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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
7827555e6d |
@@ -0,0 +1,193 @@
|
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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:2021-09-08",
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arm64: "px4io/px4-dev-aarch64:2021-09-08",
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base: "px4io/px4-dev-base-bionic:2021-09-08",
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nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
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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_rtps"],
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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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"atl_mantis-edu_default",
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"av_x-v1_default",
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"bitcraze_crazyflie_default",
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"bitcraze_crazyflie21_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_cubeyellow_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_pix32v5_default",
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"modalai_fc-v1_default",
|
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"modalai_fc-v1_rtps",
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"modalai_fc-v2_default",
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"mro_ctrl-zero-f7_default",
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"mro_ctrl-zero-f7-oem_default",
|
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"mro_ctrl-zero-h7_default",
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"mro_ctrl-zero-h7-oem_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_rtps",
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"nxp_fmuk66-e_socketcan",
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"nxp_fmuk66-v3_default",
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"nxp_fmuk66-v3_rtps",
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"nxp_fmuk66-v3_socketcan",
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"nxp_fmurt1062-v1_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_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_debug",
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"px4_fmu-v5_default",
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"px4_fmu-v5_rtps",
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"px4_fmu-v5_stackcheck",
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"px4_fmu-v5_uavcanv0periph",
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"px4_fmu-v5_uavcanv1",
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"px4_fmu-v5x_base_phy_DP83848C",
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"px4_fmu-v5x_default",
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"px4_fmu-v6u_default",
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"px4_fmu-v6x_default",
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"px4_io-v2_default",
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"spracing_h7extreme_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: 90, 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')
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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')
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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 +1,936 @@
|
||||
#!/usr/bin/env groovy
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
stages {
|
||||
stage('Hardware Test') {
|
||||
|
||||
parallel {
|
||||
|
||||
stage("cubepilot_cubeorange_test") {
|
||||
stages {
|
||||
stage("build cubepilot_cubeorange_test") {
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||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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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_test'
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sh 'make cubepilot_cubeorange_test bootloader_elf'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', 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'
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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 {
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stage("flash") {
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steps {
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sh 'export'
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||||
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_test/cubepilot_cubeorange_bootloader.elf'
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// flash board and watch bootup
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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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}
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||||
}
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||||
stage("tests") {
|
||||
steps {
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||||
// run tests
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runTests()
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}
|
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}
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||||
stage("status") {
|
||||
steps {
|
||||
// configure
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resetParameters()
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||||
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
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("cuav_x7pro_test") {
|
||||
stages {
|
||||
stage("build cuav_x7pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make cuav_x7pro_test'
|
||||
sh 'make cuav_x7pro_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // 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_test/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'
|
||||
}
|
||||
}
|
||||
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
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v3_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v3_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v3_test'
|
||||
sh 'make px4_fmu-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v3'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v3_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
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
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
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/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // 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'
|
||||
}
|
||||
}
|
||||
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
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4pro_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
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/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // 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'
|
||||
}
|
||||
}
|
||||
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
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_debug") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_debug") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
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/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // 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'
|
||||
}
|
||||
}
|
||||
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 "sd_stress"'
|
||||
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/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
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 './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_stackcheck") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_stackcheck") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
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/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // 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'
|
||||
}
|
||||
}
|
||||
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'
|
||||
}
|
||||
}
|
||||
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/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
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 './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
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/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // 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'
|
||||
}
|
||||
}
|
||||
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
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
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 './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
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/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // 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'
|
||||
}
|
||||
}
|
||||
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
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // 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'
|
||||
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"'
|
||||
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"'
|
||||
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"'
|
||||
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"'
|
||||
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 "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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
|
||||
// status commands
|
||||
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"'
|
||||
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" || true'
|
||||
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 /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 "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 "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 info -d /dev/pwm_output0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
|
||||
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"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
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"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
|
||||
}
|
||||
|
||||
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() {
|
||||
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/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 "reboot" || true' // 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 "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_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
//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 "mtd readtest"'
|
||||
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 "mtd 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 -u"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
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 "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
// test rebooting multiple times
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
|
||||
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 "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
}
|
||||
|
||||
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"'
|
||||
|
||||
// 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_controls_3" || 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 ekf_gps_drift" || 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_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_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 test_motor" || 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_acceleration" || 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 vehicle_status_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 "reboot" || true' // reboot to apply
|
||||
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
// format
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
}
|
||||
+2
-10
@@ -1,17 +1,11 @@
|
||||
---
|
||||
Checks: '*,
|
||||
-*-avoid-c-arrays,
|
||||
-*-uppercase-literal-suffix,
|
||||
-*-magic-numbers,
|
||||
-altera-id-dependent-backward-branch,
|
||||
-altera-unroll-loops,
|
||||
-android*,
|
||||
-bugprone-integer-division,
|
||||
-cert-dcl50-cpp,
|
||||
-cert-env33-c,
|
||||
-cert-err34-c,
|
||||
-cert-err58-cpp,
|
||||
-cert-flp30-c,
|
||||
-cert-msc30-c,
|
||||
-cert-msc50-cpp,
|
||||
-clang-analyzer-core.CallAndMessage,
|
||||
@@ -24,7 +18,6 @@ Checks: '*,
|
||||
-clang-analyzer-deadcode.DeadStores,
|
||||
-clang-analyzer-optin.cplusplus.VirtualCall,
|
||||
-clang-analyzer-optin.performance.Padding,
|
||||
-clang-analyzer-security.FloatLoopCounter,
|
||||
-clang-analyzer-security.insecureAPI.strcpy,
|
||||
-clang-analyzer-unix.API,
|
||||
-clang-analyzer-unix.cstring.BadSizeArg,
|
||||
@@ -44,7 +37,8 @@ Checks: '*,
|
||||
-cppcoreguidelines-pro-type-union-access,
|
||||
-cppcoreguidelines-pro-type-vararg,
|
||||
-cppcoreguidelines-special-member-functions,
|
||||
-fuchsia-*,
|
||||
-fuchsia-default-arguments,
|
||||
-fuchsia-overloaded-operator,
|
||||
-google-build-using-namespace,
|
||||
-google-explicit-constructor,
|
||||
-google-global-names-in-headers,
|
||||
@@ -68,7 +62,6 @@ Checks: '*,
|
||||
-hicpp-use-equals-delete,
|
||||
-hicpp-use-override,
|
||||
-hicpp-vararg,
|
||||
-llvmlibc-*,
|
||||
-llvm-header-guard,
|
||||
-llvm-include-order,
|
||||
-llvm-namespace-comment,
|
||||
@@ -91,7 +84,6 @@ Checks: '*,
|
||||
-modernize-use-override,
|
||||
-modernize-use-trailing-return-type,
|
||||
-modernize-use-using,
|
||||
-modernize-use-trailing-return-type,
|
||||
-performance-inefficient-string-concatenation,
|
||||
-readability-avoid-const-params-in-decls,
|
||||
-readability-container-size-empty,
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2022-08-12",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
@@ -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",
|
||||
@@ -30,8 +29,7 @@
|
||||
"twxs.cmake",
|
||||
"uavcan.dsdl",
|
||||
"wholroyd.jinja",
|
||||
"zixuanwang.linkerscript",
|
||||
"ms-vscode.makefile-tools"
|
||||
"zixuanwang.linkerscript"
|
||||
],
|
||||
|
||||
"containerUser": "user",
|
||||
|
||||
@@ -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
|
||||
+2
-2
@@ -19,8 +19,9 @@
|
||||
*.jar binary
|
||||
*.xml text eol=lf
|
||||
|
||||
# PX4 msgs, etc
|
||||
# PX4 mixers, msgs, etc
|
||||
*.bin binary
|
||||
*.mix text eol=lf
|
||||
*.msg text eol=lf
|
||||
*.config text eol=lf
|
||||
*.sdf text eol=lf
|
||||
@@ -72,7 +73,6 @@ Makefile.* text eol=lf
|
||||
*.tar binary
|
||||
*.tgz binary
|
||||
*.zip binary
|
||||
*.hex binary
|
||||
|
||||
# everything else
|
||||
.gitattributes text eol=lf
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
---
|
||||
name: Bug report
|
||||
about: Create a report to help us improve
|
||||
|
||||
---
|
||||
|
||||
**Describe the bug**
|
||||
A clear and concise description of the bug.
|
||||
|
||||
**To Reproduce**
|
||||
Steps to reproduce the behavior:
|
||||
1. Drone switched on '...'
|
||||
2. Uploaded mission '....' (attach QGC mission file)
|
||||
3. Took off '....'
|
||||
4. See error
|
||||
|
||||
**Expected behavior**
|
||||
A clear and concise description of what you expected to happen.
|
||||
|
||||
**Log Files and Screenshots**
|
||||
*Always* provide a link to the flight log file:
|
||||
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
|
||||
- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
|
||||
|
||||
Add screenshots to help explain your problem.
|
||||
|
||||
**Drone (please complete the following information):**
|
||||
- Describe the type of drone.
|
||||
- Photo of the IMU / autopilot setup if possible.
|
||||
|
||||
**Additional context**
|
||||
Add any other context about the problem here.
|
||||
@@ -0,0 +1,19 @@
|
||||
---
|
||||
name: 🚀 Feature Request
|
||||
about: Suggest an idea for this project
|
||||
|
||||
---
|
||||
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
|
||||
|
||||
**Describe problem solved by the proposed feature**
|
||||
A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
|
||||
|
||||
**Describe your preferred solution**
|
||||
A clear and concise description of what you want to happen.
|
||||
|
||||
**Describe possible alternatives**
|
||||
A clear and concise description of alternative solutions or features you've considered.
|
||||
|
||||
**Additional context**
|
||||
Add any other context or screenshots for the feature request here.
|
||||
@@ -0,0 +1,10 @@
|
||||
---
|
||||
name: ⛔ Support Question
|
||||
about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
|
||||
|
||||
---
|
||||
|
||||
We use GitHub issues only to discuss PX4 bugs and new features. For
|
||||
questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
|
||||
|
||||
Thanks!
|
||||
@@ -0,0 +1,9 @@
|
||||
---
|
||||
name: ⛔ Documentation Issue
|
||||
about: See https://github.com/PX4/Devguide for documentation issues
|
||||
|
||||
---
|
||||
|
||||
PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
|
||||
|
||||
Thanks!
|
||||
@@ -1,47 +0,0 @@
|
||||
name: 🐛 Bug report
|
||||
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.
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Flight Log / Additional Information
|
||||
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:
|
||||
validations:
|
||||
required: false
|
||||
@@ -1,5 +0,0 @@
|
||||
blank_issues_enabled: true
|
||||
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
|
||||
@@ -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
|
||||
@@ -1,35 +0,0 @@
|
||||
name: 🚀 Feature Request
|
||||
description: Suggest an idea for this project
|
||||
labels: ["feature-request"]
|
||||
body:
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: |
|
||||
## Please note that feature requests are not 'fire and forget'
|
||||
It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe problem solved by the proposed feature
|
||||
description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe your preferred solution
|
||||
description: A clear and concise description of what you want to happen.
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe possible alternatives
|
||||
description: A clear and concise description of any alternative solutions or features you've considered.
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional context
|
||||
description: Add any other context or screenshots for the feature request here.
|
||||
@@ -1,23 +0,0 @@
|
||||
<!--
|
||||
|
||||
### Solved Problem
|
||||
Fixes #{Github issue ID}
|
||||
|
||||
### Solution
|
||||
|
||||
### Changelog Entry
|
||||
For release notes:
|
||||
```
|
||||
Feature/Bugfix XYZ
|
||||
New parameter: XYZ_Z
|
||||
Documentation: Need to clarify page ... / done, read docs.px4.io/...
|
||||
```
|
||||
|
||||
### Alternatives
|
||||
|
||||
### Test coverage
|
||||
|
||||
### 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.
|
||||
@@ -1,48 +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).
|
||||
- **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
|
||||
- **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
|
||||
- **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
|
||||
@@ -0,0 +1,24 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
|
||||
<linearGradient id="smooth" x2="0" y2="100%">
|
||||
<stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
|
||||
<stop offset="1" stop-opacity=".1"/>
|
||||
</linearGradient>
|
||||
|
||||
<mask id="round">
|
||||
<rect width="90" height="20" rx="3" fill="#fff"/>
|
||||
</mask>
|
||||
|
||||
<g mask="url(#round)">
|
||||
<rect width="42" height="20" fill="#555"/>
|
||||
<rect x="42" width="48" height="20" fill="#E01563"/>
|
||||
<rect width="90" height="20" fill="url(#smooth)"/>
|
||||
</g>
|
||||
|
||||
<g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
|
||||
<text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
|
||||
<text x="22" y="14">slack</text>
|
||||
<text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
|
||||
<text x="65" y="14">Join us!</text>
|
||||
</g>
|
||||
</svg>
|
||||
|
||||
|
After Width: | Height: | Size: 894 B |
@@ -0,0 +1,15 @@
|
||||
# Number of days of inactivity before an issue becomes stale
|
||||
daysUntilStale: 90
|
||||
# Number of days of inactivity before a stale issue is closed, or `false` to disable
|
||||
daysUntilClose: false
|
||||
# Issues with these labels will never be considered stale
|
||||
exemptLabels:
|
||||
- pinned
|
||||
# Label to use when marking an issue as stale
|
||||
staleLabel: stale
|
||||
# Comment to post when marking an issue as stale. Set to `false` to disable
|
||||
markComment: >
|
||||
This issue has been automatically marked as stale because it has not had
|
||||
recent activity. Thank you for your contributions.
|
||||
# Comment to post when closing a stale issue. Set to `false` to disable
|
||||
closeComment: false
|
||||
@@ -1,242 +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: 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
|
||||
|
||||
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 }}
|
||||
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: ${{ steps.cc_restore.outputs.cache-primary-key }}
|
||||
|
||||
artifacts:
|
||||
name: Upload Artifacts
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ 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: ${{ steps.upload-location.outputs.uploadlocation }}
|
||||
steps:
|
||||
- name: Download Artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
path: artifacts/
|
||||
merge-multiple: true
|
||||
|
||||
- name: Choose Upload Location
|
||||
id: upload-location
|
||||
run: |
|
||||
# Determine upload location based on branch or tag with the following considerations:
|
||||
# Destination: AWS S3 bucket px4-travis in folder Firmware/
|
||||
# - If branch is main -> upload to master/
|
||||
# - Older versions of QGC are hardocded to look for master/
|
||||
# - If branch is stable or beta -> upload to stable/ or beta/
|
||||
# - If a tag vX.Y.Z -> upload to vX.Y.Z/
|
||||
# - Also update stable/ to point to the same version
|
||||
#. - Older versions of QGC are hardocded to look for stable/
|
||||
# - If a pull request -> do not upload
|
||||
set -euo pipefail
|
||||
|
||||
ref="${GITHUB_REF}"
|
||||
branch=${{ needs.group_targets.outputs.branchname }}
|
||||
location="$branch"
|
||||
|
||||
if [[ "$branch" == "main" ]]; then
|
||||
location="master"
|
||||
fi
|
||||
|
||||
if [[ "$ref" == refs/tags/v[0-9]* ]]; then
|
||||
tag="${ref#refs/tags/}"
|
||||
location="$tag"
|
||||
fi
|
||||
|
||||
echo "uploadlocation=$location" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Uploading Artifacts to S3 [${{ 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 }}/
|
||||
|
||||
# if we are uploading artifacts to a versioned folder
|
||||
# we should also update the stable folder in the s3 bucket
|
||||
- name: Uploading Artifacts to S3 [stable]
|
||||
uses: jakejarvis/s3-sync-action@master
|
||||
if: startsWith(github.ref, 'refs/tags/v')
|
||||
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/stable/
|
||||
|
||||
# if build is a release triggered by a versioned tag then create a github release
|
||||
# and upload the build artifacts. A draft release is created so that the release
|
||||
# can be reviewed before publishing
|
||||
- name: Upload Artifacts to GitHub Release
|
||||
uses: softprops/action-gh-release@v2
|
||||
if: startsWith(github.ref, 'refs/tags/v')
|
||||
with:
|
||||
draft: true
|
||||
files: artifacts/*.px4
|
||||
name: ${{ steps.upload-location.outputs.uploadlocation }}
|
||||
@@ -3,18 +3,10 @@ name: Checks
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -24,7 +16,6 @@ jobs:
|
||||
matrix:
|
||||
check: [
|
||||
"check_format",
|
||||
"check_newlines",
|
||||
"tests",
|
||||
"tests_coverage",
|
||||
"px4_fmu-v2_default stack_check",
|
||||
@@ -32,28 +23,29 @@ jobs:
|
||||
"shellcheck_all",
|
||||
"NO_NINJA_BUILD=1 px4_fmu-v5_default",
|
||||
"NO_NINJA_BUILD=1 px4_sitl_default",
|
||||
"px4_sitl_allyes",
|
||||
"BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
|
||||
"airframe_metadata",
|
||||
"module_documentation",
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-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: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Building [${{ matrix.check }}]
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /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
|
||||
|
||||
@@ -3,28 +3,19 @@ name: Clang Tidy
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Testing (clang-tidy)
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev-clang:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make clang-tidy
|
||||
- name: make clang-tidy-quiet
|
||||
run: make clang-tidy-quiet
|
||||
|
||||
@@ -0,0 +1,54 @@
|
||||
name: Linux Targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-09-08
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
beaglebone_blue_default,
|
||||
emlid_navio2_default,
|
||||
px4_raspberrypi_default,
|
||||
scumaker_pilotpi_default,
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${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 +1,51 @@
|
||||
name: Linux ARM64 Targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-09-08
|
||||
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
|
||||
@@ -3,39 +3,28 @@ name: MacOS build
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: macos-latest
|
||||
runs-on: macos-10.15
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
px4_fmu-v5_default,
|
||||
px4_sitl
|
||||
#tests, # includes px4_sitl
|
||||
]
|
||||
steps:
|
||||
- name: install Python 3.10
|
||||
uses: actions/setup-python@v5
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
python-version: "3.10"
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: setup
|
||||
run: |
|
||||
./Tools/setup/macos.sh
|
||||
run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
@@ -44,7 +33,7 @@ jobs:
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v4
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
|
||||
@@ -0,0 +1,116 @@
|
||||
name: Nuttx Targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2,
|
||||
ark_can-flow,
|
||||
ark_can-gps,
|
||||
ark_can-rtk-gps,
|
||||
atl_mantis-edu,
|
||||
av_x-v1,
|
||||
bitcraze_crazyflie,
|
||||
bitcraze_crazyflie21,
|
||||
cuav_can-gps-v1,
|
||||
cuav_nora,
|
||||
cuav_x7pro,
|
||||
cubepilot_cubeorange,
|
||||
cubepilot_cubeyellow,
|
||||
freefly_can-rtk-gps,
|
||||
holybro_can-gps-v1,
|
||||
holybro_durandal-v1,
|
||||
holybro_kakutef7,
|
||||
holybro_pix32v5,
|
||||
modalai_fc-v1,
|
||||
modalai_fc-v2,
|
||||
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_fmurt1062-v1,
|
||||
nxp_ucans32k146,
|
||||
omnibus_f4sd,
|
||||
px4_fmu-v2,
|
||||
px4_fmu-v3,
|
||||
px4_fmu-v4,
|
||||
px4_fmu-v4pro,
|
||||
px4_fmu-v5,
|
||||
px4_fmu-v5x,
|
||||
px4_fmu-v6u,
|
||||
px4_fmu-v6x,
|
||||
spracing_h7extreme,
|
||||
uvify_core
|
||||
]
|
||||
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 = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make all_variants_${{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 +1,54 @@
|
||||
name: Deploy metadata for all targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- '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: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: make ${{matrix.target}}
|
||||
run: make ${{matrix.target}}
|
||||
|
||||
- name: parameter & events metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen events_json
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* events/*.xz _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: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
|
||||
provenance: false
|
||||
cache-from: type=gha,version=1,scope=${{ matrix.arch }}
|
||||
cache-to: type=gha,version=1,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 }}
|
||||
@@ -1,55 +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: New Crowdin translations - ${{ matrix.lc }}
|
||||
localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
|
||||
crowdin_branch_name: main
|
||||
create_pull_request: true
|
||||
pull_request_base_branch_name: 'main'
|
||||
pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
|
||||
pull_request_body: 'New 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
|
||||
@@ -1,116 +0,0 @@
|
||||
name: Docs - Deploy PX4 User Guide to AWS
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- "main"
|
||||
- "release/**"
|
||||
paths:
|
||||
- "docs/en/**"
|
||||
- "docs/zh/**"
|
||||
- "docs/uk/**"
|
||||
- "docs/ko/**"
|
||||
pull_request:
|
||||
paths:
|
||||
- "docs/en/**"
|
||||
- "docs/zh/**"
|
||||
- "docs/uk/**"
|
||||
- "docs/ko/**"
|
||||
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
actions: read
|
||||
id-token: write # for AWS OIDC
|
||||
|
||||
concurrency:
|
||||
group: docs-deploy
|
||||
cancel-in-progress: false
|
||||
|
||||
jobs:
|
||||
build:
|
||||
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: ${{ steps.set-version.outputs.releaseversion }}
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
|
||||
- id: set-branch
|
||||
run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
|
||||
|
||||
- id: set-version
|
||||
run: |
|
||||
branch="${{ steps.set-branch.outputs.branchname }}"
|
||||
if [[ "$branch" == "main" ]]; then
|
||||
version="main"
|
||||
else
|
||||
version="v${branch#release/}"
|
||||
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
|
||||
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: 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.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.outputs.releaseversion }}/ \
|
||||
--delete \
|
||||
--exclude "*.html" \
|
||||
--cache-control "public, max-age=86400, immutable"
|
||||
@@ -1,85 +0,0 @@
|
||||
name: Docs - Check for flaws in PX4 Guide Source
|
||||
# So far:
|
||||
# Modifications of translations files
|
||||
# Broken internal links
|
||||
|
||||
on:
|
||||
pull_request_target:
|
||||
types: [opened, edited, synchronize]
|
||||
paths:
|
||||
- 'docs/en/**'
|
||||
|
||||
jobs:
|
||||
check_flaws:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v3
|
||||
with:
|
||||
ref: ${{ github.event.pull_request.head.sha }}
|
||||
|
||||
- name: Install Node.js
|
||||
uses: actions/setup-node@v3
|
||||
with:
|
||||
node-version: '18'
|
||||
|
||||
- name: Create logs directory
|
||||
run: |
|
||||
mkdir logs
|
||||
|
||||
- name: Get changed english doc files
|
||||
id: get_changed_markdown_english
|
||||
uses: tj-actions/changed-files@v46.0.5
|
||||
with:
|
||||
json: true
|
||||
base_sha: "${{ github.event.pull_request.base.sha }}"
|
||||
sha: "${{ github.event.pull_request.head.sha }}"
|
||||
# Below are used to output files to a directory. May use in flaw checker.
|
||||
# write_output_files: true
|
||||
# output_dir: "./logs"
|
||||
files: |
|
||||
docs/en/**/*.md
|
||||
|
||||
- name: Save JSON file containing files to link check
|
||||
run: |
|
||||
echo "$ALL_CHANGED_FILES"
|
||||
# echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
|
||||
echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
|
||||
env:
|
||||
ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
|
||||
|
||||
- name: Run link checker
|
||||
id: link-check
|
||||
run: |
|
||||
npm -g install markdown_link_checker_sc@0.0.138
|
||||
markdown_link_checker_sc \
|
||||
-r "$GITHUB_WORKSPACE" \
|
||||
-d docs \
|
||||
-e en \
|
||||
-f ./logs/prFiles.json \
|
||||
-i assets \
|
||||
-u docs.px4.io/main/ \
|
||||
> ./logs/errorsFilteredByPrPages.md
|
||||
mkdir -p ./pr
|
||||
cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
|
||||
|
||||
- name: Read errorsFilteredByPrPages.md file
|
||||
id: read-errors-by-page
|
||||
uses: juliangruber/read-file-action@v1
|
||||
with:
|
||||
path: ./logs/errorsFilteredByPrPages.md
|
||||
|
||||
- name: Echo Errors by Page
|
||||
run: echo "$ERRORS"
|
||||
env:
|
||||
ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
|
||||
|
||||
- name: Save PR number
|
||||
run: echo "$PR_NUMBER" > ./pr/pr_number
|
||||
env:
|
||||
PR_NUMBER: ${{ github.event.number }}
|
||||
|
||||
- uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: pr_number
|
||||
path: pr/
|
||||
@@ -1,111 +0,0 @@
|
||||
name: Docs - Comment Workflow
|
||||
on:
|
||||
workflow_run:
|
||||
workflows: ["Docs - Check for flaws in PX4 Guide Source"]
|
||||
types:
|
||||
- completed
|
||||
|
||||
jobs:
|
||||
comment:
|
||||
permissions:
|
||||
pull-requests: write # for marocchino/sticky-pull-request-comment
|
||||
name: Comments
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: 'Download PR artifact'
|
||||
uses: actions/github-script@v6
|
||||
with:
|
||||
script: |
|
||||
let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
run_id: context.payload.workflow_run.id,
|
||||
});
|
||||
let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
|
||||
return artifact.name == "pr_number"
|
||||
})[0];
|
||||
let download = await github.rest.actions.downloadArtifact({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
artifact_id: matchArtifact.id,
|
||||
archive_format: 'zip',
|
||||
});
|
||||
let fs = require('fs');
|
||||
fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
|
||||
|
||||
- name: 'Unzip artifact'
|
||||
run: unzip pr_number.zip
|
||||
|
||||
# Doesn't work across workflows
|
||||
#- name: Get artifacts from flaw checker workflow
|
||||
# uses: actions/download-artifact@v3
|
||||
# with:
|
||||
# name: logs_and_errors
|
||||
# #path: ./logs
|
||||
|
||||
- name: Read errorsFilteredByPrPages.md file
|
||||
id: read-errors-by-page
|
||||
uses: juliangruber/read-file-action@v1
|
||||
with:
|
||||
path: ./errorsFilteredByPrPages.md
|
||||
|
||||
- name: Read PR number
|
||||
id: read-error-pr-number
|
||||
uses: juliangruber/read-file-action@v1
|
||||
with:
|
||||
path: ./pr_number
|
||||
|
||||
- name: File detail info
|
||||
run: |
|
||||
echo "$ERRORS"
|
||||
echo "$PRNUM"
|
||||
env:
|
||||
ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
|
||||
PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
|
||||
|
||||
- name: Create or update comment
|
||||
id: comment_to_pr
|
||||
uses: marocchino/sticky-pull-request-comment@v2
|
||||
with:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
recreate: true
|
||||
number: ${{ steps.read-error-pr-number.outputs.content }}
|
||||
header: flaws
|
||||
message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
|
||||
|
||||
#- name: Dump GitHub context
|
||||
# env:
|
||||
# GITHUB_CONTEXT: ${{ toJSON(github) }}
|
||||
# run: echo "$GITHUB_CONTEXT"
|
||||
|
||||
# Would like to do this, but it doesn't work (for me).
|
||||
# Moving to time-based, or triggering on workflow
|
||||
#- name: Wait for artifacts upload to succeed
|
||||
# uses: lewagon/wait-on-check-action@v1.3.1
|
||||
# with:
|
||||
# ref: ${{ github.ref }}
|
||||
# check-name: 'Archive production artifacts'
|
||||
# repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
# wait-interval: 80
|
||||
|
||||
# Not needed for now - trying to trigger off the workflow
|
||||
#- name: Sleep for 80 seconds
|
||||
# run: sleep 80s
|
||||
# shell: bash
|
||||
#- name: Find Comment
|
||||
# uses: peter-evans/find-comment@v2
|
||||
# id: fc
|
||||
# with:
|
||||
# issue-number: ${{ steps.read-error-pr-number.outputs.content }}
|
||||
# comment-author: 'github-actions[bot]'
|
||||
# body-includes: Flaws (may be none)
|
||||
|
||||
#- name: Create or update comment
|
||||
# uses: peter-evans/create-or-update-comment@v3
|
||||
# with:
|
||||
# comment-id: ${{ steps.fc.outputs.comment-id }}
|
||||
# issue-number: ${{ steps.read-error-pr-number.outputs.content }}
|
||||
# body: |
|
||||
# Flaws (may be none)
|
||||
# ${{ steps.read-errors-by-page.outputs.content }}
|
||||
# edit-mode: replace
|
||||
@@ -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: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- 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
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make tests TESTFILTER=EKF
|
||||
|
||||
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
|
||||
|
||||
@@ -1,47 +1,29 @@
|
||||
name: EKF Update Change Indicator
|
||||
|
||||
on:
|
||||
push:
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
on: push
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
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
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: main test
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make tests TESTFILTER=EKF
|
||||
|
||||
- name: main test updates change indication files
|
||||
run: make tests TESTFILTER=EKF
|
||||
- name: Check if there exists diff and save result in variable
|
||||
id: diff-check
|
||||
run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
|
||||
run: echo "CHANGE_INDICATED=$(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:
|
||||
file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
|
||||
commit_message: '[AUTO COMMIT] update change indication'
|
||||
commit_user_name: ${GIT_COMMITTER_NAME}
|
||||
commit_user_email: ${GIT_COMMITTER_EMAIL}
|
||||
commit_message: |
|
||||
'[AUTO COMMIT] update change indication'
|
||||
|
||||
See .github/workflopws/ekf_update_change_indicator.yml for more details
|
||||
|
||||
- name: if there is a functional change, fail check
|
||||
if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
|
||||
- if: ${{env.CHANGE_INDICATED}}
|
||||
name: if there is a functional change, fail check
|
||||
run: exit 1
|
||||
|
||||
@@ -1,58 +0,0 @@
|
||||
name: Failsafe Simulator Build
|
||||
|
||||
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
|
||||
defaults:
|
||||
run:
|
||||
shell: bash
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
check: [
|
||||
"failsafe_web",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
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@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 }}
|
||||
@@ -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 }}"
|
||||
@@ -3,18 +3,10 @@ name: MAVROS Mission Tests
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -23,21 +15,125 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {vehicle: "iris", mission: "MC_mission_box"}
|
||||
- {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
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Build SITL and Run Tests
|
||||
uses: addnab/docker-run-action@v3
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
|
||||
path: ~/.ccache
|
||||
key: sitl_tests-${{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
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo
|
||||
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
|
||||
|
||||
@@ -3,43 +3,132 @@ name: MAVROS Offboard Tests
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
env:
|
||||
ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {test_file: "mavros_posix_tests_offboard_posctl.test", vehicle: "iris"}
|
||||
- {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
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Build PX4 and Run Tests
|
||||
uses: addnab/docker-run-action@v3
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
|
||||
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
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo
|
||||
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 +1,157 @@
|
||||
name: Metadata
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- '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:2021-09-08
|
||||
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/
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: microRTPS agent
|
||||
run: |
|
||||
make px4_sitl_rtps
|
||||
git clone https://github.com/PX4/micrortps_agent.git
|
||||
cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
|
||||
|
||||
ROS_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 ROS msgs
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_msgs.git
|
||||
python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
|
||||
|
||||
ROS2_bridge:
|
||||
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 bridge
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_ros_com.git
|
||||
./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
|
||||
@@ -1,45 +0,0 @@
|
||||
name: Nuttx Target with extra env config
|
||||
|
||||
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:
|
||||
matrix:
|
||||
config: [
|
||||
px4_fmu-v5_default,
|
||||
]
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Build PX4 and Run Test [${{ matrix.config }}]
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /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
|
||||
@@ -3,31 +3,23 @@ name: Python CI Checks
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- 'master'
|
||||
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
|
||||
|
||||
@@ -1,131 +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
|
||||
git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
|
||||
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
|
||||
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
|
||||
+111
-137
@@ -1,161 +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/**'
|
||||
- 'master'
|
||||
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
|
||||
- {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
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # 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)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i "mavsdk_$(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
|
||||
- name: ccache post-run sitl_gazebo
|
||||
run: ccache -s
|
||||
- name: Build MAVSDK tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
DONT_RUN: 1
|
||||
run: make px4_sitl_default gazebo 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}}
|
||||
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
|
||||
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: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavsdk
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -1,21 +0,0 @@
|
||||
name: 'Handle stale issues and PRs'
|
||||
on:
|
||||
schedule:
|
||||
- cron: '30 1 * * *'
|
||||
|
||||
jobs:
|
||||
stale:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v10
|
||||
with:
|
||||
operations-per-run: 250
|
||||
days-before-stale: 90
|
||||
days-before-close: 30
|
||||
stale-issue-label: 'stale'
|
||||
stale-pr-label: 'stale'
|
||||
remove-stale-when-updated: true
|
||||
stale-issue-message: ''
|
||||
close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
|
||||
stale-pr-message: ''
|
||||
close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'
|
||||
@@ -1,62 +0,0 @@
|
||||
name: Sync ROS 2 messages to px4_msgs
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
paths:
|
||||
- 'msg/**'
|
||||
- 'srv/**'
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
jobs:
|
||||
sync_to_px4_msgs:
|
||||
if: github.repository == 'PX4/PX4-Autopilot'
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ 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
|
||||
@@ -0,0 +1,33 @@
|
||||
# How to install:
|
||||
# gem install github_changelog_generator
|
||||
# How to run:
|
||||
# github_changelog_generator -u PX4 -p Firmware
|
||||
# Description:
|
||||
# The following params are sensible defaults for the PX4 project,
|
||||
# if you want to do a changelog before a release you need to update since-tag and future-releases,
|
||||
|
||||
# Params:
|
||||
# github_changelog_generator --help for all options
|
||||
|
||||
# max-issues
|
||||
# max threshold for github api queries
|
||||
# make sure you set your CHANGELOG_GITHUB_TOKEN before
|
||||
# running
|
||||
max-issues=1500
|
||||
|
||||
# exclude-tags-regex
|
||||
# excludes release candidates
|
||||
exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
|
||||
|
||||
# since-tag
|
||||
# version of last stable release
|
||||
# you need to change this depending on what you need
|
||||
# if you want a changelog between versions this is the lowest version
|
||||
since-tag=1.6.5
|
||||
|
||||
# future-release
|
||||
# version you are about to release
|
||||
# if you want a changelog between a version and all unreleased changes grouped as a release
|
||||
# eg: v1.6.5 to v1.7.0
|
||||
future-release=v1.7.0
|
||||
|
||||
+5
-4
@@ -93,6 +93,7 @@ rules.ninja
|
||||
/googletest-*/
|
||||
/logs
|
||||
/mavsdk_tests
|
||||
/test_mixer_multirotor
|
||||
/unit-*
|
||||
/uORB/
|
||||
DartConfiguration.tcl
|
||||
@@ -104,8 +105,8 @@ src/lib/version/build_git_version.h
|
||||
src/modules/simulator/simulator_config.h
|
||||
src/systemcmds/topic_listener/listener_generated.cpp
|
||||
|
||||
!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
|
||||
# SITL
|
||||
dataman
|
||||
eeprom/
|
||||
|
||||
# colcon
|
||||
log/
|
||||
keys/
|
||||
!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
|
||||
|
||||
+45
-80
@@ -1,41 +1,59 @@
|
||||
[submodule "src/modules/mavlink/mavlink"]
|
||||
path = src/modules/mavlink/mavlink
|
||||
url = https://github.com/mavlink/mavlink.git
|
||||
[submodule "mavlink/include/mavlink/v2.0"]
|
||||
path = mavlink/include/mavlink/v2.0
|
||||
url = https://github.com/mavlink/c_library_v2.git
|
||||
branch = master
|
||||
[submodule "Tools/simulation/jmavsim/jMAVSim"]
|
||||
path = Tools/simulation/jmavsim/jMAVSim
|
||||
[submodule "src/drivers/uavcan/libuavcan"]
|
||||
path = src/drivers/uavcan/libuavcan
|
||||
url = https://github.com/PX4/libuavcan.git
|
||||
branch = px4
|
||||
[submodule "Tools/jMAVSim"]
|
||||
path = Tools/jMAVSim
|
||||
url = https://github.com/PX4/jMAVSim.git
|
||||
branch = main
|
||||
[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
|
||||
path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
|
||||
url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
|
||||
branch = main
|
||||
branch = master
|
||||
[submodule "Tools/sitl_gazebo"]
|
||||
path = Tools/sitl_gazebo
|
||||
url = https://github.com/PX4/PX4-SITL_gazebo.git
|
||||
branch = master
|
||||
[submodule "src/lib/matrix"]
|
||||
path = src/lib/matrix
|
||||
url = https://github.com/PX4/PX4-Matrix.git
|
||||
branch = master
|
||||
[submodule "src/drivers/gps/devices"]
|
||||
path = src/drivers/gps/devices
|
||||
url = https://github.com/PX4/PX4-GPSDrivers.git
|
||||
branch = main
|
||||
branch = master
|
||||
[submodule "src/modules/micrortps_bridge/micro-CDR"]
|
||||
path = src/modules/micrortps_bridge/micro-CDR
|
||||
url = https://github.com/PX4/Micro-CDR.git
|
||||
branch = master
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
branch = px4_firmware_nuttx-10.3.0+
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
[submodule "platforms/nuttx/NuttX/apps"]
|
||||
path = platforms/nuttx/NuttX/apps
|
||||
url = https://github.com/PX4/NuttX-apps.git
|
||||
branch = px4_firmware_nuttx-10.3.0+
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
[submodule "Tools/flightgear_bridge"]
|
||||
path = Tools/simulation/flightgear/flightgear_bridge
|
||||
path = Tools/flightgear_bridge
|
||||
url = https://github.com/PX4/PX4-FlightGear-Bridge.git
|
||||
[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
|
||||
path = Tools/simulation/jsbsim/jsbsim_bridge
|
||||
[submodule "Tools/jsbsim_bridge"]
|
||||
path = Tools/jsbsim_bridge
|
||||
url = https://github.com/PX4/px4-jsbsim-bridge.git
|
||||
[submodule "src/drivers/cyphal/libcanard"]
|
||||
path = src/drivers/cyphal/libcanard
|
||||
url = https://github.com/opencyphal/libcanard.git
|
||||
[submodule "src/drivers/cyphal/public_regulated_data_types"]
|
||||
path = src/drivers/cyphal/public_regulated_data_types
|
||||
url = https://github.com/opencyphal/public_regulated_data_types.git
|
||||
[submodule "src/drivers/cyphal/legacy_data_types"]
|
||||
path = src/drivers/cyphal/legacy_data_types
|
||||
[submodule "src/drivers/uavcan_v1/libcanard"]
|
||||
path = src/drivers/uavcan_v1/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
|
||||
path = src/drivers/uavcan_v1/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
|
||||
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
|
||||
path = src/drivers/uavcannode_gps_demo/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
|
||||
path = src/drivers/uavcan_v1/legacy_data_types
|
||||
url = https://github.com/PX4/public_regulated_data_types.git
|
||||
branch = legacy
|
||||
[submodule "src/lib/crypto/monocypher"]
|
||||
@@ -45,7 +63,9 @@
|
||||
[submodule "src/lib/events/libevents"]
|
||||
path = src/lib/events/libevents
|
||||
url = https://github.com/mavlink/libevents.git
|
||||
branch = main
|
||||
[submodule "Tools/simulation-ignition"]
|
||||
path = Tools/simulation-ignition
|
||||
url = https://github.com/Auterion/px4-simulation-ignition.git
|
||||
[submodule "src/lib/crypto/libtomcrypt"]
|
||||
path = src/lib/crypto/libtomcrypt
|
||||
url = https://github.com/PX4/libtomcrypt.git
|
||||
@@ -54,58 +74,3 @@
|
||||
path = src/lib/crypto/libtommath
|
||||
url = https://github.com/PX4/libtommath.git
|
||||
branch = px4
|
||||
[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
|
||||
path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
|
||||
url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
|
||||
branch = px4
|
||||
[submodule "src/lib/cdrstream/cyclonedds"]
|
||||
path = src/lib/cdrstream/cyclonedds
|
||||
url = https://github.com/px4/cyclonedds
|
||||
[submodule "src/lib/cdrstream/rosidl"]
|
||||
path = src/lib/cdrstream/rosidl
|
||||
url = https://github.com/px4/rosidl
|
||||
[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
|
||||
[submodule "src/lib/heatshrink/heatshrink"]
|
||||
path = src/lib/heatshrink/heatshrink
|
||||
url = https://github.com/PX4/heatshrink.git
|
||||
branch = px4
|
||||
[submodule "Tools/simulation/gz"]
|
||||
path = Tools/simulation/gz
|
||||
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
|
||||
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
|
||||
|
||||
+35
@@ -0,0 +1,35 @@
|
||||
language: cpp
|
||||
|
||||
git:
|
||||
depth: 100
|
||||
submodules: false
|
||||
|
||||
matrix:
|
||||
fast_finish: true
|
||||
include:
|
||||
- os: linux
|
||||
dist: xenial
|
||||
# In order to stay under the coverity rate limit, we only run this weekly
|
||||
# and not on push which is configured in travis-ci settings.
|
||||
if: branch = master
|
||||
|
||||
before_install:
|
||||
- echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
|
||||
|
||||
install:
|
||||
- export PATH=$HOME/.local/bin:$PATH
|
||||
- pip install --user --upgrade pip
|
||||
- pip install --user -r Tools/setup/requirements.txt
|
||||
|
||||
script:
|
||||
- make
|
||||
|
||||
addons:
|
||||
coverity_scan:
|
||||
project:
|
||||
name: "PX4/Firmware"
|
||||
description: "Build submitted via Travis CI"
|
||||
notification_email: ci@px4.io
|
||||
build_command_prepend: "make distclean"
|
||||
build_command: "make px4_sitl_default"
|
||||
branch_pattern: coverity_scan
|
||||
@@ -4,11 +4,8 @@ compile_commands.json
|
||||
|
||||
# generated by cmake
|
||||
launch.json
|
||||
c_cpp_properties.json
|
||||
|
||||
# C/C++ extension does some local caching in this folder
|
||||
ipch/
|
||||
|
||||
browse.vc.db*
|
||||
|
||||
*.log
|
||||
|
||||
Vendored
+16
@@ -0,0 +1,16 @@
|
||||
{
|
||||
"configurations": [
|
||||
{
|
||||
"name": "PX4",
|
||||
"includePath": [
|
||||
"${workspaceFolder}/**"
|
||||
],
|
||||
"defines": [],
|
||||
"macFrameworkPath": [],
|
||||
"configurationProvider": "ms-vscode.cmake-tools",
|
||||
"cppStandard": "c++14",
|
||||
"cStandard": "c11"
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
Vendored
+1
-1
@@ -2,4 +2,4 @@
|
||||
{
|
||||
"name": "PX4 detect"
|
||||
}
|
||||
]
|
||||
]
|
||||
Vendored
+5
-335
@@ -2,30 +2,15 @@ CONFIG:
|
||||
default: px4_sitl_default
|
||||
choices:
|
||||
px4_sitl_default:
|
||||
short: px4_sitl_default
|
||||
short: px4_sitl
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_raptor:
|
||||
short: px4_sitl_raptor
|
||||
px4_sitl_rtps:
|
||||
short: px4_sitl_rtps
|
||||
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
|
||||
settings:
|
||||
CONFIG: px4_sitl_nolockstep
|
||||
CONFIG: px4_sitl_rtps
|
||||
px4_sitl_asan:
|
||||
short: px4_sitl (AddressSanitizer)
|
||||
buildType: AddressSanitizer
|
||||
@@ -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
|
||||
@@ -81,36 +61,11 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_default
|
||||
px4_fmu-v5_debug:
|
||||
short: px4_fmu-v5_debug
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_debug
|
||||
px4_fmu-v5x_default:
|
||||
short: px4_fmu-v5x
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5x_default
|
||||
px4_fmu-v6c_default:
|
||||
short: px4_fmu-v6c
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6c_default
|
||||
px4_fmu-v6c_bootloader:
|
||||
short: px4_fmu-v6c_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6c_bootloader
|
||||
px4_fmu-v6u_default:
|
||||
short: px4_fmu-v6u
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6u_default
|
||||
px4_fmu-v6u_bootloader:
|
||||
short: px4_fmu-v6u_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6u_bootloader
|
||||
px4_fmu-v6x_default:
|
||||
short: px4_fmu-v6x
|
||||
buildType: MinSizeRel
|
||||
@@ -121,21 +76,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6x_bootloader
|
||||
px4_fmu-v6xrt_default:
|
||||
short: px4_fmu-v6xrt
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6xrt_default
|
||||
px4_fmu-v6xrt_bootloader:
|
||||
short: px4_fmu-v6xrt_bootloader
|
||||
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 +91,6 @@ 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
|
||||
@@ -186,101 +116,6 @@ 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
|
||||
settings:
|
||||
CONFIG: ark_cannode_default
|
||||
ark_cannode_canbootloader:
|
||||
short: ark_cannode_canbootloader
|
||||
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
|
||||
settings:
|
||||
CONFIG: ark_fmu-v6x_bootloader
|
||||
ark_fmu-v6x_default:
|
||||
short: ark_fmu-v6x_default
|
||||
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 +131,6 @@ 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
|
||||
@@ -321,31 +151,11 @@ 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
|
||||
cubepilot_cubeorange_test:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_cubeorange_test
|
||||
cubepilot_cubeorangeplus_test:
|
||||
short: cubepilot_cubeorangeplus
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_cubeorangeplus_test
|
||||
CONFIG: cubepilot_orange_test
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
@@ -376,71 +186,6 @@ 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
|
||||
settings:
|
||||
CONFIG: matek_h743-slim_default
|
||||
matek_gnss-m9n-f4_canbootloader:
|
||||
short: matek_gnss-m9n-f4_canbootloader
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: matek_m9nf4can_canbootloader
|
||||
matek_gnss-m9n-f4_default:
|
||||
short: matek_gnss-m9n-f4_default
|
||||
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
|
||||
@@ -451,11 +196,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: modalai_fc-v2_default
|
||||
modalai_voxl2-io_default:
|
||||
short: modalai_voxl2-io
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: modalai_voxl2-io_default
|
||||
mro_ctrl-zero-f7_default:
|
||||
short: mro_ctrl-zero-f7
|
||||
buildType: MinSizeRel
|
||||
@@ -481,73 +221,3 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_fmuk66-v3_default
|
||||
nxp_mr-canhubk3_default:
|
||||
short: nxp_mr-canhubk3_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_default
|
||||
nxp_mr-canhubk3_fmu:
|
||||
short: nxp_mr-canhubk3_fmu
|
||||
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
-3
@@ -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",
|
||||
@@ -19,7 +18,6 @@
|
||||
"twxs.cmake",
|
||||
"uavcan.dsdl",
|
||||
"wholroyd.jinja",
|
||||
"zixuanwang.linkerscript",
|
||||
"ms-vscode.makefile-tools"
|
||||
"zixuanwang.linkerscript"
|
||||
]
|
||||
}
|
||||
|
||||
Vendored
+15
-7
@@ -2,6 +2,7 @@
|
||||
"astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
|
||||
"astyle.c.enable": true,
|
||||
"astyle.cpp.enable": true,
|
||||
"breadcrumbs.enabled": true,
|
||||
"C_Cpp.autoAddFileAssociations": false,
|
||||
"C_Cpp.clang_format_fallbackStyle": "none",
|
||||
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
|
||||
@@ -13,13 +14,14 @@
|
||||
"C_Cpp.workspaceParsingPriority": "low",
|
||||
"cmake.buildBeforeRun": true,
|
||||
"cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
|
||||
"cmake.buildTask": true,
|
||||
"cmake.configureOnOpen": true,
|
||||
"cmake.ctest.parallelJobs": 1,
|
||||
"cmake.options.statusBarVisibility": "compact",
|
||||
"cmake.skipConfigureIfCachePresent": true,
|
||||
"cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
|
||||
"cmakeExplorer.parallelJobs": 1,
|
||||
"cmakeExplorer.suiteDelimiter": "-",
|
||||
"cortex-debug.enableTelemetry": false,
|
||||
"cSpell.allowCompoundWords": true,
|
||||
"cSpell.diagnosticLevel": "Hint",
|
||||
"cSpell.showStatus": false,
|
||||
@@ -30,6 +32,7 @@
|
||||
],
|
||||
"debug.toolBarLocation": "docked",
|
||||
"editor.defaultFormatter": "chiehyu.vscode-astyle",
|
||||
"editor.dragAndDrop": false,
|
||||
"editor.insertSpaces": false,
|
||||
"editor.minimap.maxColumn": 120,
|
||||
"editor.minimap.renderCharacters": false,
|
||||
@@ -43,7 +46,7 @@
|
||||
"files.watcherExclude": {
|
||||
"**/build/**": true
|
||||
},
|
||||
"git.detectSubmodulesLimit": 25,
|
||||
"git.detectSubmodulesLimit": 20,
|
||||
"git.ignoreLimitWarning": true,
|
||||
"githubPullRequests.defaultMergeMethod": "squash",
|
||||
"githubPullRequests.telemetry.enabled": false,
|
||||
@@ -117,16 +120,21 @@
|
||||
"utility": "cpp",
|
||||
"valarray": "cpp",
|
||||
"variant": "cpp",
|
||||
"vector": "cpp",
|
||||
"Jenkinsfile*": "groovy",
|
||||
"*.sdf": "xml"
|
||||
"vector": "cpp"
|
||||
},
|
||||
"search.exclude": {
|
||||
"${workspaceFolder}/build": true
|
||||
},
|
||||
"search.showLineNumbers": true,
|
||||
"terminal.integrated.scrollback": 15000,
|
||||
"telemetry.enableTelemetry": false,
|
||||
"terminal.integrated.copyOnSelection": true,
|
||||
"terminal.integrated.rightClickBehavior": "paste",
|
||||
"terminal.integrated.scrollback": 5000,
|
||||
"window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
|
||||
"workbench.editor.highlightModifiedTabs": true,
|
||||
"workbench.enableExperiments": false,
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
},
|
||||
}
|
||||
}
|
||||
|
||||
Vendored
+158
-95
@@ -50,64 +50,41 @@
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "jmavsim kill",
|
||||
"label": "jmavsim build",
|
||||
"type": "shell",
|
||||
"command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"command": "ant create_run_jar copy_res",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}/Tools/jMAVSim"
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["px4_sitl_cleanup"]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic build",
|
||||
"type": "shell",
|
||||
"command": "make px4_sitl_default sitl_gazebo-classic",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
"presentation": {
|
||||
"presentation":{
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
},
|
||||
"problemMatcher": [],
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic start",
|
||||
"label": "jmavsim",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo-classic build",
|
||||
"dependsOn": "jmavsim build",
|
||||
"command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
@@ -128,28 +105,57 @@
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic",
|
||||
"label": "jmavsim kill",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo-classic start",
|
||||
"command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
|
||||
"presentation": {
|
||||
"echo": false,
|
||||
"reveal": "never",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": []
|
||||
},
|
||||
{
|
||||
"label": "gazebo build",
|
||||
"type": "shell",
|
||||
"command": "make px4_sitl_default sitl_gazebo",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"presentation":{
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "gazebo start",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
|
||||
"isBackground": false,
|
||||
"command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
@@ -172,75 +178,109 @@
|
||||
{
|
||||
"label": "gazebo",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo start",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": true,
|
||||
"panel": "dedicated",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["gazebo kill"]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic kill",
|
||||
"type": "shell",
|
||||
"command": "pkill -9 -f gzserver || true",
|
||||
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
|
||||
"isBackground": false,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["px4_sitl_cleanup"]
|
||||
"problemMatcher": [
|
||||
{
|
||||
"pattern": [
|
||||
{
|
||||
"regexp": ".",
|
||||
"file": 1,
|
||||
"location": 2,
|
||||
"message": 3
|
||||
}
|
||||
],
|
||||
"background": {
|
||||
"activeOnStart": true,
|
||||
"beginsPattern": ".",
|
||||
"endsPattern": ".",
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo client",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzclient --verbose",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"pattern": [
|
||||
{
|
||||
"regexp": ".",
|
||||
"file": 1,
|
||||
"location": 2,
|
||||
"message": 3
|
||||
}
|
||||
],
|
||||
"background": {
|
||||
"activeOnStart": true,
|
||||
"beginsPattern": ".",
|
||||
"endsPattern": ".",
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo kill",
|
||||
"type": "shell",
|
||||
"command": "pkill -9 -f 'gz sim' || true",
|
||||
"command": "killall gzserver",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"reveal": "silent",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["px4_sitl_cleanup"]
|
||||
},
|
||||
|
||||
{
|
||||
"label": "px4_sitl_cleanup",
|
||||
"type": "shell",
|
||||
"command": "rm -rfv /tmp/px4* || true",
|
||||
"command": "rm -rfv /tmp/px4*",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"reveal": "silent",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["px4_kill"]
|
||||
@@ -248,16 +288,14 @@
|
||||
{
|
||||
"label": "px4_kill",
|
||||
"type": "shell",
|
||||
"command": "pkill -9 px4 || true",
|
||||
"command": "killall px4 || true",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"reveal": "silent",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": []
|
||||
},
|
||||
@@ -299,12 +337,37 @@
|
||||
"inputs": [
|
||||
{
|
||||
"type": "pickString",
|
||||
"id": "gzWorld",
|
||||
"description": "gz world",
|
||||
"id": "vehicleModel",
|
||||
"description": "gazebo model",
|
||||
"options": [
|
||||
"default"
|
||||
"iris",
|
||||
"typhoon_h480",
|
||||
"plane",
|
||||
"plane_catapult",
|
||||
"plane_lidar",
|
||||
"standard_vtol",
|
||||
"tailsitter",
|
||||
"tiltrotor",
|
||||
"r1_rover",
|
||||
"boat"
|
||||
],
|
||||
"default": "default"
|
||||
"default": "iris"
|
||||
},
|
||||
{
|
||||
"type": "pickString",
|
||||
"id": "gazeboWorld",
|
||||
"description": "gazebo world",
|
||||
"options": [
|
||||
"baylands",
|
||||
"empty",
|
||||
"ksql_airport",
|
||||
"mcmillan_airfield",
|
||||
"sonoma_raceway",
|
||||
"warehouse",
|
||||
"windy",
|
||||
"yosemite"
|
||||
],
|
||||
"default": "empty"
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
@@ -0,0 +1,172 @@
|
||||
# This file is NOT licensed under the GPLv3, which is the license for the rest
|
||||
# of YouCompleteMe.
|
||||
#
|
||||
# Here's the license text for this file:
|
||||
#
|
||||
# This is free and unencumbered software released into the public domain.
|
||||
#
|
||||
# Anyone is free to copy, modify, publish, use, compile, sell, or
|
||||
# distribute this software, either in source code form or as a compiled
|
||||
# binary, for any purpose, commercial or non-commercial, and by any
|
||||
# means.
|
||||
#
|
||||
# In jurisdictions that recognize copyright laws, the author or authors
|
||||
# of this software dedicate any and all copyright interest in the
|
||||
# software to the public domain. We make this dedication for the benefit
|
||||
# of the public at large and to the detriment of our heirs and
|
||||
# successors. We intend this dedication to be an overt act of
|
||||
# relinquishment in perpetuity of all present and future rights to this
|
||||
# software under copyright law.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
|
||||
# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
|
||||
# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
|
||||
# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||||
# OTHER DEALINGS IN THE SOFTWARE.
|
||||
#
|
||||
# For more information, please refer to <http://unlicense.org/>
|
||||
|
||||
import os
|
||||
import ycm_core
|
||||
|
||||
# These are the compilation flags that will be used in case there's no
|
||||
# compilation database set (by default, one is not set).
|
||||
# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
|
||||
flags = [
|
||||
'-Wall',
|
||||
'-Wextra',
|
||||
'-Werror',
|
||||
#'-Wc++98-compat',
|
||||
'-Wno-long-long',
|
||||
'-Wno-variadic-macros',
|
||||
'-fexceptions',
|
||||
'-DNDEBUG',
|
||||
# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
|
||||
# source code needs it.
|
||||
#'-DUSE_CLANG_COMPLETER',
|
||||
# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
|
||||
# language to use when compiling headers. So it will guess. Badly. So C++
|
||||
# headers will be compiled as C headers. You don't want that so ALWAYS specify
|
||||
# a "-std=<something>".
|
||||
# For a C project, you would set this to something like 'c99' instead of
|
||||
# 'c++14'.
|
||||
'-std=c++14',
|
||||
# ...and the same thing goes for the magic -x option which specifies the
|
||||
# language that the files to be compiled are written in. This is mostly
|
||||
# relevant for c++ headers.
|
||||
# For a C project, you would set this to 'c' instead of 'c++'.
|
||||
'-x',
|
||||
'c++',
|
||||
'-undef', # get rid of standard definitions to allow us to include arm math header
|
||||
'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
|
||||
'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
|
||||
'-I', './NuttX/nuttx/arch/arm/include',
|
||||
'-include', './src/include/visibility.h',
|
||||
'-I', './src',
|
||||
'-I', './src/modules',
|
||||
'-I', './src/include',
|
||||
'-I', './src/lib',
|
||||
'-I', './NuttX',
|
||||
]
|
||||
|
||||
|
||||
# Set this to the absolute path to the folder (NOT the file!) containing the
|
||||
# compile_commands.json file to use that instead of 'flags'. See here for
|
||||
# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
|
||||
#
|
||||
# Most projects will NOT need to set this to anything; you can just change the
|
||||
# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
|
||||
compilation_database_folder = ''
|
||||
|
||||
if os.path.exists( compilation_database_folder ):
|
||||
database = ycm_core.CompilationDatabase( compilation_database_folder )
|
||||
else:
|
||||
database = None
|
||||
|
||||
SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
|
||||
|
||||
def DirectoryOfThisScript():
|
||||
return os.path.dirname( os.path.abspath( __file__ ) )
|
||||
|
||||
|
||||
def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
|
||||
if not working_directory:
|
||||
return list( flags )
|
||||
new_flags = []
|
||||
make_next_absolute = False
|
||||
path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
|
||||
for flag in flags:
|
||||
new_flag = flag
|
||||
|
||||
if make_next_absolute:
|
||||
make_next_absolute = False
|
||||
if not flag.startswith( '/' ):
|
||||
new_flag = os.path.join( working_directory, flag )
|
||||
|
||||
for path_flag in path_flags:
|
||||
if flag == path_flag:
|
||||
make_next_absolute = True
|
||||
break
|
||||
|
||||
if flag.startswith( path_flag ):
|
||||
path = flag[ len( path_flag ): ]
|
||||
new_flag = path_flag + os.path.join( working_directory, path )
|
||||
break
|
||||
|
||||
if new_flag:
|
||||
new_flags.append( new_flag )
|
||||
return new_flags
|
||||
|
||||
|
||||
def IsHeaderFile( filename ):
|
||||
extension = os.path.splitext( filename )[ 1 ]
|
||||
return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
|
||||
|
||||
|
||||
def GetCompilationInfoForFile( filename ):
|
||||
# The compilation_commands.json file generated by CMake does not have entries
|
||||
# for header files. So we do our best by asking the db for flags for a
|
||||
# corresponding source file, if any. If one exists, the flags for that file
|
||||
# should be good enough.
|
||||
if IsHeaderFile( filename ):
|
||||
basename = os.path.splitext( filename )[ 0 ]
|
||||
for extension in SOURCE_EXTENSIONS:
|
||||
replacement_file = basename + extension
|
||||
if os.path.exists( replacement_file ):
|
||||
compilation_info = database.GetCompilationInfoForFile(
|
||||
replacement_file )
|
||||
if compilation_info.compiler_flags_:
|
||||
return compilation_info
|
||||
return None
|
||||
return database.GetCompilationInfoForFile( filename )
|
||||
|
||||
|
||||
def FlagsForFile( filename, **kwargs ):
|
||||
if database:
|
||||
# Bear in mind that compilation_info.compiler_flags_ does NOT return a
|
||||
# python list, but a "list-like" StringVec object
|
||||
compilation_info = GetCompilationInfoForFile( filename )
|
||||
if not compilation_info:
|
||||
return None
|
||||
|
||||
final_flags = MakeRelativePathsInFlagsAbsolute(
|
||||
compilation_info.compiler_flags_,
|
||||
compilation_info.compiler_working_dir_ )
|
||||
|
||||
# NOTE: This is just for YouCompleteMe; it's highly likely that your project
|
||||
# does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
|
||||
# ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
|
||||
#try:
|
||||
# final_flags.remove( '-stdlib=libc++' )
|
||||
#except ValueError:
|
||||
# pass
|
||||
else:
|
||||
relative_to = DirectoryOfThisScript()
|
||||
final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
|
||||
|
||||
return {
|
||||
'flags': final_flags,
|
||||
'do_cache': True
|
||||
}
|
||||
+97
-120
@@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
|
||||
# Copyright (c) 2017 - 2019 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
|
||||
@@ -40,7 +40,7 @@
|
||||
# * Common functions should be included in px_base.cmake.
|
||||
#
|
||||
# * OS/ board specific fucntions should be include in
|
||||
# px_impl_${PX4_PLATFORM}.cmake
|
||||
# px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
|
||||
#
|
||||
# Formatting
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -99,10 +99,10 @@
|
||||
#
|
||||
#=============================================================================
|
||||
|
||||
cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
|
||||
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
|
||||
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
|
||||
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
|
||||
include(px4_parse_function_args)
|
||||
@@ -113,52 +113,22 @@ 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})
|
||||
|
||||
# major version
|
||||
list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
|
||||
string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
|
||||
# minor version
|
||||
list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
|
||||
# patch version
|
||||
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}")
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
|
||||
BRIEF_DOCS "PX4 module libs"
|
||||
FULL_DOCS "List of all PX4 module libraries"
|
||||
)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
|
||||
BRIEF_DOCS "PX4 kernel side module libs"
|
||||
FULL_DOCS "List of all PX4 kernel module libraries"
|
||||
)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
|
||||
BRIEF_DOCS "PX4 module paths"
|
||||
FULL_DOCS "List of paths to all PX4 modules"
|
||||
)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_SRC_FILES
|
||||
BRIEF_DOCS "src files from all PX4 modules & libs"
|
||||
FULL_DOCS "SRC files from px4_add_{module,library}"
|
||||
@@ -168,17 +138,24 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
|
||||
# configuration
|
||||
#
|
||||
|
||||
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
|
||||
|
||||
include(px4_add_module)
|
||||
set(config_module_list)
|
||||
set(config_kernel_list)
|
||||
|
||||
# Find Python
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if(NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
# If using catkin, Python 2 is found since it points
|
||||
# to the Python libs installed with the ROS distro
|
||||
if (NOT CATKIN_DEVEL_PREFIX)
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if (NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
endif()
|
||||
else()
|
||||
find_package(PythonInterp REQUIRED)
|
||||
endif()
|
||||
|
||||
option(PYTHON_COVERAGE "Python code coverage" OFF)
|
||||
@@ -192,12 +169,6 @@ include(kconfig)
|
||||
message(STATUS "PX4 config: ${PX4_CONFIG}")
|
||||
message(STATUS "PX4 platform: ${PX4_PLATFORM}")
|
||||
|
||||
if($ENV{CLION_IDE})
|
||||
# CLion automatically executes some compiler commands after configuring the
|
||||
# project. This would fail on NuttX, as visibility.h tries to (indirectly)
|
||||
# include nuttx/config.h, which at that point does not exist yet
|
||||
add_definitions(-DPX4_DISABLE_GCC_POISON)
|
||||
endif()
|
||||
|
||||
if(${PX4_PLATFORM} STREQUAL "posix")
|
||||
if(ENABLE_LOCKSTEP_SCHEDULER)
|
||||
@@ -224,11 +195,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
|
||||
include(init)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# project definition
|
||||
#
|
||||
project(px4 CXX C ASM)
|
||||
|
||||
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
|
||||
if(NOT CMAKE_BUILD_TYPE)
|
||||
if(${PX4_PLATFORM} STREQUAL "nuttx")
|
||||
@@ -257,25 +223,28 @@ endif()
|
||||
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
|
||||
message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
|
||||
|
||||
# Check if LTO option and check if toolchain supports it
|
||||
if(LTO)
|
||||
include(CheckIPOSupported)
|
||||
check_ipo_supported()
|
||||
message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
|
||||
set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
|
||||
endif()
|
||||
#=============================================================================
|
||||
# project definition
|
||||
#
|
||||
project(px4 CXX C ASM)
|
||||
|
||||
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)
|
||||
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
|
||||
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
|
||||
# For the catkin build process, unset build of dynamically-linked binaries
|
||||
# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
|
||||
if (NOT CATKIN_DEVEL_PREFIX)
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
|
||||
else()
|
||||
SET(BUILD_SHARED_LIBS OFF)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
|
||||
@@ -307,10 +276,7 @@ if(${PX4_PLATFORM} STREQUAL "posix")
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
set(CMAKE_ENABLE_EXPORTS ON)
|
||||
|
||||
if(CMAKE_BUILD_TYPE MATCHES "Coverage")
|
||||
include(coverage)
|
||||
endif()
|
||||
|
||||
include(coverage)
|
||||
include(sanitizers)
|
||||
|
||||
# Define GNU standard installation directories
|
||||
@@ -323,6 +289,21 @@ endif()
|
||||
|
||||
include(ccache)
|
||||
|
||||
#=============================================================================
|
||||
# find programs and packages
|
||||
#
|
||||
|
||||
# see if catkin was invoked to build this
|
||||
if (CATKIN_DEVEL_PREFIX)
|
||||
message(STATUS "catkin ENABLED")
|
||||
find_package(catkin REQUIRED)
|
||||
if (catkin_FOUND)
|
||||
catkin_package()
|
||||
else()
|
||||
message(FATAL_ERROR "catkin not found")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# get chip and chip manufacturer
|
||||
#
|
||||
@@ -334,33 +315,6 @@ 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 ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
|
||||
set(FUZZTEST_FUZZING_MODE ON)
|
||||
endif()
|
||||
add_subdirectory(test)
|
||||
fuzztest_setup_fuzzing_flags()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# build flags
|
||||
#
|
||||
@@ -413,13 +367,45 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# Testing - Automatic unit and integration testing with CTest
|
||||
#
|
||||
|
||||
# optionally enable cmake testing (supported only on posix)
|
||||
option(CMAKE_TESTING "Configure test targets" OFF)
|
||||
if(${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
|
||||
test_mixer_multirotor
|
||||
USES_TERMINAL
|
||||
COMMENT "Running tests"
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
|
||||
endif()
|
||||
|
||||
|
||||
#=============================================================================
|
||||
# subdirectories
|
||||
#
|
||||
add_library(parameters_interface INTERFACE)
|
||||
add_library(kernel_parameters_interface INTERFACE)
|
||||
add_library(events_interface INTERFACE)
|
||||
add_library(kernel_events_interface INTERFACE)
|
||||
|
||||
include(px4_add_library)
|
||||
add_subdirectory(src/lib EXCLUDE_FROM_ALL)
|
||||
@@ -437,21 +423,10 @@ endforeach()
|
||||
|
||||
# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
|
||||
add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
|
||||
# metadata needs PX4_MODULE_CONFIG_FILES
|
||||
add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
|
||||
|
||||
# must be the last module before firmware
|
||||
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
|
||||
|
||||
if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
|
||||
target_link_libraries(parameters_interface INTERFACE usr_parameters)
|
||||
target_link_libraries(kernel_parameters_interface INTERFACE parameters)
|
||||
target_link_libraries(events_interface INTERFACE usr_events)
|
||||
target_link_libraries(kernel_events_interface INTERFACE events)
|
||||
else()
|
||||
target_link_libraries(parameters_interface INTERFACE parameters)
|
||||
target_link_libraries(events_interface INTERFACE events)
|
||||
endif()
|
||||
target_link_libraries(parameters_interface INTERFACE parameters)
|
||||
|
||||
# firmware added last to generate the builtin for included modules
|
||||
add_subdirectory(platforms/${PX4_PLATFORM})
|
||||
@@ -479,19 +454,21 @@ add_custom_command(OUTPUT ${uorb_graph_config}
|
||||
add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
|
||||
|
||||
|
||||
include(bloaty)
|
||||
|
||||
|
||||
include(doxygen)
|
||||
include(metadata)
|
||||
include(package)
|
||||
|
||||
# print size
|
||||
add_custom_target(size
|
||||
COMMAND size $<TARGET_FILE:px4>
|
||||
DEPENDS px4
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
# 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 ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
|
||||
include(finalize)
|
||||
endif()
|
||||
|
||||
+2
-2
@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project
|
||||
|
||||
### Create a feature branch
|
||||
|
||||
*Always* branch off main for new features.
|
||||
*Always* branch off master for new features.
|
||||
|
||||
```
|
||||
git checkout -b mydescriptivebranchname
|
||||
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
|
||||
|
||||
### 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. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
|
||||
The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
|
||||
|
||||
### Commit your changes
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,83 @@
|
||||
{
|
||||
"folders":
|
||||
[
|
||||
{
|
||||
"path": ".",
|
||||
"file_exclude_patterns":
|
||||
[
|
||||
"*.o",
|
||||
"*.a",
|
||||
"*.d",
|
||||
".built",
|
||||
".context",
|
||||
".depend",
|
||||
".config",
|
||||
".version",
|
||||
"Make.dep",
|
||||
".configured",
|
||||
"*.sublime-project",
|
||||
"*.sublime-workspace",
|
||||
".project",
|
||||
".cproject",
|
||||
"cscope.out"
|
||||
],
|
||||
"folder_exclude_patterns":
|
||||
[
|
||||
".settings",
|
||||
"nuttx/arch/arm/src/board",
|
||||
"nuttx/arch/arm/src/chip",
|
||||
"build_*"
|
||||
]
|
||||
}
|
||||
],
|
||||
"settings":
|
||||
{
|
||||
"tab_size": 8,
|
||||
"translate_tabs_to_spaces": false,
|
||||
"highlight_line": true,
|
||||
"AStyleFormatter":
|
||||
{
|
||||
"options_c":
|
||||
{
|
||||
"use_only_additional_options": true,
|
||||
"additional_options_file": "${project_path}/Tools/astyle/astylerc"
|
||||
},
|
||||
"options_c++":
|
||||
{
|
||||
"use_only_additional_options": true,
|
||||
"additional_options_file": "${project_path}/Tools/astyle/astylerc"
|
||||
}
|
||||
}
|
||||
},
|
||||
"build_systems":
|
||||
[
|
||||
{
|
||||
"name": "PX4: make all",
|
||||
"working_dir": "${project_path}",
|
||||
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||
"cmd": ["make"],
|
||||
"shell": true
|
||||
},
|
||||
{
|
||||
"name": "PX4: make and upload",
|
||||
"working_dir": "${project_path}",
|
||||
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||
"cmd": ["make upload px4_fmu-v2_default -j8"],
|
||||
"shell": true
|
||||
},
|
||||
{
|
||||
"name": "PX4: make posix",
|
||||
"working_dir": "${project_path}",
|
||||
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||
"cmd": ["make posix"],
|
||||
"shell": true
|
||||
},
|
||||
{
|
||||
"name": "MindPX_V2: make and upload",
|
||||
"working_dir": "${project_path}",
|
||||
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||
"cmd": ["make upload mindpx-v2_default -j8"],
|
||||
"shell": true
|
||||
}
|
||||
]
|
||||
}
|
||||
Vendored
+196
-61
@@ -7,19 +7,88 @@ pipeline {
|
||||
stage('Analysis') {
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
parallel {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-08-18'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// sh 'ls -l'
|
||||
// sh '''#!/bin/bash -l
|
||||
// echo $0;
|
||||
// mkdir -p catkin_ws/src;
|
||||
// cd catkin_ws;
|
||||
// git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
|
||||
// git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
|
||||
// git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
|
||||
// source /opt/ros/melodic/setup.bash;
|
||||
// export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
|
||||
// catkin init;
|
||||
// catkin build -j$(nproc) -l$(nproc);
|
||||
// '''
|
||||
// // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
|
||||
// sh '''#!/bin/bash -l
|
||||
// echo $0;
|
||||
// source catkin_ws/devel/setup.bash;
|
||||
// rostest px4 pub_test.launch;
|
||||
// '''
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'rm -rf catkin_ws'
|
||||
// }
|
||||
// failure {
|
||||
// archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
|
||||
// }
|
||||
// }
|
||||
// options {
|
||||
// checkoutToSubdirectory('catkin_ws/src/Firmware')
|
||||
// }
|
||||
// }
|
||||
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-08-18'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'ls -l'
|
||||
sh '''#!/bin/bash -l
|
||||
echo $0;
|
||||
unset ROS_DISTRO;
|
||||
mkdir -p colcon_ws/src;
|
||||
cd colcon_ws;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
|
||||
source /opt/ros/foxy/setup.sh;
|
||||
colcon build --event-handlers console_direct+ --symlink-install;
|
||||
'''
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'rm -rf colcon_ws'
|
||||
}
|
||||
}
|
||||
options {
|
||||
checkoutToSubdirectory('colcon_ws/src/Firmware')
|
||||
}
|
||||
}
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -29,7 +98,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -39,7 +108,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -49,7 +118,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -59,7 +128,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -69,7 +138,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -79,7 +148,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
|
||||
sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
|
||||
dir('build') {
|
||||
archiveArtifacts(artifacts: 'msg_docs/*.md')
|
||||
stash includes: 'msg_docs/*.md', name: 'msg_documentation'
|
||||
@@ -87,38 +156,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('failsafe docs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
|
||||
}
|
||||
steps {
|
||||
sh '''#!/bin/bash -l
|
||||
echo $0;
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
|
||||
cd _emscripten_sdk;
|
||||
./emsdk install latest;
|
||||
./emsdk activate latest;
|
||||
cd ..;
|
||||
. ./_emscripten_sdk/emsdk_env.sh;
|
||||
git fetch --all --tags;
|
||||
make failsafe_web;
|
||||
cd build/px4_sitl_default_failsafe_web;
|
||||
mkdir -p failsafe_sim;
|
||||
cp index.* parameters.json failsafe_sim;
|
||||
'''
|
||||
dir('build/px4_sitl_default_failsafe_web') {
|
||||
archiveArtifacts(artifacts: 'failsafe_sim/*')
|
||||
stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -126,13 +164,13 @@ pipeline {
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-08-18'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
@@ -142,7 +180,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -164,25 +202,22 @@ pipeline {
|
||||
unstash 'metadata_parameters'
|
||||
unstash 'metadata_module_documentation'
|
||||
unstash 'msg_documentation'
|
||||
unstash 'failsafe_sim'
|
||||
unstash 'uorb_graph'
|
||||
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-user_guide.git')
|
||||
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 msg_docs/*.md PX4-user_guide/en/msg_docs/')
|
||||
sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe') // vitepress
|
||||
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')
|
||||
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
|
||||
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/.vuepress/public/en/middleware/')
|
||||
sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
|
||||
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 master || true')
|
||||
sh('rm -rf px4_user_guide')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
@@ -210,8 +245,7 @@ pipeline {
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
@@ -220,6 +254,108 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('git fetch --all --tags')
|
||||
sh('make distclean')
|
||||
sh('make px4_sitl_rtps')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
|
||||
sh("rm -rf micrortps_agent/src micrortps_agent/idl")
|
||||
sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
|
||||
sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('rm -rf micrortps_agent')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'master' branch
|
||||
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin master || true')
|
||||
// 'ros1' branch
|
||||
sh('cd px4_msgs; git checkout ros1')
|
||||
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin ros1 || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
// deploy uORB RTPS required tools
|
||||
sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
|
||||
sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
|
||||
sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
|
||||
sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
|
||||
// deploy templates
|
||||
sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
|
||||
sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
|
||||
sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
|
||||
sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
|
||||
sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
|
||||
sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
|
||||
sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
|
||||
sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
@@ -237,8 +373,7 @@ pipeline {
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
|
||||
@@ -17,8 +17,6 @@ menu "Toolchain"
|
||||
bool "posix"
|
||||
config PLATFORM_QURT
|
||||
bool "qurt"
|
||||
config PLATFORM_ROS2
|
||||
bool "ros2"
|
||||
endchoice
|
||||
|
||||
config BOARD_PLATFORM
|
||||
@@ -26,7 +24,6 @@ menu "Toolchain"
|
||||
default "nuttx" if PLATFORM_NUTTX
|
||||
default "posix" if PLATFORM_POSIX
|
||||
default "qurt" if PLATFORM_QURT
|
||||
default "ros2" if PLATFORM_ROS2
|
||||
|
||||
config BOARD_LOCKSTEP
|
||||
bool "Force enable lockstep"
|
||||
@@ -40,8 +37,8 @@ menu "Toolchain"
|
||||
help
|
||||
forces nolockstep behaviour, despite REPLAY env variable
|
||||
|
||||
config BOARD_LINUX_TARGET
|
||||
bool "Linux OS Target"
|
||||
config BOARD_LINUX
|
||||
bool "Linux OS"
|
||||
depends on PLATFORM_POSIX
|
||||
help
|
||||
Board Platform is running the Linux operating system
|
||||
@@ -54,13 +51,6 @@ menu "Toolchain"
|
||||
string "Architecture"
|
||||
default ""
|
||||
|
||||
config BOARD_LTO
|
||||
bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
|
||||
default n
|
||||
help
|
||||
Enables LTO flag in linker
|
||||
Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
|
||||
|
||||
config BOARD_FULL_OPTIMIZATION
|
||||
bool "Full optmization (O3)"
|
||||
default n
|
||||
@@ -73,15 +63,13 @@ menu "Toolchain"
|
||||
help
|
||||
relative path to the ROMFS root directory
|
||||
|
||||
config BOARD_ADDITIONAL_INIT
|
||||
string "Additional init file"
|
||||
config BOARD_BUILD_BOOTLOADER
|
||||
bool "Enable bootloader"
|
||||
help
|
||||
additional configurable init file to include in the ROMFS
|
||||
flag to enable building and including the bootloader config
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
default "px4_io-v2_default"
|
||||
depends on DRIVERS_PX4IO
|
||||
help
|
||||
name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
|
||||
|
||||
@@ -129,14 +117,14 @@ config BOARD_ETHERNET
|
||||
flag to indicate that ethernet is enabled
|
||||
|
||||
config BOARD_CRYPTO
|
||||
bool "Crypto support"
|
||||
string "Crypto"
|
||||
help
|
||||
Enable PX4 Crypto Support. Select the implementation under drivers
|
||||
Crypto implementation selection
|
||||
|
||||
config BOARD_PROTECTED
|
||||
bool "Memory protection"
|
||||
config BOARD_KEYSTORE
|
||||
string "Keystore"
|
||||
help
|
||||
Enable memory protection via MPU/MMU
|
||||
Keystore implememntation selection
|
||||
|
||||
menu "Serial ports"
|
||||
|
||||
@@ -179,19 +167,8 @@ menu "Serial ports"
|
||||
config BOARD_SERIAL_WIFI
|
||||
string "WIFI tty port"
|
||||
|
||||
config BOARD_SERIAL_EXT2
|
||||
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"
|
||||
config BOARD_SERIAL_PPB
|
||||
string "PPB (Pixhawk Payload Bus) tty port"
|
||||
endmenu
|
||||
|
||||
menu "drivers"
|
||||
@@ -209,10 +186,3 @@ endmenu
|
||||
menu "examples"
|
||||
source "src/examples/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "platforms"
|
||||
depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
|
||||
source "platforms/Kconfig"
|
||||
endmenu
|
||||
|
||||
source "src/lib/*/Kconfig"
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2025, PX4 Development Team
|
||||
Copyright (c) 2012 - 2021, 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
|
||||
@@ -129,49 +129,52 @@ else
|
||||
BUILD_DIR_SUFFIX :=
|
||||
endif
|
||||
|
||||
CMAKE_ARGS ?=
|
||||
|
||||
# additional config parameters passed to cmake
|
||||
ifdef EXTERNAL_MODULES_LOCATION
|
||||
override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
|
||||
CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
|
||||
endif
|
||||
|
||||
ifdef PX4_CMAKE_BUILD_TYPE
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
|
||||
else
|
||||
|
||||
# Address Sanitizer
|
||||
ifdef PX4_ASAN
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
|
||||
endif
|
||||
|
||||
# Memory Sanitizer
|
||||
ifdef PX4_MSAN
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
|
||||
endif
|
||||
|
||||
# Thread Sanitizer
|
||||
ifdef PX4_TSAN
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
|
||||
endif
|
||||
|
||||
# Undefined Behavior Sanitizer
|
||||
ifdef PX4_UBSAN
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
# Pick up specific Python path if set
|
||||
ifdef PYTHON_EXECUTABLE
|
||||
override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
endif
|
||||
|
||||
# Check if the microRTPS agent is to be built
|
||||
ifdef BUILD_MICRORTPS_AGENT
|
||||
CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
|
||||
endif
|
||||
|
||||
# Functions
|
||||
# --------------------------------------------------------------------
|
||||
# describe how to build a cmake config
|
||||
define cmake-build
|
||||
$(eval override CMAKE_ARGS += -DCONFIG=$(1))
|
||||
$(eval CMAKE_ARGS += -DCONFIG=$(1))
|
||||
@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
|
||||
@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
|
||||
@$(call cmake-cache-check)
|
||||
@@ -243,7 +246,7 @@ endef
|
||||
# Other targets
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
|
||||
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
|
||||
|
||||
# QGroundControl flashable NuttX firmware
|
||||
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
|
||||
@@ -261,13 +264,22 @@ px4fmu_firmware: \
|
||||
|
||||
misc_qgc_extra_firmware: \
|
||||
check_nxp_fmuk66-v3_default \
|
||||
check_nxp_fmurt1062-v1_default \
|
||||
check_mro_x21_default \
|
||||
check_bitcraze_crazyflie_default \
|
||||
check_bitcraze_crazyflie21_default \
|
||||
check_airmind_mindpx-v2_default \
|
||||
sizes
|
||||
|
||||
.PHONY: sizes check quick_check uorb_graphs
|
||||
# builds with RTPS
|
||||
check_rtps: \
|
||||
check_px4_fmu-v3_rtps \
|
||||
check_px4_fmu-v4_rtps \
|
||||
check_px4_fmu-v4pro_rtps \
|
||||
check_px4_sitl_rtps \
|
||||
sizes
|
||||
|
||||
.PHONY: sizes check quick_check check_rtps uorb_graphs
|
||||
|
||||
sizes:
|
||||
@-find build -name *.elf -type f | xargs size 2> /dev/null || :
|
||||
@@ -295,70 +307,8 @@ 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:
|
||||
@$(MAKE) --no-print-directory px4_io-v2_default
|
||||
@$(MAKE) --no-print-directory cubepilot_io-v2_default
|
||||
# px4_io-v2_default
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
|
||||
# cubepilot_io-v2_default
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
|
||||
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 \
|
||||
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
|
||||
git status
|
||||
|
||||
.PHONY: coverity_scan
|
||||
|
||||
@@ -366,7 +316,7 @@ 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:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
|
||||
@@ -382,9 +332,15 @@ extract_events:
|
||||
|
||||
px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
|
||||
|
||||
# Style
|
||||
doxygen:
|
||||
@mkdir -p "$(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')
|
||||
@@ -395,48 +351,37 @@ 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:
|
||||
$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
|
||||
$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
|
||||
$(eval ARGS += test_results)
|
||||
$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
|
||||
$(eval UBSAN_OPTIONS += color=always)
|
||||
$(call cmake-build,px4_sitl_test)
|
||||
|
||||
# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
|
||||
LCOBUG = --ignore-errors mismatch
|
||||
tests_coverage:
|
||||
@$(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 \
|
||||
$(LCOBUG) \
|
||||
-o coverage/lcov.info
|
||||
@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
|
||||
|
||||
rostest: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
|
||||
tests_integration: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
||||
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
|
||||
|
||||
tests_integration_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
||||
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
|
||||
@mkdir -p coverage
|
||||
@@ -446,13 +391,13 @@ tests_mission: rostest
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
|
||||
|
||||
rostest_run: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
|
||||
|
||||
tests_mission_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
|
||||
@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
|
||||
|
||||
@@ -461,6 +406,10 @@ tests_offboard: rostest
|
||||
@"$(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
|
||||
@@ -474,7 +423,7 @@ 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:
|
||||
@@ -500,6 +449,10 @@ clang-tidy: px4_sitl_default-clang
|
||||
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$(j_clang_tidy) -fix -p .
|
||||
|
||||
# modified version of run-clang-tidy.py to return error codes and only output relevant results
|
||||
clang-tidy-quiet: px4_sitl_default-clang
|
||||
@cd "$(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
|
||||
@mkdir -p "$(SRC_DIR)"/build/cppcheck
|
||||
@@ -511,19 +464,11 @@ shellcheck_all:
|
||||
@make px4_fmu-v5_default shellcheck
|
||||
|
||||
validate_module_configs:
|
||||
@find "$(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 "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
||||
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: clean submodulesclean submodulesupdate distclean
|
||||
.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
|
||||
|
||||
clean:
|
||||
@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
|
||||
@@ -541,7 +486,10 @@ submodulesupdate:
|
||||
@git submodule update --init --recursive --jobs 4
|
||||
@git fetch --all --tags --recurse-submodules=yes --jobs=4
|
||||
|
||||
distclean:
|
||||
gazeboclean:
|
||||
@rm -rf ~/.gazebo/*
|
||||
|
||||
distclean: gazeboclean
|
||||
@git submodule deinit --force $(SRC_DIR)
|
||||
@rm -rf "$(SRC_DIR)/build"
|
||||
@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
|
||||
@@ -552,14 +500,14 @@ 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$$' -e '^(Makefile)'
|
||||
@echo
|
||||
@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
|
||||
@@ -581,20 +529,17 @@ check_px4: $(call make_list,nuttx,"px4") \
|
||||
check_nxp: $(call make_list,nuttx,"nxp") \
|
||||
sizes
|
||||
|
||||
# helpers for running olddefconfig (nuttx) and px4_savedefconfig on all boards
|
||||
.PHONY: all_oldconfig all_px4_savedefconfig
|
||||
all_oldconfig:
|
||||
@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ oldconfig; done
|
||||
ifneq ($(ROS2_WS_DIR),)
|
||||
ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
|
||||
else
|
||||
ROS2_WS_DIR := ~/colcon_ws
|
||||
endif
|
||||
|
||||
all_px4_savedefconfig:
|
||||
@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ px4_savedefconfig; done
|
||||
update_ros2_bridge:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
|
||||
|
||||
.PHONY: failsafe_web run_failsafe_web_server
|
||||
failsafe_web:
|
||||
@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
|
||||
@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
|
||||
PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
|
||||
CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
|
||||
run_failsafe_web_server: failsafe_web
|
||||
@cd build/px4_sitl_default_failsafe_web && \
|
||||
python3 -m http.server
|
||||
update_px4_ros_com:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
|
||||
|
||||
update_px4_msgs:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
|
||||
|
||||
@@ -0,0 +1,17 @@
|
||||
Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
|
||||
|
||||
**Describe problem solved by this pull request**
|
||||
A clear and concise description of the problem this proposed change will solve.
|
||||
E.g. For this use case I ran into...
|
||||
|
||||
**Describe your solution**
|
||||
A clear and concise description of what you have implemented.
|
||||
|
||||
**Describe possible alternatives**
|
||||
A clear and concise description of alternative solutions or features you've considered.
|
||||
|
||||
**Test data / coverage**
|
||||
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
|
||||
|
||||
**Additional context**
|
||||
Add any other related context or media.
|
||||
@@ -2,61 +2,121 @@
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/releases) [](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
[](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)
|
||||
[](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
|
||||
|
||||
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.
|
||||
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/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
|
||||
|
||||
* 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, Spacecraft, etc)
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
|
||||
* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
|
||||
* [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
|
||||
* [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
|
||||
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
|
||||
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
|
||||
* [Rover](https://docs.px4.io/master/en/frames_rover/)
|
||||
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
|
||||
## Releases
|
||||
|
||||
Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
|
||||
|
||||
## Building a PX4 based drone, rover, boat or robot
|
||||
|
||||
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!
|
||||
The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
|
||||
See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
|
||||
|
||||
|
||||
## Changing Code and Contributing
|
||||
## Changing code and contributing
|
||||
|
||||
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.
|
||||
This [Developer Guide](https://docs.px4.io/master/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.
|
||||
|
||||
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!
|
||||
Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
|
||||
See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
|
||||
|
||||
|
||||
## Weekly Dev Call
|
||||
### Weekly Dev Call
|
||||
|
||||
The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
|
||||
The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
|
||||
|
||||
> **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/).
|
||||
|
||||
|
||||
## Maintenance Team
|
||||
|
||||
See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
|
||||
* Project: Founder
|
||||
* [Lorenz Meier](https://github.com/LorenzMeier)
|
||||
* Architecture
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
|
||||
* [Ramon Roche](https://github.com/mrpollo)
|
||||
* Communication Architecture
|
||||
* [Beat Kueng](https://github.com/bkueng)
|
||||
* [Julian Oes](https://github.com/JulianOes)
|
||||
* UI in QGroundControl
|
||||
* [Gus Grubba](https://github.com/dogmaphobic)
|
||||
* [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
|
||||
* [Mathieu Bresciani](https://github.com/bresch)
|
||||
* [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
|
||||
* [Matthias Grob](https://github.com/MaEtUgR)
|
||||
* [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
|
||||
* [Roman Bapst](https://github.com/RomanBapst)
|
||||
* [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
|
||||
* [Roman Bapst](https://github.com/RomanBapst)
|
||||
* OS / NuttX
|
||||
* [David Sidrane](https://github.com/davids5)
|
||||
* Driver Architecture
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* Commander Architecture
|
||||
* [Julian Oes](https://github.com/julianoes)
|
||||
* [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
|
||||
* [Paul Riseborough](https://github.com/priseborough)
|
||||
* Vision based navigation and Obstacle Avoidance
|
||||
* [Markus Achtelik](https://github.com/markusachtelik)
|
||||
* RTPS/ROS2 Interface
|
||||
* [Nuno Marques](https://github.com/TSC21)
|
||||
|
||||
For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
|
||||
|
||||
## Supported Hardware
|
||||
|
||||
For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
|
||||
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
|
||||
|
||||
## Project Governance
|
||||
### Pixhawk Standard Boards
|
||||
* FMUv6X and FMUv6U (STM32H7, 2021)
|
||||
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
* [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
|
||||
|
||||
The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
|
||||
### Manufacturer and Community supported
|
||||
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
|
||||
* [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.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)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
|
||||
* [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
|
||||
* [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
|
||||
|
||||
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
|
||||
<div style="padding:10px"> </div>
|
||||
Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
|
||||
|
||||
## Project Roadmap
|
||||
|
||||
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
|
||||
|
||||
+49
-151
@@ -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
|
||||
@@ -134,23 +112,23 @@ add_custom_command(
|
||||
${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
|
||||
${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
|
||||
)
|
||||
set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
|
||||
add_custom_command(
|
||||
OUTPUT ${romfs_extract_stamp}
|
||||
COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
|
||||
COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
|
||||
WORKING_DIRECTORY ${romfs_gen_root_dir}
|
||||
DEPENDS ${romfs_tar_file}
|
||||
VERBATIM
|
||||
)
|
||||
|
||||
|
||||
set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${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}
|
||||
# Preprocess ROMFS files with KConfig definitions
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_preprocess.py
|
||||
--romfs-dir ${romfs_gen_root_dir}
|
||||
--kconfig-header ${PX4_BINARY_DIR}/px4_boardconfig.h
|
||||
--cpp ${CMAKE_C_COMPILER}
|
||||
romfs_copy.stamp
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
|
||||
--airframes-path ${romfs_gen_root_dir}/init.d
|
||||
--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
|
||||
@@ -159,20 +137,44 @@ 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}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
|
||||
DEPENDS
|
||||
${romfs_tar_file}
|
||||
${PX4_BINARY_DIR}/px4_boardconfig.h
|
||||
COMMENT "ROMFS: copying, preprocessing, generating airframes"
|
||||
${romfs_extract_stamp}
|
||||
COMMENT "ROMFS: copying, generating airframes"
|
||||
)
|
||||
|
||||
# copy extras into ROMFS
|
||||
set(extras_dependencies)
|
||||
|
||||
# copy px4io binary if configured
|
||||
if(config_io_board)
|
||||
list(APPEND extras_dependencies
|
||||
copy_px4io_bin
|
||||
${fw_io_bin}
|
||||
)
|
||||
file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
|
||||
message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
|
||||
endif()
|
||||
|
||||
|
||||
# board bootloader (built or included)
|
||||
if(TARGET copy_bootloader_bin)
|
||||
|
||||
if(board_bootloader_firmware)
|
||||
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
|
||||
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
|
||||
else()
|
||||
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
|
||||
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
|
||||
endif()
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
copy_bootloader_bin
|
||||
${bootloader_bin}
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
# optional board architecture defaults
|
||||
set(board_arch_rc_file "rc.board_arch_defaults")
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
|
||||
@@ -197,7 +199,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/
|
||||
endif()
|
||||
|
||||
|
||||
# board custom init files
|
||||
set(OPTIONAL_BOARD_RC)
|
||||
list(APPEND OPTIONAL_BOARD_RC
|
||||
rc.board_defaults
|
||||
@@ -231,124 +232,22 @@ 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)
|
||||
file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
|
||||
|
||||
# bootloader (optional)
|
||||
# - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
|
||||
# - otherwise remove bootloader binary from extras in final ROMFS
|
||||
foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
|
||||
if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
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
|
||||
)
|
||||
else()
|
||||
# remove bootloader from extras
|
||||
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
|
||||
endif()
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
|
||||
if(EXISTS "${board_extra_file}")
|
||||
file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
|
||||
file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
|
||||
message(STATUS "ROMFS: Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/extras/${extra_file_base_name}
|
||||
${extra_file_base_name}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
|
||||
DEPENDS
|
||||
${board_extra_file}
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying ${board_extra_file}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${extra_file_base_name}.stamp
|
||||
)
|
||||
endif()
|
||||
|
||||
endforeach()
|
||||
|
||||
|
||||
|
||||
if(config_uavcan_peripheral_firmware)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
|
||||
# include the UAVCAN peripheral binaries in ROMFS
|
||||
# include the px4io binary in ROMFS
|
||||
message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
|
||||
|
||||
# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
|
||||
cmake_policy(SET CMP0097 NEW)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
ExternalProject_Add(build_${uavcan_peripheral_config}
|
||||
GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
|
||||
GIT_TAG ${PX4_GIT_TAG}
|
||||
GIT_SUBMODULES ""
|
||||
DOWNLOAD_NO_PROGRESS true
|
||||
SOURCE_DIR ${CMAKE_SOURCE_DIR}
|
||||
DOWNLOAD_COMMAND ""
|
||||
UPDATE_COMMAND ""
|
||||
CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
|
||||
INSTALL_COMMAND ""
|
||||
USES_TERMINAL_BUILD true
|
||||
DEPENDS git_nuttx git_nuttx_apps
|
||||
BUILD_ALWAYS 1
|
||||
)
|
||||
|
||||
@@ -397,9 +296,8 @@ add_custom_command(OUTPUT romfs_extras.stamp
|
||||
|
||||
add_custom_target(romfs_gen_files_target
|
||||
DEPENDS
|
||||
${romfs_copy_stamp}
|
||||
${romfs_extract_stamp}
|
||||
${romfs_gen_root_dir}/init.d/rc.serial
|
||||
${romfs_gen_root_dir}/init.d/rc.filepaths
|
||||
romfs_extras.stamp
|
||||
)
|
||||
|
||||
|
||||
+11
-34
@@ -21,14 +21,20 @@ 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
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
param select $PARAM_FILE
|
||||
|
||||
if ! param load
|
||||
then
|
||||
param reset_all
|
||||
@@ -56,17 +62,6 @@ 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.
|
||||
#
|
||||
@@ -91,28 +86,10 @@ unset BOARD_RC_SENSORS
|
||||
. ${R}etc/init.d/rc.serial
|
||||
|
||||
# Check for flow sensor
|
||||
if param compare -s SENS_EN_PX4FLOW 1
|
||||
if param compare SENS_EN_PX4FLOW 1
|
||||
then
|
||||
px4flow start -X &
|
||||
px4flow start -X
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_CAL_EN 1
|
||||
then
|
||||
gyro_calibration start
|
||||
fi
|
||||
|
||||
|
||||
if param compare -s MBE_ENABLE 1
|
||||
then
|
||||
# conservative mag bias estimation
|
||||
param set-default MBE_LEARN_GAIN 5
|
||||
param set-default IMU_GYRO_CUTOFF 20
|
||||
mag_bias_estimator start
|
||||
fi
|
||||
|
||||
param set-default SENS_MAG_RATE 100
|
||||
|
||||
sensors start
|
||||
|
||||
uavcannode start
|
||||
unset R
|
||||
|
||||
@@ -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 [ $? = 0 ]
|
||||
then
|
||||
echo "SD card mounted at /fs/microsd"
|
||||
else
|
||||
echo "No SD card found"
|
||||
fi
|
||||
|
||||
unset R
|
||||
|
||||
echo ""
|
||||
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
|
||||
echo "!!!!!! This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected! !!!!!"
|
||||
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
|
||||
echo ""
|
||||
@@ -32,7 +32,9 @@
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(init.d)
|
||||
add_subdirectory(mixers)
|
||||
# TODO: make this configurable from the board config, or better combine
|
||||
if("${PX4_BOARD}" MATCHES "sitl")
|
||||
add_subdirectory(mixers-sitl)
|
||||
add_subdirectory(init.d-posix)
|
||||
endif()
|
||||
|
||||
@@ -35,11 +35,9 @@ add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.mavlink
|
||||
px4-rc.params
|
||||
px4-rc.rtps
|
||||
px4-rc.simulator
|
||||
px4-rc.gzsim
|
||||
px4-rc.jmavsim
|
||||
px4-rc.mavlinksim
|
||||
px4-rc.sihsim
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -1,32 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Julian Oes <julian@oes.ch>
|
||||
#
|
||||
|
||||
. ${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
|
||||
@@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Julian Oes <julian@oes.ch>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_w
|
||||
@@ -1,30 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Iris Quadrotor SITL
|
||||
#
|
||||
# @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
|
||||
@@ -0,0 +1,55 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Julian Oes <julian@oes.ch>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.1515
|
||||
param set-default CA_MC_R0_PY 0.245
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.1515
|
||||
param set-default CA_MC_R1_PY -0.1875
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.1515
|
||||
param set-default CA_MC_R2_PY -0.245
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.1515
|
||||
param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_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
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
@@ -1,31 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL jMAVSim
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Julian Oes <julian@oes.ch>
|
||||
#
|
||||
|
||||
. ${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
|
||||
@@ -1,32 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
|
||||
#
|
||||
# @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 EKF2_RNG_A_HMAX 10
|
||||
@@ -0,0 +1,11 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
@@ -1,96 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 6DoF Omnicopter SITL
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Jaeyoung Lim <jalim@ethz.ch>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.14435
|
||||
param set-default CA_ROTOR0_PY -0.14435
|
||||
param set-default CA_ROTOR0_PZ -0.14435
|
||||
param set-default CA_ROTOR0_KM 0.05 # CCW
|
||||
param set-default CA_ROTOR0_AX -0.788675
|
||||
param set-default CA_ROTOR0_AY -0.211325
|
||||
param set-default CA_ROTOR0_AZ -0.57735
|
||||
|
||||
param set-default CA_ROTOR1_PX -0.14435
|
||||
param set-default CA_ROTOR1_PY -0.14435
|
||||
param set-default CA_ROTOR1_PZ -0.14435
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR1_AX 0.211325
|
||||
param set-default CA_ROTOR1_AY -0.788675
|
||||
param set-default CA_ROTOR1_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR2_PX 0.14435
|
||||
param set-default CA_ROTOR2_PY 0.14435
|
||||
param set-default CA_ROTOR2_PZ -0.14435
|
||||
param set-default CA_ROTOR2_KM 0.05
|
||||
param set-default CA_ROTOR2_AX -0.211325
|
||||
param set-default CA_ROTOR2_AY 0.788675
|
||||
param set-default CA_ROTOR2_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR3_PX -0.14435
|
||||
param set-default CA_ROTOR3_PY 0.14435
|
||||
param set-default CA_ROTOR3_PZ -0.14435
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_ROTOR3_AX 0.788675
|
||||
param set-default CA_ROTOR3_AY 0.211325
|
||||
param set-default CA_ROTOR3_AZ -0.57735
|
||||
|
||||
param set-default CA_ROTOR4_PX 0.14435
|
||||
param set-default CA_ROTOR4_PY -0.14435
|
||||
param set-default CA_ROTOR4_PZ 0.14435
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR4_AX 0.788675
|
||||
param set-default CA_ROTOR4_AY 0.211325
|
||||
param set-default CA_ROTOR4_AZ -0.57735
|
||||
|
||||
param set-default CA_ROTOR5_PX -0.14435
|
||||
param set-default CA_ROTOR5_PY -0.14435
|
||||
param set-default CA_ROTOR5_PZ 0.14435
|
||||
param set-default CA_ROTOR5_KM 0.05
|
||||
param set-default CA_ROTOR5_AX -0.211325
|
||||
param set-default CA_ROTOR5_AY 0.788675
|
||||
param set-default CA_ROTOR5_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR6_PX 0.14435
|
||||
param set-default CA_ROTOR6_PY 0.14435
|
||||
param set-default CA_ROTOR6_PZ 0.14435
|
||||
param set-default CA_ROTOR6_KM 0.05
|
||||
param set-default CA_ROTOR6_AX 0.211325
|
||||
param set-default CA_ROTOR6_AY -0.788675
|
||||
param set-default CA_ROTOR6_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR7_PX -0.14435
|
||||
param set-default CA_ROTOR7_PY 0.14435
|
||||
param set-default CA_ROTOR7_PZ 0.14435
|
||||
param set-default CA_ROTOR7_KM 0.05
|
||||
param set-default CA_ROTOR7_AX -0.788675
|
||||
param set-default CA_ROTOR7_AY -0.211325
|
||||
param set-default CA_ROTOR7_AZ -0.57735
|
||||
|
||||
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 PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
# disable MC desaturation which improves attitude tracking
|
||||
param set-default CA_METHOD 0
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
@@ -0,0 +1,19 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name IF750A SITL
|
||||
# InspiredFlight 750 Auterion edition. Gazebo Only.
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set-default SENS_GPS_MASK 7
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MNT_DO_STAB 2
|
||||
|
||||
set MIXER quad_x
|
||||
@@ -1,14 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name PX4Vision SITL
|
||||
# Holybro px4vision. Gazebo Only.
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/airframes/4016_holybro_px4vision
|
||||
|
||||
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
|
||||
@@ -0,0 +1,11 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name PX4Vision SITL
|
||||
# Holybro px4vision. Gazebo Only.
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/airframes/4016_holybro_px4vision
|
||||
|
||||
set MIXER quad_x
|
||||
@@ -1,39 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name QuadrotorX SITL for SIH
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 1
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
param set-default CA_ROTOR2_PX 1
|
||||
param set-default CA_ROTOR2_PY -1
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -1
|
||||
param set-default CA_ROTOR3_PY 1
|
||||
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 EKF2_GPS_DELAY 0
|
||||
|
||||
param set SIH_VEHICLE_TYPE 0
|
||||
@@ -1,66 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL for SIH
|
||||
#
|
||||
# @type Plane
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
|
||||
|
||||
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 SIH_T_MAX 6
|
||||
param set-default SIH_MASS 0.3
|
||||
param set-default SIH_IXX 0.00402
|
||||
param set-default SIH_IYY 0.0144
|
||||
param set-default SIH_IZZ 0.0177
|
||||
param set-default SIH_IXZ 0.00046
|
||||
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_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_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 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 EKF2_GPS_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
|
||||
@@ -1,66 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH Tailsitter Duo
|
||||
#
|
||||
# @type VTOL
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
|
||||
|
||||
param set-default EKF2_GPS_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
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set-default VT_B_TRANS_DUR 5
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_S_Y 0.3
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
|
||||
param set-default SIH_T_MAX 2
|
||||
param set-default SIH_Q_MAX 0.0165
|
||||
param set-default SIH_MASS 0.2
|
||||
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
||||
param set-default SIH_IXX 0.00354
|
||||
param set-default SIH_IYY 0.000625
|
||||
param set-default SIH_IZZ 0.00300
|
||||
param set-default SIH_IXZ 0
|
||||
param set-default SIH_KDV 0.2
|
||||
param set-default SIH_L_ROLL 0.145
|
||||
|
||||
# sih as tailsitter
|
||||
param set-default SIH_VEHICLE_TYPE 2
|
||||
|
||||
param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_PX 0
|
||||
param set-default CA_ROTOR0_PY 1
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
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_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y 0.5
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC5 201
|
||||
param set-default PWM_MAIN_FUNC6 202
|
||||
@@ -1,96 +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 EKF2_GPS_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
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user