mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 21:57:35 +08:00
Compare commits
3 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 RomanBapst
|
4d930bdec2 | ||
|
RomanBapst
|
f417ae73ef | ||
|
RomanBapst
|
31433b6402 |
@@ -0,0 +1,224 @@
|
||||
#!/usr/bin/env groovy
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
stages {
|
||||
|
||||
stage('Build') {
|
||||
steps {
|
||||
script {
|
||||
def build_nodes = [:]
|
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def docker_images = [
|
||||
armhf: "px4io/px4-dev-armhf:2023-06-26",
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arm64: "px4io/px4-dev-aarch64:2022-08-12",
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base: "px4io/px4-dev-ros2-foxy:2022-08-12",
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nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
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||||
]
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||||
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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,
|
||||
archive: false
|
||||
]
|
||||
|
||||
def arm64_builds = [
|
||||
target: ["scumaker_pilotpi_arm64"],
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image: docker_images.arm64,
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||||
archive: false
|
||||
]
|
||||
|
||||
def base_builds = [
|
||||
target: ["px4_sitl_default"],
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||||
image: docker_images.base,
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||||
archive: false
|
||||
]
|
||||
|
||||
def nuttx_builds_archive = [
|
||||
target: [
|
||||
"3dr_ctrl-zero-h7-oem-revg_default",
|
||||
"airmind_mindpx-v2_default",
|
||||
"ark_can-flow_canbootloader",
|
||||
"ark_can-flow_default",
|
||||
"ark_can-gps_canbootloader",
|
||||
"ark_can-gps_default",
|
||||
"ark_can-rtk-gps_canbootloader",
|
||||
"ark_can-rtk-gps_default",
|
||||
"ark_cannode_canbootloader",
|
||||
"ark_cannode_default",
|
||||
"ark_fmu-v6x_bootloader",
|
||||
"ark_fmu-v6x_default",
|
||||
"ark_pi6x_bootloader",
|
||||
"ark_pi6x_default",
|
||||
"atl_mantis-edu_default",
|
||||
"av_x-v1_default",
|
||||
"bitcraze_crazyflie21_default",
|
||||
"bitcraze_crazyflie_default",
|
||||
"cuav_can-gps-v1_canbootloader",
|
||||
"cuav_can-gps-v1_default",
|
||||
"cuav_nora_default",
|
||||
"cuav_x7pro_default",
|
||||
"cubepilot_cubeorange_default",
|
||||
"cubepilot_cubeorangeplus_default",
|
||||
"cubepilot_cubeyellow_default",
|
||||
"diatone_mamba-f405-mk2_default",
|
||||
"flywoo_gn-f405_default",
|
||||
"freefly_can-rtk-gps_canbootloader",
|
||||
"freefly_can-rtk-gps_default",
|
||||
"holybro_can-gps-v1_canbootloader",
|
||||
"holybro_can-gps-v1_default",
|
||||
"holybro_durandal-v1_default",
|
||||
"holybro_kakutef7_default",
|
||||
"holybro_kakuteh7_default",
|
||||
"holybro_kakuteh7mini_default",
|
||||
"holybro_kakuteh7v2_default",
|
||||
"holybro_pix32v5_default",
|
||||
"matek_gnss-m9n-f4_canbootloader",
|
||||
"matek_gnss-m9n-f4_default",
|
||||
"matek_h743-mini_default",
|
||||
"matek_h743-slim_default",
|
||||
"matek_h743_default",
|
||||
"micoair_h743_default",
|
||||
"modalai_fc-v1_default",
|
||||
"modalai_fc-v2_default",
|
||||
"mro_ctrl-zero-classic_default",
|
||||
"mro_ctrl-zero-f7-oem_default",
|
||||
"mro_ctrl-zero-f7_default",
|
||||
"mro_ctrl-zero-h7-oem_default",
|
||||
"mro_ctrl-zero-h7_default",
|
||||
"mro_pixracerpro_default",
|
||||
"mro_x21-777_default",
|
||||
"mro_x21_default",
|
||||
"nxp_fmuk66-e_default",
|
||||
"nxp_fmuk66-e_socketcan",
|
||||
"nxp_fmuk66-v3_default",
|
||||
"nxp_fmuk66-v3_socketcan",
|
||||
"nxp_mr-canhubk3_default",
|
||||
"nxp_ucans32k146_canbootloader",
|
||||
"nxp_ucans32k146_default",
|
||||
"omnibus_f4sd_default",
|
||||
"px4_fmu-v2_default",
|
||||
"px4_fmu-v2_fixedwing",
|
||||
"px4_fmu-v2_lto",
|
||||
"px4_fmu-v2_multicopter",
|
||||
"px4_fmu-v2_rover",
|
||||
"px4_fmu-v3_default",
|
||||
"px4_fmu-v4_default",
|
||||
"px4_fmu-v4pro_default",
|
||||
"px4_fmu-v5_cyphal",
|
||||
"px4_fmu-v5_debug",
|
||||
"px4_fmu-v5_default",
|
||||
"px4_fmu-v5_lto",
|
||||
"px4_fmu-v5_rover",
|
||||
"px4_fmu-v5_stackcheck",
|
||||
"px4_fmu-v5_uavcanv0periph",
|
||||
"px4_fmu-v5x_default",
|
||||
"px4_fmu-v5x_rover",
|
||||
"px4_fmu-v6c_default",
|
||||
"px4_fmu-v6c_rover",
|
||||
"px4_fmu-v6u_default",
|
||||
"px4_fmu-v6u_rover",
|
||||
"px4_fmu-v6x_default",
|
||||
"px4_fmu-v6x_rover",
|
||||
"px4_fmu-v6xrt_bootloader",
|
||||
"px4_fmu-v6xrt_default",
|
||||
"px4_fmu-v6xrt_rover",
|
||||
"px4_io-v2_default",
|
||||
"raspberrypi_pico_default",
|
||||
"siyi_n7_default",
|
||||
"sky-drones_smartap-airlink_default",
|
||||
"spracing_h7extreme_default",
|
||||
"thepeach_k1_default",
|
||||
"thepeach_r1_default",
|
||||
"uvify_core_default",
|
||||
],
|
||||
image: docker_images.nuttx,
|
||||
archive: true
|
||||
]
|
||||
|
||||
def docker_builds = [
|
||||
armhf_builds, base_builds, nuttx_builds_archive
|
||||
]
|
||||
|
||||
for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
|
||||
for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
|
||||
build_nodes.put(docker_builds[build_type].target[build_target],
|
||||
createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
parallel build_nodes
|
||||
|
||||
} // script
|
||||
} // steps
|
||||
} // stage Build
|
||||
|
||||
// TODO: actually upload artifacts to S3
|
||||
// stage('S3 Upload') {
|
||||
// agent {
|
||||
// docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
|
||||
// }
|
||||
// options {
|
||||
// skipDefaultCheckout()
|
||||
// }
|
||||
// when {
|
||||
// anyOf {
|
||||
// branch 'master'
|
||||
// branch 'beta'
|
||||
// branch 'stable'
|
||||
// branch 'pr-jenkins' // for testing
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// sh 'echo "uploading to S3"'
|
||||
// }
|
||||
// }
|
||||
|
||||
} // stages
|
||||
environment {
|
||||
CCACHE_DIR = '/tmp/ccache'
|
||||
CI = true
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
|
||||
timeout(time: 120, unit: 'MINUTES')
|
||||
}
|
||||
}
|
||||
|
||||
def createBuildNode(Boolean archive, String docker_image, String target) {
|
||||
return {
|
||||
|
||||
bypass_entrypoint = ''
|
||||
|
||||
node {
|
||||
docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
|
||||
docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
|
||||
stage(target) {
|
||||
try {
|
||||
sh('export')
|
||||
checkout(scm)
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('git fetch --tags')
|
||||
sh('ccache -s')
|
||||
sh('make ' + target)
|
||||
sh('ccache -s')
|
||||
sh('make sizes')
|
||||
if (archive) {
|
||||
archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
|
||||
}
|
||||
sh('make ' + target + ' package')
|
||||
archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
|
||||
archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
|
||||
}
|
||||
catch (exc) {
|
||||
throw (exc)
|
||||
}
|
||||
finally {
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,904 @@
|
||||
#!/usr/bin/env groovy
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
stages {
|
||||
stage('Hardware Test') {
|
||||
|
||||
parallel {
|
||||
|
||||
stage("cubepilot_cubeorange_test") {
|
||||
stages {
|
||||
stage("build cubepilot_cubeorange_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make cubepilot_cubeorange_bootloader'
|
||||
sh 'make cubepilot_cubeorange_test'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'cubepilot_cubeorange'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'cubepilot_cubeorange_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
runTests()
|
||||
|
||||
// load all airframes
|
||||
// sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("cuav_x7pro_test") {
|
||||
stages {
|
||||
stage("build cuav_x7pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make cuav_x7pro_bootloader'
|
||||
sh 'make cuav_x7pro_test'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'cuav_x7pro'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'cuav_x7pro_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v4_test'
|
||||
sh 'make px4_fmu-v4_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v4'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4pro_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v4pro_test'
|
||||
sh 'make px4_fmu-v4pro_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v4pro'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4pro_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_debug") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_debug") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_debug'
|
||||
sh 'make px4_fmu-v5_debug bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_debug'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_stackcheck") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_stackcheck") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_stackcheck'
|
||||
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_stackcheck'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'nxp_fmuk66-v3'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'nxp_fmuk66-v3_test'
|
||||
//sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
} // parallel
|
||||
} // stage Hardware Test
|
||||
} // stages
|
||||
environment {
|
||||
CCACHE_DIR = '/tmp/ccache'
|
||||
CCACHE_NOHASHDIR = 1
|
||||
CI = true
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
|
||||
timeout(time: 180, unit: 'MINUTES')
|
||||
skipDefaultCheckout()
|
||||
}
|
||||
}
|
||||
|
||||
void checkoutSCM() {
|
||||
retry(3) {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'git fetch --tags'
|
||||
sh 'ccache -z'
|
||||
}
|
||||
}
|
||||
|
||||
void quickCalibrate() {
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
}
|
||||
|
||||
void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
|
||||
}
|
||||
|
||||
void runTests() {
|
||||
|
||||
// test loading a range of airframes
|
||||
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// tests (stop modules first)
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
|
||||
// these are for casually inspecting the system, output failure doesn't matter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
|
||||
}
|
||||
|
||||
void resetBoard() {
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
FROM gcr.io/oss-fuzz-base/base-builder:v1
|
||||
COPY . $SRC/PX4-Autopilot
|
||||
RUN apt-get install -y libjpeg8-dev zlib1g-dev
|
||||
RUN pip3 install --upgrade pip
|
||||
RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
|
||||
WORKDIR $SRC/PX4-Autopilot
|
||||
COPY ./.clusterfuzzlite/build.sh $SRC/
|
||||
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash -eu
|
||||
|
||||
PX4_FUZZ=1 make px4_sitl
|
||||
cp build/px4_sitl_default/bin/px4 $OUT/px4
|
||||
@@ -0,0 +1 @@
|
||||
language: c++
|
||||
@@ -12,11 +12,3 @@ max_line_length = 120
|
||||
[*.yaml, *.yml]
|
||||
indent_style = space
|
||||
indent_size = 2
|
||||
|
||||
[*.sh]
|
||||
indent_style = tab
|
||||
indent_size = 2
|
||||
insert_final_newline = true
|
||||
trim_trailing_whitespace = true
|
||||
# Not in the official standard, but supported by many editors
|
||||
max_line_length = 80
|
||||
|
||||
@@ -72,7 +72,6 @@ Makefile.* text eol=lf
|
||||
*.tar binary
|
||||
*.tgz binary
|
||||
*.zip binary
|
||||
*.hex binary
|
||||
|
||||
# everything else
|
||||
.gitattributes text eol=lf
|
||||
|
||||
@@ -3,3 +3,6 @@ contact_links:
|
||||
- name: Support Question
|
||||
url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
|
||||
about: For questions about using PX4 or related components, please use the discuss forum and discord server
|
||||
- name: Documentation Issue
|
||||
url: https://github.com/PX4/PX4-user_guide/issues
|
||||
about: If you found an issue in documentation, please submit it directly to the docs repository issues
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
name: 📑 Documentation Bug report
|
||||
description: Create a report to help us improve the docs
|
||||
title: "[Docs] [Bug] "
|
||||
labels: ["Documentation 📑"]
|
||||
body:
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: A clear and concise description of the bug.
|
||||
placeholder: |
|
||||
# A PR to fix the bug is often better than adding this issue!
|
||||
#
|
||||
# If you can't create a PR please provide the following:
|
||||
# - What page and/or section has the problem
|
||||
# - What is the problem - missing information, incorrect information?
|
||||
# - Suggested fixes, links to corresponding code PRs
|
||||
# - Any additional context
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
attributes:
|
||||
label: Page URL
|
||||
description: The URL of the problem page.
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Screenshot / Media
|
||||
description: Add screenshot / media if you have them
|
||||
validations:
|
||||
required: false
|
||||
@@ -1,9 +1,22 @@
|
||||
<!--
|
||||
|
||||
Thank you for your contribution!
|
||||
|
||||
Get early feedback through
|
||||
- Dronecode Discord: https://discord.gg/dronecode
|
||||
- PX4 Discuss: http://discuss.px4.io/
|
||||
- opening a draft pr and sharing the link
|
||||
|
||||
-->
|
||||
|
||||
### Solved Problem
|
||||
When ... I found that ...
|
||||
|
||||
Fixes #{Github issue ID}
|
||||
|
||||
### Solution
|
||||
- Add ... for ...
|
||||
- Refactor ...
|
||||
|
||||
### Changelog Entry
|
||||
For release notes:
|
||||
@@ -14,10 +27,11 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
|
||||
```
|
||||
|
||||
### Alternatives
|
||||
We could also ...
|
||||
|
||||
### Test coverage
|
||||
- Unit/integration test: ...
|
||||
- Simulation/hardware testing logs: https://review.px4.io/
|
||||
|
||||
### Context
|
||||
Related links, screenshot before/after, video
|
||||
|
||||
-->
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
---
|
||||
title: '[CI] Fuzzing Workflow Failed'
|
||||
labels: ['Fuzzing']
|
||||
---
|
||||
The automated fuzzing workflow has failed.
|
||||
See {{ env.WORKFLOW_RUN_URL }} for details.
|
||||
@@ -1,48 +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
|
||||
@@ -7,120 +7,62 @@ name: Build all targets
|
||||
|
||||
on:
|
||||
push:
|
||||
tags:
|
||||
- 'v*'
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/*'
|
||||
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=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
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)" >> $GITHUB_OUTPUT
|
||||
run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
|
||||
|
||||
- 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)"
|
||||
run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
|
||||
|
||||
setup:
|
||||
name: Build [${{ matrix.runner }}][${{ matrix.group }}]
|
||||
name: ${{ matrix.group }}
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
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
|
||||
- name: 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
|
||||
- name: ccache setup keys
|
||||
uses: actions/cache@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-
|
||||
key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
|
||||
restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
|
||||
|
||||
- name: Cache Config and Stats
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
@@ -128,115 +70,21 @@ jobs:
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 120M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
echo "compiler_check = content" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Building Artifacts for [${{ matrix.targets }}]
|
||||
- name: build target group
|
||||
run: |
|
||||
./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
|
||||
./Tools/ci_build_all_runner.sh ${{matrix.targets}}
|
||||
|
||||
- name: Arrange Build Artifacts
|
||||
run: |
|
||||
./Tools/ci/package_build_artifacts.sh
|
||||
|
||||
- name: Upload Build Artifacts
|
||||
- name: Upload px4 package
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: px4_${{matrix.group}}_build_artifacts
|
||||
path: artifacts/
|
||||
path: |
|
||||
build/**/*.px4
|
||||
build/**/*.bin
|
||||
compression-level: 0
|
||||
|
||||
- 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: ${{ steps.upload-location.outputs.uploadlocation }}
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
|
||||
@@ -0,0 +1,34 @@
|
||||
name: ClusterFuzzLite batch fuzzing
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 6 * * *' # UTC 6am every day.
|
||||
permissions: read-all
|
||||
jobs:
|
||||
BatchFuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
sanitizer:
|
||||
- address
|
||||
- undefined
|
||||
- memory
|
||||
steps:
|
||||
- name: Build Fuzzers (${{ matrix.sanitizer }})
|
||||
id: build
|
||||
uses: google/clusterfuzzlite/actions/build_fuzzers@v1
|
||||
with:
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
- name: Run Fuzzers (${{ matrix.sanitizer }})
|
||||
id: run
|
||||
uses: google/clusterfuzzlite/actions/run_fuzzers@v1
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
fuzz-seconds: 1800 # 30 mins
|
||||
mode: 'batch'
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
# Optional but recommended: For storing certain artifacts from fuzzing.
|
||||
# See later section on "Git repo for storage".
|
||||
# storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
|
||||
# storage-repo-branch: main # Optional. Defaults to "main"
|
||||
# storage-repo-branch-coverage: gh-pages # Optional. Defaults to "gh-pages".
|
||||
@@ -4,17 +4,9 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -33,27 +25,28 @@ jobs:
|
||||
"NO_NINJA_BUILD=1 px4_fmu-v5_default",
|
||||
"NO_NINJA_BUILD=1 px4_sitl_default",
|
||||
"px4_sitl_allyes",
|
||||
"airframe_metadata",
|
||||
"module_documentation",
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Building [${{ matrix.check }}]
|
||||
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
|
||||
|
||||
@@ -4,27 +4,18 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
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
|
||||
|
||||
@@ -4,17 +4,9 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -27,15 +19,16 @@ jobs:
|
||||
]
|
||||
steps:
|
||||
- name: install Python 3.10
|
||||
uses: actions/setup-python@v5
|
||||
uses: actions/setup-python@v4
|
||||
with:
|
||||
python-version: "3.10"
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: setup
|
||||
run: |
|
||||
./Tools/setup/macos.sh
|
||||
run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
@@ -44,7 +37,7 @@ jobs:
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${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}}
|
||||
|
||||
@@ -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 +1,56 @@
|
||||
name: Deploy metadata for all targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
jobs:
|
||||
enumerate_targets:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
- id: set-matrix
|
||||
run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: ${{ matrix.container }}
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: make ${{matrix.target}}
|
||||
run: make ${{matrix.target}}
|
||||
|
||||
- name: parameter & events metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen events_json actuators_json
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* events/*.xz actuators.json* _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
|
||||
@@ -1,192 +0,0 @@
|
||||
name: Container build
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
tags:
|
||||
- 'v*'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths:
|
||||
- '.github/workflows/dev_container.yml'
|
||||
- 'Tools/setup/ubuntu.sh'
|
||||
- 'Tools/setup/requirements.txt'
|
||||
- 'Tools/setup/Dockerfile'
|
||||
- 'Tools/setup/docker-entrypoint.sh'
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
px4_version:
|
||||
description: 'Container tag (e.g. v1.16.0)'
|
||||
required: true
|
||||
type: string
|
||||
deploy_to_registry:
|
||||
description: 'Whether to push built images to the registry'
|
||||
required: false
|
||||
type: boolean
|
||||
default: false
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
setup:
|
||||
name: Set Tags and Variables
|
||||
permissions:
|
||||
contents: read
|
||||
runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
outputs:
|
||||
px4_version: ${{ steps.px4_version.outputs.px4_version }}
|
||||
meta_tags: ${{ steps.meta.outputs.tags }}
|
||||
meta_labels: ${{ steps.meta.outputs.labels }}
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
|
||||
# If manual dispatch, take the user‐provided input
|
||||
- name: Set PX4 Tag Version
|
||||
id: px4_version
|
||||
run: |
|
||||
if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
|
||||
echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
|
||||
else
|
||||
echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Extract metadata (tags, labels) for Docker
|
||||
id: meta
|
||||
uses: docker/metadata-action@v5
|
||||
with:
|
||||
images: |
|
||||
ghcr.io/PX4/px4-dev
|
||||
px4io/px4-dev
|
||||
tags: |
|
||||
type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
|
||||
|
||||
build:
|
||||
name: Build Container (${{ matrix.arch }})
|
||||
permissions:
|
||||
contents: read
|
||||
packages: write
|
||||
needs: setup
|
||||
strategy:
|
||||
matrix:
|
||||
include:
|
||||
- platform: linux/arm64
|
||||
arch: arm64
|
||||
runner: arm64
|
||||
- platform: linux/amd64
|
||||
arch: amd64
|
||||
runner: x64
|
||||
runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Login to Docker Hub
|
||||
uses: docker/login-action@v3
|
||||
if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
|
||||
with:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_TOKEN }}
|
||||
|
||||
- name: Login to GitHub Container Registry
|
||||
uses: docker/login-action@v3
|
||||
if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
|
||||
with:
|
||||
registry: ghcr.io
|
||||
username: ${{ github.actor }}
|
||||
password: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Set up Docker Buildx
|
||||
uses: docker/setup-buildx-action@v3
|
||||
with:
|
||||
driver: docker-container
|
||||
platforms: ${{ matrix.platform }}
|
||||
|
||||
- name: Build and Load Container Image
|
||||
uses: docker/build-push-action@v6
|
||||
id: docker
|
||||
with:
|
||||
context: Tools/setup
|
||||
tags: |
|
||||
ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
|
||||
px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
|
||||
labels: ${{ needs.setup.outputs.meta_labels }}
|
||||
platforms: ${{ matrix.platform }}
|
||||
load: false
|
||||
push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
|
||||
provenance: false
|
||||
cache-from: type=gha,version=1,scope=${{ 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
|
||||
|
||||
@@ -4,17 +4,9 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -29,30 +21,24 @@ jobs:
|
||||
"failsafe_web",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
image: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- name: Install Node v20.18.0
|
||||
uses: actions/setup-node@v4
|
||||
with:
|
||||
node-version: 20.18.0
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Install empscripten
|
||||
run: |
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
|
||||
cd _emscripten_sdk
|
||||
git checkout 4.0.15
|
||||
./emsdk install latest
|
||||
./emsdk activate latest
|
||||
|
||||
- name: Testing [${{ matrix.check }}]
|
||||
run: |
|
||||
. ./_emscripten_sdk/emsdk_env.sh
|
||||
make ${{ matrix.check }}
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: install emscripten
|
||||
run: |
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
|
||||
cd _emscripten_sdk
|
||||
./emsdk install latest
|
||||
./emsdk activate latest
|
||||
- name: ${{matrix.check}}
|
||||
run: |
|
||||
. ./_emscripten_sdk/emsdk_env.sh
|
||||
make ${{matrix.check}}
|
||||
|
||||
@@ -1,154 +0,0 @@
|
||||
name: FLASH usage analysis
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
issues: write
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
env:
|
||||
MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
|
||||
MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50
|
||||
|
||||
jobs:
|
||||
analyze_flash:
|
||||
name: Analyzing ${{ matrix.target }}
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
strategy:
|
||||
matrix:
|
||||
target: [px4_fmu-v5x, px4_fmu-v6x]
|
||||
outputs:
|
||||
px4_fmu-v5x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-output }}
|
||||
px4_fmu-v5x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-summary-map }}
|
||||
px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
|
||||
px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Build Target
|
||||
run: make ${{ matrix.target }}_flash-analysis
|
||||
|
||||
- name: Store the ELF with the change
|
||||
run: cp ./build/**/*.elf ./with-change.elf
|
||||
|
||||
- name: Clean previous build
|
||||
run: |
|
||||
make clean
|
||||
make distclean
|
||||
make submodulesclean
|
||||
|
||||
- name: If it's a PR checkout the base branch
|
||||
if: ${{ github.event.pull_request }}
|
||||
# As checkout creates a merge commit (merging the base branch into the PR branch), the base branch is the base for a diff of the PR changes.
|
||||
run: git checkout ${{ github.event.pull_request.base.ref }}
|
||||
|
||||
- name: If it's a push checkout the previous commit
|
||||
if: github.event_name == 'push'
|
||||
run: git checkout ${{ github.event.before }}
|
||||
|
||||
- name: Update submodules
|
||||
run: make submodulesupdate
|
||||
|
||||
- name: Build
|
||||
run: make ${{ matrix.target }}_flash-analysis
|
||||
|
||||
- name: Store the ELF before the change
|
||||
run: cp ./build/**/*.elf ./before-change.elf
|
||||
|
||||
- name: bloaty-action
|
||||
uses: PX4/bloaty-action@v1.0.0
|
||||
id: bloaty-step
|
||||
with:
|
||||
bloaty-file-args: ./with-change.elf -- ./before-change.elf
|
||||
bloaty-additional-args: -d sections,symbols -s vm -n 20
|
||||
output-to-summary: true
|
||||
|
||||
- name: Generate output
|
||||
id: gen-output
|
||||
run: |
|
||||
EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
|
||||
echo "${{ matrix.target }}-bloaty-output<<$EOF" >> $GITHUB_OUTPUT
|
||||
echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
|
||||
echo "$EOF" >> $GITHUB_OUTPUT
|
||||
echo "${{ matrix.target }}-bloaty-summary-map<<$EOF" >> $GITHUB_OUTPUT
|
||||
echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
|
||||
echo "$EOF" >> $GITHUB_OUTPUT
|
||||
|
||||
# TODO:
|
||||
# This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
|
||||
# Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
|
||||
post_pr_comment:
|
||||
name: Publish Results
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
|
||||
needs: [analyze_flash]
|
||||
env:
|
||||
V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
|
||||
V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
|
||||
V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
|
||||
V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
|
||||
if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
|
||||
steps:
|
||||
- name: Find Comment
|
||||
uses: peter-evans/find-comment@v3
|
||||
id: fc
|
||||
with:
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
comment-author: 'github-actions[bot]'
|
||||
body-includes: FLASH Analysis
|
||||
|
||||
- name: Set Build Time
|
||||
id: bt
|
||||
run: |
|
||||
echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Create or update comment
|
||||
# This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
|
||||
if: |
|
||||
steps.fc.outputs.comment-id != '' ||
|
||||
env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
|
||||
env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
|
||||
env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
|
||||
env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
|
||||
uses: peter-evans/create-or-update-comment@v4
|
||||
with:
|
||||
comment-id: ${{ steps.fc.outputs.comment-id }}
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
body: |
|
||||
## 🔎 FLASH Analysis
|
||||
<details>
|
||||
<summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
|
||||
|
||||
```
|
||||
${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
|
||||
```
|
||||
</details>
|
||||
|
||||
<details>
|
||||
<summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
|
||||
|
||||
```
|
||||
${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
|
||||
```
|
||||
</details>
|
||||
|
||||
**Updated: _${{ steps.bt.outputs.timestamp }}_**
|
||||
edit-mode: replace
|
||||
@@ -1,49 +0,0 @@
|
||||
name: Fuzzing
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 6 * * *' # UTC 6am every day.
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
issues: write # for JasonEtco/create-an-issue
|
||||
|
||||
env:
|
||||
RUNS_IN_DOCKER: true
|
||||
|
||||
jobs:
|
||||
Fuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
|
||||
steps:
|
||||
- name: Install Dependencies
|
||||
run: |
|
||||
apt update && apt install -y clang
|
||||
|
||||
- name: Fix git in Container
|
||||
run: |
|
||||
git config --global --add safe.directory $(realpath .)
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Build and Run Fuzz Tests
|
||||
run: |
|
||||
# Only build the tests
|
||||
export CC=clang
|
||||
export CXX=clang++
|
||||
make tests TESTFILTER=__no_tests__
|
||||
|
||||
# Run the fuzz tests
|
||||
for fuzz_binary in build/px4_sitl_test/*fuzz*; do
|
||||
./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
|
||||
done
|
||||
|
||||
# Create a github issue in case of a failure
|
||||
- name: Create Issue
|
||||
if: ${{ failure() }}
|
||||
uses: JasonEtco/create-an-issue@v2
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
WORKFLOW_RUN_URL: https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}
|
||||
with:
|
||||
filename: .github/fuzzing_issue_template.md
|
||||
@@ -1,67 +0,0 @@
|
||||
name: ITCM check
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
check_itcm:
|
||||
name: Checking ${{ matrix.target }}
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
include:
|
||||
- target: px4_fmu-v5x
|
||||
scripts: >
|
||||
boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
|
||||
boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
|
||||
- target: px4_fmu-v6xrt
|
||||
scripts: >
|
||||
boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
|
||||
boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
|
||||
- target: nxp_tropic-community
|
||||
scripts: >
|
||||
boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
|
||||
boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
|
||||
- target: nxp_mr-tropic
|
||||
scripts: >
|
||||
boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
|
||||
boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Build Target
|
||||
run: make ${{ matrix.target }}
|
||||
|
||||
- name: Copy built ELF
|
||||
run: cp ./build/**/*.elf ./built.elf
|
||||
|
||||
- name: Install itcm-check dependencies
|
||||
run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
|
||||
|
||||
- name: Execute the itcm-check
|
||||
run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
|
||||
@@ -1,21 +0,0 @@
|
||||
# This workflow will triage pull requests and apply a label based on the
|
||||
# paths that are modified in the pull request.
|
||||
# The paths are set up in .github/labeler.yml
|
||||
#
|
||||
# See: https://github.com/actions/labeler
|
||||
|
||||
name: Labeler
|
||||
on: [pull_request_target]
|
||||
|
||||
jobs:
|
||||
label:
|
||||
|
||||
runs-on: ubuntu-latest
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
|
||||
steps:
|
||||
- uses: actions/labeler@v5
|
||||
with:
|
||||
repo-token: "${{ secrets.GITHUB_TOKEN }}"
|
||||
@@ -4,40 +4,138 @@ 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
|
||||
env:
|
||||
ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
|
||||
strategy:
|
||||
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-classic
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Run SITL tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
- name: ecl EKF analysis
|
||||
if: always()
|
||||
run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
|
||||
|
||||
- name: Upload logs to flight review
|
||||
if: always()
|
||||
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Store PX4 log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: px4_log
|
||||
path: ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Store ROS log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: ros_log
|
||||
path: ~/.ros/**/rostest-*.log
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavros_mission
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -4,17 +4,9 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -25,21 +17,120 @@ jobs:
|
||||
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-classic
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Run SITL tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
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} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Store PX4 log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: px4_log
|
||||
path: ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Store ROS log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: ros_log
|
||||
path: ~/.ros/**/rostest-*.log
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavros_offboard
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -0,0 +1,133 @@
|
||||
name: Metadata
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: airframe metadata
|
||||
run: |
|
||||
make airframe_metadata
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
cd build/px4_sitl_default/docs
|
||||
# TODO: deploy to userguide gitbook
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: module documentation
|
||||
run: |
|
||||
make module_documentation
|
||||
cd build/px4_sitl_default/docs
|
||||
ls -ls *
|
||||
# TODO: deploy to userguide gitbook and s3
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: parameter metadata
|
||||
run: |
|
||||
make parameters_metadata
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
events:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: events metadata
|
||||
run: |
|
||||
make extract_events
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
cd build/px4_sitl_default
|
||||
mkdir _events_full || true
|
||||
cp events/all_events_full.json.xz _events_full/all_events.json.xz
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: uORB graph
|
||||
run: |
|
||||
make uorb_graphs
|
||||
cd Tools/uorb_graph
|
||||
ls -ls *
|
||||
# TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
|
||||
|
||||
ROS2_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: PX4 ROS2 msgs
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_msgs.git
|
||||
rm px4_msgs/msg/*.msg
|
||||
rm px4_msgs/srv/*.srv
|
||||
cp msg/*.msg px4_msgs/msg/
|
||||
cp srv/*.srv px4_msgs/srv/
|
||||
@@ -4,42 +4,29 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
px4_fmu-v5_default,
|
||||
px4_fmu-v5,
|
||||
]
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Build PX4 and Run Test [${{ 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
|
||||
- name: make ${{matrix.config}}
|
||||
env:
|
||||
PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
|
||||
run: |
|
||||
echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
|
||||
make ${{matrix.config}} nuttx_context
|
||||
# Check that the config option is set
|
||||
grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config
|
||||
|
||||
@@ -4,30 +4,22 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-24.04
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
- name: Install Python3
|
||||
run: sudo apt-get install python3 python3-setuptools python3-pip -y
|
||||
|
||||
- name: Install tools
|
||||
run: python3 -m pip install mypy types-requests flake8 --break-system-packages
|
||||
|
||||
run: pip3 install --user mypy types-requests flake8
|
||||
- name: Check MAVSDK test scripts with mypy
|
||||
run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
|
||||
|
||||
- name: Check MAVSDK test scripts with flake8
|
||||
run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
|
||||
|
||||
@@ -1,131 +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
|
||||
@@ -9,22 +9,14 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
name: Testing PX4 ${{ matrix.config.model }}
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
@@ -118,7 +110,7 @@ jobs:
|
||||
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
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Upload failed logs
|
||||
@@ -129,7 +121,7 @@ jobs:
|
||||
path: |
|
||||
logs/**/**/**/*.log
|
||||
logs/**/**/**/*.ulg
|
||||
build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
|
||||
build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
|
||||
|
||||
- name: Look at Core files
|
||||
if: failure() && ${{ hashFiles('px4.core') != '' }}
|
||||
|
||||
@@ -7,15 +7,10 @@ jobs:
|
||||
stale:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v10
|
||||
- uses: actions/stale@v8
|
||||
with:
|
||||
operations-per-run: 250
|
||||
days-before-stale: 90
|
||||
days-before-close: 30
|
||||
days-before-stale: 30
|
||||
days-before-close: -1
|
||||
stale-issue-label: 'stale'
|
||||
stale-pr-label: 'stale'
|
||||
remove-stale-when-updated: true
|
||||
stale-issue-message: ''
|
||||
close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
|
||||
stale-pr-message: ''
|
||||
close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
name: Sync ROS 2 messages to px4_msgs
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
paths:
|
||||
- 'msg/**'
|
||||
- 'srv/**'
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
jobs:
|
||||
sync_to_px4_msgs:
|
||||
if: github.repository == 'PX4/PX4-Autopilot'
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ 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
|
||||
@@ -108,4 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
|
||||
|
||||
# colcon
|
||||
log/
|
||||
keys/
|
||||
|
||||
+4
-24
@@ -2,6 +2,10 @@
|
||||
path = src/modules/mavlink/mavlink
|
||||
url = https://github.com/mavlink/mavlink.git
|
||||
branch = master
|
||||
[submodule "src/drivers/uavcan/libuavcan"]
|
||||
path = src/drivers/uavcan/libuavcan
|
||||
url = https://github.com/dronecan/libuavcan.git
|
||||
branch = main
|
||||
[submodule "Tools/simulation/jmavsim/jMAVSim"]
|
||||
path = Tools/simulation/jmavsim/jMAVSim
|
||||
url = https://github.com/PX4/jMAVSim.git
|
||||
@@ -79,27 +83,3 @@
|
||||
[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
|
||||
|
||||
Vendored
-195
@@ -6,11 +6,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_spacecraft:
|
||||
short: px4_sitl_spacecraft
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_spacecraft
|
||||
px4_sitl_nolockstep:
|
||||
short: px4_sitl_nolockstep
|
||||
buildType: RelWithDebInfo
|
||||
@@ -36,11 +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
|
||||
@@ -141,16 +131,6 @@ 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
|
||||
@@ -186,11 +166,6 @@ CONFIG:
|
||||
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
|
||||
@@ -201,26 +176,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_cannode_canbootloader
|
||||
ark_dist_default:
|
||||
short: ark_dist_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_dist_default
|
||||
ark_dist_canbootloader:
|
||||
short: ark_dist_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_dist_canbootloader
|
||||
ark_f9p-gps_default:
|
||||
short: ark_f9p-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_f9p-gps_default
|
||||
ark_f9p-gps_canbootloader:
|
||||
short: ark_f9p-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_f9p-gps_canbootloader
|
||||
ark_fmu-v6x_bootloader:
|
||||
short: ark_fmu-v6x_bootloader
|
||||
buildType: MinSizeRel
|
||||
@@ -231,26 +186,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fmu-v6x_default
|
||||
ark_fpv_bootloader:
|
||||
short: ark_fpv_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fpv_bootloader
|
||||
ark_fpv_default:
|
||||
short: ark_fpv_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fpv_default
|
||||
ark_mag_canbootloader:
|
||||
short: ark_mag_canbootloader
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: ark_mag_canbootloader
|
||||
ark_mag_default:
|
||||
short: ark_mag_default
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: ark_mag_default
|
||||
ark_pi6x_bootloader:
|
||||
short: ark_pi6x_bootloader
|
||||
buildType: MinSizeRel
|
||||
@@ -261,16 +196,6 @@ CONFIG:
|
||||
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
|
||||
@@ -286,11 +211,6 @@ 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
|
||||
@@ -311,21 +231,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x7pro_default
|
||||
cuav_7-nano_default:
|
||||
short: cuav_7-nano
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_7-nano_default
|
||||
cuav_fmu-v6x_default:
|
||||
short: cuav_fmu-v6x
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_fmu-v6x_default
|
||||
cuav_x25_default:
|
||||
short: cuav_x25-evo
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x25-evo_default
|
||||
cubepilot_cubeorange_test:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
@@ -366,16 +271,6 @@ 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
|
||||
@@ -391,46 +286,11 @@ CONFIG:
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: matek_gnss-m9n-f4_default
|
||||
micoair_h743_bootloader:
|
||||
short: micoair_h743_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743_bootloader
|
||||
micoair_h743_default:
|
||||
short: micoair_h743
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743_default
|
||||
micoair_h743-aio_bootloader:
|
||||
short: micoair_h743-aio_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-aio_bootloader
|
||||
micoair_h743-aio_default:
|
||||
short: micoair_h743-aio
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-aio_default
|
||||
micoair_h743-v2_bootloader:
|
||||
short: micoair_h743-v2_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-v2_bootloader
|
||||
micoair_h743-v2_default:
|
||||
short: micoair_h743-v2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-v2_default
|
||||
micoair_h743-lite_bootloader:
|
||||
short: micoair_h743-lite_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-lite_bootloader
|
||||
micoair_h743-lite_default:
|
||||
short: micoair_h743-lite
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-lite_default
|
||||
modalai_fc-v1_default:
|
||||
short: modalai_fc-v1
|
||||
buildType: MinSizeRel
|
||||
@@ -481,63 +341,8 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_fmu
|
||||
nxp_mr-tropic_default:
|
||||
short: nxp_mr-tropic_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-tropic_default
|
||||
nxp_mr-tropic_bootloader:
|
||||
short: nxp_mr-tropic_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-tropic_bootloader
|
||||
nxp_tropic-community_default:
|
||||
short: nxp_tropic-community_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_tropic-community_default
|
||||
raspberrypi_pico_default:
|
||||
short: raspberrypi_pico
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: raspberrypi_pico_default
|
||||
zeroone_x6_default:
|
||||
short: zeroone_x6
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: zeroone_x6_default
|
||||
zeroone_x6_bootloader:
|
||||
short: zeroone_x6_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: zeroone_x6_bootloader
|
||||
x-mav_ap-h743v2_bootloader:
|
||||
short: x-mav_ap-h743v2-boot
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: x-mav_ap-h743v2_bootloader
|
||||
x-mav_ap-h743v2_default:
|
||||
short: x-mav_ap-h743v2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: x-mav_ap-h743v2_default
|
||||
svehicle_e2_bootloader:
|
||||
short: svehicle_e2_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: svehicle_e2_bootloader
|
||||
svehicle_e2_default:
|
||||
short: svehicle_e2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: svehicle_e2_default
|
||||
x-mav_ap-h743r1_bootloader:
|
||||
short: x-mav_ap-h743r1-boot
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: x-mav_ap-h743r1_bootloader
|
||||
x-mav_ap-h743r1_default:
|
||||
short: x-mav_ap-h743r1
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: x-mav_ap-h743r1_default
|
||||
|
||||
Vendored
+2
-1
@@ -43,7 +43,7 @@
|
||||
"files.watcherExclude": {
|
||||
"**/build/**": true
|
||||
},
|
||||
"git.detectSubmodulesLimit": 25,
|
||||
"git.detectSubmodulesLimit": 20,
|
||||
"git.ignoreLimitWarning": true,
|
||||
"githubPullRequests.defaultMergeMethod": "squash",
|
||||
"githubPullRequests.telemetry.enabled": false,
|
||||
@@ -129,4 +129,5 @@
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
},
|
||||
"ros.distro": "humble"
|
||||
}
|
||||
|
||||
+37
-29
@@ -99,7 +99,7 @@
|
||||
#
|
||||
#=============================================================================
|
||||
|
||||
cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
|
||||
cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
|
||||
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
|
||||
@@ -267,7 +267,7 @@ endif()
|
||||
|
||||
set(package-contact "px4users@googlegroups.com")
|
||||
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_C_STANDARD_REQUIRED ON)
|
||||
@@ -334,33 +334,6 @@ if(NOT PX4_CHIP)
|
||||
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# Testing - Automatic unit and integration testing with CTest
|
||||
# (Needs to be before setting the common compile flags)
|
||||
#
|
||||
|
||||
# optionally enable cmake testing (supported only on posix)
|
||||
option(CMAKE_TESTING "Configure test targets" OFF)
|
||||
if(${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
|
||||
#
|
||||
@@ -413,6 +386,40 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# Testing - Automatic unit and integration testing with CTest
|
||||
#
|
||||
|
||||
# optionally enable cmake testing (supported only on posix)
|
||||
option(CMAKE_TESTING "Configure test targets" OFF)
|
||||
if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
|
||||
set(CMAKE_TESTING ON)
|
||||
endif()
|
||||
if(CMAKE_TESTING)
|
||||
include(CTest) # sets BUILD_TESTING variable
|
||||
endif()
|
||||
|
||||
# enable test filtering to run only specific tests with the ctest -R regex functionality
|
||||
set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
|
||||
|
||||
# if testing is enabled download and configure gtest
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
|
||||
include(px4_add_gtest)
|
||||
if(BUILD_TESTING)
|
||||
include(gtest)
|
||||
|
||||
add_custom_target(test_results
|
||||
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
|
||||
DEPENDS
|
||||
px4
|
||||
examples__dyn_hello
|
||||
USES_TERMINAL
|
||||
COMMENT "Running tests"
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
|
||||
endif()
|
||||
|
||||
|
||||
#=============================================================================
|
||||
# subdirectories
|
||||
#
|
||||
@@ -482,6 +489,7 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
|
||||
include(bloaty)
|
||||
|
||||
|
||||
include(doxygen)
|
||||
include(metadata)
|
||||
include(package)
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
Vendored
+26
@@ -220,6 +220,32 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'main' branch
|
||||
sh('rm -f px4_msgs/msg/*.msg')
|
||||
sh('rm -f px4_msgs/srv/*.srv')
|
||||
sh('cp msg/*.msg px4_msgs/msg/')
|
||||
sh('cp srv/*.srv px4_msgs/srv/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin main || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
|
||||
@@ -73,10 +73,12 @@ menu "Toolchain"
|
||||
help
|
||||
relative path to the ROMFS root directory
|
||||
|
||||
config BOARD_ADDITIONAL_INIT
|
||||
string "Additional init file"
|
||||
config BOARD_ROOTFSDIR
|
||||
string "Root directory"
|
||||
depends on PLATFORM_POSIX
|
||||
default "."
|
||||
help
|
||||
additional configurable init file to include in the ROMFS
|
||||
Configure the root directory in the file system for PX4 files
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
@@ -211,8 +213,8 @@ source "src/examples/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "platforms"
|
||||
depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
|
||||
source "platforms/Kconfig"
|
||||
depends on PLATFORM_QURT || PLATFORM_POSIX
|
||||
source "platforms/common/Kconfig"
|
||||
endmenu
|
||||
|
||||
source "src/lib/*/Kconfig"
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2025, PX4 Development Team
|
||||
Copyright (c) 2012 - 2023, PX4 Development Team
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
|
||||
@@ -1,43 +0,0 @@
|
||||
Maintainers
|
||||
===========
|
||||
|
||||
See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
|
||||
|
||||
**Active Maintainers**
|
||||
|
||||
| Name | Sector | GitHub | Chat | email
|
||||
|-------------------------|--------|--------|------|----------------
|
||||
| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) | | <lorenz@px4.io>
|
||||
| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
|
||||
| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
|
||||
| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
|
||||
| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
|
||||
| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) | |
|
||||
| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
|
||||
| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
|
||||
| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
|
||||
| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
|
||||
| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
|
||||
| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
|
||||
| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
|
||||
| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
|
||||
|
||||
|
||||
**Documentation Maintainers**
|
||||
|
||||
| Name | GitHub | Chat | email
|
||||
|------|--------|------|----------------------
|
||||
| Hamish Willee | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
|
||||
|
||||
**Release Managers**
|
||||
|
||||
| Name | GitHub | Chat | email
|
||||
|------|--------|------|----------------------
|
||||
| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
|
||||
| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
|
||||
|
||||
**Retired Maintainers**
|
||||
|
||||
| Name | GitHub | Chat | email
|
||||
|------|--------|------|----------------------
|
||||
| | | |
|
||||
@@ -160,6 +160,11 @@ else
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
||||
endif
|
||||
|
||||
# Fuzz Testing
|
||||
ifdef PX4_FUZZ
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
# Pick up specific Python path if set
|
||||
@@ -295,8 +300,6 @@ uorb_graphs:
|
||||
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v5x_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v6x_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
|
||||
px4io_update:
|
||||
@@ -323,15 +326,9 @@ px4io_update:
|
||||
bootloaders_update: \
|
||||
3dr_ctrl-zero-h7-oem-revg_bootloader \
|
||||
ark_fmu-v6x_bootloader \
|
||||
ark_fpv_bootloader \
|
||||
ark_pi6x_bootloader \
|
||||
auterion_fmu-v6s_bootloader \
|
||||
auterion_fmu-v6x_bootloader \
|
||||
cuav_nora_bootloader \
|
||||
cuav_x7pro_bootloader \
|
||||
cuav_7-nano_bootloader \
|
||||
cuav_fmu-v6x_bootloader \
|
||||
cuav_x25-evo_bootloader \
|
||||
cubepilot_cubeorange_bootloader \
|
||||
cubepilot_cubeorangeplus_bootloader \
|
||||
hkust_nxt-dual_bootloader \
|
||||
@@ -344,15 +341,11 @@ bootloaders_update: \
|
||||
matek_h743-mini_bootloader \
|
||||
matek_h743-slim_bootloader \
|
||||
micoair_h743_bootloader \
|
||||
micoair_h743-aio_bootloader \
|
||||
micoair_h743-v2_bootloader \
|
||||
micoair_h743-lite_bootloader \
|
||||
modalai_fc-v2_bootloader \
|
||||
mro_ctrl-zero-classic_bootloader \
|
||||
mro_ctrl-zero-h7_bootloader \
|
||||
mro_ctrl-zero-h7-oem_bootloader \
|
||||
mro_pixracerpro_bootloader \
|
||||
narinfc_h7_bootloader \
|
||||
px4_fmu-v6c_bootloader \
|
||||
px4_fmu-v6u_bootloader \
|
||||
px4_fmu-v6x_bootloader \
|
||||
@@ -366,7 +359,7 @@ coverity_scan: px4_sitl_default
|
||||
|
||||
# Documentation
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
|
||||
|
||||
parameters_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
|
||||
@@ -382,6 +375,12 @@ extract_events:
|
||||
|
||||
px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
|
||||
|
||||
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
|
||||
|
||||
# Style
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: check_format format check_newlines
|
||||
@@ -401,7 +400,7 @@ check_newlines:
|
||||
|
||||
# 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:
|
||||
@@ -411,18 +410,11 @@ tests:
|
||||
$(eval UBSAN_OPTIONS += color=always)
|
||||
$(call cmake-build,px4_sitl_test)
|
||||
|
||||
# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
|
||||
LCOBUG = --ignore-errors mismatch
|
||||
tests_coverage:
|
||||
@$(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 \
|
||||
$(LCOBUG) \
|
||||
-o coverage/lcov.info
|
||||
@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
|
||||
|
||||
rostest: px4_sitl_default
|
||||
@@ -461,6 +453,10 @@ tests_offboard: rostest
|
||||
@"$(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 +470,7 @@ 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 +496,10 @@ 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 "$(SRC_DIR)"/build/cppcheck
|
||||
@@ -514,7 +514,6 @@ validate_module_configs:
|
||||
@find "$(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/*" \
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
[](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)
|
||||
|
||||
@@ -17,19 +17,17 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out o
|
||||
* [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)
|
||||
* 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/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!
|
||||
|
||||
|
||||
## 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.
|
||||
|
||||
@@ -37,7 +35,7 @@ Developers should read the [Guide for Contributions](https://docs.px4.io/main/en
|
||||
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) 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/).
|
||||
|
||||
@@ -46,17 +44,95 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
|
||||
|
||||
## Maintenance Team
|
||||
|
||||
See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
|
||||
Note: This is the source of truth for the active maintainers of PX4 ecosystem.
|
||||
|
||||
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).
|
||||
| Sector | Maintainer |
|
||||
|---|---|
|
||||
| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
|
||||
| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
|
||||
| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
|
||||
| OS/NuttX | [David Sidrane](https://github.com/davids5) |
|
||||
| Drivers | [Daniel Agar](https://github.com/dagar) |
|
||||
| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
|
||||
| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
|
||||
| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
|
||||
| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
|
||||
|
||||
| Vehicle Type | Maintainer |
|
||||
|---|---|
|
||||
| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
|
||||
| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
|
||||
| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
|
||||
| Boat | x |
|
||||
| Rover | x |
|
||||
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
|
||||
|
||||
## Supported Hardware
|
||||
|
||||
For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
|
||||
Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
|
||||
|
||||
For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
|
||||
|
||||
### Pixhawk Standard Boards
|
||||
|
||||
These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
|
||||
|
||||
* FMUv6X and FMUv6C
|
||||
* [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
|
||||
* [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
|
||||
* [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
|
||||
* [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
* [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
|
||||
|
||||
### Manufacturer supported
|
||||
|
||||
These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
|
||||
|
||||
* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
|
||||
* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
|
||||
* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
|
||||
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
|
||||
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
|
||||
* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
|
||||
|
||||
### Community supported
|
||||
|
||||
These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
|
||||
|
||||
### Experimental
|
||||
|
||||
These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
|
||||
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
|
||||
|
||||
## Project Roadmap
|
||||
|
||||
**Note: Outdated**
|
||||
|
||||
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
|
||||
|
||||
## Project Governance
|
||||
|
||||
The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
|
||||
|
||||
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
|
||||
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
|
||||
<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
|
||||
<div style="padding:10px"> </div>
|
||||
|
||||
+2
-70
@@ -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
|
||||
@@ -224,31 +202,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
|
||||
endforeach()
|
||||
|
||||
if(config_additional_init)
|
||||
if(EXISTS "${PX4_BOARD_DIR}/init/${config_additional_init}")
|
||||
file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${config_additional_init})
|
||||
message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/rc.additional_init")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/init.d/rc.additional_init
|
||||
${config_additional_init}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${config_additional_init} ${romfs_gen_root_dir}/init.d/rc.additional_init
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${config_additional_init}.stamp
|
||||
DEPENDS
|
||||
${PX4_BOARD_DIR}/init/${config_additional_init}
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying ${config_additional_init}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${config_additional_init}.stamp
|
||||
)
|
||||
else()
|
||||
message(FATAL_ERROR "BOARD_ADDITIONAL_INIT file not found at: ${PX4_BOARD_DIR}/init/${config_additional_init}")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
|
||||
# board extras
|
||||
set(OPTIONAL_BOARD_EXTRAS)
|
||||
@@ -263,33 +216,12 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
if(CONFIG_SYSTEMCMDS_BL_UPDATE)
|
||||
# generate rc.board_bootloader_upgrade
|
||||
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
message(STATUS "ROMFS: Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
|
||||
|
||||
# Generate the file using configure_file at configure time to a temporary location
|
||||
set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
|
||||
|
||||
# Then copy it at build time with proper dependencies
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
|
||||
rc.board_bootloader_upgrade.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
|
||||
COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
|
||||
DEPENDS
|
||||
${bootloader_upgrade_tmp}
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
rc.board_bootloader_upgrade.stamp
|
||||
)
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
|
||||
else()
|
||||
# remove bootloader from extras
|
||||
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
|
||||
endif()
|
||||
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
|
||||
@@ -56,17 +56,6 @@ then
|
||||
fi
|
||||
unset BOARD_RC_DEFAULTS
|
||||
|
||||
#
|
||||
# Optional additional init file: rc.additional_init
|
||||
#
|
||||
set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
|
||||
if [ -f $BOARD_RC_ADDITIONAL_INIT ]
|
||||
then
|
||||
echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
|
||||
. $BOARD_RC_ADDITIONAL_INIT
|
||||
fi
|
||||
unset BOARD_RC_ADDITIONAL_INIT
|
||||
|
||||
#
|
||||
# Start system state indicator.
|
||||
#
|
||||
|
||||
@@ -1,34 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2025 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(init.d)
|
||||
@@ -1,68 +0,0 @@
|
||||
#!/bin/sh
|
||||
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
|
||||
set +e
|
||||
# Un comment the line below to help debug scripts by printing a trace of the script commands
|
||||
#set -x
|
||||
# PX4FMU startup script.
|
||||
#
|
||||
# NOTE: environment variable references:
|
||||
# If the dollar sign ('$') is followed by a left bracket ('{') then the
|
||||
# variable name is terminated with the right bracket character ('}').
|
||||
# Otherwise, the variable name goes to the end of the argument.
|
||||
#
|
||||
#
|
||||
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
set R /
|
||||
|
||||
#
|
||||
# Print full system version.
|
||||
#
|
||||
ver all
|
||||
|
||||
#
|
||||
# Set the parameter file the board supports params on
|
||||
# MTD device.
|
||||
#
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
# if the board has a storage for (factory) calibration data
|
||||
if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
|
||||
then
|
||||
param load /fs/mtd_caldata
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
param select $PARAM_FILE
|
||||
if ! param load
|
||||
then
|
||||
param reset_all
|
||||
fi
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
if [ $? = 0 ]
|
||||
then
|
||||
echo "SD card mounted at /fs/microsd"
|
||||
else
|
||||
echo "No SD card found"
|
||||
fi
|
||||
|
||||
unset R
|
||||
|
||||
echo ""
|
||||
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
|
||||
echo "!!!!!! This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected! !!!!!"
|
||||
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
|
||||
echo ""
|
||||
@@ -35,11 +35,8 @@ add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.mavlink
|
||||
px4-rc.params
|
||||
px4-rc.simulator
|
||||
px4-rc.gzsim
|
||||
px4-rc.jmavsim
|
||||
px4-rc.mavlinksim
|
||||
px4-rc.sihsim
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -16,6 +16,12 @@ param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
@@ -34,6 +40,4 @@ param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default EKF2_GPS_DELAY 0
|
||||
|
||||
param set SIH_VEHICLE_TYPE 0
|
||||
|
||||
@@ -16,6 +16,14 @@ param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default SIH_T_MAX 6
|
||||
param set-default SIH_MASS 0.3
|
||||
param set-default SIH_IXX 0.00402
|
||||
@@ -27,40 +35,19 @@ param set-default SIH_KDV 0.2
|
||||
param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
# SIH for now hardcodes this configuration which we need to match in the airframe files.
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TRQ_R 1
|
||||
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_P 1
|
||||
param set-default CA_SV_CS1_TYPE 3 # elevator
|
||||
param set-default CA_SV_CS1_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_Y 1
|
||||
param set-default CA_SV_CS2_TYPE 4 # rudder
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 202
|
||||
param set-default PWM_MAIN_FUNC3 203
|
||||
param set-default PWM_MAIN_FUNC4 101
|
||||
|
||||
param set-default 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
|
||||
param set-default CA_SV_CS2_TYPE 4
|
||||
param set-default PWM_MAIN_FUNC3 201
|
||||
param set-default PWM_MAIN_FUNC4 202
|
||||
param set-default PWM_MAIN_FUNC5 203
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
|
||||
@@ -11,7 +11,6 @@
|
||||
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
|
||||
@@ -28,6 +27,12 @@ param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default SIH_T_MAX 2
|
||||
param set-default SIH_Q_MAX 0.0165
|
||||
param set-default SIH_MASS 0.2
|
||||
|
||||
@@ -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
|
||||
@@ -1,47 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name HexarotorX SITL for SIH
|
||||
#
|
||||
# @type Hexarotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Matthias Grob <maetugr@gmail.com>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set SIH_VEHICLE_TYPE 4
|
||||
|
||||
# Symmetric hexacopter X clockwise motor numbering
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default CA_ROTOR0_PX 0.866
|
||||
param set-default CA_ROTOR0_PY 0.5
|
||||
param set-default CA_ROTOR1_PX 0
|
||||
param set-default CA_ROTOR1_PY 1
|
||||
param set-default CA_ROTOR1_KM -0.05
|
||||
param set-default CA_ROTOR2_PX -0.866
|
||||
param set-default CA_ROTOR2_PY 0.5
|
||||
param set-default CA_ROTOR3_PX -0.866
|
||||
param set-default CA_ROTOR3_PY -0.5
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_PX 0
|
||||
param set-default CA_ROTOR4_PY -1
|
||||
param set-default CA_ROTOR5_PX 0.866
|
||||
param set-default CA_ROTOR5_PY -0.5
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
|
||||
param set-default EKF2_GPS_DELAY 0
|
||||
@@ -1,72 +0,0 @@
|
||||
#!/bin/sh
|
||||
# @name Rover Ackermann
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
set VEHICLE_TYPE rover_ackermann
|
||||
param set-default CA_AIRFRAME 5 # Rover (Ackermann)
|
||||
param set-default CA_R_REV 1 # Motor is assumed to be reversible
|
||||
param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not driving
|
||||
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
|
||||
|
||||
param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 201 # Steering
|
||||
param set-default PWM_MAIN_FUNC2 101 # Throttle
|
||||
param set-default SIH_MASS 20
|
||||
param set-default SIH_IXX 0.4333
|
||||
param set-default SIH_IYY 1.6833
|
||||
param set-default SIH_IZZ 2.0833
|
||||
param set-default SIH_IXZ 0
|
||||
param set-default SIH_KDV 50
|
||||
param set-default SIH_KDW 10
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# Ackermann Parameters
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_STR_RATE_LIM 360
|
||||
|
||||
# Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_ACCEL_LIM 400
|
||||
param set-default RO_YAW_DECEL_LIM 800
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Velocity Control Parameters
|
||||
param set-default RO_ACCEL_LIM 3
|
||||
param set-default RO_DECEL_LIM 3
|
||||
param set-default RO_JERK_LIM 10
|
||||
param set-default RO_MAX_THR_SPEED 3.2
|
||||
param set-default RO_SPEED_LIM 3
|
||||
param set-default RO_SPEED_I 0.001
|
||||
param set-default RO_SPEED_P 0.001
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
@@ -5,7 +5,7 @@
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
|
||||
. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
|
||||
|
||||
# EKF2: Vision position and heading, no GPS
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default COM_OBS_AVOID 1
|
||||
@@ -0,0 +1,2 @@
|
||||
# shellcheck disable=SC2154
|
||||
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
|
||||
@@ -44,6 +44,8 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
|
||||
@@ -46,6 +46,8 @@ param set-default MIS_TAKEOFF_ALT 30
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set-default RWTO_PSP 8
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set-default RWTO_PSP 8
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -30,6 +30,8 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set-default RWTO_PSP 8
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -38,6 +38,8 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -44,6 +44,8 @@ param set-default MIS_TAKEOFF_ALT 30
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -35,6 +35,8 @@ param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -35,6 +35,8 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -0,0 +1,33 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Rover
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 10
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2
|
||||
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
@@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Aion Robotics R1 Rover
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 102
|
||||
@@ -43,6 +43,8 @@ param set-default FW_THR_TRIM 0.8
|
||||
param set-default FW_THR_IDLE 0
|
||||
param set-default COM_DISARM_PRFLT 0
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -44,10 +44,12 @@ param set-default FW_R_LIM 30
|
||||
|
||||
param set-default FW_MAN_R_MAX 30
|
||||
|
||||
param set-default FW_THR_TRIM 0.8
|
||||
param set-default FW_THR_CRUISE 0.8
|
||||
param set-default FW_THR_IDLE 0
|
||||
param set-default COM_DISARM_PRFLT 0
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -13,6 +13,10 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
|
||||
|
||||
@@ -12,40 +12,45 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.4
|
||||
param set-default FW_RR_I 0.7
|
||||
|
||||
param set-default FW_R_RMAX 56.15
|
||||
|
||||
param set-default FW_YR_FF 0.3
|
||||
param set-default FW_YR_P 1.3
|
||||
param set-default FW_YR_I 0.7
|
||||
|
||||
param set-default FW_PSP_OFF 0
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_T_CLMB_MAX 5
|
||||
param set-default FW_T_SINK_MAX 3.5
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default FD_ESCS_EN 0
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
@@ -53,6 +58,8 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default COM_PREARM_MODE 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
|
||||
@@ -13,6 +13,9 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
# TODO: Enable motor failure detection when the
|
||||
|
||||
@@ -14,7 +14,12 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# Commander Parameters
|
||||
param set-default COM_OBS_AVOID 0
|
||||
param set-default COM_DISARM_LAND 0.5
|
||||
|
||||
# EKF2 parameters
|
||||
@@ -70,6 +75,7 @@ param set-default MPC_Z_VEL_P_ACC 5
|
||||
param set-default MPC_Z_VEL_I_ACC 3
|
||||
param set-default MPC_LAND_ALT1 3
|
||||
param set-default MPC_LAND_ALT2 1
|
||||
param set-default MPC_POS_MODE 3
|
||||
param set-default CP_GO_NO_DATA 1
|
||||
|
||||
# Navigator Parameters
|
||||
@@ -91,6 +97,11 @@ param set-default IMU_GYRO_CUTOFF 100
|
||||
|
||||
# Power Parameters
|
||||
param set-default BAT1_N_CELLS 4
|
||||
# param set-default BAT1_A_PER_V 36.364 Not found
|
||||
# param set-default BAT1_V_DIV 18.182 Not found
|
||||
|
||||
# Circuit breakers
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default THR_MDL_FAC 0.3
|
||||
|
||||
|
||||
@@ -11,42 +11,52 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default NPFG_PERIOD 12
|
||||
|
||||
param set-default FW_PR_FF 0.08
|
||||
param set-default FW_PR_I 0.3
|
||||
param set-default FW_PR_P 0.08
|
||||
|
||||
param set-default FW_RR_FF 0.05
|
||||
param set-default FW_RR_I 0.2
|
||||
param set-default FW_RR_P 0.03
|
||||
|
||||
param set-default FW_YR_FF 0.3
|
||||
param set-default FW_YR_I 0.4
|
||||
param set-default FW_YR_P 0.2
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
|
||||
param set-default FW_T_CLMB_R_SP 5
|
||||
param set-default FW_T_CLMB_MAX 6
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
|
||||
@@ -11,50 +11,45 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Differential Parameters
|
||||
# Rover parameters
|
||||
param set-default RD_WHEEL_TRACK 0.3
|
||||
param set-default RD_MAN_YAW_SCALE 0.1
|
||||
param set-default RD_MAX_ACCEL 6
|
||||
param set-default RD_MAX_JERK 30
|
||||
param set-default RD_MAX_THR_YAW_R 5
|
||||
param set-default RD_YAW_RATE_P 0.1
|
||||
param set-default RD_YAW_RATE_I 0
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0
|
||||
param set-default RD_MAX_SPEED 5
|
||||
param set-default RD_MAX_THR_SPD 7
|
||||
param set-default RD_SPEED_P 1
|
||||
param set-default RD_SPEED_I 0
|
||||
param set-default RD_MAX_YAW_RATE 180
|
||||
param set-default RD_MISS_SPD_DEF 5
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
# Rover Control Parameters
|
||||
param set-default RO_ACCEL_LIM 5
|
||||
param set-default RO_DECEL_LIM 10
|
||||
param set-default RO_JERK_LIM 30
|
||||
param set-default RO_MAX_THR_SPEED 2.1
|
||||
|
||||
# Rover Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_ACCEL_LIM 120
|
||||
param set-default RO_YAW_DECEL_LIM 1000
|
||||
param set-default RO_YAW_RATE_CORR 1.43
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 2
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_MAX 30
|
||||
param set-default PP_LOOKAHD_MIN 2
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Simulated sensors
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 0
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
|
||||
param set-default SIM_GZ_WH_MIN1 70
|
||||
param set-default SIM_GZ_WH_MAX1 130
|
||||
param set-default SIM_GZ_WH_MIN1 0
|
||||
param set-default SIM_GZ_WH_MAX1 200
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
|
||||
param set-default SIM_GZ_WH_MIN2 70
|
||||
param set-default SIM_GZ_WH_MAX2 130
|
||||
param set-default SIM_GZ_WH_MIN2 0
|
||||
param set-default SIM_GZ_WH_MAX2 200
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
|
||||
param set-default SIM_GZ_WH_REV 1 # reverse right wheel
|
||||
|
||||
@@ -1,68 +1,58 @@
|
||||
#!/bin/sh
|
||||
# @name Gazebo - Zero Turn Lawnmower
|
||||
# @name Gazebo lawnmower
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Simulated sensors
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 0
|
||||
# We can arm and drive in manual mode when it slides and GPS check fails:
|
||||
param set-default COM_ARM_WO_GPS 1
|
||||
|
||||
# Differential Parameters
|
||||
# Rover parameters
|
||||
param set-default RD_WHEEL_TRACK 0.9
|
||||
param set-default RD_MAN_YAW_SCALE 0.1
|
||||
param set-default RD_YAW_RATE_I 0.1
|
||||
param set-default RD_YAW_RATE_P 5
|
||||
param set-default RD_MAX_ACCEL 1
|
||||
param set-default RD_MAX_JERK 3
|
||||
param set-default RD_MAX_SPEED 8
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0.1
|
||||
param set-default RD_MAX_YAW_RATE 30
|
||||
param set-default RD_MISS_SPD_DEF 8
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
# Rover Control Parameters
|
||||
param set-default RO_ACCEL_LIM 1.5
|
||||
param set-default RO_DECEL_LIM 5
|
||||
param set-default RO_JERK_LIM 15
|
||||
param set-default RO_MAX_THR_SPEED 2.7
|
||||
|
||||
# Rover Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.2
|
||||
param set-default RO_YAW_RATE_P 1.0
|
||||
param set-default RO_YAW_RATE_LIM 60
|
||||
param set-default RO_YAW_ACCEL_LIM 50
|
||||
param set-default RO_YAW_DECEL_LIM 1000
|
||||
param set-default RO_YAW_RATE_CORR 1.0
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 2.1
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-defatul RO_SPEED_RED 1.0
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_MAX 30
|
||||
param set-default PP_LOOKAHD_MIN 2
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Actuator mapping - set SITL motors/servos output parameters:
|
||||
|
||||
# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
|
||||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
|
||||
param set-default SIM_GZ_WH_MIN1 87
|
||||
param set-default SIM_GZ_WH_MAX1 113
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
param set-default SIM_GZ_WH_FAIL1 100
|
||||
#param set-default SIM_GZ_WH_MIN1 0
|
||||
#param set-default SIM_GZ_WH_MAX1 200
|
||||
#param set-default SIM_GZ_WH_DIS1 100
|
||||
#param set-default SIM_GZ_WH_FAIL1 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
|
||||
param set-default SIM_GZ_WH_MIN2 87
|
||||
param set-default SIM_GZ_WH_MAX2 113
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
param set-default SIM_GZ_WH_FAIL2 100
|
||||
#param set-default SIM_GZ_WH_MIN2 0
|
||||
#param set-default SIM_GZ_WH_MAX2 200
|
||||
#param set-default SIM_GZ_WH_DIS2 100
|
||||
#param set-default SIM_GZ_WH_FAIL2 100
|
||||
|
||||
param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
|
||||
|
||||
@@ -72,25 +62,19 @@ param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
|
||||
# controls in practical scenarios.
|
||||
|
||||
# Cutter deck blades clutch, PCA9685 servo channel 3, "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
|
||||
param set-default SIM_GZ_SV_FUNC1 201
|
||||
param set-default SIM_GZ_SV_MIN1 0
|
||||
param set-default SIM_GZ_SV_MAX1 1000
|
||||
param set-default SIM_GZ_SV_DIS1 500
|
||||
param set-default SIM_GZ_SV_FAIL1 500
|
||||
param set-default SIM_GZ_SV_MAXA1 90
|
||||
param set-default SIM_GZ_SV_MINA1 -90
|
||||
param set-default SIM_GZ_SV_FUNC3 203
|
||||
param set-default SIM_GZ_SV_MIN3 0
|
||||
param set-default SIM_GZ_SV_MAX3 1000
|
||||
param set-default SIM_GZ_SV_DIS3 500
|
||||
param set-default SIM_GZ_SV_FAIL3 500
|
||||
|
||||
# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
|
||||
# - on minimum when disarmed or failed:
|
||||
param set-default SIM_GZ_SV_FUNC2 202
|
||||
param set-default SIM_GZ_SV_MIN2 0
|
||||
param set-default SIM_GZ_SV_MAX2 1000
|
||||
param set-default SIM_GZ_SV_DIS2 500
|
||||
param set-default SIM_GZ_SV_FAIL2 500
|
||||
param set-default SIM_GZ_SV_MAXA2 90
|
||||
param set-default SIM_GZ_SV_MINA2 -90
|
||||
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default SIM_GZ_SV_FUNC4 204
|
||||
param set-default SIM_GZ_SV_MIN4 0
|
||||
param set-default SIM_GZ_SV_MAX4 1000
|
||||
param set-default SIM_GZ_SV_DIS4 500
|
||||
param set-default SIM_GZ_SV_FAIL4 500
|
||||
|
||||
# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
|
||||
|
||||
|
||||
@@ -0,0 +1,49 @@
|
||||
#!/bin/sh
|
||||
# @name Rover Ackermann
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
# Rover parameters
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_MAX_ACCEL 1.5
|
||||
param set-default RA_MAX_JERK 15
|
||||
param set-default RA_MAX_SPEED 3
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_MAX_STR_RATE 360
|
||||
param set-default RA_MISS_VEL_DEF 3
|
||||
param set-default RA_MISS_VEL_GAIN 5
|
||||
param set-default RA_MISS_VEL_MIN 1
|
||||
param set-default RA_SPEED_I 0.01
|
||||
param set-default RA_SPEED_P 2
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Simulated sensors
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 0
|
||||
|
||||
# Wheels
|
||||
param set-default SIM_GZ_WH_FUNC1 101
|
||||
param set-default SIM_GZ_WH_MIN1 0
|
||||
param set-default SIM_GZ_WH_MAX1 200
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
# Steering
|
||||
param set-default SIM_GZ_SV_FUNC1 201
|
||||
param set-default SIM_GZ_SV_REV 1
|
||||
+2
-2
@@ -1,10 +1,10 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar 2d
|
||||
# @name Gazebo x500 lidar
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_2d}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -1,10 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar down
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_down}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -1,10 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar front
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_front}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -1,91 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Quadrotor + Tailsitter
|
||||
#
|
||||
# @type VTOL Quad Tailsitter
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
param set-default MAV_TYPE 20
|
||||
|
||||
param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.23
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.23
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.23
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.23
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 0
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_FUNC2 102
|
||||
param set-default SIM_GZ_EC_FUNC3 103
|
||||
param set-default SIM_GZ_EC_FUNC4 104
|
||||
|
||||
param set-default SIM_GZ_EC_MIN1 10
|
||||
param set-default SIM_GZ_EC_MIN2 10
|
||||
param set-default SIM_GZ_EC_MIN3 10
|
||||
param set-default SIM_GZ_EC_MIN4 10
|
||||
|
||||
param set-default SIM_GZ_EC_MAX1 1500
|
||||
param set-default SIM_GZ_EC_MAX2 1500
|
||||
param set-default SIM_GZ_EC_MAX3 1500
|
||||
param set-default SIM_GZ_EC_MAX4 1500
|
||||
|
||||
param set-default FD_FAIL_R 70
|
||||
|
||||
param set-default FW_P_TC 0.6
|
||||
|
||||
param set-default FW_PR_I 0.3
|
||||
param set-default FW_PR_P 0.5
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_P 0.2
|
||||
param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
|
||||
param set-default FW_YR_I 0
|
||||
param set-default FW_THR_TRIM 0.35
|
||||
param set-default FW_THR_MAX 0.8
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_CLMB_MAX 6
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 3
|
||||
param set-default FW_T_SINK_MIN 1.6
|
||||
param set-default FW_AIRSPD_STALL 10
|
||||
param set-default FW_AIRSPD_MIN 14
|
||||
param set-default FW_AIRSPD_TRIM 18
|
||||
param set-default FW_AIRSPD_MAX 22
|
||||
|
||||
param set-default MC_AIRMODE 2
|
||||
param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
|
||||
param set-default MC_ROLL_P 3
|
||||
param set-default MC_PITCH_P 3
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_PITCHRATE_P 0.3
|
||||
|
||||
param set-default VT_ARSP_TRANS 15
|
||||
param set-default VT_B_TRANS_DUR 5
|
||||
param set-default VT_FW_DIFTHR_EN 7
|
||||
param set-default VT_FW_DIFTHR_S_Y 1
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
param set-default WV_EN 0
|
||||
|
||||
param set-default EKF2_FUSE_BETA 0
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user