commits, causing messy conflicts. The fix is to **cherry-pick only the commits unique to this branch** onto a fresh branch from `main`.
|
||||
|
||||
## Steps
|
||||
|
||||
1. **Identify the branch.** Use `$ARGUMENTS` if provided, otherwise use the current branch.
|
||||
|
||||
2. **Fetch and update main:**
|
||||
```
|
||||
git fetch origin main:main
|
||||
```
|
||||
|
||||
3. **Find the merge base** between the branch and `main`:
|
||||
```
|
||||
git merge-base <branch> main
|
||||
```
|
||||
|
||||
4. **List all commits** on the branch since the merge base:
|
||||
```
|
||||
git log --oneline <merge-base>..<branch>
|
||||
```
|
||||
|
||||
5. **Identify which commits are unique to this branch** vs. inherited from a parent branch. Look for:
|
||||
- Squash-merged commits on `main` that correspond to a group of commits at the bottom of the branch's history (check PR titles, commit message keywords).
|
||||
- The boundary commit: the first commit that belongs to *this* branch's work, not the parent's.
|
||||
- If ALL commits are unique (no parent branch), just do a normal `git rebase main` and skip the rest.
|
||||
|
||||
6. **Create a fresh branch from `main`:**
|
||||
```
|
||||
git checkout -b <branch>-rebase main
|
||||
```
|
||||
|
||||
7. **Cherry-pick only the unique commits** (oldest first):
|
||||
```
|
||||
git cherry-pick <first-unique-commit>^..<branch>
|
||||
```
|
||||
The `A^..B` range means "from the parent of A through B inclusive."
|
||||
|
||||
8. **Handle conflicts** if any arise during cherry-pick. Resolve and `git cherry-pick --continue`.
|
||||
|
||||
9. **Replace the old branch:**
|
||||
```
|
||||
git branch -m <branch> <branch>-old
|
||||
git branch -m <branch>-rebase <branch>
|
||||
```
|
||||
|
||||
10. **Verify** the result:
|
||||
```
|
||||
git log --oneline main..<branch>
|
||||
```
|
||||
Confirm only the expected commits are present.
|
||||
|
||||
11. **Ask the user** before force-pushing. When approved:
|
||||
```
|
||||
git push origin <branch> --force-with-lease
|
||||
```
|
||||
|
||||
12. **Clean up** the old branch:
|
||||
```
|
||||
git branch -D <branch>-old
|
||||
```
|
||||
@@ -0,0 +1,7 @@
|
||||
FROM gcr.io/oss-fuzz-base/base-builder:v1
|
||||
COPY . $SRC/PX4-Autopilot
|
||||
RUN apt-get install -y libjpeg8-dev zlib1g-dev
|
||||
RUN pip3 install --upgrade pip
|
||||
RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
|
||||
WORKDIR $SRC/PX4-Autopilot
|
||||
COPY ./.clusterfuzzlite/build.sh $SRC/
|
||||
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash -eu
|
||||
|
||||
PX4_FUZZ=1 make px4_sitl
|
||||
cp build/px4_sitl_default/bin/px4 $OUT/px4
|
||||
@@ -0,0 +1 @@
|
||||
language: c++
|
||||
@@ -15,7 +15,6 @@
|
||||
"extensions": [
|
||||
"chiehyu.vscode-astyle",
|
||||
"dan-c-underwood.arm",
|
||||
"editorconfig.editorconfig",
|
||||
"fredericbonnet.cmake-test-adapter",
|
||||
"github.vscode-pull-request-github",
|
||||
"marus25.cortex-debug",
|
||||
|
||||
@@ -1,22 +0,0 @@
|
||||
root = true
|
||||
|
||||
[*]
|
||||
insert_final_newline = true
|
||||
|
||||
[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
|
||||
indent_style = tab
|
||||
tab_width = 8
|
||||
# Not in the official standard, but supported by many editors
|
||||
max_line_length = 120
|
||||
|
||||
[*.yaml, *.yml]
|
||||
indent_style = space
|
||||
indent_size = 2
|
||||
|
||||
[*.sh]
|
||||
indent_style = tab
|
||||
indent_size = 2
|
||||
insert_final_newline = true
|
||||
trim_trailing_whitespace = true
|
||||
# Not in the official standard, but supported by many editors
|
||||
max_line_length = 80
|
||||
@@ -72,7 +72,6 @@ Makefile.* text eol=lf
|
||||
*.tar binary
|
||||
*.tgz binary
|
||||
*.zip binary
|
||||
*.hex binary
|
||||
|
||||
# everything else
|
||||
.gitattributes text eol=lf
|
||||
|
||||
@@ -3,45 +3,92 @@ description: Create a report to help us improve
|
||||
title: "[Bug] "
|
||||
labels: ["bug-report"]
|
||||
body:
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: |
|
||||
**Tips for a great bug report:**
|
||||
- Describe what went wrong and what you expected
|
||||
- Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
|
||||
- Mention your PX4 version, flight controller, and vehicle type if relevant
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: A clear description of the bug and what you expected to happen.
|
||||
placeholder: |
|
||||
What happened and what did you expect instead?
|
||||
|
||||
Steps to reproduce (if applicable):
|
||||
1.
|
||||
2.
|
||||
3.
|
||||
description: A clear and concise description of the bug.
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Flight Log / Additional Information
|
||||
label: To Reproduce
|
||||
description: |
|
||||
**Flight log** (highly recommended for flight-related issues):
|
||||
- Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
|
||||
|
||||
**Additional details** (if relevant):
|
||||
- PX4 version (output of `ver all` in MAVLink Shell)
|
||||
- Flight controller model
|
||||
- Vehicle type (multicopter, fixed-wing, VTOL, etc.)
|
||||
- Screenshots or media
|
||||
placeholder: |
|
||||
Flight log link:
|
||||
|
||||
Version:
|
||||
|
||||
Hardware:
|
||||
Steps to reproduce the behavior.
|
||||
1. Drone switched on '...'
|
||||
2. Uploaded mission '....' (attach QGC mission file)
|
||||
3. Took off '....'
|
||||
4. See error
|
||||
validations:
|
||||
required: false
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Expected behavior
|
||||
description: A clear and concise description of what you expected to happen.
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Screenshot / Media
|
||||
description: Add screenshot / media if you have them
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Flight Log
|
||||
description: |
|
||||
*Always* provide a link to the flight log file:
|
||||
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
|
||||
- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
|
||||
- Share the link to the log (Copy and paste the URL of the log)
|
||||
placeholder: |
|
||||
# PASTE HERE THE LINK TO THE LOG
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: |
|
||||
## Setup
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Software Version
|
||||
description: |
|
||||
Which version of PX4 are you using?
|
||||
placeholder: |
|
||||
# If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
attributes:
|
||||
label: Flight controller
|
||||
description: Specify your flight controller model (what type is it, where was it bought from, ...).
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: dropdown
|
||||
attributes:
|
||||
label: Vehicle type
|
||||
options:
|
||||
- Multicopter
|
||||
- Helicopter
|
||||
- Fixed Wing
|
||||
- Hybrid VTOL
|
||||
- Airship/Balloon
|
||||
- Rover
|
||||
- Boat
|
||||
- Submarine
|
||||
- Other
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: How are the different components wired up (including port information)
|
||||
description: Details about how all is wired.
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional context
|
||||
description: Add any other context about the problem here.
|
||||
|
||||
@@ -1,5 +1,8 @@
|
||||
blank_issues_enabled: true
|
||||
blank_issues_enabled: false
|
||||
contact_links:
|
||||
- name: Support Question
|
||||
url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
|
||||
about: For questions about using PX4 or related components, please use the discuss forum and discord server
|
||||
- name: Documentation Issue
|
||||
url: https://github.com/PX4/PX4-user_guide/issues
|
||||
about: If you found an issue in documentation, please submit it directly to the docs repository issues
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
name: 📑 Documentation Bug report
|
||||
description: Create a report to help us improve the docs
|
||||
title: "[Docs] [Bug] "
|
||||
labels: ["Documentation 📑"]
|
||||
body:
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: A clear and concise description of the bug.
|
||||
placeholder: |
|
||||
# A PR to fix the bug is often better than adding this issue!
|
||||
#
|
||||
# If you can't create a PR please provide the following:
|
||||
# - What page and/or section has the problem
|
||||
# - What is the problem - missing information, incorrect information?
|
||||
# - Suggested fixes, links to corresponding code PRs
|
||||
# - Any additional context
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
attributes:
|
||||
label: Page URL
|
||||
description: The URL of the problem page.
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Screenshot / Media
|
||||
description: Add screenshot / media if you have them
|
||||
validations:
|
||||
required: false
|
||||
@@ -1,9 +1,22 @@
|
||||
<!--
|
||||
|
||||
Thank you for your contribution!
|
||||
|
||||
Get early feedback through
|
||||
- Dronecode Discord: https://discord.gg/dronecode
|
||||
- PX4 Discuss: http://discuss.px4.io/
|
||||
- opening a draft pr and sharing the link
|
||||
|
||||
-->
|
||||
|
||||
### Solved Problem
|
||||
When ... I found that ...
|
||||
|
||||
Fixes #{Github issue ID}
|
||||
|
||||
### Solution
|
||||
- Add ... for ...
|
||||
- Refactor ...
|
||||
|
||||
### Changelog Entry
|
||||
For release notes:
|
||||
@@ -14,10 +27,11 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
|
||||
```
|
||||
|
||||
### Alternatives
|
||||
We could also ...
|
||||
|
||||
### Test coverage
|
||||
- Unit/integration test: ...
|
||||
- Simulation/hardware testing logs: https://review.px4.io/
|
||||
|
||||
### Context
|
||||
Related links, screenshot before/after, video
|
||||
|
||||
-->
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
---
|
||||
title: '[CI] Fuzzing Workflow Failed'
|
||||
labels: ['Fuzzing']
|
||||
---
|
||||
The automated fuzzing workflow has failed.
|
||||
See {{ env.WORKFLOW_RUN_URL }} for details.
|
||||
@@ -1,50 +0,0 @@
|
||||
---
|
||||
applyTo: "docs/en/**"
|
||||
---
|
||||
|
||||
# Review Guidelines docs/en Tree
|
||||
|
||||
## File System & Structure
|
||||
|
||||
- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
|
||||
- **Hierarchy:** Markdown files must reside exactly in a first-level category folder.
|
||||
- Valid: `docs/en/category/file.md`
|
||||
- Invalid: `docs/en/category/subcategory/file.md`
|
||||
- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
|
||||
- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
|
||||
- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
|
||||
|
||||
## Markdown & Style
|
||||
|
||||
- **Headings:** Use Title Case ("First Letter Capitalisation").
|
||||
- The Page Title must be the only H1 (`#`). All others must be `##` or lower.
|
||||
- Do not apply bold or italic styling inside a heading.
|
||||
- **Formatting:**
|
||||
- **Bold:** Only for UI elements (buttons, menu items).
|
||||
- **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
|
||||
Backticks are optional for hyperlinked CLI commands and tool names.
|
||||
- **Italics (Emphasis):** Use for application names (e.g., *QGroundControl*).
|
||||
Emphasis is optional for hyperlinked applications.
|
||||
- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
|
||||
|
||||
## Linking & Navigation
|
||||
|
||||
- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
|
||||
Note relative link.
|
||||
- **Table Links:** To keep tables readable, use reference-style links.
|
||||
- Definition: `[Link Name]: https://example.com` (placed below the table).
|
||||
- Usage: `[Link Name]` within the table cell.
|
||||
- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: ``.
|
||||
Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder)
|
||||
|
||||
- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
|
||||
- **Table Links:** To keep tables easier to edit, prefer reference-style links.
|
||||
- Definition: `[Link Name]: https://example.com` (placed below the table).
|
||||
- Usage: `[Link Name]` within the table cell.
|
||||
- **Images:** All image links must include a descriptive, accessible alt-text: ``.
|
||||
- **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
|
||||
|
||||
## Quality Control
|
||||
|
||||
- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
|
||||
- **Language:** Enforce **UK English** spelling and grammar.
|
||||
@@ -1,10 +0,0 @@
|
||||
# Labeler configuration file for GitHub Actions
|
||||
# The action is ./.github/workflows/label.yml
|
||||
# Docs for the syntax in this file can be found at
|
||||
# https://github.com/actions/labeler
|
||||
|
||||
|
||||
# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
|
||||
"Documentation 📑":
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: docs/**
|
||||
@@ -1,24 +0,0 @@
|
||||
runners:
|
||||
x86-small-runner:
|
||||
cpu: [1, 2]
|
||||
ram: [1, 4]
|
||||
disk: default
|
||||
spot: price-capacity-optimized
|
||||
image: ubuntu24-full-x64
|
||||
extras: s3-cache
|
||||
x86-firmware-builder:
|
||||
cpu: [4, 8]
|
||||
ram: [8, 16]
|
||||
disk: default
|
||||
family: ["c7i", "m7i", "r7i"]
|
||||
spot: price-capacity-optimized
|
||||
image: ubuntu24-full-x64
|
||||
extras: s3-cache
|
||||
arm64-firmware-builder:
|
||||
cpu: [4, 8]
|
||||
ram: [8, 16]
|
||||
disk: default
|
||||
family: ["c7g", "m7g", "r7g"]
|
||||
spot: price-capacity-optimized
|
||||
image: ubuntu24-full-arm64
|
||||
extras: s3-cache
|
||||
@@ -1,272 +0,0 @@
|
||||
# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
|
||||
# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
|
||||
# and comment the "runs-on: [runs-on,runner=..." lines.
|
||||
# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
|
||||
#
|
||||
# ===================================================================================
|
||||
# RELEASE UPLOAD LOGIC
|
||||
# ===================================================================================
|
||||
# This workflow handles building firmware and uploading to S3 + GitHub Releases.
|
||||
#
|
||||
# S3 Bucket Structure (s3://px4-travis/Firmware/):
|
||||
# - master/ <- Latest main branch build (for QGC compatibility)
|
||||
# - stable/ <- Latest stable release, controlled by 'stable' branch
|
||||
# - beta/ <- Latest pre-release, controlled by 'beta' branch
|
||||
# - vX.Y.Z/ <- Archived stable release
|
||||
# - vX.Y.Z-beta1/ <- Archived pre-release
|
||||
#
|
||||
# Trigger Behavior:
|
||||
# - Tag v1.16.1 -> Upload to: v1.16.1/ only (versioned archive)
|
||||
# - Tag v1.17.0-beta1 -> Upload to: v1.17.0-beta1/ only (versioned archive)
|
||||
# - Branch main -> Upload to: master/ (for QGC compatibility)
|
||||
# - Branch stable -> Upload to: stable/ (QGC stable firmware)
|
||||
# - Branch beta -> Upload to: beta/ (QGC beta firmware)
|
||||
# - Branch release/** -> Build only, no S3 upload (CI validation)
|
||||
# - Pull requests -> Build only, no S3 upload (CI validation)
|
||||
#
|
||||
# GitHub Releases:
|
||||
# - All version tags create a draft GitHub Release
|
||||
# - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
|
||||
#
|
||||
# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
|
||||
# corresponding branch pushes control those directories. This prevents
|
||||
# pre-release tags from accidentally overwriting stable firmware (#26340)
|
||||
# and avoids race conditions between tag and branch builds.
|
||||
# ===================================================================================
|
||||
|
||||
name: Build all targets
|
||||
|
||||
on:
|
||||
push:
|
||||
tags:
|
||||
- 'v*'
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
permissions:
|
||||
contents: write
|
||||
actions: read
|
||||
packages: read
|
||||
|
||||
jobs:
|
||||
group_targets:
|
||||
name: Scan for Board Targets
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
|
||||
branchname: ${{ steps.set-branch.outputs.branchname }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Cache Python pip
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ~/.cache/pip
|
||||
key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
|
||||
restore-keys: |
|
||||
${{ runner.os }}-pip-
|
||||
|
||||
- name: Update python packaging to avoid canonicalize_version() error
|
||||
run: |
|
||||
pip3 install -U packaging
|
||||
|
||||
- name: Install Python Dependencies
|
||||
uses: py-actions/py-dependency-install@v4
|
||||
with:
|
||||
path: "./Tools/setup/requirements.txt"
|
||||
|
||||
- id: set-matrix
|
||||
name: Generate Build Matrix
|
||||
run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
|
||||
|
||||
- id: set-timestamp
|
||||
name: Save Current Timestamp
|
||||
run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
|
||||
|
||||
- id: set-branch
|
||||
name: Save Current Branch Name
|
||||
run: |
|
||||
echo "branchname=${{
|
||||
github.event_name == 'pull_request' &&
|
||||
format('pr-{0}', github.event.pull_request.number) ||
|
||||
github.head_ref ||
|
||||
github.ref_name
|
||||
}}" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Debug Matrix Output
|
||||
if: runner.debug == '1'
|
||||
run: |
|
||||
echo "${{ steps.set-timestamp.outputs.timestamp }}"
|
||||
echo "${{ steps.set-branch.outputs.branchname }}"
|
||||
echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
|
||||
|
||||
setup:
|
||||
name: Build [${{ matrix.runner }}][${{ matrix.group }}]
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
|
||||
needs: group_targets
|
||||
strategy:
|
||||
matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
|
||||
fail-fast: false
|
||||
container:
|
||||
image: ${{ matrix.container }}
|
||||
credentials:
|
||||
username: ${{ github.actor }}
|
||||
password: ${{ secrets.GITHUB_TOKEN }}
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
# ccache key breakdown:
|
||||
# ccache-<system os>-<system arch>-<builder group>-
|
||||
# ccache-<linux>-<arm64>-<aarch64-0>-
|
||||
# ccache-<linux>-<x64>-<nuttx-0>-
|
||||
- name: Cache Restore from Key
|
||||
id: cc_restore
|
||||
uses: actions/cache/restore@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
|
||||
restore-keys: |
|
||||
ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
|
||||
ccache-${{ runner.os }}-${{ matrix.runner }}-
|
||||
ccache-${{ runner.os }}-${{ matrix.runner }}-
|
||||
ccache-${{ runner.os }}-
|
||||
ccache-
|
||||
|
||||
- name: Cache Config and Stats
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 120M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
echo "compiler_check = content" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Building Artifacts for [${{ matrix.targets }}]
|
||||
run: |
|
||||
./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
|
||||
|
||||
- name: Arrange Build Artifacts
|
||||
run: |
|
||||
./Tools/ci/package_build_artifacts.sh
|
||||
|
||||
- name: Upload Build Artifacts
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: px4_${{matrix.group}}_build_artifacts
|
||||
path: artifacts/
|
||||
|
||||
- name: Cache Post Build Stats
|
||||
if: always()
|
||||
run: |
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Cache Save
|
||||
if: always()
|
||||
uses: actions/cache/save@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ steps.cc_restore.outputs.cache-primary-key }}
|
||||
|
||||
# ===========================================================================
|
||||
# ARTIFACT UPLOAD JOB
|
||||
# ===========================================================================
|
||||
# Uploads build artifacts to S3 and creates GitHub Releases.
|
||||
# Runs for version tags (v*), main, stable, and beta branch pushes.
|
||||
# See header comments for full upload logic documentation.
|
||||
# ===========================================================================
|
||||
artifacts:
|
||||
name: Upload Artifacts
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
needs: [setup, group_targets]
|
||||
if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
|
||||
outputs:
|
||||
uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
|
||||
steps:
|
||||
- name: Download Artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
path: artifacts/
|
||||
merge-multiple: true
|
||||
|
||||
- name: Choose Upload Location
|
||||
id: upload-location
|
||||
run: |
|
||||
set -euo pipefail
|
||||
|
||||
ref="${GITHUB_REF}"
|
||||
branch=${{ needs.group_targets.outputs.branchname }}
|
||||
location="$branch"
|
||||
is_prerelease="false"
|
||||
|
||||
# Main branch uploads to "master" for QGC backward compatibility
|
||||
if [[ "$branch" == "main" ]]; then
|
||||
location="master"
|
||||
fi
|
||||
|
||||
# Version tags: upload to versioned directory (e.g., v1.16.1/)
|
||||
if [[ "$ref" == refs/tags/v[0-9]* ]]; then
|
||||
tag="${ref#refs/tags/}"
|
||||
location="$tag"
|
||||
|
||||
# Pre-release tags contain -alpha, -beta, or -rc suffix
|
||||
if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
|
||||
is_prerelease="true"
|
||||
fi
|
||||
fi
|
||||
|
||||
echo "uploadlocation=$location" >> $GITHUB_OUTPUT
|
||||
echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
|
||||
uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: artifacts/
|
||||
DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
|
||||
|
||||
# Create a draft GitHub Release for all version tags
|
||||
# Pre-releases are automatically marked as such
|
||||
- name: Upload Artifacts to GitHub Release
|
||||
uses: softprops/action-gh-release@v2
|
||||
if: startsWith(github.ref, 'refs/tags/v')
|
||||
with:
|
||||
draft: true
|
||||
prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
|
||||
files: |
|
||||
artifacts/*.px4
|
||||
artifacts/*.deb
|
||||
artifacts/**/*.sbom.spdx.json
|
||||
name: ${{ steps.upload-location.outputs.uploadlocation }}
|
||||
@@ -0,0 +1,34 @@
|
||||
name: ClusterFuzzLite batch fuzzing
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 6 * * *' # UTC 6am every day.
|
||||
permissions: read-all
|
||||
jobs:
|
||||
BatchFuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
sanitizer:
|
||||
- address
|
||||
- undefined
|
||||
- memory
|
||||
steps:
|
||||
- name: Build Fuzzers (${{ matrix.sanitizer }})
|
||||
id: build
|
||||
uses: google/clusterfuzzlite/actions/build_fuzzers@v1
|
||||
with:
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
- name: Run Fuzzers (${{ matrix.sanitizer }})
|
||||
id: run
|
||||
uses: google/clusterfuzzlite/actions/run_fuzzers@v1
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
fuzz-seconds: 1800 # 30 mins
|
||||
mode: 'batch'
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
# Optional but recommended: For storing certain artifacts from fuzzing.
|
||||
# See later section on "Git repo for storage".
|
||||
# storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
|
||||
# storage-repo-branch: main # Optional. Defaults to "main"
|
||||
# storage-repo-branch-coverage: gh-pages # Optional. Defaults to "gh-pages".
|
||||
@@ -4,31 +4,18 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
check: [
|
||||
"check_format",
|
||||
"check_newlines",
|
||||
"tests",
|
||||
"tests_coverage",
|
||||
"px4_fmu-v2_default stack_check",
|
||||
@@ -36,27 +23,28 @@ jobs:
|
||||
"shellcheck_all",
|
||||
"NO_NINJA_BUILD=1 px4_fmu-v5_default",
|
||||
"NO_NINJA_BUILD=1 px4_sitl_default",
|
||||
"px4_sitl_allyes",
|
||||
"airframe_metadata",
|
||||
"module_documentation",
|
||||
"parameters_metadata",
|
||||
]
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Building [${{ matrix.check }}]
|
||||
env:
|
||||
PX4_SBOM_DISABLE: 1
|
||||
run: |
|
||||
cd "$GITHUB_WORKSPACE"
|
||||
git config --global --add safe.directory "$GITHUB_WORKSPACE"
|
||||
make ${{ matrix.check }}
|
||||
|
||||
- name: Uploading Coverage to Codecov.io
|
||||
if: contains(matrix.check, 'coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: unittests
|
||||
file: coverage/lcov.info
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: ${{matrix.check}}
|
||||
run: make ${{matrix.check}}
|
||||
- name: upload coverage
|
||||
if: contains(matrix.check, 'coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: unittests
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -1,69 +1,21 @@
|
||||
name: Static Analysis
|
||||
name: Clang Tidy
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
clang_tidy:
|
||||
name: Clang-Tidy
|
||||
runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.17.0-beta1
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-09-08
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
fetch-tags: true
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Restore Compiler Cache
|
||||
id: cc_restore
|
||||
uses: actions/cache/restore@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
|
||||
restore-keys: |
|
||||
ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
|
||||
ccache-clang-tidy-main-
|
||||
ccache-clang-tidy-
|
||||
|
||||
- name: Configure Compiler Cache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 120M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
echo "compiler_check = content" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Run Clang-Tidy Analysis
|
||||
run: make -j16 clang-tidy
|
||||
|
||||
- name: Compiler Cache Stats
|
||||
if: always()
|
||||
run: ccache -s
|
||||
|
||||
- name: Save Compiler Cache
|
||||
if: always()
|
||||
uses: actions/cache/save@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ steps.cc_restore.outputs.cache-primary-key }}
|
||||
- name: make clang-tidy-quiet
|
||||
run: make clang-tidy-quiet
|
||||
|
||||
@@ -1,148 +0,0 @@
|
||||
name: Commit Quality
|
||||
|
||||
on:
|
||||
pull_request:
|
||||
types: [opened, edited, synchronize, reopened]
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
issues: write
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
PR_NUMBER: ${{ github.event.pull_request.number }}
|
||||
IS_FORK: ${{ github.event.pull_request.head.repo.full_name != github.repository }}
|
||||
|
||||
jobs:
|
||||
pr-title:
|
||||
name: PR Title
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
sparse-checkout: Tools/ci
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Check PR title
|
||||
id: check
|
||||
run: |
|
||||
python3 Tools/ci/check_pr_title.py "${{ github.event.pull_request.title }}" --markdown-file comment.md && rc=0 || rc=$?
|
||||
echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Post or clear comment
|
||||
if: env.IS_FORK == 'false'
|
||||
env:
|
||||
GH_TOKEN: ${{ github.token }}
|
||||
run: |
|
||||
if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
|
||||
python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result fail < comment.md
|
||||
else
|
||||
python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result pass
|
||||
fi
|
||||
|
||||
- name: Result
|
||||
if: steps.check.outputs.exit_code != '0'
|
||||
run: |
|
||||
echo "::error::PR title does not follow conventional commits format. See the PR comment for details."
|
||||
exit 1
|
||||
|
||||
commit-messages:
|
||||
name: Commit Messages
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
sparse-checkout: Tools/ci
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Check commit messages
|
||||
id: check
|
||||
env:
|
||||
GH_TOKEN: ${{ github.token }}
|
||||
run: |
|
||||
gh api \
|
||||
"repos/${{ github.repository }}/pulls/${PR_NUMBER}/commits?per_page=100" \
|
||||
| python3 Tools/ci/check_commit_messages.py --markdown-file comment.md && rc=0 || rc=$?
|
||||
echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
|
||||
# Check for warnings (non-empty markdown on exit 0)
|
||||
if [ "$rc" -eq 0 ] && [ -s comment.md ]; then
|
||||
echo "has_warnings=true" >> "$GITHUB_OUTPUT"
|
||||
else
|
||||
echo "has_warnings=false" >> "$GITHUB_OUTPUT"
|
||||
fi
|
||||
|
||||
- name: Post or clear comment
|
||||
if: env.IS_FORK == 'false'
|
||||
env:
|
||||
GH_TOKEN: ${{ github.token }}
|
||||
run: |
|
||||
if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
|
||||
python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result fail < comment.md
|
||||
elif [ "${{ steps.check.outputs.has_warnings }}" == "true" ]; then
|
||||
python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result warn < comment.md
|
||||
else
|
||||
python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result pass
|
||||
fi
|
||||
|
||||
- name: Result
|
||||
if: steps.check.outputs.exit_code != '0'
|
||||
run: |
|
||||
echo "::error::Commit message errors found. See the PR comment for details."
|
||||
exit 1
|
||||
|
||||
pr-body:
|
||||
name: PR Description
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout
|
||||
if: env.IS_FORK == 'false'
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
sparse-checkout: Tools/ci
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Check PR body
|
||||
id: check
|
||||
env:
|
||||
PR_BODY: ${{ github.event.pull_request.body }}
|
||||
run: |
|
||||
message=""
|
||||
if [ -z "$PR_BODY" ]; then
|
||||
message="PR description is empty. Please add a summary of the changes."
|
||||
echo "::warning::PR description is empty."
|
||||
else
|
||||
cleaned=$(echo "$PR_BODY" | sed 's/<!--.*-->//g' | tr -d '[:space:]')
|
||||
if [ -z "$cleaned" ]; then
|
||||
message="PR description contains only template comments. Please fill in the details."
|
||||
echo "::warning::PR description contains only template comments."
|
||||
fi
|
||||
fi
|
||||
echo "message=$message" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Post or clear comment
|
||||
if: env.IS_FORK == 'false'
|
||||
env:
|
||||
GH_TOKEN: ${{ github.token }}
|
||||
run: |
|
||||
if [ -n "${{ steps.check.outputs.message }}" ]; then
|
||||
printf '%s\n' \
|
||||
"## PR Description (advisory)" \
|
||||
"" \
|
||||
"This is **not blocking**, but your PR description appears to be empty or incomplete." \
|
||||
"" \
|
||||
"${{ steps.check.outputs.message }}" \
|
||||
"" \
|
||||
"A good PR description helps reviewers understand what changed and why." \
|
||||
"" \
|
||||
"---" \
|
||||
"*This comment will be automatically removed once the issue is resolved.*" \
|
||||
| python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result warn
|
||||
else
|
||||
python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result pass
|
||||
fi
|
||||
@@ -0,0 +1,58 @@
|
||||
name: Compile Linux Targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/*'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2023-06-26
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
beaglebone_blue_default,
|
||||
emlid_navio2_default,
|
||||
px4_raspberrypi_default,
|
||||
scumaker_pilotpi_default,
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
- name: ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{matrix.config}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.config}}
|
||||
run: make ${{matrix.config}}
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
@@ -0,0 +1,54 @@
|
||||
name: Compile Linux ARM64 Targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/*'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2022-08-12
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
scumaker_pilotpi_arm64,
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{matrix.config}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.config}}
|
||||
run: make ${{matrix.config}}
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
@@ -4,17 +4,9 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -27,24 +19,25 @@ jobs:
|
||||
]
|
||||
steps:
|
||||
- name: install Python 3.10
|
||||
uses: actions/setup-python@v5
|
||||
uses: actions/setup-python@v4
|
||||
with:
|
||||
python-version: "3.10"
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: setup
|
||||
run: |
|
||||
./Tools/setup/macos.sh
|
||||
run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v4
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
|
||||
@@ -0,0 +1,134 @@
|
||||
name: Compile Nuttx Targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/*'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2,
|
||||
ark_can-flow,
|
||||
ark_can-gps,
|
||||
ark_can-rtk-gps,
|
||||
ark_cannode,
|
||||
ark_fmu-v6x,
|
||||
atl_mantis-edu,
|
||||
av_x-v1,
|
||||
bitcraze_crazyflie,
|
||||
bitcraze_crazyflie21,
|
||||
cuav_can-gps-v1,
|
||||
cuav_nora,
|
||||
cuav_x7pro,
|
||||
cubepilot_cubeorange,
|
||||
cubepilot_cubeorangeplus,
|
||||
cubepilot_cubeyellow,
|
||||
diatone_mamba-f405-mk2,
|
||||
freefly_can-rtk-gps,
|
||||
holybro_can-gps-v1,
|
||||
holybro_durandal-v1,
|
||||
holybro_kakutef7,
|
||||
holybro_kakuteh7,
|
||||
holybro_pix32v5,
|
||||
matek_gnss-m9n-f4,
|
||||
matek_h743,
|
||||
matek_h743-mini,
|
||||
matek_h743-slim,
|
||||
modalai_fc-v1,
|
||||
modalai_fc-v2,
|
||||
mro_ctrl-zero-classic,
|
||||
mro_ctrl-zero-f7,
|
||||
mro_ctrl-zero-f7-oem,
|
||||
mro_ctrl-zero-h7,
|
||||
mro_ctrl-zero-h7-oem,
|
||||
mro_pixracerpro,
|
||||
mro_x21,
|
||||
mro_x21-777,
|
||||
nxp_fmuk66-e,
|
||||
nxp_fmuk66-v3,
|
||||
nxp_mr-canhubk3,
|
||||
nxp_ucans32k146,
|
||||
omnibus_f4sd,
|
||||
px4_fmu-v2,
|
||||
px4_fmu-v3,
|
||||
px4_fmu-v4,
|
||||
px4_fmu-v4pro,
|
||||
px4_fmu-v5,
|
||||
px4_fmu-v5x,
|
||||
px4_fmu-v6c,
|
||||
px4_fmu-v6u,
|
||||
px4_fmu-v6x,
|
||||
px4_fmu-v6xrt,
|
||||
raspberrypi_pico,
|
||||
sky-drones_smartap-airlink,
|
||||
spracing_h7extreme,
|
||||
uvify_core,
|
||||
siyi_n7
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{matrix.config}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 120M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make all_variants_${{matrix.config}}
|
||||
run: make all_variants_${{matrix.config}}
|
||||
timeout-minutes: 45
|
||||
- name: make ${{matrix.config}} bloaty_compileunits
|
||||
run: make ${{matrix.config}} bloaty_compileunits || true
|
||||
- name: make ${{matrix.config}} bloaty_inlines
|
||||
run: make ${{matrix.config}} bloaty_inlines || true
|
||||
- name: make ${{matrix.config}} bloaty_segments
|
||||
run: make ${{matrix.config}} bloaty_segments || true
|
||||
- name: make ${{matrix.config}} bloaty_symbols
|
||||
run: make ${{matrix.config}} bloaty_symbols || true
|
||||
- name: make ${{matrix.config}} bloaty_templates
|
||||
run: make ${{matrix.config}} bloaty_templates || true
|
||||
- name: make ${{matrix.config}} bloaty_ram
|
||||
run: make ${{matrix.config}} bloaty_ram || true
|
||||
- name: make ${{matrix.config}} bloaty_compare_master
|
||||
run: make ${{matrix.config}} bloaty_compare_master || true
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
|
||||
- name: Upload px4 package
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: px4_package_${{matrix.config}}
|
||||
path: |
|
||||
build/**/*.px4
|
||||
build/**/*.bin
|
||||
@@ -1,57 +0,0 @@
|
||||
name: Ubuntu environment build
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
env:
|
||||
RUNS_IN_DOCKER: true
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
build_and_test:
|
||||
name: Build and Test
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
version: ['ubuntu:22.04', 'ubuntu:24.04']
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: ${{ matrix.version }}
|
||||
volumes:
|
||||
- /github/workspace:/github/workspace
|
||||
steps:
|
||||
|
||||
- name: Fix git in container
|
||||
run: |
|
||||
# we only need this because we are running the job in a container
|
||||
# when checkout pulls git it does it in a shared volume
|
||||
# and file ownership changes between steps
|
||||
# first we install git since its missing from the base image
|
||||
# then we mark the directory as safe for other instances
|
||||
# of git to use.
|
||||
apt update && apt install git -y
|
||||
git config --global --add safe.directory $(realpath .)
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Install Deps, Build, and Make Quick Check
|
||||
run: |
|
||||
# we need to install dependencies and build on the same step
|
||||
# given the stateless nature of docker images
|
||||
./Tools/setup/ubuntu.sh
|
||||
make quick_check
|
||||
@@ -0,0 +1,57 @@
|
||||
name: Deploy metadata for all targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
jobs:
|
||||
enumerate_targets:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
- id: set-matrix
|
||||
run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: ${{ matrix.container }}
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: make ${{matrix.target}}
|
||||
run: make ${{matrix.target}}
|
||||
|
||||
- name: parameter & events metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen events_json actuators_json
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* events/*.xz actuators.json* _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
|
||||
|
||||
@@ -1,192 +0,0 @@
|
||||
name: Container build
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
tags:
|
||||
- 'v*'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths:
|
||||
- '.github/workflows/dev_container.yml'
|
||||
- 'Tools/setup/ubuntu.sh'
|
||||
- 'Tools/setup/requirements.txt'
|
||||
- 'Tools/setup/Dockerfile'
|
||||
- 'Tools/setup/docker-entrypoint.sh'
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
px4_version:
|
||||
description: 'Container tag (e.g. v1.16.0)'
|
||||
required: true
|
||||
type: string
|
||||
deploy_to_registry:
|
||||
description: 'Whether to push built images to the registry'
|
||||
required: false
|
||||
type: boolean
|
||||
default: false
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
setup:
|
||||
name: Set Tags and Variables
|
||||
permissions:
|
||||
contents: read
|
||||
runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
outputs:
|
||||
px4_version: ${{ steps.px4_version.outputs.px4_version }}
|
||||
meta_tags: ${{ steps.meta.outputs.tags }}
|
||||
meta_labels: ${{ steps.meta.outputs.labels }}
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
|
||||
# If manual dispatch, take the user‐provided input
|
||||
- name: Set PX4 Tag Version
|
||||
id: px4_version
|
||||
run: |
|
||||
if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
|
||||
echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
|
||||
else
|
||||
echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Extract metadata (tags, labels) for Docker
|
||||
id: meta
|
||||
uses: docker/metadata-action@v5
|
||||
with:
|
||||
images: |
|
||||
ghcr.io/PX4/px4-dev
|
||||
px4io/px4-dev
|
||||
tags: |
|
||||
type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
|
||||
|
||||
build:
|
||||
name: Build Container (${{ matrix.arch }})
|
||||
permissions:
|
||||
contents: read
|
||||
packages: write
|
||||
needs: setup
|
||||
strategy:
|
||||
matrix:
|
||||
include:
|
||||
- platform: linux/arm64
|
||||
arch: arm64
|
||||
runner: arm64
|
||||
- platform: linux/amd64
|
||||
arch: amd64
|
||||
runner: x64
|
||||
runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Login to Docker Hub
|
||||
uses: docker/login-action@v3
|
||||
if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
|
||||
with:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_TOKEN }}
|
||||
|
||||
- name: Login to GitHub Container Registry
|
||||
uses: docker/login-action@v3
|
||||
if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
|
||||
with:
|
||||
registry: ghcr.io
|
||||
username: ${{ github.actor }}
|
||||
password: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Set up Docker Buildx
|
||||
uses: docker/setup-buildx-action@v3
|
||||
with:
|
||||
driver: docker-container
|
||||
platforms: ${{ matrix.platform }}
|
||||
|
||||
- name: Build and Load Container Image
|
||||
uses: docker/build-push-action@v6
|
||||
id: docker
|
||||
with:
|
||||
context: Tools/setup
|
||||
tags: |
|
||||
ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
|
||||
px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
|
||||
labels: ${{ needs.setup.outputs.meta_labels }}
|
||||
platforms: ${{ matrix.platform }}
|
||||
load: false
|
||||
push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
|
||||
provenance: false
|
||||
cache-from: type=gha,scope=${{ matrix.arch }}
|
||||
cache-to: type=gha,mode=max,scope=${{ matrix.arch }}
|
||||
|
||||
deploy:
|
||||
name: Deploy To Registry
|
||||
permissions:
|
||||
contents: read
|
||||
packages: write
|
||||
runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
needs: [build, setup]
|
||||
if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Login to Docker Hub
|
||||
uses: docker/login-action@v3
|
||||
with:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_TOKEN }}
|
||||
|
||||
- name: Login to GitHub Container Registry
|
||||
uses: docker/login-action@v3
|
||||
with:
|
||||
registry: ghcr.io
|
||||
username: ${{ github.actor }}
|
||||
password: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Verify Images Exist Before Creating Manifest
|
||||
run: |
|
||||
docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
|
||||
docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
|
||||
docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
|
||||
docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
|
||||
|
||||
- name: Create and Push Multi-Arch Manifest for Docker Hub
|
||||
run: |
|
||||
docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
|
||||
--amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
|
||||
--amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
|
||||
|
||||
docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
|
||||
docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
|
||||
|
||||
docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
|
||||
|
||||
- name: Create and Push Multi-Arch Manifest for GHCR
|
||||
run: |
|
||||
docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
|
||||
--amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
|
||||
--amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
|
||||
|
||||
docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
|
||||
docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
|
||||
|
||||
docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}
|
||||
@@ -1,416 +0,0 @@
|
||||
# Docs - Orchestrator
|
||||
#
|
||||
# Trigger paths:
|
||||
# push (main, release/**) → metadata-regen → build-site → deploy-aws
|
||||
# pull_request → detect-changes → pr-metadata-regen → link-check → build-site (if docs/source changed)
|
||||
# workflow_dispatch → metadata-regen → build-site → deploy-aws
|
||||
#
|
||||
# Container jobs (pr-metadata-regen, metadata-regen) run in px4-dev image and
|
||||
# require safe.directory + fetch-depth: 0 for git operations.
|
||||
|
||||
name: Docs - Orchestrator
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- "main"
|
||||
- "release/**"
|
||||
paths:
|
||||
- "docs/**"
|
||||
- "src/**"
|
||||
- "msg/**"
|
||||
- "ROMFS/**"
|
||||
- "Tools/module_config/**"
|
||||
- ".github/workflows/docs-orchestrator.yml"
|
||||
pull_request:
|
||||
paths:
|
||||
- "docs/**"
|
||||
- ".github/workflows/docs-orchestrator.yml"
|
||||
workflow_dispatch:
|
||||
|
||||
concurrency:
|
||||
group: docs-orchestrator-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
# =============================================================================
|
||||
# Detect Changes (PR only)
|
||||
# =============================================================================
|
||||
detect-changes:
|
||||
name: "T1: Detect Changes"
|
||||
if: github.event_name == 'pull_request'
|
||||
permissions:
|
||||
contents: read
|
||||
runs-on: ubuntu-latest
|
||||
outputs:
|
||||
source_changed: ${{ steps.changes.outputs.source }}
|
||||
docs_changed: ${{ steps.changes.outputs.docs }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: dorny/paths-filter@v3
|
||||
id: changes
|
||||
with:
|
||||
filters: |
|
||||
source:
|
||||
- 'src/**'
|
||||
- 'msg/**'
|
||||
- 'ROMFS/**'
|
||||
- 'Tools/module_config/**'
|
||||
docs:
|
||||
- 'docs/**'
|
||||
|
||||
# =============================================================================
|
||||
# PR Metadata Regen (conditional - only when PR touches source files)
|
||||
# =============================================================================
|
||||
pr-metadata-regen:
|
||||
name: "T2: PR Metadata"
|
||||
needs: [detect-changes]
|
||||
if: github.event_name == 'pull_request' && needs.detect-changes.outputs.source_changed == 'true'
|
||||
permissions:
|
||||
contents: read
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.17.0-beta1
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Cache Restore - ccache
|
||||
id: cache-ccache
|
||||
uses: actions/cache/restore@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ccache-docs-metadata-${{ github.sha }}
|
||||
restore-keys: |
|
||||
ccache-docs-metadata-
|
||||
|
||||
- name: Setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "max_size = 1G" > ~/.ccache/ccache.conf
|
||||
|
||||
- name: Build px4_sitl_default
|
||||
run: |
|
||||
make px4_sitl_default
|
||||
env:
|
||||
CCACHE_DIR: ~/.ccache
|
||||
|
||||
- name: Cache Save - ccache
|
||||
uses: actions/cache/save@v4
|
||||
if: always()
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ccache-docs-metadata-${{ github.sha }}
|
||||
|
||||
- name: Generate and sync metadata
|
||||
run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
|
||||
env:
|
||||
CCACHE_DIR: ~/.ccache
|
||||
|
||||
- name: Upload metadata artifact
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: pr-metadata
|
||||
path: docs/
|
||||
retention-days: 1
|
||||
|
||||
# =============================================================================
|
||||
# Push Metadata Regen (main/release branches)
|
||||
# =============================================================================
|
||||
metadata-regen:
|
||||
name: "T2: Metadata Sync"
|
||||
if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
|
||||
permissions:
|
||||
contents: write
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.17.0-beta1
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
token: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Cache Restore - ccache
|
||||
id: cache-ccache
|
||||
uses: actions/cache/restore@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ccache-docs-metadata-${{ github.sha }}
|
||||
restore-keys: |
|
||||
ccache-docs-metadata-
|
||||
|
||||
- name: Setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "max_size = 1G" > ~/.ccache/ccache.conf
|
||||
|
||||
- name: Build px4_sitl_default
|
||||
run: |
|
||||
make px4_sitl_default
|
||||
env:
|
||||
CCACHE_DIR: ~/.ccache
|
||||
|
||||
- name: Cache Save - ccache
|
||||
uses: actions/cache/save@v4
|
||||
if: always()
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ccache-docs-metadata-${{ github.sha }}
|
||||
|
||||
- name: Generate and sync metadata
|
||||
run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
|
||||
env:
|
||||
CCACHE_DIR: ~/.ccache
|
||||
|
||||
- name: Install Node.js and Yarn
|
||||
run: |
|
||||
curl -fsSL https://deb.nodesource.com/setup_20.x | bash -
|
||||
apt-get install -y nodejs
|
||||
corepack enable
|
||||
|
||||
- name: Format markdown with Prettier
|
||||
run: |
|
||||
cd docs
|
||||
yarn install --frozen-lockfile
|
||||
yarn prettier --write "en/**/*.md"
|
||||
|
||||
- name: Commit and push changes
|
||||
run: |
|
||||
git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
|
||||
git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
|
||||
git add docs/
|
||||
if git diff --staged --quiet; then
|
||||
echo "No changes to commit"
|
||||
else
|
||||
git commit -m "docs: auto-sync metadata [skip ci]
|
||||
|
||||
Co-Authored-By: PX4 BuildBot <${{ secrets.PX4BUILDBOT_EMAIL }}>"
|
||||
git push
|
||||
fi
|
||||
|
||||
# =============================================================================
|
||||
# Link Check
|
||||
# =============================================================================
|
||||
link-check:
|
||||
name: "T2: Link Check"
|
||||
needs: [detect-changes, pr-metadata-regen]
|
||||
if: always() && (github.event_name == 'pull_request')
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: ${{ github.event.pull_request.head.sha }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Download metadata artifact
|
||||
if: needs.pr-metadata-regen.result == 'success'
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: pr-metadata
|
||||
path: docs/
|
||||
|
||||
- name: Get changed doc files
|
||||
id: changed-files
|
||||
uses: tj-actions/changed-files@v46.0.5
|
||||
with:
|
||||
json: true
|
||||
write_output_files: true
|
||||
output_dir: ./logs
|
||||
base_sha: ${{ github.event.pull_request.base.sha }}
|
||||
sha: ${{ github.event.pull_request.head.sha }}
|
||||
files: |
|
||||
docs/en/**/*.md
|
||||
|
||||
- name: Save changed files list
|
||||
run: |
|
||||
mv ./logs/all_changed_files.json ./logs/prFiles.json
|
||||
echo "Changed files:"
|
||||
cat ./logs/prFiles.json
|
||||
|
||||
- name: Setup Node.js
|
||||
uses: actions/setup-node@v4
|
||||
with:
|
||||
node-version: 20
|
||||
|
||||
- name: Run filtered link checker (changed files)
|
||||
run: |
|
||||
npm -g install markdown_link_checker_sc@0.0.138
|
||||
if [ "$(jq length ./logs/prFiles.json)" -gt 0 ]; then
|
||||
markdown_link_checker_sc \
|
||||
-r "$GITHUB_WORKSPACE" \
|
||||
-d docs \
|
||||
-e en \
|
||||
-f ./logs/prFiles.json \
|
||||
-i assets \
|
||||
-u docs.px4.io/main/ \
|
||||
> ./logs/filtered-link-check-results.md || true
|
||||
fi
|
||||
if [ ! -s ./logs/filtered-link-check-results.md ]; then
|
||||
echo "No broken links found in changed files." > ./logs/filtered-link-check-results.md
|
||||
fi
|
||||
cat ./logs/filtered-link-check-results.md
|
||||
|
||||
- name: Run full link checker
|
||||
run: |
|
||||
markdown_link_checker_sc \
|
||||
-r "$GITHUB_WORKSPACE" \
|
||||
-d docs \
|
||||
-e en \
|
||||
-i assets \
|
||||
-u docs.px4.io/main/ \
|
||||
> ./logs/link-check-results.md || true
|
||||
cat ./logs/link-check-results.md
|
||||
|
||||
- name: Post PR comment with link check results
|
||||
if: github.event.pull_request.head.repo.full_name == github.repository
|
||||
uses: marocchino/sticky-pull-request-comment@v2
|
||||
with:
|
||||
header: flaws
|
||||
path: ./logs/filtered-link-check-results.md
|
||||
|
||||
- name: Upload link check results
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: link-check-results
|
||||
path: logs/
|
||||
retention-days: 7
|
||||
|
||||
# =============================================================================
|
||||
# Build Site
|
||||
# =============================================================================
|
||||
build-site:
|
||||
name: "T3: Build Site"
|
||||
needs: [detect-changes, pr-metadata-regen, metadata-regen, link-check]
|
||||
if: >-
|
||||
always() &&
|
||||
(needs.metadata-regen.result == 'success' || needs.metadata-regen.result == 'skipped') &&
|
||||
(needs.link-check.result == 'success' || needs.link-check.result == 'skipped') &&
|
||||
(github.event_name != 'pull_request' || needs.detect-changes.outputs.docs_changed == 'true' || needs.detect-changes.outputs.source_changed == 'true')
|
||||
permissions:
|
||||
contents: read
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
outputs:
|
||||
branchname: ${{ steps.set-branch.outputs.branchname }}
|
||||
releaseversion: ${{ steps.set-version.outputs.releaseversion }}
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
|
||||
|
||||
- name: Download metadata artifact (PR)
|
||||
if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: pr-metadata
|
||||
path: docs/
|
||||
|
||||
- id: set-branch
|
||||
run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
|
||||
|
||||
- id: set-version
|
||||
run: |
|
||||
branch="${{ steps.set-branch.outputs.branchname }}"
|
||||
if [[ "$branch" == "main" ]]; then
|
||||
version="main"
|
||||
elif [[ "$branch" =~ ^release/ ]]; then
|
||||
version="v${branch#release/}"
|
||||
elif [[ "${{ github.event_name }}" == "pull_request" ]]; then
|
||||
version="main"
|
||||
else
|
||||
echo "::error::Unsupported branch for docs deploy: $branch (expected main or release/*)"
|
||||
exit 1
|
||||
fi
|
||||
echo "releaseversion=$version" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Setup Node
|
||||
uses: actions/setup-node@v4
|
||||
with:
|
||||
node-version: 20
|
||||
cache: npm
|
||||
cache-dependency-path: ./docs/yarn.lock
|
||||
|
||||
- name: Install dependencies
|
||||
run: yarn install --frozen-lockfile --cwd ./docs
|
||||
|
||||
- name: Build with VitePress
|
||||
working-directory: ./docs
|
||||
env:
|
||||
BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
|
||||
run: |
|
||||
npm run docs:build_ubuntu
|
||||
touch .vitepress/dist/.nojekyll
|
||||
npm run docs:sitemap
|
||||
|
||||
- name: Upload artifact
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: px4_docs_build
|
||||
path: docs/.vitepress/dist/
|
||||
retention-days: 1
|
||||
|
||||
# =============================================================================
|
||||
# Deploy to AWS (push + workflow_dispatch)
|
||||
# =============================================================================
|
||||
deploy-aws:
|
||||
name: "T4: Deploy"
|
||||
needs: [metadata-regen, build-site]
|
||||
if: >-
|
||||
always() &&
|
||||
needs.metadata-regen.result == 'success' &&
|
||||
needs.build-site.result == 'success' &&
|
||||
(github.event_name == 'push' || github.event_name == 'workflow_dispatch')
|
||||
permissions:
|
||||
id-token: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Download Artifact
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: px4_docs_build
|
||||
path: ~/_book
|
||||
|
||||
- name: Configure AWS from OIDC
|
||||
uses: aws-actions/configure-aws-credentials@v4
|
||||
with:
|
||||
role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
|
||||
aws-region: us-west-2
|
||||
|
||||
- name: Sanity check AWS credentials
|
||||
run: aws sts get-caller-identity
|
||||
|
||||
- name: Upload HTML with short cache
|
||||
run: |
|
||||
aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
|
||||
--delete \
|
||||
--exclude "*" --include "*.html" \
|
||||
--cache-control "public, max-age=60"
|
||||
|
||||
- name: Upload assets with long cache
|
||||
run: |
|
||||
aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
|
||||
--delete \
|
||||
--exclude "*.html" \
|
||||
--cache-control "public, max-age=86400, immutable"
|
||||
@@ -1,55 +0,0 @@
|
||||
name: Docs - Crowdin - Download Guide Translations
|
||||
|
||||
# https://github.com/crowdin/github-action/tree/master
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 0 * * 0' # Runs every Sunday at 00:00 UTC
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: write
|
||||
pull-requests: write
|
||||
|
||||
jobs:
|
||||
synchronize-with-crowdin:
|
||||
name: Synchronize with Crowdin
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
max-parallel: 1 # Should be 1 to avoid parallel builds
|
||||
matrix:
|
||||
lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
- name: Debug Environment Variables
|
||||
run: |
|
||||
echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
|
||||
echo "CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}"
|
||||
- name: Matrix
|
||||
uses: crowdin/github-action@v2
|
||||
with:
|
||||
config: 'docs/crowdin_docs.yml'
|
||||
upload_sources: false
|
||||
upload_translations: false
|
||||
download_translations: true
|
||||
commit_message: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
|
||||
localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
|
||||
crowdin_branch_name: main
|
||||
create_pull_request: true
|
||||
pull_request_base_branch_name: 'main'
|
||||
pull_request_title: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
|
||||
pull_request_body: 'docs(i18n): PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
|
||||
pull_request_labels: 'Documentation 📑'
|
||||
pull_request_reviewers: hamishwillee
|
||||
download_language: ${{ matrix.lc }}
|
||||
env:
|
||||
# A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
|
||||
GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
|
||||
|
||||
# A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
|
||||
CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
|
||||
|
||||
# Visit https://crowdin.com/settings#api-key to create this token
|
||||
CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}
|
||||
@@ -1,44 +0,0 @@
|
||||
name: Docs - Crowdin - Upload Guide sources (en)
|
||||
|
||||
# https://github.com/crowdin/github-action/tree/master
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- main
|
||||
paths:
|
||||
- 'docs/en/**'
|
||||
#pull_request:
|
||||
# types:
|
||||
# - closed
|
||||
# branches:
|
||||
# - main
|
||||
# paths:
|
||||
# - 'docs/en/**'
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
upload-to-crowdin:
|
||||
#if: github.event.pull_request.merged == true || github.event_name == 'push' || github.event_name == 'workflow_dispatch'
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
- name: crowdin push
|
||||
uses: crowdin/github-action@v2
|
||||
with:
|
||||
config: 'docs/crowdin_docs.yml'
|
||||
upload_sources: true
|
||||
upload_translations: false
|
||||
download_translations: false
|
||||
crowdin_branch_name: main
|
||||
env:
|
||||
# A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
|
||||
GITHUB_TOKEN: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
|
||||
|
||||
# A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
|
||||
CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
|
||||
|
||||
# Visit https://crowdin.com/settings#api-key to create this token
|
||||
CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}
|
||||
@@ -1,86 +0,0 @@
|
||||
name: Docs - Deploy PX4 User Guide to Github pages (Manual)
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
|
||||
# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
|
||||
permissions:
|
||||
contents: read
|
||||
pages: write
|
||||
id-token: write
|
||||
|
||||
# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
|
||||
# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
|
||||
concurrency:
|
||||
group: pages
|
||||
cancel-in-progress: false
|
||||
|
||||
env:
|
||||
BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
|
||||
- name: Setup Node
|
||||
uses: actions/setup-node@v4
|
||||
with:
|
||||
node-version: 20
|
||||
cache: npm
|
||||
# Specify the path to lock file for correct caching
|
||||
cache-dependency-path: ./docs/yarn.lock
|
||||
|
||||
- name: Install dependencies
|
||||
run: yarn install --frozen-lockfile --cwd ./docs
|
||||
|
||||
- name: Build with VitePress
|
||||
working-directory: ./docs
|
||||
run: |
|
||||
npm run docs:build_ubuntu
|
||||
touch .vitepress/dist/.nojekyll
|
||||
npm run docs:sitemap
|
||||
|
||||
- name: Upload artifact
|
||||
if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: px4_docs_build
|
||||
path: docs/.vitepress/dist/
|
||||
retention-days: 1
|
||||
|
||||
deploy:
|
||||
if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
|
||||
needs: build
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
|
||||
steps:
|
||||
- name: Download Artifact
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: px4_docs_build
|
||||
path: ~/_book
|
||||
|
||||
- name: Deploy
|
||||
run: |
|
||||
git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
|
||||
# make it an orphan branch
|
||||
cd docs.px4.io
|
||||
CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
|
||||
git checkout --orphan "${CURRENT_DATETIME}_main"
|
||||
rm -rf ${BRANCH_NAME}
|
||||
mkdir -p ${BRANCH_NAME}
|
||||
cp -r ~/_book/* ${BRANCH_NAME}/
|
||||
git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
|
||||
git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
|
||||
git add .
|
||||
git commit -a -m "PX4 docs build update (vitepress) `date`"
|
||||
# push branch as backup
|
||||
git push origin "${CURRENT_DATETIME}_main"
|
||||
# Now make main from backup and push updated
|
||||
git branch -D main
|
||||
git checkout -b main
|
||||
git push origin main -f
|
||||
@@ -1,35 +1,21 @@
|
||||
name: EKF Change Indicator
|
||||
|
||||
on:
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
|
||||
cancel-in-progress: true
|
||||
on: pull_request
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: main test
|
||||
run: |
|
||||
cd "$GITHUB_WORKSPACE"
|
||||
git config --global --add safe.directory "$GITHUB_WORKSPACE"
|
||||
make tests TESTFILTER=EKF
|
||||
|
||||
- name: Check if there is a functional change
|
||||
run: git diff --exit-code
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- name: checkout newest version of branch
|
||||
run: |
|
||||
git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
|
||||
git checkout ${GITHUB_HEAD_REF}
|
||||
- name: main test
|
||||
run: make tests TESTFILTER=EKF
|
||||
- name: Check if there is a functional change
|
||||
run: git diff --exit-code
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
|
||||
@@ -1,54 +1,29 @@
|
||||
name: EKF Update Change Indicator
|
||||
|
||||
on:
|
||||
push:
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
on: push
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
env:
|
||||
GIT_COMMITTER_EMAIL: bot@px4.io
|
||||
GIT_COMMITTER_NAME: PX4BuildBot
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: main test
|
||||
run: |
|
||||
cd "$GITHUB_WORKSPACE"
|
||||
git config --global --add safe.directory "$GITHUB_WORKSPACE"
|
||||
make tests TESTFILTER=EKF
|
||||
|
||||
- name: Check if there exists diff and save result in variable
|
||||
id: diff-check
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
run: |
|
||||
if git diff --quiet; then
|
||||
echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
|
||||
else
|
||||
echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: auto-commit any changes to change indication
|
||||
if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
|
||||
uses: stefanzweifel/git-auto-commit-action@v4
|
||||
with:
|
||||
file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
|
||||
commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
|
||||
commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
|
||||
commit_message: |
|
||||
[AUTO COMMIT] update change indication
|
||||
|
||||
See .github/workflows/ekf_update_change_indicator.yml for more details
|
||||
|
||||
- name: if there is a functional change, fail check
|
||||
if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
|
||||
run: exit 1
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- name: main test updates change indication files
|
||||
run: make tests TESTFILTER=EKF
|
||||
- name: Check if there exists diff and save result in variable
|
||||
run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
- name: auto-commit any changes to change indication
|
||||
uses: stefanzweifel/git-auto-commit-action@v4
|
||||
with:
|
||||
commit_message: '[AUTO COMMIT] update change indication'
|
||||
commit_user_name: ${GIT_COMMITTER_NAME}
|
||||
commit_user_email: ${GIT_COMMITTER_EMAIL}
|
||||
- if: ${{env.CHANGE_INDICATED}}
|
||||
name: if there is a functional change, fail check
|
||||
run: exit 1
|
||||
|
||||
@@ -4,17 +4,9 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -29,30 +21,24 @@ jobs:
|
||||
"failsafe_web",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
image: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- name: Install Node v20.18.0
|
||||
uses: actions/setup-node@v4
|
||||
with:
|
||||
node-version: 20.18.0
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Install empscripten
|
||||
run: |
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
|
||||
cd _emscripten_sdk
|
||||
git checkout 4.0.15
|
||||
./emsdk install latest
|
||||
./emsdk activate latest
|
||||
|
||||
- name: Testing [${{ matrix.check }}]
|
||||
run: |
|
||||
. ./_emscripten_sdk/emsdk_env.sh
|
||||
make ${{ matrix.check }}
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: install emscripten
|
||||
run: |
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
|
||||
cd _emscripten_sdk
|
||||
./emsdk install latest
|
||||
./emsdk activate latest
|
||||
- name: ${{matrix.check}}
|
||||
run: |
|
||||
. ./_emscripten_sdk/emsdk_env.sh
|
||||
make ${{matrix.check}}
|
||||
|
||||
@@ -1,154 +0,0 @@
|
||||
name: FLASH usage analysis
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
issues: write
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
env:
|
||||
MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
|
||||
MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50
|
||||
|
||||
jobs:
|
||||
analyze_flash:
|
||||
name: Analyzing ${{ matrix.target }}
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
strategy:
|
||||
matrix:
|
||||
target: [px4_fmu-v5x, px4_fmu-v6x]
|
||||
outputs:
|
||||
px4_fmu-v5x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-output }}
|
||||
px4_fmu-v5x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-summary-map }}
|
||||
px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
|
||||
px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Build Target
|
||||
run: make ${{ matrix.target }}_flash-analysis
|
||||
|
||||
- name: Store the ELF with the change
|
||||
run: cp ./build/**/*.elf ./with-change.elf
|
||||
|
||||
- name: Clean previous build
|
||||
run: |
|
||||
make clean
|
||||
make distclean
|
||||
make submodulesclean
|
||||
|
||||
- name: If it's a PR checkout the base branch
|
||||
if: ${{ github.event.pull_request }}
|
||||
# As checkout creates a merge commit (merging the base branch into the PR branch), the base branch is the base for a diff of the PR changes.
|
||||
run: git checkout ${{ github.event.pull_request.base.ref }}
|
||||
|
||||
- name: If it's a push checkout the previous commit
|
||||
if: github.event_name == 'push'
|
||||
run: git checkout ${{ github.event.before }}
|
||||
|
||||
- name: Update submodules
|
||||
run: make submodulesupdate
|
||||
|
||||
- name: Build
|
||||
run: make ${{ matrix.target }}_flash-analysis
|
||||
|
||||
- name: Store the ELF before the change
|
||||
run: cp ./build/**/*.elf ./before-change.elf
|
||||
|
||||
- name: bloaty-action
|
||||
uses: PX4/bloaty-action@v1.0.0
|
||||
id: bloaty-step
|
||||
with:
|
||||
bloaty-file-args: ./with-change.elf -- ./before-change.elf
|
||||
bloaty-additional-args: -d sections,symbols -s vm -n 20
|
||||
output-to-summary: true
|
||||
|
||||
- name: Generate output
|
||||
id: gen-output
|
||||
run: |
|
||||
EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
|
||||
echo "${{ matrix.target }}-bloaty-output<<$EOF" >> $GITHUB_OUTPUT
|
||||
echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
|
||||
echo "$EOF" >> $GITHUB_OUTPUT
|
||||
echo "${{ matrix.target }}-bloaty-summary-map<<$EOF" >> $GITHUB_OUTPUT
|
||||
echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
|
||||
echo "$EOF" >> $GITHUB_OUTPUT
|
||||
|
||||
# TODO:
|
||||
# This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
|
||||
# Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
|
||||
post_pr_comment:
|
||||
name: Publish Results
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
|
||||
needs: [analyze_flash]
|
||||
env:
|
||||
V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
|
||||
V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
|
||||
V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
|
||||
V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
|
||||
if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
|
||||
steps:
|
||||
- name: Find Comment
|
||||
uses: peter-evans/find-comment@v3
|
||||
id: fc
|
||||
with:
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
comment-author: 'github-actions[bot]'
|
||||
body-includes: FLASH Analysis
|
||||
|
||||
- name: Set Build Time
|
||||
id: bt
|
||||
run: |
|
||||
echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Create or update comment
|
||||
# This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
|
||||
if: |
|
||||
steps.fc.outputs.comment-id != '' ||
|
||||
env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
|
||||
env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
|
||||
env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
|
||||
env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
|
||||
uses: peter-evans/create-or-update-comment@v4
|
||||
with:
|
||||
comment-id: ${{ steps.fc.outputs.comment-id }}
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
body: |
|
||||
## 🔎 FLASH Analysis
|
||||
<details>
|
||||
<summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
|
||||
|
||||
```
|
||||
${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
|
||||
```
|
||||
</details>
|
||||
|
||||
<details>
|
||||
<summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
|
||||
|
||||
```
|
||||
${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
|
||||
```
|
||||
</details>
|
||||
|
||||
**Updated: _${{ steps.bt.outputs.timestamp }}_**
|
||||
edit-mode: replace
|
||||
@@ -1,49 +0,0 @@
|
||||
name: Fuzzing
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 6 * * *' # UTC 6am every day.
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
issues: write # for JasonEtco/create-an-issue
|
||||
|
||||
env:
|
||||
RUNS_IN_DOCKER: true
|
||||
|
||||
jobs:
|
||||
Fuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
|
||||
steps:
|
||||
- name: Install Dependencies
|
||||
run: |
|
||||
apt update && apt install -y clang
|
||||
|
||||
- name: Fix git in Container
|
||||
run: |
|
||||
git config --global --add safe.directory $(realpath .)
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Build and Run Fuzz Tests
|
||||
run: |
|
||||
# Only build the tests
|
||||
export CC=clang
|
||||
export CXX=clang++
|
||||
make tests TESTFILTER=__no_tests__
|
||||
|
||||
# Run the fuzz tests
|
||||
for fuzz_binary in build/px4_sitl_test/*fuzz*; do
|
||||
./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
|
||||
done
|
||||
|
||||
# Create a github issue in case of a failure
|
||||
- name: Create Issue
|
||||
if: ${{ failure() }}
|
||||
uses: JasonEtco/create-an-issue@v2
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
WORKFLOW_RUN_URL: https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}
|
||||
with:
|
||||
filename: .github/fuzzing_issue_template.md
|
||||
@@ -1,67 +0,0 @@
|
||||
name: ITCM check
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
check_itcm:
|
||||
name: Checking ${{ matrix.target }}
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
include:
|
||||
- target: px4_fmu-v5x
|
||||
scripts: >
|
||||
boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
|
||||
boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
|
||||
- target: px4_fmu-v6xrt
|
||||
scripts: >
|
||||
boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
|
||||
boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
|
||||
- target: nxp_tropic-community
|
||||
scripts: >
|
||||
boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
|
||||
boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
|
||||
- target: nxp_mr-tropic
|
||||
scripts: >
|
||||
boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
|
||||
boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Build Target
|
||||
run: make ${{ matrix.target }}
|
||||
|
||||
- name: Copy built ELF
|
||||
run: cp ./build/**/*.elf ./built.elf
|
||||
|
||||
- name: Install itcm-check dependencies
|
||||
run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
|
||||
|
||||
- name: Execute the itcm-check
|
||||
run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
|
||||
@@ -1,21 +0,0 @@
|
||||
# This workflow will triage pull requests and apply a label based on the
|
||||
# paths that are modified in the pull request.
|
||||
# The paths are set up in .github/labeler.yml
|
||||
#
|
||||
# See: https://github.com/actions/labeler
|
||||
|
||||
name: Labeler
|
||||
on: [pull_request_target]
|
||||
|
||||
jobs:
|
||||
label:
|
||||
|
||||
runs-on: ubuntu-latest
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
|
||||
steps:
|
||||
- uses: actions/labeler@v5
|
||||
with:
|
||||
repo-token: "${{ secrets.GITHUB_TOKEN }}"
|
||||
@@ -4,42 +4,136 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {vehicle: "iris", mission: "MC_mission_box", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "rover", mission: "rover_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "plane_catapult",mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
|
||||
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
|
||||
#- {vehicle: "tailsitter", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Build SITL and Run Tests (inside old ROS container)
|
||||
run: |
|
||||
docker run --rm \
|
||||
-v "${GITHUB_WORKSPACE}:/workspace" \
|
||||
-w /workspace \
|
||||
px4io/px4-dev-ros-melodic:2021-09-08 \
|
||||
bash -c '
|
||||
git config --global --add safe.directory /workspace
|
||||
PX4_SBOM_DISABLE=1 make px4_sitl_default
|
||||
PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh \
|
||||
mavros_posix_test_mission.test \
|
||||
mission:=MC_mission_box \
|
||||
vehicle:=iris
|
||||
'
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: Build PX4 and sitl_gazebo-classic
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Run SITL tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2-preview
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
- name: ecl EKF analysis
|
||||
if: always()
|
||||
run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
|
||||
|
||||
- name: Upload logs to flight review
|
||||
if: always()
|
||||
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Store PX4 log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: px4_log
|
||||
path: ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Store ROS log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: ros_log
|
||||
path: ~/.ros/**/rostest-*.log
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavros_mission
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -4,41 +4,131 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {test_file: "mavros_posix_tests_offboard_posctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
#- {test_file: "mavros_posix_tests_offboard_attctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Build SITL and Run Tests (inside old ROS container)
|
||||
run: |
|
||||
docker run --rm \
|
||||
-v "${GITHUB_WORKSPACE}:/workspace" \
|
||||
-w /workspace \
|
||||
px4io/px4-dev-ros-melodic:2021-09-08 \
|
||||
bash -c '
|
||||
git config --global --add safe.directory /workspace
|
||||
PX4_SBOM_DISABLE=1 make px4_sitl_default
|
||||
PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh \
|
||||
mavros_posix_tests_offboard_posctl.test \
|
||||
vehicle:=iris
|
||||
'
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: Build PX4 and sitl_gazebo-classic
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Run SITL tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2-preview
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
- name: ecl EKF analysis
|
||||
if: always()
|
||||
run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
|
||||
|
||||
- name: Upload logs to flight review
|
||||
if: always()
|
||||
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Store PX4 log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: px4_log
|
||||
path: ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Store ROS log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: ros_log
|
||||
path: ~/.ros/**/rostest-*.log
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavros_offboard
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -0,0 +1,133 @@
|
||||
name: Metadata
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: airframe metadata
|
||||
run: |
|
||||
make airframe_metadata
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
cd build/px4_sitl_default/docs
|
||||
# TODO: deploy to userguide gitbook
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: module documentation
|
||||
run: |
|
||||
make module_documentation
|
||||
cd build/px4_sitl_default/docs
|
||||
ls -ls *
|
||||
# TODO: deploy to userguide gitbook and s3
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: parameter metadata
|
||||
run: |
|
||||
make parameters_metadata
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
events:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: events metadata
|
||||
run: |
|
||||
make extract_events
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
cd build/px4_sitl_default
|
||||
mkdir _events_full || true
|
||||
cp events/all_events_full.json.xz _events_full/all_events.json.xz
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: uORB graph
|
||||
run: |
|
||||
make uorb_graphs
|
||||
cd Tools/uorb_graph
|
||||
ls -ls *
|
||||
# TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
|
||||
|
||||
ROS2_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: PX4 ROS2 msgs
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_msgs.git
|
||||
rm px4_msgs/msg/*.msg
|
||||
rm px4_msgs/srv/*.srv
|
||||
cp msg/*.msg px4_msgs/msg/
|
||||
cp srv/*.srv px4_msgs/srv/
|
||||
@@ -4,43 +4,29 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
|
||||
container: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
strategy:
|
||||
matrix:
|
||||
config:
|
||||
- px4_fmu-v5_default
|
||||
|
||||
config: [
|
||||
px4_fmu-v5,
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Build PX4 and Run Test [${{ matrix.config }}]
|
||||
run: |
|
||||
cd "$GITHUB_WORKSPACE"
|
||||
git config --global --add safe.directory "$GITHUB_WORKSPACE"
|
||||
export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
|
||||
echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
|
||||
|
||||
make ${{ matrix.config }} nuttx_context
|
||||
|
||||
echo "Check that the config option is set"
|
||||
grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
|
||||
- name: make ${{matrix.config}}
|
||||
env:
|
||||
PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
|
||||
run: |
|
||||
echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
|
||||
make ${{matrix.config}} nuttx_context
|
||||
# Check that the config option is set
|
||||
grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config
|
||||
|
||||
@@ -4,30 +4,22 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-24.04
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
- name: Install Python3
|
||||
run: sudo apt-get install python3 python3-setuptools python3-pip -y
|
||||
|
||||
- name: Install tools
|
||||
run: python3 -m pip install mypy types-requests flake8 --break-system-packages
|
||||
|
||||
run: pip3 install --user mypy types-requests flake8
|
||||
- name: Check MAVSDK test scripts with mypy
|
||||
run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
|
||||
|
||||
- name: Check MAVSDK test scripts with flake8
|
||||
run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
|
||||
|
||||
@@ -1,144 +0,0 @@
|
||||
# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
|
||||
# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
|
||||
# and comment the "runs-on: [runs-on,runner=..." lines.
|
||||
# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
|
||||
|
||||
name: ROS Integration Tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev-ros2-galactic:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Git Ownership Workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Update ROS Keys
|
||||
run: |
|
||||
sudo rm /etc/apt/sources.list.d/ros2.list && \
|
||||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
||||
|
||||
- name: Install gazebo
|
||||
run: |
|
||||
apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 300M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Get and build micro-xrce-dds-agent
|
||||
run: |
|
||||
cd /opt
|
||||
git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
|
||||
cd Micro-XRCE-DDS-Agent
|
||||
git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16
|
||||
sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt
|
||||
mkdir build
|
||||
cd build
|
||||
cmake ..
|
||||
make -j2
|
||||
- name: ccache post-run micro-xrce-dds-agent
|
||||
run: ccache -s
|
||||
|
||||
- name: Get and build the ros2 interface library
|
||||
shell: bash
|
||||
run: |
|
||||
PX4_DIR="$(pwd)"
|
||||
. /opt/ros/galactic/setup.bash
|
||||
mkdir -p /opt/px4_ws/src
|
||||
cd /opt/px4_ws/src
|
||||
BRANCH="${GITHUB_HEAD_REF:-$GITHUB_REF_NAME}"
|
||||
REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
|
||||
if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
|
||||
echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"
|
||||
git clone --recursive --branch "$BRANCH" "$REPO_URL"
|
||||
else
|
||||
echo "Branch '$BRANCH' not found in px4-ros2-interface-lib, using default (main)"
|
||||
git clone --recursive "$REPO_URL"
|
||||
fi
|
||||
# Ignore python packages due to compilation issue (can be enabled when updating ROS)
|
||||
touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
|
||||
touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
|
||||
cd ..
|
||||
# Copy messages to ROS workspace
|
||||
"${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
|
||||
rm -rf src/translation_node src/px4_msgs_old
|
||||
colcon build --symlink-install
|
||||
- name: ccache post-run ros workspace
|
||||
run: ccache -s
|
||||
|
||||
- name: Build PX4
|
||||
env:
|
||||
PX4_SBOM_DISABLE: 1
|
||||
run: make px4_sitl_default
|
||||
- name: ccache post-run px4/firmware
|
||||
run: ccache -s
|
||||
- name: Build SITL Gazebo
|
||||
run: make px4_sitl_default sitl_gazebo-classic
|
||||
- name: ccache post-run sitl_gazebo-classic
|
||||
run: ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Run tests
|
||||
shell: bash
|
||||
run: |
|
||||
. /opt/px4_ws/install/setup.bash
|
||||
/opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
|
||||
test/ros_test_runner.py --verbose --model iris --upload --force-color
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Upload failed logs
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: failed-logs.zip
|
||||
path: |
|
||||
logs/**/**/**/*.log
|
||||
logs/**/**/**/*.ulg
|
||||
build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg
|
||||
@@ -1,61 +0,0 @@
|
||||
name: ROS Translation Node Tests
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
defaults:
|
||||
run:
|
||||
shell: bash
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
build_and_test:
|
||||
name: Build and test
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {ros_version: "humble", ubuntu: "jammy"}
|
||||
- {ros_version: "jazzy", ubuntu: "noble"}
|
||||
container:
|
||||
image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
|
||||
steps:
|
||||
- name: Setup ROS 2 (${{ matrix.config.ros_version }})
|
||||
uses: ros-tooling/setup-ros@v0.7
|
||||
with:
|
||||
required-ros-distributions: ${{ matrix.config.ros_version }}
|
||||
- name: Checkout repository
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
# Workaround for https://github.com/actions/runner/issues/2033
|
||||
- name: ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Check .msg file versioning
|
||||
if: github.event_name == 'pull_request'
|
||||
run: |
|
||||
./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
|
||||
|
||||
- name: Build and test
|
||||
run: |
|
||||
ros_ws=/ros_ws
|
||||
mkdir -p $ros_ws/src
|
||||
./Tools/copy_to_ros_ws.sh $ros_ws
|
||||
cd $ros_ws
|
||||
source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
|
||||
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
|
||||
source ./install/setup.sh
|
||||
./build/translation_node/translation_node_unit_tests
|
||||
@@ -1,42 +0,0 @@
|
||||
name: SBOM License Check
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'release/**'
|
||||
- 'stable'
|
||||
paths:
|
||||
- '.gitmodules'
|
||||
- 'Tools/ci/license-overrides.yaml'
|
||||
- 'Tools/ci/generate_sbom.py'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths:
|
||||
- '.gitmodules'
|
||||
- 'Tools/ci/license-overrides.yaml'
|
||||
- 'Tools/ci/generate_sbom.py'
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
verify-licenses:
|
||||
runs-on: ubuntu-24.04
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
submodules: false
|
||||
|
||||
- name: Install PyYAML
|
||||
run: pip install pyyaml --break-system-packages
|
||||
|
||||
- name: Verify submodule licenses
|
||||
run: python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .
|
||||
@@ -1,132 +0,0 @@
|
||||
name: SBOM Monthly Audit
|
||||
|
||||
on:
|
||||
schedule:
|
||||
# First Monday of each month at 09:00 UTC
|
||||
- cron: '0 9 1-7 * 1'
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
description: 'Branch to audit (leave empty for current)'
|
||||
required: false
|
||||
type: string
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
issues: write
|
||||
|
||||
jobs:
|
||||
audit:
|
||||
runs-on: ubuntu-24.04
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
ref: ${{ inputs.branch || github.ref }}
|
||||
fetch-depth: 1
|
||||
submodules: recursive
|
||||
|
||||
- name: Install PyYAML
|
||||
run: pip install pyyaml --break-system-packages
|
||||
|
||||
- name: Run license verification
|
||||
id: verify
|
||||
continue-on-error: true
|
||||
run: |
|
||||
python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir . 2>&1 | tee /tmp/sbom-verify.txt
|
||||
echo "exit_code=$?" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Check for issues
|
||||
id: check
|
||||
run: |
|
||||
if grep -q "NOASSERTION" /tmp/sbom-verify.txt; then
|
||||
echo "has_issues=true" >> "$GITHUB_OUTPUT"
|
||||
# Extract NOASSERTION lines
|
||||
grep "NOASSERTION" /tmp/sbom-verify.txt | grep -v "skipped" > /tmp/sbom-issues.txt || true
|
||||
# Extract copyleft lines
|
||||
sed -n '/Copyleft licenses detected/,/^$/p' /tmp/sbom-verify.txt > /tmp/sbom-copyleft.txt || true
|
||||
else
|
||||
echo "has_issues=false" >> "$GITHUB_OUTPUT"
|
||||
fi
|
||||
|
||||
- name: Create issue if problems found
|
||||
if: steps.check.outputs.has_issues == 'true'
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
script: |
|
||||
const fs = require('fs');
|
||||
|
||||
const fullOutput = fs.readFileSync('/tmp/sbom-verify.txt', 'utf8');
|
||||
let issueLines = '';
|
||||
try {
|
||||
issueLines = fs.readFileSync('/tmp/sbom-issues.txt', 'utf8');
|
||||
} catch (e) {
|
||||
issueLines = 'No specific NOASSERTION lines captured.';
|
||||
}
|
||||
let copyleftLines = '';
|
||||
try {
|
||||
copyleftLines = fs.readFileSync('/tmp/sbom-copyleft.txt', 'utf8');
|
||||
} catch (e) {
|
||||
copyleftLines = '';
|
||||
}
|
||||
|
||||
const date = new Date().toISOString().split('T')[0];
|
||||
const branch = '${{ inputs.branch || github.ref_name }}';
|
||||
|
||||
// Check for existing open issue to avoid duplicates
|
||||
const existing = await github.rest.issues.listForRepo({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
labels: 'sbom-audit',
|
||||
state: 'open',
|
||||
});
|
||||
|
||||
if (existing.data.length > 0) {
|
||||
// Update existing issue with new findings
|
||||
await github.rest.issues.createComment({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: existing.data[0].number,
|
||||
body: `## Monthly audit update (${date})\n\nIssues still present:\n\n\`\`\`\n${issueLines}\n\`\`\`\n${copyleftLines ? `\n### Copyleft warnings\n\`\`\`\n${copyleftLines}\n\`\`\`` : ''}`,
|
||||
});
|
||||
return;
|
||||
}
|
||||
|
||||
await github.rest.issues.create({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
title: `chore(sbom): license audit found NOASSERTION entries on ${branch} (${date})`,
|
||||
labels: ['sbom-audit'],
|
||||
assignees: ['mrpollo'],
|
||||
body: [
|
||||
`## SBOM Monthly Audit -- ${branch} -- ${date}`,
|
||||
'',
|
||||
'The automated SBOM license audit found submodules with unresolved licenses.',
|
||||
'',
|
||||
'### NOASSERTION entries',
|
||||
'',
|
||||
'```',
|
||||
issueLines,
|
||||
'```',
|
||||
'',
|
||||
copyleftLines ? `### Copyleft warnings\n\n\`\`\`\n${copyleftLines}\n\`\`\`\n` : '',
|
||||
'### How to fix',
|
||||
'',
|
||||
'1. Check the submodule repo for a LICENSE file',
|
||||
'2. Add an override to `Tools/ci/license-overrides.yaml`',
|
||||
'3. Run `python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .` to confirm',
|
||||
'',
|
||||
'### Full output',
|
||||
'',
|
||||
'<details>',
|
||||
'<summary>Click to expand</summary>',
|
||||
'',
|
||||
'```',
|
||||
fullOutput,
|
||||
'```',
|
||||
'',
|
||||
'</details>',
|
||||
'',
|
||||
'cc @mrpollo',
|
||||
].join('\n'),
|
||||
});
|
||||
+109
-138
@@ -1,164 +1,135 @@
|
||||
# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
|
||||
# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
|
||||
# and comment the "runs-on: [runs-on,runner=..." lines.
|
||||
# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
|
||||
|
||||
name: SITL Tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
name: Testing PX4 ${{ matrix.config.model }}
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
|
||||
# VTOL/tailsitter disabled: persistent flaky CI failures (timeouts, erratic
|
||||
# transitions). Re-enable once the test infrastructure is stabilized.
|
||||
# - {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
|
||||
# - {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
|
||||
# - {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
|
||||
- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
|
||||
- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Git Ownership Workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
- name: Download MAVSDK
|
||||
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
|
||||
- id: set-timestamp
|
||||
name: Set timestamp for cache
|
||||
run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Cache Key Config
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
|
||||
restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
|
||||
- name: check environment
|
||||
env:
|
||||
PX4_HOME_LAT: ${{matrix.config.latitude}}
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: Build PX4
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: make px4_sitl_default
|
||||
- name: ccache post-run px4/firmware
|
||||
run: ccache -s
|
||||
- name: Build SITL Gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: make px4_sitl_default sitl_gazebo-classic
|
||||
- name: ccache post-run sitl_gazebo-classic
|
||||
run: ccache -s
|
||||
- name: Build MAVSDK tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
DONT_RUN: 1
|
||||
run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
|
||||
- name: ccache post-run mavsdk_tests
|
||||
run: ccache -s
|
||||
|
||||
- name: Cache Conf Config
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 120M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
- name: Core dump settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Build PX4
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
PX4_SBOM_DISABLE: 1
|
||||
run: make px4_sitl_default
|
||||
- name: Run SITL tests
|
||||
env:
|
||||
PX4_HOME_LAT: ${{matrix.config.latitude}}
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Cache Post-Run [px4_sitl_default]
|
||||
run: ccache -s
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2-preview
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
- name: Build SITL Gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: make px4_sitl_default sitl_gazebo-classic
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2-preview
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Cache Post-Run [sitl_gazebo-classic]
|
||||
run: ccache -s
|
||||
|
||||
- name: Download MAVSDK
|
||||
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
|
||||
- name: Check PX4 Environment Variables
|
||||
env:
|
||||
PX4_HOME_LAT: ${{matrix.config.latitude}}
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
|
||||
- name: Build PX4 / MAVSDK tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
DONT_RUN: 1
|
||||
run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
|
||||
|
||||
- name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
|
||||
run: ccache -s
|
||||
|
||||
- name: Core Dump Settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Run SITL / MAVSDK Tests
|
||||
env:
|
||||
PX4_HOME_LAT: ${{matrix.config.latitude}}
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Upload failed logs
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: failed-${{matrix.config.model}}-logs.zip
|
||||
path: |
|
||||
logs/**/**/**/*.log
|
||||
logs/**/**/**/*.ulg
|
||||
build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
|
||||
|
||||
- name: Look at Core files
|
||||
if: failure() && ${{ hashFiles('px4.core') != '' }}
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
|
||||
- name: Upload PX4 coredump
|
||||
if: failure() && ${{ hashFiles('px4.core') != '' }}
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
- name: Setup & Generate Coverage Report
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
|
||||
- name: Upload Coverage Information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v4
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavsdk
|
||||
file: coverage/lcov.info
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavsdk
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -7,15 +7,10 @@ jobs:
|
||||
stale:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v10
|
||||
- uses: actions/stale@v8
|
||||
with:
|
||||
operations-per-run: 250
|
||||
days-before-stale: 90
|
||||
days-before-close: 30
|
||||
days-before-stale: 30
|
||||
days-before-close: -1
|
||||
stale-issue-label: 'stale'
|
||||
stale-pr-label: 'stale'
|
||||
remove-stale-when-updated: true
|
||||
stale-issue-message: ''
|
||||
close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
|
||||
stale-pr-message: ''
|
||||
close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'
|
||||
|
||||
@@ -1,43 +0,0 @@
|
||||
name: Sync release branch to px4-ros2-interface-lib
|
||||
|
||||
on:
|
||||
create:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
description: 'Release branch name (e.g. release/1.18)'
|
||||
required: true
|
||||
type: string
|
||||
|
||||
permissions: {}
|
||||
|
||||
jobs:
|
||||
notify-interface-lib:
|
||||
if: >-
|
||||
github.repository == 'PX4/PX4-Autopilot' &&
|
||||
(
|
||||
(github.event_name == 'create' && github.ref_type == 'branch' && startsWith(github.ref_name, 'release/')) ||
|
||||
github.event_name == 'workflow_dispatch'
|
||||
)
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Determine branch name
|
||||
id: params
|
||||
run: |
|
||||
if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
|
||||
BRANCH="${{ inputs.branch }}"
|
||||
else
|
||||
BRANCH="${{ github.ref_name }}"
|
||||
fi
|
||||
echo "branch=$BRANCH" >> "$GITHUB_OUTPUT"
|
||||
echo "Dispatching for branch: $BRANCH"
|
||||
|
||||
- name: Dispatch release branch creation
|
||||
run: |
|
||||
BRANCH="${{ steps.params.outputs.branch }}"
|
||||
curl -s -f -X POST \
|
||||
-H "Authorization: token ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}" \
|
||||
-H "Accept: application/vnd.github.v3+json" \
|
||||
https://api.github.com/repos/Auterion/px4-ros2-interface-lib/dispatches \
|
||||
-d "{\"event_type\":\"px4_release_branch\",\"client_payload\":{\"branch\":\"$BRANCH\"}}"
|
||||
echo "Dispatched px4_release_branch event for $BRANCH"
|
||||
@@ -1,62 +0,0 @@
|
||||
name: Sync ROS 2 messages to px4_msgs
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
paths:
|
||||
- 'msg/**'
|
||||
- 'srv/**'
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
jobs:
|
||||
sync_to_px4_msgs:
|
||||
if: github.repository == 'PX4/PX4-Autopilot'
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
steps:
|
||||
- name: Checkout PX4 repo
|
||||
uses: actions/checkout@v4
|
||||
|
||||
- name: Setup git credentials
|
||||
run: |
|
||||
git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
|
||||
git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
|
||||
|
||||
- name: Clone PX4_msgs repo
|
||||
run: |
|
||||
git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
|
||||
|
||||
- name: Check out the same branch as the PX4 repo
|
||||
run: |
|
||||
cd px4_msgs
|
||||
if git checkout ${{ github.ref_name }}; then
|
||||
echo "Checked out existing branch"
|
||||
else
|
||||
git checkout -b ${{ github.ref_name }}
|
||||
fi
|
||||
|
||||
- name: Copy ROS 2 messages
|
||||
run: |
|
||||
rm -f px4_msgs/msg/*.msg
|
||||
rm -f px4_msgs/msg/versioned/*.msg
|
||||
rm -f px4_msgs/srv/*.srv
|
||||
rm -f px4_msgs/srv/versioned/*.srv
|
||||
cp msg/*.msg px4_msgs/msg/
|
||||
cp msg/versioned/*.msg px4_msgs/msg/ || true
|
||||
cp srv/*.srv px4_msgs/srv/
|
||||
cp srv/versioned/*.srv px4_msgs/srv/ || true
|
||||
|
||||
- name: Commit and push changes
|
||||
run: |
|
||||
cd px4_msgs
|
||||
git status
|
||||
git add .
|
||||
git commit -a -m "Update to PX4 ${{ github.sha }}" || true
|
||||
git push origin ${{ github.ref_name }} || true
|
||||
cd ..
|
||||
rm -rf px4_msgs
|
||||
@@ -1,135 +0,0 @@
|
||||
name: Tag px4_msgs from PX4 release tags
|
||||
|
||||
on:
|
||||
push:
|
||||
tags:
|
||||
- 'v*.*.*'
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
tag_name:
|
||||
description: 'PX4 tag to propagate (example: v1.17.0)'
|
||||
required: true
|
||||
type: string
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
jobs:
|
||||
tag_px4_msgs:
|
||||
if: github.repository == 'PX4/PX4-Autopilot'
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
env:
|
||||
TAG_NAME: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_name || github.ref_name }}
|
||||
steps:
|
||||
- name: Checkout PX4 repo
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
fetch-tags: true
|
||||
|
||||
- name: Setup git credentials
|
||||
run: |
|
||||
git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
|
||||
git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
|
||||
|
||||
- name: Resolve release branch from tag
|
||||
id: tag_info
|
||||
shell: bash
|
||||
run: |
|
||||
set -euo pipefail
|
||||
|
||||
if [[ ! "${TAG_NAME}" =~ ^v([0-9]+)\.([0-9]+)\.([0-9]+)$ ]]; then
|
||||
echo "Tag format is not stable vX.Y.Z, skipping: ${TAG_NAME}"
|
||||
echo "should_run=false" >> "$GITHUB_OUTPUT"
|
||||
exit 0
|
||||
fi
|
||||
|
||||
echo "should_run=true" >> "$GITHUB_OUTPUT"
|
||||
|
||||
major="${BASH_REMATCH[1]}"
|
||||
minor="${BASH_REMATCH[2]}"
|
||||
release_branch="release/${major}.${minor}"
|
||||
|
||||
git show-ref --verify --quiet "refs/heads/${release_branch}" || {
|
||||
echo "PX4 branch ${release_branch} not found"
|
||||
exit 1
|
||||
}
|
||||
|
||||
tag_date="$(git for-each-ref --format='%(creatordate:iso8601)' "refs/tags/${TAG_NAME}")"
|
||||
if [[ -z "${tag_date}" ]]; then
|
||||
echo "Unable to resolve tag date for ${TAG_NAME}"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "release_branch=${release_branch}" >> "$GITHUB_OUTPUT"
|
||||
echo "tag_date=${tag_date}" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Clone px4_msgs repo
|
||||
if: steps.tag_info.outputs.should_run == 'true'
|
||||
run: |
|
||||
git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
|
||||
|
||||
- name: Checkout matching px4_msgs release branch
|
||||
if: steps.tag_info.outputs.should_run == 'true'
|
||||
shell: bash
|
||||
run: |
|
||||
set -euo pipefail
|
||||
cd px4_msgs
|
||||
|
||||
release_branch="${{ steps.tag_info.outputs.release_branch }}"
|
||||
if git show-ref --verify --quiet "refs/remotes/origin/${release_branch}"; then
|
||||
git checkout -B "${release_branch}" "origin/${release_branch}"
|
||||
else
|
||||
echo "px4_msgs branch ${release_branch} does not exist"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
- name: Verify msg and srv trees are identical
|
||||
if: steps.tag_info.outputs.should_run == 'true'
|
||||
shell: bash
|
||||
run: |
|
||||
set -euo pipefail
|
||||
|
||||
release_branch="${{ steps.tag_info.outputs.release_branch }}"
|
||||
git checkout "${release_branch}"
|
||||
|
||||
# Use the same synchronization logic as sync_to_px4_msgs.yml,
|
||||
# then verify there are no changes in px4_msgs.
|
||||
rm -f px4_msgs/msg/*.msg
|
||||
rm -f px4_msgs/msg/versioned/*.msg
|
||||
rm -f px4_msgs/srv/*.srv
|
||||
rm -f px4_msgs/srv/versioned/*.srv
|
||||
cp msg/*.msg px4_msgs/msg/
|
||||
cp msg/versioned/*.msg px4_msgs/msg/ || true
|
||||
cp srv/*.srv px4_msgs/srv/
|
||||
cp srv/versioned/*.srv px4_msgs/srv/ || true
|
||||
|
||||
if ! git -C px4_msgs diff --exit-code -- msg srv; then
|
||||
echo "Message/service definitions differ between PX4 ${release_branch} and px4_msgs ${release_branch}"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
- name: Create and push tag in px4_msgs
|
||||
if: steps.tag_info.outputs.should_run == 'true'
|
||||
shell: bash
|
||||
run: |
|
||||
set -euo pipefail
|
||||
cd px4_msgs
|
||||
|
||||
target="$(git rev-parse HEAD)"
|
||||
existing_target="$(git rev-parse "refs/tags/${TAG_NAME}^{}" 2>/dev/null || true)"
|
||||
|
||||
if [[ -n "${existing_target}" ]]; then
|
||||
if [[ "${existing_target}" == "${target}" ]]; then
|
||||
echo "Tag ${TAG_NAME} already exists on ${target}; nothing to do"
|
||||
exit 0
|
||||
fi
|
||||
echo "Tag ${TAG_NAME} already exists on ${existing_target}, expected ${target}"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
GIT_COMMITTER_DATE="${{ steps.tag_info.outputs.tag_date }}" \
|
||||
git tag -a "${TAG_NAME}" "${target}" \
|
||||
-m "PX4 msgs and srvs definitions matching PX4 stable release ${TAG_NAME#v}"
|
||||
|
||||
git push origin "refs/tags/${TAG_NAME}"
|
||||
@@ -108,10 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
|
||||
|
||||
# colcon
|
||||
log/
|
||||
keys/
|
||||
|
||||
# metadata
|
||||
_emscripten_sdk/
|
||||
|
||||
# virtual Python environment
|
||||
.venv
|
||||
|
||||
+6
-38
@@ -2,6 +2,10 @@
|
||||
path = src/modules/mavlink/mavlink
|
||||
url = https://github.com/mavlink/mavlink.git
|
||||
branch = master
|
||||
[submodule "src/drivers/uavcan/libuavcan"]
|
||||
path = src/drivers/uavcan/libuavcan
|
||||
url = https://github.com/dronecan/libuavcan.git
|
||||
branch = main
|
||||
[submodule "Tools/simulation/jmavsim/jMAVSim"]
|
||||
path = Tools/simulation/jmavsim/jMAVSim
|
||||
url = https://github.com/PX4/jMAVSim.git
|
||||
@@ -67,7 +71,7 @@
|
||||
[submodule "src/modules/zenoh/zenoh-pico"]
|
||||
path = src/modules/zenoh/zenoh-pico
|
||||
url = https://github.com/px4/zenoh-pico
|
||||
branch = dev/1.0.0-px4
|
||||
branch = pr-zubf-werror-fix
|
||||
[submodule "src/lib/heatshrink/heatshrink"]
|
||||
path = src/lib/heatshrink/heatshrink
|
||||
url = https://github.com/PX4/heatshrink.git
|
||||
@@ -77,41 +81,5 @@
|
||||
url = https://github.com/PX4/PX4-gazebo-models.git
|
||||
branch = main
|
||||
[submodule "boards/modalai/voxl2/libfc-sensor-api"]
|
||||
path = boards/modalai/voxl2/libfc-sensor-api
|
||||
path = src/modules/muorb/apps/libfc-sensor-api
|
||||
url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
|
||||
[submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
|
||||
path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
|
||||
url = https://github.com/PX4/iq-module-communication-cpp.git
|
||||
branch = master
|
||||
[submodule "src/drivers/uavcan/libdronecan/dsdl"]
|
||||
path = src/drivers/uavcan/libdronecan/dsdl
|
||||
url = https://github.com/PX4/DSDL.git
|
||||
[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
|
||||
path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
|
||||
url = https://github.com/dronecan/pydronecan
|
||||
[submodule "test/fuzztest"]
|
||||
path = test/fuzztest
|
||||
url = https://github.com/google/fuzztest.git
|
||||
branch = main
|
||||
[submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
|
||||
path = src/lib/tensorflow_lite_micro/tflite_micro
|
||||
url = https://github.com/PX4/tflite-micro.git
|
||||
branch = main
|
||||
[submodule "src/drivers/ins/microstrain/mip_sdk"]
|
||||
path = src/drivers/ins/microstrain/mip_sdk
|
||||
url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
|
||||
[submodule "src/drivers/ins/sbgecom/sbgECom"]
|
||||
path = src/drivers/ins/sbgecom/sbgECom
|
||||
url = https://github.com/PX4/sbgECom.git
|
||||
[submodule "src/modules/mc_raptor/blob"]
|
||||
path = src/modules/mc_raptor/blob
|
||||
url = https://github.com/rl-tools/px4-blob
|
||||
[submodule "src/lib/rl_tools/rl_tools"]
|
||||
path = src/lib/rl_tools/rl_tools
|
||||
url = https://github.com/rl-tools/rl-tools.git
|
||||
[submodule "libmodal-json"]
|
||||
path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
|
||||
url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
|
||||
[submodule "libmodal-pipe"]
|
||||
path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
|
||||
url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git
|
||||
|
||||
Vendored
+1
-1
@@ -2,4 +2,4 @@
|
||||
{
|
||||
"name": "PX4 detect"
|
||||
}
|
||||
]
|
||||
]
|
||||
Vendored
-240
@@ -6,21 +6,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_raptor:
|
||||
short: px4_sitl_raptor
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_raptor
|
||||
px4_sitl_raptor_debug:
|
||||
short: px4_sitl_raptor_debug
|
||||
buildType: Debug
|
||||
settings:
|
||||
CONFIG: px4_sitl_raptor
|
||||
px4_sitl_spacecraft:
|
||||
short: px4_sitl_spacecraft
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_spacecraft
|
||||
px4_sitl_nolockstep:
|
||||
short: px4_sitl_nolockstep
|
||||
buildType: RelWithDebInfo
|
||||
@@ -46,11 +31,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_test
|
||||
px4_sitl_zenoh:
|
||||
short: px4_sitl_zenoh
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_test
|
||||
px4_io-v2_default:
|
||||
short: px4_io-v2
|
||||
buildType: MinSizeRel
|
||||
@@ -131,11 +111,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6xrt_bootloader
|
||||
3dr_ctrl-zero-h7-oem-revg_default:
|
||||
short: 3dr_ctrl-zero-h7-oem-revg
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
|
||||
airmind_mindpx-v2_default:
|
||||
short: airmind_mindpx-v2
|
||||
buildType: MinSizeRel
|
||||
@@ -151,16 +126,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow_canbootloader
|
||||
ark_can-flow-mr_default:
|
||||
short: ark_can-flow-mr_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow-mr_default
|
||||
ark_can-flow-mr_canbootloader:
|
||||
short: ark_can-flow-mr_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow-mr_canbootloader
|
||||
ark_can-gps_default:
|
||||
short: ark_can-gps_default
|
||||
buildType: MinSizeRel
|
||||
@@ -186,21 +151,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_canbootloader
|
||||
ark_septentrio-gps_default:
|
||||
short: ark_septentrio-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_septentrio-gps_default
|
||||
ark_septentrio-gps_canbootloader:
|
||||
short: ark_septentrio-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_septentrio-gps_canbootloader
|
||||
ark_teseo-gps_canbootloader:
|
||||
short: ark_teseo-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_teseo-gps_canbootloader
|
||||
ark_cannode_default:
|
||||
short: ark_cannode_default
|
||||
buildType: MinSizeRel
|
||||
@@ -211,26 +161,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_cannode_canbootloader
|
||||
ark_dist_default:
|
||||
short: ark_dist_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_dist_default
|
||||
ark_dist_canbootloader:
|
||||
short: ark_dist_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_dist_canbootloader
|
||||
ark_f9p-gps_default:
|
||||
short: ark_f9p-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_f9p-gps_default
|
||||
ark_f9p-gps_canbootloader:
|
||||
short: ark_f9p-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_f9p-gps_canbootloader
|
||||
ark_fmu-v6x_bootloader:
|
||||
short: ark_fmu-v6x_bootloader
|
||||
buildType: MinSizeRel
|
||||
@@ -241,46 +171,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fmu-v6x_default
|
||||
ark_fpv_bootloader:
|
||||
short: ark_fpv_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fpv_bootloader
|
||||
ark_fpv_default:
|
||||
short: ark_fpv_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fpv_default
|
||||
ark_mag_canbootloader:
|
||||
short: ark_mag_canbootloader
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: ark_mag_canbootloader
|
||||
ark_mag_default:
|
||||
short: ark_mag_default
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: ark_mag_default
|
||||
ark_pi6x_bootloader:
|
||||
short: ark_pi6x_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_pi6x_bootloader
|
||||
ark_pi6x_default:
|
||||
short: ark_pi6x_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_pi6x_default
|
||||
ark_x20-gps_default:
|
||||
short: ark_x20-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_x20-gps_default
|
||||
ark_x20-gps_canbootloader:
|
||||
short: ark_x20-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_x20-gps_canbootloader
|
||||
atl_mantis-edu_default:
|
||||
short: atl_mantis-edu
|
||||
buildType: MinSizeRel
|
||||
@@ -296,11 +186,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: bitcraze_crazyflie_default
|
||||
bluerobotics_navigator_default:
|
||||
short: bluerobotics_navigator
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: bluerobotics_navigator_default
|
||||
cuav_can-gps-v1_default:
|
||||
short: cuav_can-gps-v1_default
|
||||
buildType: MinSizeRel
|
||||
@@ -321,26 +206,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x7pro_default
|
||||
cuav_7-nano_default:
|
||||
short: cuav_7-nano
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_7-nano_default
|
||||
cuav_fmu-v6x_default:
|
||||
short: cuav_fmu-v6x
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_fmu-v6x_default
|
||||
cuav_x25_default:
|
||||
short: cuav_x25-evo
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x25-evo_default
|
||||
cuav_x25-super_default:
|
||||
short: cuav_x25-super
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x25-super_default
|
||||
cubepilot_cubeorange_test:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
@@ -381,16 +246,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_durandal-v1_default
|
||||
holybro_kakuteh7-wing_default:
|
||||
short: holybro_kakuteh7-wing
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_kakuteh7-wing_default
|
||||
holybro_kakuteh7dualimu_default:
|
||||
short: holybro_kakuteh7dualimu
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_kakuteh7dualimu_default
|
||||
matek_h743-slim_default:
|
||||
short: matek_h743-slim
|
||||
buildType: MinSizeRel
|
||||
@@ -406,46 +261,6 @@ CONFIG:
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: matek_gnss-m9n-f4_default
|
||||
micoair_h743_bootloader:
|
||||
short: micoair_h743_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743_bootloader
|
||||
micoair_h743_default:
|
||||
short: micoair_h743
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743_default
|
||||
micoair_h743-aio_bootloader:
|
||||
short: micoair_h743-aio_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-aio_bootloader
|
||||
micoair_h743-aio_default:
|
||||
short: micoair_h743-aio
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-aio_default
|
||||
micoair_h743-v2_bootloader:
|
||||
short: micoair_h743-v2_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-v2_bootloader
|
||||
micoair_h743-v2_default:
|
||||
short: micoair_h743-v2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-v2_default
|
||||
micoair_h743-lite_bootloader:
|
||||
short: micoair_h743-lite_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-lite_bootloader
|
||||
micoair_h743-lite_default:
|
||||
short: micoair_h743-lite
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-lite_default
|
||||
modalai_fc-v1_default:
|
||||
short: modalai_fc-v1
|
||||
buildType: MinSizeRel
|
||||
@@ -496,63 +311,8 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_fmu
|
||||
nxp_mr-tropic_default:
|
||||
short: nxp_mr-tropic_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-tropic_default
|
||||
nxp_mr-tropic_bootloader:
|
||||
short: nxp_mr-tropic_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-tropic_bootloader
|
||||
nxp_tropic-community_default:
|
||||
short: nxp_tropic-community_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_tropic-community_default
|
||||
raspberrypi_pico_default:
|
||||
short: raspberrypi_pico
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: raspberrypi_pico_default
|
||||
zeroone_x6_default:
|
||||
short: zeroone_x6
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: zeroone_x6_default
|
||||
zeroone_x6_bootloader:
|
||||
short: zeroone_x6_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: zeroone_x6_bootloader
|
||||
x-mav_ap-h743v2_bootloader:
|
||||
short: x-mav_ap-h743v2-boot
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: x-mav_ap-h743v2_bootloader
|
||||
x-mav_ap-h743v2_default:
|
||||
short: x-mav_ap-h743v2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: x-mav_ap-h743v2_default
|
||||
svehicle_e2_bootloader:
|
||||
short: svehicle_e2_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: svehicle_e2_bootloader
|
||||
svehicle_e2_default:
|
||||
short: svehicle_e2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: svehicle_e2_default
|
||||
x-mav_ap-h743r1_bootloader:
|
||||
short: x-mav_ap-h743r1-boot
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: x-mav_ap-h743r1_bootloader
|
||||
x-mav_ap-h743r1_default:
|
||||
short: x-mav_ap-h743r1
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: x-mav_ap-h743r1_default
|
||||
|
||||
Vendored
-1
@@ -4,7 +4,6 @@
|
||||
"recommendations": [
|
||||
"chiehyu.vscode-astyle",
|
||||
"dan-c-underwood.arm",
|
||||
"editorconfig.editorconfig",
|
||||
"fredericbonnet.cmake-test-adapter",
|
||||
"github.vscode-pull-request-github",
|
||||
"marus25.cortex-debug",
|
||||
|
||||
Vendored
+2
-2
@@ -15,7 +15,6 @@
|
||||
"cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
|
||||
"cmake.configureOnOpen": true,
|
||||
"cmake.ctest.parallelJobs": 1,
|
||||
"cmake.options.statusBarVisibility": "compact",
|
||||
"cmake.skipConfigureIfCachePresent": true,
|
||||
"cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
|
||||
"cmakeExplorer.parallelJobs": 1,
|
||||
@@ -43,7 +42,7 @@
|
||||
"files.watcherExclude": {
|
||||
"**/build/**": true
|
||||
},
|
||||
"git.detectSubmodulesLimit": 25,
|
||||
"git.detectSubmodulesLimit": 20,
|
||||
"git.ignoreLimitWarning": true,
|
||||
"githubPullRequests.defaultMergeMethod": "squash",
|
||||
"githubPullRequests.telemetry.enabled": false,
|
||||
@@ -129,4 +128,5 @@
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
},
|
||||
"ros.distro": "humble"
|
||||
}
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
cff-version: 1.2.0
|
||||
title: "PX4 Autopilot"
|
||||
message: "If you use PX4 in your research, please cite it using this metadata."
|
||||
type: software
|
||||
authors:
|
||||
- family-names: Meier
|
||||
given-names: Lorenz
|
||||
- name: "The PX4 Contributors"
|
||||
repository-code: "https://github.com/PX4/PX4-Autopilot"
|
||||
url: "https://px4.io"
|
||||
abstract: >-
|
||||
PX4 is an open-source autopilot stack for drones and
|
||||
unmanned vehicles. It supports multirotors, fixed-wing,
|
||||
VTOL, rovers, and many more platforms. PX4 runs on both
|
||||
RTOS and POSIX-compatible operating systems.
|
||||
keywords:
|
||||
- autopilot
|
||||
- drone
|
||||
- uav
|
||||
- flight-controller
|
||||
- robotics
|
||||
- ros2
|
||||
license: BSD-3-Clause
|
||||
identifiers:
|
||||
- type: doi
|
||||
value: "10.5281/zenodo.595432"
|
||||
description: "Zenodo concept DOI (resolves to latest version)"
|
||||
+42
-52
@@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
|
||||
# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@@ -99,7 +99,7 @@
|
||||
#
|
||||
#=============================================================================
|
||||
|
||||
cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
|
||||
cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
|
||||
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
|
||||
@@ -113,20 +113,12 @@ include(px4_parse_function_args)
|
||||
include(px4_git)
|
||||
|
||||
execute_process(
|
||||
COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
|
||||
COMMAND git describe --exclude ext/* --always --tags
|
||||
OUTPUT_VARIABLE PX4_GIT_TAG
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
RESULTS_VARIABLE GIT_DESCRIBE_RESULT
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
)
|
||||
|
||||
# if proper git tag unavilable default to v0.0.0
|
||||
if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
|
||||
set(PX4_GIT_TAG "v0.0.0")
|
||||
endif()
|
||||
|
||||
message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
|
||||
|
||||
# git describe to X.Y.Z version
|
||||
string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
|
||||
|
||||
@@ -140,9 +132,7 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
|
||||
string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
|
||||
list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
|
||||
|
||||
# # Capture only the hash part after 'g'
|
||||
string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
|
||||
set(PX4_GIT_HASH ${CMAKE_MATCH_1})
|
||||
message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
|
||||
BRIEF_DOCS "PX4 module libs"
|
||||
@@ -240,15 +230,8 @@ if(NOT CMAKE_BUILD_TYPE)
|
||||
set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
|
||||
endif()
|
||||
|
||||
if(CONFIG_BOARD_SUPPORT_FORTIFIED_TOOLCHAIN)
|
||||
set(PX4_DEBUG_OPT_LEVEL -Og)
|
||||
message(STATUS "fortified toolchain support enabled: PX4_DEBUG_OPT_LEVEL=${PX4_DEBUG_OPT_LEVEL}")
|
||||
else()
|
||||
set(PX4_DEBUG_OPT_LEVEL -O0)
|
||||
endif()
|
||||
|
||||
if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
|
||||
set(MAX_CUSTOM_OPT_LEVEL ${PX4_DEBUG_OPT_LEVEL})
|
||||
set(MAX_CUSTOM_OPT_LEVEL -O0)
|
||||
elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
|
||||
set(MAX_CUSTOM_OPT_LEVEL -O1)
|
||||
elseif(CMAKE_BUILD_TYPE MATCHES "Release")
|
||||
@@ -274,7 +257,7 @@ endif()
|
||||
|
||||
set(package-contact "px4users@googlegroups.com")
|
||||
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_C_STANDARD_REQUIRED ON)
|
||||
@@ -341,33 +324,6 @@ if(NOT PX4_CHIP)
|
||||
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# Testing - Automatic unit and integration testing with CTest
|
||||
# (Needs to be before setting the common compile flags)
|
||||
#
|
||||
|
||||
# optionally enable cmake testing (supported only on posix)
|
||||
option(CMAKE_TESTING "Configure test targets" OFF)
|
||||
if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
|
||||
set(CMAKE_TESTING ON)
|
||||
endif()
|
||||
if(CMAKE_TESTING)
|
||||
include(CTest) # sets BUILD_TESTING variable
|
||||
endif()
|
||||
|
||||
# enable test filtering to run only specific tests with the ctest -R regex functionality
|
||||
set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
|
||||
|
||||
include(px4_add_gtest)
|
||||
if(BUILD_TESTING)
|
||||
# Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang
|
||||
if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
|
||||
set(FUZZTEST_FUZZING_MODE ON)
|
||||
endif()
|
||||
add_subdirectory(test)
|
||||
fuzztest_setup_fuzzing_flags()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# build flags
|
||||
#
|
||||
@@ -420,6 +376,40 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# Testing - Automatic unit and integration testing with CTest
|
||||
#
|
||||
|
||||
# optionally enable cmake testing (supported only on posix)
|
||||
option(CMAKE_TESTING "Configure test targets" OFF)
|
||||
if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
|
||||
set(CMAKE_TESTING ON)
|
||||
endif()
|
||||
if(CMAKE_TESTING)
|
||||
include(CTest) # sets BUILD_TESTING variable
|
||||
endif()
|
||||
|
||||
# enable test filtering to run only specific tests with the ctest -R regex functionality
|
||||
set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
|
||||
|
||||
# if testing is enabled download and configure gtest
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
|
||||
include(px4_add_gtest)
|
||||
if(BUILD_TESTING)
|
||||
include(gtest)
|
||||
|
||||
add_custom_target(test_results
|
||||
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
|
||||
DEPENDS
|
||||
px4
|
||||
examples__dyn_hello
|
||||
USES_TERMINAL
|
||||
COMMENT "Running tests"
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
|
||||
endif()
|
||||
|
||||
|
||||
#=============================================================================
|
||||
# subdirectories
|
||||
#
|
||||
@@ -489,13 +479,13 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
|
||||
include(bloaty)
|
||||
|
||||
|
||||
include(doxygen)
|
||||
include(metadata)
|
||||
include(package)
|
||||
include(sbom)
|
||||
|
||||
# install python requirements using configured python
|
||||
add_custom_target(install_python_requirements
|
||||
COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
+21
-147
@@ -1,170 +1,44 @@
|
||||
# Contributing to PX4-Autopilot
|
||||
# Contributing to PX4 Firmware
|
||||
|
||||
We follow the [GitHub flow](https://guides.github.com/introduction/flow/) development model.
|
||||
We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
|
||||
|
||||
## Fork the project, then clone your repo
|
||||
### Fork the project, then clone your repo
|
||||
|
||||
First [fork and clone](https://help.github.com/articles/fork-a-repo) the project.
|
||||
First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
|
||||
|
||||
## Create a feature branch
|
||||
### Create a feature branch
|
||||
|
||||
Always branch off `main` for new features.
|
||||
*Always* branch off main for new features.
|
||||
|
||||
```
|
||||
git checkout -b mydescriptivebranchname
|
||||
```
|
||||
|
||||
## Edit and build the code
|
||||
### Edit and build the code
|
||||
|
||||
The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
|
||||
The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
|
||||
|
||||
### Coding standards
|
||||
### Commit your changes
|
||||
|
||||
All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
|
||||
Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
|
||||
|
||||
Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
|
||||
|
||||
## Commit message convention
|
||||
|
||||
PX4 uses [conventional commits](https://www.conventionalcommits.org/) for all commit messages and PR titles.
|
||||
|
||||
### Format
|
||||
**Example:**
|
||||
|
||||
```
|
||||
type(scope): short description of the change
|
||||
Change how the attitude controller works
|
||||
|
||||
- Fixes rate feed forward
|
||||
- Allows a local body rate override
|
||||
|
||||
Fixes issue #123
|
||||
```
|
||||
|
||||
| Part | Rule |
|
||||
|------|------|
|
||||
| **type** | Category of change (see types table below) |
|
||||
| **scope** | The module, driver, board, or area of PX4 affected |
|
||||
| **`!`** (optional) | Append before `:` to mark a breaking change |
|
||||
| **description** | What the change does, at least 5 characters, written in imperative form |
|
||||
### Test your changes
|
||||
|
||||
### Types
|
||||
Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
|
||||
|
||||
| Type | Description |
|
||||
|------|-------------|
|
||||
| `feat` | A new feature |
|
||||
| `fix` | A bug fix |
|
||||
| `docs` | Documentation only changes |
|
||||
| `style` | Formatting, whitespace, no code change |
|
||||
| `refactor` | Code change that neither fixes a bug nor adds a feature |
|
||||
| `perf` | Performance improvement |
|
||||
| `test` | Adding or correcting tests |
|
||||
| `build` | Build system or external dependencies |
|
||||
| `ci` | CI configuration files and scripts |
|
||||
| `chore` | Other changes that don't modify src or test files |
|
||||
| `revert` | Reverts a previous commit |
|
||||
### Push your changes
|
||||
|
||||
### Scopes
|
||||
|
||||
The scope identifies which part of PX4 is affected. Common scopes:
|
||||
|
||||
| Scope | Area |
|
||||
|-------|------|
|
||||
| `ekf2` | Extended Kalman Filter (state estimation) |
|
||||
| `mavlink` | MAVLink messaging protocol |
|
||||
| `commander` | Commander and mode management |
|
||||
| `navigator` | Mission, RTL, Land, and other navigation modes |
|
||||
| `sensors` | Sensor drivers and processing |
|
||||
| `drivers` | Hardware drivers |
|
||||
| `boards/px4_fmu-v6x` | Board-specific changes (use the board name) |
|
||||
| `mc_att_control` | Multicopter attitude control |
|
||||
| `mc_pos_control` | Multicopter position control |
|
||||
| `fw_att_control` | Fixed-wing attitude control |
|
||||
| `vtol` | VTOL-specific logic |
|
||||
| `actuators` | Mixer and actuator output |
|
||||
| `battery` | Battery monitoring and estimation |
|
||||
| `logger` | On-board logging |
|
||||
| `param` | Parameter system |
|
||||
| `simulation` | SITL, Gazebo, SIH |
|
||||
| `ci` | Continuous integration and workflows |
|
||||
| `docs` | Documentation |
|
||||
| `build` | CMake, toolchain, build system |
|
||||
| `uorb` | Inter-module messaging |
|
||||
|
||||
For changes spanning multiple subsystems, use the primary one affected. Look at the directory path of the files you changed to find the right scope: `src/modules/ekf2/` uses `ekf2`, `src/drivers/imu/` uses `drivers/imu`, `.github/workflows/` uses `ci`.
|
||||
|
||||
### Breaking changes
|
||||
|
||||
Append `!` before the colon to indicate a breaking change:
|
||||
|
||||
```
|
||||
feat(ekf2)!: remove deprecated height fusion API
|
||||
```
|
||||
|
||||
### Good commit messages
|
||||
|
||||
```
|
||||
feat(ekf2): add height fusion timeout
|
||||
fix(mavlink): correct BATTERY_STATUS_V2 parsing
|
||||
refactor(navigator): simplify RTL altitude logic
|
||||
ci(workflows): migrate to reusable workflows
|
||||
docs(ekf2): update tuning guide
|
||||
feat(boards/px4_fmu-v6x)!: remove deprecated driver API
|
||||
perf(mc_rate_control): reduce loop latency
|
||||
```
|
||||
|
||||
### Commits to avoid
|
||||
|
||||
These will be flagged by CI and should be squashed or reworded before merging:
|
||||
|
||||
```
|
||||
fix # too vague, no type or scope
|
||||
update # too vague, no type or scope
|
||||
ekf2: fix something # missing type prefix
|
||||
apply suggestions from code review # squash into parent commit
|
||||
do make format # squash into parent commit
|
||||
WIP: trying something # not ready for main
|
||||
oops # not descriptive
|
||||
```
|
||||
|
||||
### PR titles
|
||||
|
||||
The PR title follows the same `type(scope): description` format. This is enforced by CI and is especially important because the PR title becomes the commit message when a PR is squash-merged.
|
||||
|
||||
### Merge policy
|
||||
|
||||
Commits should be atomic and independently revertable. Squash at reviewer discretion for obvious cases (multiple WIP commits, messy review-response history). When your commits are clean and logical, they will be preserved as individual commits on `main`.
|
||||
|
||||
### Cleaning up commits
|
||||
|
||||
If CI flags your commit messages, you can fix them with an interactive rebase:
|
||||
|
||||
```bash
|
||||
# Squash all commits into one:
|
||||
git rebase -i HEAD~N # replace N with the number of commits
|
||||
# mark all commits except the first as 'squash' or 'fixup'
|
||||
# reword the remaining commit to follow the format
|
||||
git push --force-with-lease
|
||||
|
||||
# Or reword specific commits:
|
||||
git rebase -i HEAD~N
|
||||
# mark the bad commits as 'reword'
|
||||
git push --force-with-lease
|
||||
```
|
||||
|
||||
## Test your changes
|
||||
|
||||
PX4 is safety-critical software. All contributions must include adequate testing where practical:
|
||||
|
||||
- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
|
||||
- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
|
||||
- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
|
||||
|
||||
### Types of tests
|
||||
|
||||
| Test type | When to use | How to run |
|
||||
|-----------|-------------|------------|
|
||||
| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
|
||||
| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
|
||||
| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
|
||||
|
||||
Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
|
||||
|
||||
## Push your changes
|
||||
|
||||
Push changes to your repo and send a [pull request](https://github.com/PX4/PX4-Autopilot/compare/).
|
||||
Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
|
||||
|
||||
Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
## This file should be placed in the root directory of your project.
|
||||
## Then modify the CMakeLists.txt file in the root directory of your
|
||||
## project to incorporate the testing dashboard.
|
||||
##
|
||||
## # The following are required to submit to the CDash dashboard:
|
||||
## ENABLE_TESTING()
|
||||
## INCLUDE(CTest)
|
||||
|
||||
set(CTEST_PROJECT_NAME "PX4 Firmware")
|
||||
set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
|
||||
|
||||
set(CTEST_DROP_METHOD "http")
|
||||
set(CTEST_DROP_SITE "my.cdash.org")
|
||||
set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
|
||||
set(CTEST_DROP_SITE_CDASH TRUE)
|
||||
File diff suppressed because it is too large
Load Diff
Vendored
+28
-3
@@ -101,7 +101,6 @@ pipeline {
|
||||
echo $0;
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
|
||||
cd _emscripten_sdk;
|
||||
git checkout 4.0.15;
|
||||
./emsdk install latest;
|
||||
./emsdk activate latest;
|
||||
cd ..;
|
||||
@@ -172,9 +171,9 @@ pipeline {
|
||||
sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
|
||||
sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
|
||||
sh('cp -R modules/*.md PX4-user_guide/en/modules/')
|
||||
sh('cp -R graph_*.json PX4-user_guide/public/middleware/') // vitepress
|
||||
sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
|
||||
sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
|
||||
sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe') // vitepress
|
||||
sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
|
||||
sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
|
||||
sh('cd PX4-user_guide; git push origin main || true')
|
||||
sh('rm -rf PX4-user_guide')
|
||||
@@ -221,6 +220,32 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'main' branch
|
||||
sh('rm -f px4_msgs/msg/*.msg')
|
||||
sh('rm -f px4_msgs/srv/*.srv')
|
||||
sh('cp msg/*.msg px4_msgs/msg/')
|
||||
sh('cp srv/*.srv px4_msgs/srv/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin main || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
|
||||
@@ -67,26 +67,18 @@ menu "Toolchain"
|
||||
help
|
||||
Enables Cmake Release for -O3 optimization
|
||||
|
||||
config BOARD_SUPPORT_FORTIFIED_TOOLCHAIN
|
||||
bool "Fortified toolchain support"
|
||||
default n
|
||||
help
|
||||
Enable compatibility with toolchains that define
|
||||
_FORTIFY_SOURCE.
|
||||
|
||||
This switches PX4_DEBUG_OPT_LEVEL from -O0 to -Og. Keep this
|
||||
disabled unless the fortified toolchain requires optimization.
|
||||
|
||||
config BOARD_ROMFSROOT
|
||||
string "ROMFSROOT"
|
||||
default "px4fmu_common"
|
||||
help
|
||||
relative path to the ROMFS root directory
|
||||
|
||||
config BOARD_ADDITIONAL_INIT
|
||||
string "Additional init file"
|
||||
config BOARD_ROOTFSDIR
|
||||
string "Root directory"
|
||||
depends on PLATFORM_POSIX
|
||||
default "."
|
||||
help
|
||||
additional configurable init file to include in the ROMFS
|
||||
Configure the root directory in the file system for PX4 files
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
@@ -193,17 +185,6 @@ menu "Serial ports"
|
||||
string "EXT2 tty port"
|
||||
endmenu
|
||||
|
||||
menu "File paths"
|
||||
|
||||
config BOARD_ROOT_PATH
|
||||
string "PX4 Root file path"
|
||||
default "/fs/microsd"
|
||||
|
||||
config BOARD_PARAM_FILE
|
||||
string "Parameter file"
|
||||
default "/fs/mtd_params"
|
||||
endmenu
|
||||
|
||||
menu "drivers"
|
||||
source "src/drivers/Kconfig"
|
||||
endmenu
|
||||
@@ -221,8 +202,8 @@ source "src/examples/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "platforms"
|
||||
depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
|
||||
source "platforms/Kconfig"
|
||||
depends on PLATFORM_QURT || PLATFORM_POSIX
|
||||
source "platforms/common/Kconfig"
|
||||
endmenu
|
||||
|
||||
source "src/lib/*/Kconfig"
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2025, PX4 Development Team
|
||||
Copyright (c) 2012 - 2023, PX4 Development Team
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
|
||||
@@ -1,43 +0,0 @@
|
||||
Maintainers
|
||||
===========
|
||||
|
||||
See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
|
||||
|
||||
**Active Maintainers**
|
||||
|
||||
| Name | Sector | GitHub | Chat | email
|
||||
|-------------------------|--------|--------|------|----------------
|
||||
| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) | | <lorenz@px4.io>
|
||||
| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
|
||||
| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
|
||||
| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
|
||||
| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
|
||||
| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) | |
|
||||
| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
|
||||
| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
|
||||
| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
|
||||
| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
|
||||
| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
|
||||
| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
|
||||
| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
|
||||
| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
|
||||
|
||||
|
||||
**Documentation Maintainers**
|
||||
|
||||
| Name | GitHub | Chat | email
|
||||
|------|--------|------|----------------------
|
||||
| Hamish Willee | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
|
||||
|
||||
**Release Managers**
|
||||
|
||||
| Name | GitHub | Chat | email
|
||||
|------|--------|------|----------------------
|
||||
| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
|
||||
| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
|
||||
|
||||
**Retired Maintainers**
|
||||
|
||||
| Name | GitHub | Chat | email
|
||||
|------|--------|------|----------------------
|
||||
| | | |
|
||||
@@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved.
|
||||
# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@@ -160,12 +160,11 @@ else
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
||||
endif
|
||||
|
||||
endif
|
||||
# Fuzz Testing
|
||||
ifdef PX4_FUZZ
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
|
||||
endif
|
||||
|
||||
# Prefer the interpreter from an active Python virtual environment.
|
||||
# Otherwise leave PYTHON_EXECUTABLE unset and let CMake resolve Python.
|
||||
ifneq ($(strip $(VIRTUAL_ENV)),)
|
||||
PYTHON_EXECUTABLE ?= $(VIRTUAL_ENV)/bin/python
|
||||
endif
|
||||
|
||||
# Pick up specific Python path if set
|
||||
@@ -232,22 +231,9 @@ CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG
|
||||
$(CONFIG_TARGETS_DEFAULT):
|
||||
@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
|
||||
|
||||
# Multi-processor boards: build all processor targets together
|
||||
# VOXL2 apps processor (default) depends on SLPI DSP being built first
|
||||
modalai_voxl2_default: modalai_voxl2_slpi
|
||||
modalai_voxl2: modalai_voxl2_slpi
|
||||
modalai_voxl2_deb: modalai_voxl2_slpi
|
||||
|
||||
all_config_targets: $(ALL_CONFIG_TARGETS)
|
||||
all_default_targets: $(CONFIG_TARGETS_DEFAULT)
|
||||
|
||||
# DEB package targets: builds _default config, then runs cpack.
|
||||
# Multi-processor boards (e.g. VOXL2) chain companion builds automatically
|
||||
# via existing cmake prerequisites.
|
||||
%_deb:
|
||||
@$(call cmake-build,$(subst _deb,_default,$@)$(BUILD_DIR_SUFFIX))
|
||||
@cd "$(SRC_DIR)/build/$(subst _deb,_default,$@)" && cpack -G DEB
|
||||
|
||||
updateconfig:
|
||||
@./Tools/kconfig/updateconfig.py
|
||||
|
||||
@@ -314,8 +300,6 @@ uorb_graphs:
|
||||
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v5x_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v6x_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
|
||||
px4io_update:
|
||||
@@ -339,45 +323,7 @@ px4io_update:
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
|
||||
git status
|
||||
|
||||
bootloaders_update: \
|
||||
3dr_ctrl-zero-h7-oem-revg_bootloader \
|
||||
ark_fmu-v6x_bootloader \
|
||||
ark_fpv_bootloader \
|
||||
ark_pi6x_bootloader \
|
||||
auterion_fmu-v6s_bootloader \
|
||||
auterion_fmu-v6x_bootloader \
|
||||
cuav_nora_bootloader \
|
||||
cuav_x7pro_bootloader \
|
||||
cuav_7-nano_bootloader \
|
||||
cuav_fmu-v6x_bootloader \
|
||||
cuav_x25-evo_bootloader \
|
||||
cuav_x25-super_bootloader \
|
||||
cubepilot_cubeorange_bootloader \
|
||||
cubepilot_cubeorangeplus_bootloader \
|
||||
hkust_nxt-dual_bootloader \
|
||||
hkust_nxt-v1_bootloader \
|
||||
holybro_durandal-v1_bootloader \
|
||||
holybro_kakuteh7_bootloader \
|
||||
holybro_kakuteh7mini_bootloader \
|
||||
holybro_kakuteh7v2_bootloader \
|
||||
matek_h743_bootloader \
|
||||
matek_h743-mini_bootloader \
|
||||
matek_h743-slim_bootloader \
|
||||
micoair_h743_bootloader \
|
||||
micoair_h743-aio_bootloader \
|
||||
micoair_h743-v2_bootloader \
|
||||
micoair_h743-lite_bootloader \
|
||||
modalai_fc-v2_bootloader \
|
||||
mro_ctrl-zero-classic_bootloader \
|
||||
mro_ctrl-zero-h7_bootloader \
|
||||
mro_ctrl-zero-h7-oem_bootloader \
|
||||
mro_pixracerpro_bootloader \
|
||||
narinfc_h7_bootloader \
|
||||
px4_fmu-v6c_bootloader \
|
||||
px4_fmu-v6u_bootloader \
|
||||
px4_fmu-v6x_bootloader \
|
||||
px4_fmu-v6xrt_bootloader \
|
||||
siyi_n7_bootloader
|
||||
bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
git status
|
||||
|
||||
.PHONY: coverity_scan
|
||||
@@ -386,7 +332,7 @@ coverity_scan: px4_sitl_default
|
||||
|
||||
# Documentation
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
|
||||
|
||||
parameters_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
|
||||
@@ -402,9 +348,15 @@ extract_events:
|
||||
|
||||
px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
|
||||
|
||||
# Style
|
||||
doxygen:
|
||||
@mkdir -p "$(SRC_DIR)"/build/doxygen
|
||||
@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
|
||||
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
|
||||
@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
|
||||
|
||||
# Astyle
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: check_format format check_newlines
|
||||
.PHONY: check_format format
|
||||
|
||||
check_format:
|
||||
$(call colorecho,'Checking formatting with astyle')
|
||||
@@ -415,13 +367,9 @@ format:
|
||||
$(call colorecho,'Formatting with astyle')
|
||||
@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
|
||||
|
||||
check_newlines:
|
||||
$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
|
||||
@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
|
||||
|
||||
# Testing
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
|
||||
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
|
||||
.PHONY: rostest python_coverage
|
||||
|
||||
tests:
|
||||
@@ -431,18 +379,11 @@ tests:
|
||||
$(eval UBSAN_OPTIONS += color=always)
|
||||
$(call cmake-build,px4_sitl_test)
|
||||
|
||||
# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
|
||||
LCOBUG = --ignore-errors mismatch,negative
|
||||
tests_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@mkdir -p coverage
|
||||
@lcov --directory build/px4_sitl_test \
|
||||
--base-directory build/px4_sitl_test \
|
||||
--gcov-tool gcov \
|
||||
--capture \
|
||||
$(LCOBUG) \
|
||||
-o coverage/lcov.info
|
||||
@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
|
||||
|
||||
rostest: px4_sitl_default
|
||||
@@ -481,6 +422,10 @@ tests_offboard: rostest
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
|
||||
|
||||
tests_avoidance: rostest
|
||||
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
|
||||
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
|
||||
|
||||
python_coverage:
|
||||
@mkdir -p "$(SRC_DIR)"/build/python_coverage
|
||||
@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
|
||||
@@ -494,7 +439,7 @@ python_coverage:
|
||||
|
||||
# static analyzers (scan-build, clang-tidy, cppcheck)
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
|
||||
.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
|
||||
.PHONY: cppcheck shellcheck_all validate_module_configs
|
||||
|
||||
scan-build:
|
||||
@@ -512,29 +457,17 @@ px4_sitl_default-clang:
|
||||
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
|
||||
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
|
||||
|
||||
# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
|
||||
# - All submodules (external code we consume, not edit)
|
||||
# - Test code (allowed looser style)
|
||||
# - Example code (educational, not production)
|
||||
# - Vendored third-party code (e.g., CMSIS_5)
|
||||
# - NuttX-only drivers excluded at CMake level (mcp_common); I2C-dependent libs excluded here (smbus)
|
||||
# - GPIO excluded here (NuttX platform headers)
|
||||
# - Emscripten failsafe web build: source path + Unity build path (failsafe_test.dir)
|
||||
# because CMake Unity Builds merge sources into a generated .cxx under build/
|
||||
#
|
||||
# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
|
||||
# Submodules are automatically excluded - no action needed when adding new ones.
|
||||
CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
|
||||
CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
|
||||
CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
|
||||
|
||||
clang-tidy: px4_sitl_default-clang
|
||||
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .
|
||||
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
|
||||
|
||||
# to automatically fix a single check at a time, eg modernize-redundant-void-arg
|
||||
# % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
|
||||
clang-tidy-fix: px4_sitl_default-clang
|
||||
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .
|
||||
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
|
||||
|
||||
# modified version of run-clang-tidy.py to return error codes and only output relevant results
|
||||
clang-tidy-quiet: px4_sitl_default-clang
|
||||
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
|
||||
|
||||
# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
|
||||
cppcheck: px4_sitl_default
|
||||
@@ -550,12 +483,10 @@ validate_module_configs:
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
|
||||
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
|
||||
-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
|
||||
-not -path "$(SRC_DIR)/src/modules/zenoh/dds_topics.yaml" \
|
||||
-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
|
||||
-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
|
||||
-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
|
||||
-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" \
|
||||
-not -path "$(SRC_DIR)/src/lib/tensorflow_lite_micro/*" -print0 | \
|
||||
-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
||||
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
|
||||
# Cleanup
|
||||
@@ -589,14 +520,14 @@ distclean:
|
||||
# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
|
||||
%:
|
||||
$(if $(filter $(FIRST_ARG),$@), \
|
||||
$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)
|
||||
$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
|
||||
|
||||
# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
|
||||
help:
|
||||
@echo "Usage: $(MAKE) <target>"
|
||||
@echo "Where <target> is one of:"
|
||||
@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
|
||||
awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
|
||||
awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
|
||||
egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
|
||||
@echo
|
||||
@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
|
||||
@@ -635,10 +566,3 @@ failsafe_web:
|
||||
run_failsafe_web_server: failsafe_web
|
||||
@cd build/px4_sitl_default_failsafe_web && \
|
||||
python3 -m http.server
|
||||
|
||||
# Generate reference documentation for uORB messages
|
||||
.PHONY: msg_docs
|
||||
msg_docs:
|
||||
$(call colorecho,'Generating uORB message reference docs')
|
||||
@mkdir -p build/msg_docs
|
||||
@./Tools/msg/generate_msg_docs.py -d build/msg_docs
|
||||
|
||||
@@ -1,110 +1,138 @@
|
||||
<p align="center">
|
||||
<a href="https://px4.io">
|
||||
<img src="docs/assets/site/px4_logo.svg" alt="PX4 Autopilot" width="240">
|
||||
</a>
|
||||
</p>
|
||||
# PX4 Drone Autopilot
|
||||
|
||||
<p align="center">
|
||||
<em>The autopilot stack the industry builds on.</em>
|
||||
</p>
|
||||
[](https://github.com/PX4/PX4-Autopilot/releases) [](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
|
||||
|
||||
<p align="center">
|
||||
<a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
|
||||
<a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
|
||||
<a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
|
||||
<a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
|
||||
<a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
|
||||
</p>
|
||||
[](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
|
||||
---
|
||||
[](https://discord.gg/dronecode)
|
||||
|
||||
## About
|
||||
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on [NuttX](https://nuttx.apache.org/), Linux, and macOS. Licensed under [BSD 3-Clause](LICENSE).
|
||||
PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
|
||||
|
||||
## Why PX4
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
|
||||
* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
|
||||
* [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
|
||||
* [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
|
||||
* [VTOL](https://docs.px4.io/main/en/frames_vtol/)
|
||||
* [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
|
||||
* [Rover](https://docs.px4.io/main/en/frames_rover/)
|
||||
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
|
||||
**Modular architecture.** PX4 is built around [uORB](https://docs.px4.io/main/en/middleware/uorb.html), a [DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html)-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
|
||||
|
||||
**Wide hardware support.** PX4 runs on a wide range of [autopilot boards](https://docs.px4.io/main/en/flight_controller/) and supports an extensive set of sensors, telemetry radios, and actuators through the [Pixhawk](https://pixhawk.org/) ecosystem.
|
||||
## Building a PX4 based drone, rover, boat or robot
|
||||
|
||||
**Developer friendly.** First-class support for [MAVLink](https://mavlink.io/) and [DDS / ROS 2](https://docs.px4.io/main/en/ros2/) integration. Comprehensive [SITL simulation](https://docs.px4.io/main/en/simulation/), hardware-in-the-loop testing, and [log analysis](https://docs.px4.io/main/en/log/flight_log_analysis.html) tools. An active developer community on [Discord](https://discord.gg/dronecode) and the [weekly dev call](https://docs.px4.io/main/en/contribute/).
|
||||
The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
|
||||
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
|
||||
|
||||
**Vendor neutral governance.** PX4 is hosted under the [Dronecode Foundation](https://www.dronecode.org/), part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.
|
||||
|
||||
## Supported Vehicles
|
||||
## Changing code and contributing
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<td align="center">
|
||||
<a href="https://docs.px4.io/main/en/frames_multicopter/">
|
||||
<img src="docs/assets/airframes/types/QuadRotorX.svg" width="50" alt="Multicopter"><br>
|
||||
<sub>Multicopter</sub>
|
||||
</a>
|
||||
</td>
|
||||
<td align="center">
|
||||
<a href="https://docs.px4.io/main/en/frames_plane/">
|
||||
<img src="docs/assets/airframes/types/Plane.svg" width="50" alt="Fixed Wing"><br>
|
||||
<sub>Fixed Wing</sub>
|
||||
</a>
|
||||
</td>
|
||||
<td align="center">
|
||||
<a href="https://docs.px4.io/main/en/frames_vtol/">
|
||||
<img src="docs/assets/airframes/types/VTOLPlane.svg" width="50" alt="VTOL"><br>
|
||||
<sub>VTOL</sub>
|
||||
</a>
|
||||
</td>
|
||||
<td align="center">
|
||||
<a href="https://docs.px4.io/main/en/frames_rover/">
|
||||
<img src="docs/assets/airframes/types/Rover.svg" width="50" alt="Rover"><br>
|
||||
<sub>Rover</sub>
|
||||
</a>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
|
||||
|
||||
<sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>
|
||||
Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
|
||||
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
|
||||
|
||||
## Quick Start
|
||||
|
||||
```bash
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
cd PX4-Autopilot
|
||||
make px4_sitl
|
||||
```
|
||||
### Weekly Dev Call
|
||||
|
||||
> [!NOTE]
|
||||
> See the [Development Guide](https://docs.px4.io/main/en/development/development.html) for toolchain setup and build options.
|
||||
The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
|
||||
|
||||
## Documentation & Resources
|
||||
> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
|
||||
|
||||
| Resource | Description |
|
||||
| --- | --- |
|
||||
| [User Guide](https://docs.px4.io/main/en/) | Build, configure, and fly with PX4 |
|
||||
| [Developer Guide](https://docs.px4.io/main/en/development/development.html) | Modify the flight stack, add peripherals, port to new hardware |
|
||||
| [Airframe Reference](https://docs.px4.io/main/en/airframes/airframe_reference.html) | Full list of supported frames |
|
||||
| [Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/) | Compatible flight controllers |
|
||||
| [Release Notes](https://docs.px4.io/main/en/releases/) | What's new in each release |
|
||||
| [Contribution Guide](https://docs.px4.io/main/en/contribute/) | How to contribute to PX4 |
|
||||
|
||||
## Community
|
||||
## Maintenance Team
|
||||
|
||||
- **Weekly Dev Call** — open to all developers ([Dronecode calendar](https://www.dronecode.org/calendar/))
|
||||
- **Discord** — [Join the Dronecode server](https://discord.gg/dronecode)
|
||||
- **Discussion Forum** — [PX4 Discuss](https://discuss.px4.io/)
|
||||
- **Maintainers** — see [`MAINTAINERS.md`](MAINTAINERS.md)
|
||||
- **Contributor Stats** — [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode)
|
||||
Note: This is the source of truth for the active maintainers of PX4 ecosystem.
|
||||
|
||||
## Contributing
|
||||
| Sector | Maintainer |
|
||||
|---|---|
|
||||
| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
|
||||
| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
|
||||
| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
|
||||
| OS/NuttX | [David Sidrane](https://github.com/davids5) |
|
||||
| Drivers | [Daniel Agar](https://github.com/dagar) |
|
||||
| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
|
||||
| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
|
||||
| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
|
||||
| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
|
||||
|
||||
We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.
|
||||
| Vehicle Type | Maintainer |
|
||||
|---|---|
|
||||
| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
|
||||
| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
|
||||
| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
|
||||
| Boat | x |
|
||||
| Rover | x |
|
||||
|
||||
## Governance
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
|
||||
|
||||
The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.
|
||||
## Supported Hardware
|
||||
|
||||
<p align="center">
|
||||
<a href="https://www.dronecode.org/">
|
||||
<img src="docs/assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="180">
|
||||
</a>
|
||||
</p>
|
||||
Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
|
||||
|
||||
For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
|
||||
|
||||
### Pixhawk Standard Boards
|
||||
|
||||
These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
|
||||
|
||||
* FMUv6X and FMUv6C
|
||||
* [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
|
||||
* [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
|
||||
* [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
|
||||
* [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
* [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
|
||||
|
||||
### Manufacturer supported
|
||||
|
||||
These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
|
||||
|
||||
* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
|
||||
* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
|
||||
* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
|
||||
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
|
||||
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
|
||||
* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
|
||||
|
||||
### Community supported
|
||||
|
||||
These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
|
||||
|
||||
### Experimental
|
||||
|
||||
These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
|
||||
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
|
||||
|
||||
## Project Roadmap
|
||||
|
||||
**Note: Outdated**
|
||||
|
||||
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
|
||||
|
||||
## Project Governance
|
||||
|
||||
The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
|
||||
|
||||
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
|
||||
<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
|
||||
<div style="padding:10px"> </div>
|
||||
|
||||
+2
-75
@@ -85,32 +85,10 @@ endif()
|
||||
if(PX4_ETHERNET)
|
||||
set(added_arguments ${added_arguments} --ethernet)
|
||||
endif()
|
||||
# Check if board has an rc.board_airframes file to filter airframes
|
||||
set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
|
||||
set(airframes_whitelist "")
|
||||
if(EXISTS "${board_airframes_file}")
|
||||
message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
|
||||
file(STRINGS "${board_airframes_file}" airframes_whitelist)
|
||||
# Remove comments and empty lines
|
||||
list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
|
||||
list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
|
||||
endif()
|
||||
|
||||
# create list of relative romfs file names
|
||||
set(romfs_copy_files_relative)
|
||||
foreach(romfs_file IN LISTS romfs_copy_files)
|
||||
string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
|
||||
|
||||
# If we have an airframes whitelist, filter airframe files
|
||||
if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
|
||||
# Extract just the filename
|
||||
get_filename_component(airframe_name "${romfs_file_rel}" NAME)
|
||||
# Check if it's in the whitelist
|
||||
if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
|
||||
continue()
|
||||
endif()
|
||||
endif()
|
||||
|
||||
list(APPEND romfs_copy_files_relative ${romfs_file_rel})
|
||||
endforeach()
|
||||
# copy the ROMFS files by creating a tar and extracting it to the build
|
||||
@@ -142,7 +120,6 @@ add_custom_command(
|
||||
${romfs_gen_root_dir}/init.d/rc.serial
|
||||
${romfs_gen_root_dir}/init.d/rc.autostart
|
||||
${romfs_gen_root_dir}/init.d/rc.autostart.post
|
||||
${romfs_gen_root_dir}/init.d/rc.filepaths
|
||||
${romfs_copy_stamp}
|
||||
COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
|
||||
COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
|
||||
@@ -154,9 +131,6 @@ add_custom_command(
|
||||
--rc-dir ${romfs_gen_root_dir}/init.d
|
||||
--serial-ports ${board_serial_ports} ${added_arguments}
|
||||
--config-files ${module_config_files} #--verbose
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
|
||||
--rc-dir ${romfs_gen_root_dir}/init.d
|
||||
--params-file ${CONFIG_BOARD_PARAM_FILE}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
|
||||
WORKING_DIRECTORY ${romfs_gen_root_dir}
|
||||
DEPENDS ${romfs_tar_file}
|
||||
@@ -224,31 +198,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
|
||||
endforeach()
|
||||
|
||||
if(config_additional_init)
|
||||
if(EXISTS "${PX4_BOARD_DIR}/init/${config_additional_init}")
|
||||
file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${config_additional_init})
|
||||
message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/rc.additional_init")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/init.d/rc.additional_init
|
||||
${config_additional_init}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${config_additional_init} ${romfs_gen_root_dir}/init.d/rc.additional_init
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${config_additional_init}.stamp
|
||||
DEPENDS
|
||||
${PX4_BOARD_DIR}/init/${config_additional_init}
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying ${config_additional_init}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${config_additional_init}.stamp
|
||||
)
|
||||
else()
|
||||
message(FATAL_ERROR "BOARD_ADDITIONAL_INIT file not found at: ${PX4_BOARD_DIR}/init/${config_additional_init}")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
|
||||
# board extras
|
||||
set(OPTIONAL_BOARD_EXTRAS)
|
||||
@@ -263,33 +212,12 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
if(CONFIG_SYSTEMCMDS_BL_UPDATE)
|
||||
# generate rc.board_bootloader_upgrade
|
||||
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
message(STATUS "ROMFS: Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
|
||||
|
||||
# Generate the file using configure_file at configure time to a temporary location
|
||||
set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
|
||||
|
||||
# Then copy it at build time with proper dependencies
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
|
||||
rc.board_bootloader_upgrade.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
|
||||
COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
|
||||
DEPENDS
|
||||
${bootloader_upgrade_tmp}
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
rc.board_bootloader_upgrade.stamp
|
||||
)
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
|
||||
else()
|
||||
# remove bootloader from extras
|
||||
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
|
||||
endif()
|
||||
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
@@ -392,7 +320,6 @@ add_custom_target(romfs_gen_files_target
|
||||
DEPENDS
|
||||
${romfs_copy_stamp}
|
||||
${romfs_gen_root_dir}/init.d/rc.serial
|
||||
${romfs_gen_root_dir}/init.d/rc.filepaths
|
||||
romfs_extras.stamp
|
||||
)
|
||||
|
||||
|
||||
+14
-14
@@ -21,14 +21,25 @@ set R /
|
||||
#
|
||||
ver all
|
||||
|
||||
# Load param file location from kconfig
|
||||
. ${R}etc/init.d/rc.filepaths
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
|
||||
then
|
||||
set PARAM_FILE /dev/eeeprom0
|
||||
fi
|
||||
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
|
||||
then
|
||||
set PARAM_FILE /mnt/qspi/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
param select $PARAM_FILE
|
||||
|
||||
if ! param load
|
||||
then
|
||||
param reset_all
|
||||
@@ -56,17 +67,6 @@ then
|
||||
fi
|
||||
unset BOARD_RC_DEFAULTS
|
||||
|
||||
#
|
||||
# Optional additional init file: rc.additional_init
|
||||
#
|
||||
set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
|
||||
if [ -f $BOARD_RC_ADDITIONAL_INIT ]
|
||||
then
|
||||
echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
|
||||
. $BOARD_RC_ADDITIONAL_INIT
|
||||
fi
|
||||
unset BOARD_RC_ADDITIONAL_INIT
|
||||
|
||||
#
|
||||
# Start system state indicator.
|
||||
#
|
||||
|
||||
@@ -1,34 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2025 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(init.d)
|
||||
@@ -1,36 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2025 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_romfs_files(
|
||||
rcS
|
||||
)
|
||||
@@ -1,68 +0,0 @@
|
||||
#!/bin/sh
|
||||
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
|
||||
set +e
|
||||
# Un comment the line below to help debug scripts by printing a trace of the script commands
|
||||
#set -x
|
||||
# PX4FMU startup script.
|
||||
#
|
||||
# NOTE: environment variable references:
|
||||
# If the dollar sign ('$') is followed by a left bracket ('{') then the
|
||||
# variable name is terminated with the right bracket character ('}').
|
||||
# Otherwise, the variable name goes to the end of the argument.
|
||||
#
|
||||
#
|
||||
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
set R /
|
||||
|
||||
#
|
||||
# Print full system version.
|
||||
#
|
||||
ver all
|
||||
|
||||
#
|
||||
# Set the parameter file the board supports params on
|
||||
# MTD device.
|
||||
#
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
# if the board has a storage for (factory) calibration data
|
||||
if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
|
||||
then
|
||||
param load /fs/mtd_caldata
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
param select $PARAM_FILE
|
||||
if ! param load
|
||||
then
|
||||
param reset_all
|
||||
fi
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
if [ $? = 0 ]
|
||||
then
|
||||
echo "SD card mounted at /fs/microsd"
|
||||
else
|
||||
echo "No SD card found"
|
||||
fi
|
||||
|
||||
unset R
|
||||
|
||||
echo ""
|
||||
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
|
||||
echo "!!!!!! This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected! !!!!!"
|
||||
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
|
||||
echo ""
|
||||
@@ -35,11 +35,8 @@ add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.mavlink
|
||||
px4-rc.params
|
||||
px4-rc.simulator
|
||||
px4-rc.gzsim
|
||||
px4-rc.jmavsim
|
||||
px4-rc.mavlinksim
|
||||
px4-rc.sihsim
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -29,3 +29,4 @@ param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
|
||||
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
|
||||
@@ -94,3 +94,4 @@ param set-default CA_METHOD 0
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
|
||||
@@ -12,3 +12,4 @@ param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
|
||||
@@ -16,6 +16,12 @@ param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
@@ -34,7 +40,4 @@ param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default SENS_GPS0_DELAY 0
|
||||
param set-default SENS_GPS1_DELAY 0
|
||||
|
||||
param set SIH_VEHICLE_TYPE 0
|
||||
|
||||
@@ -16,6 +16,16 @@ param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default SIH_T_MAX 6
|
||||
param set-default SIH_MASS 0.3
|
||||
param set-default SIH_IXX 0.00402
|
||||
@@ -27,41 +37,19 @@ param set-default SIH_KDV 0.2
|
||||
param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
# SIH for now hardcodes this configuration which we need to match in the airframe files.
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TRQ_R 1
|
||||
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_P 1
|
||||
param set-default CA_SV_CS1_TYPE 3 # elevator
|
||||
param set-default CA_SV_CS1_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_Y 1
|
||||
param set-default CA_SV_CS2_TYPE 4 # rudder
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 202
|
||||
param set-default PWM_MAIN_FUNC3 203
|
||||
param set-default PWM_MAIN_FUNC4 101
|
||||
|
||||
param set-default SENS_GPS0_DELAY 0
|
||||
param set-default SENS_GPS1_DELAY 0
|
||||
|
||||
# Rate controllers
|
||||
param set-default FW_RR_P 0.0500
|
||||
param set-default FW_RR_I 2.0000
|
||||
param set-default FW_RR_D 0.0000
|
||||
param set-default FW_RR_FF 0.0000
|
||||
param set-default FW_RR_IMAX 1.0000
|
||||
|
||||
param set-default FW_PR_P 0.0800
|
||||
param set-default FW_PR_I 2.5000
|
||||
param set-default FW_PR_D 0.0000
|
||||
param set-default FW_PR_FF 0.0000
|
||||
param set-default FW_PR_IMAX 1.0000
|
||||
|
||||
param set-default FW_YR_P 0.0500
|
||||
param set-default FW_YR_I 3.0000
|
||||
param set-default FW_YR_D 0.0000
|
||||
param set-default FW_YR_FF 0.0000
|
||||
param set-default FW_YR_IMAX 1.0000
|
||||
param set-default CA_SV_CS2_TYPE 4
|
||||
param set-default PWM_MAIN_FUNC3 201
|
||||
param set-default PWM_MAIN_FUNC4 202
|
||||
param set-default PWM_MAIN_FUNC5 203
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
|
||||
@@ -11,8 +11,6 @@
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
|
||||
|
||||
param set-default SENS_GPS0_DELAY 0
|
||||
param set-default SENS_GPS1_DELAY 0
|
||||
param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
@@ -29,6 +27,14 @@ param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default SIH_T_MAX 2
|
||||
param set-default SIH_Q_MAX 0.0165
|
||||
param set-default SIH_MASS 0.2
|
||||
|
||||
@@ -1,97 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH Standard VTOL
|
||||
#
|
||||
# @type Simulation
|
||||
# @class VTOL
|
||||
#
|
||||
# @output Motor1 MC motor front right
|
||||
# @output Motor2 MC motor back left
|
||||
# @output Motor3 MC motor front left
|
||||
# @output Motor4 MC motor back right
|
||||
# @output Motor5 Forward thrust motor
|
||||
# @output Servo1 Ailerons (single channel)
|
||||
# @output Servo2 Elevator
|
||||
# @output Servo3 Rudder
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
param set-default SENS_GPS0_DELAY 0
|
||||
param set-default SENS_GPS1_DELAY 0
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR0_PX 0.2
|
||||
param set-default CA_ROTOR0_PY 0.2
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.2
|
||||
param set-default CA_ROTOR1_PY -0.2
|
||||
param set-default CA_ROTOR2_PX 0.2
|
||||
param set-default CA_ROTOR2_PY -0.2
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.2
|
||||
param set-default CA_ROTOR3_PY 0.2
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_PX -0.3
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR4_AX 1
|
||||
param set-default CA_ROTOR4_AZ 0
|
||||
|
||||
# SIH for now hardcodes this configuration which we need to match in the airframe files.
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TRQ_R 1
|
||||
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
|
||||
param set-default CA_SV_CS1_TRQ_P 1
|
||||
param set-default CA_SV_CS1_TYPE 3 # elevator
|
||||
param set-default CA_SV_CS2_TRQ_Y 1
|
||||
param set-default CA_SV_CS2_TYPE 4 # rudder
|
||||
|
||||
param set-default FW_AIRSPD_MIN 7
|
||||
param set-default FW_AIRSPD_TRIM 10
|
||||
param set-default FW_AIRSPD_MAX 12
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 201
|
||||
param set-default PWM_MAIN_FUNC6 202
|
||||
param set-default PWM_MAIN_FUNC7 203
|
||||
param set-default PWM_MAIN_FUNC8 105
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
# param set-default SYS_HITL 2
|
||||
|
||||
param set-default SENS_DPRES_OFF 0.001
|
||||
|
||||
param set SIH_T_MAX 2.0
|
||||
param set SIH_Q_MAX 0.0165
|
||||
param set SIH_MASS 0.2
|
||||
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
||||
param set SIH_IXX 0.00354
|
||||
param set SIH_IYY 0.000625
|
||||
param set SIH_IZZ 0.00300
|
||||
param set SIH_IXZ 0
|
||||
param set SIH_KDV 0.2
|
||||
param set SIH_L_ROLL 0.2
|
||||
|
||||
# sih as standard vtol
|
||||
param set SIH_VEHICLE_TYPE 3
|
||||
@@ -1,49 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name HexarotorX SITL for SIH
|
||||
#
|
||||
# @type Hexarotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Matthias Grob <maetugr@gmail.com>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set SIH_VEHICLE_TYPE 4
|
||||
param set-default MAV_TYPE 13
|
||||
|
||||
# Symmetric hexacopter X clockwise motor numbering
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default CA_ROTOR0_PX 0.866
|
||||
param set-default CA_ROTOR0_PY 0.5
|
||||
param set-default CA_ROTOR1_PX 0
|
||||
param set-default CA_ROTOR1_PY 1
|
||||
param set-default CA_ROTOR1_KM -0.05
|
||||
param set-default CA_ROTOR2_PX -0.866
|
||||
param set-default CA_ROTOR2_PY 0.5
|
||||
param set-default CA_ROTOR3_PX -0.866
|
||||
param set-default CA_ROTOR3_PY -0.5
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_PX 0
|
||||
param set-default CA_ROTOR4_PY -1
|
||||
param set-default CA_ROTOR5_PX 0.866
|
||||
param set-default CA_ROTOR5_PY -0.5
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
|
||||
param set-default SENS_GPS0_DELAY 0
|
||||
param set-default SENS_GPS1_DELAY 0
|
||||
@@ -1,72 +0,0 @@
|
||||
#!/bin/sh
|
||||
# @name Rover Ackermann
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
set VEHICLE_TYPE rover_ackermann
|
||||
param set-default CA_AIRFRAME 5 # Rover (Ackermann)
|
||||
param set-default CA_R_REV 1 # Motor is assumed to be reversible
|
||||
param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not driving
|
||||
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
|
||||
|
||||
param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 201 # Steering
|
||||
param set-default PWM_MAIN_FUNC2 101 # Throttle
|
||||
param set-default SIH_MASS 20
|
||||
param set-default SIH_IXX 0.4333
|
||||
param set-default SIH_IYY 1.6833
|
||||
param set-default SIH_IZZ 2.0833
|
||||
param set-default SIH_IXZ 0
|
||||
param set-default SIH_KDV 50
|
||||
param set-default SIH_KDW 10
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# Ackermann Parameters
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_STR_RATE_LIM 360
|
||||
|
||||
# Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_ACCEL_LIM 400
|
||||
param set-default RO_YAW_DECEL_LIM 800
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Velocity Control Parameters
|
||||
param set-default RO_ACCEL_LIM 3
|
||||
param set-default RO_DECEL_LIM 3
|
||||
param set-default RO_JERK_LIM 10
|
||||
param set-default RO_MAX_THR_SPEED 3.2
|
||||
param set-default RO_SPEED_LIM 3
|
||||
param set-default RO_SPEED_I 0.001
|
||||
param set-default RO_SPEED_P 0.001
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2
|
||||
|
||||
param set-default SENS_FLOW_ROT 6
|
||||
param set-default SENS_FLOW_MINHGT 0.7
|
||||
param set-default SENS_FLOW_MAXHGT 15
|
||||
param set-default SENS_FLOW_MAXHGT 3
|
||||
param set-default SENS_FLOW_MAXR 2.5
|
||||
|
||||
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default LPE_FUSION 242
|
||||
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
|
||||
. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
|
||||
|
||||
# EKF2: Vision position and heading, no GPS
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
@@ -18,3 +18,4 @@ param set-default LPE_FUSION 132
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set-default ATT_EXT_HDG_M 1
|
||||
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default COM_OBS_AVOID 1
|
||||
@@ -0,0 +1,2 @@
|
||||
# shellcheck disable=SC2154
|
||||
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
|
||||
@@ -41,3 +41,4 @@ param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
|
||||
@@ -61,3 +61,4 @@ param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
|
||||
@@ -44,6 +44,8 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
@@ -66,3 +68,5 @@ param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
|
||||
|
||||
@@ -39,6 +39,7 @@ param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
@@ -46,6 +47,8 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user