PX4-Autopilot/docs/ko/test_and_ci/continous_integration.md

PX4 지속 통합

PX4 uses GitHub Actions for continuous integration, with different workflows handling code builds, testing, and documentation.

Documentation CI

The documentation pipeline handles building, deploying, and translating the PX4 User Guide. All documentation CI is consolidated into a single orchestrator workflow organized in tiers.

Docs Orchestrator

Workflow file: docs-orchestrator.yml

This is the main documentation workflow. It runs on pull requests, pushes to main and release/** branches, and manual workflow_dispatch triggers, performing different jobs depending on the trigger event. Jobs are organized in tiers, where each tier depends on the previous one completing successfully.

Tier Structure

Tier	Job	PR	Push / Dispatch	설명
T1	Detect Changes	Yes	—	Checks if source code files changed (triggers metadata regen)
T2	PR Metadata	Yes (conditional)	—	Builds PX4 SITL and regenerates all auto-generated docs
T2	Metadata Sync	—	Yes	Builds PX4 SITL, regenerates metadata, auto-commits
T2	Link Check	Yes	—	Checks for broken links in changed files, posts PR comment
T3	Build Site	Yes (if docs/source changed)	Yes (after T2)	Builds the VitePress documentation site
T4	Deploy	—	Yes	Deploys to AWS S3

Pull Request Flow

When a PR modifies files in docs/** or the orchestrator workflow file itself, the workflow validates the changes:

PR Event
    │
    ▼
┌─────────────────────────────────────┐
│ T1: Detect Changes                  │
│  • Checks if src/msg/ROMFS changed  │
└─────────────────┬───────────────────┘
                  │
          ┌───────┴───────┐
          ▼               ▼
┌──────────────────┐ ┌─────────────────────────┐
│ T2: PR Metadata  │ │ T2: Link Check (~30s)   │
│ (conditional)    │ │  • Detects changed .md   │
│  • Builds SITL   │ │  • Runs filtered check   │
│  • Generates     │ │  • Posts PR comment      │
│    metadata      │ │  • Runs full check       │
│  • Builds        │ └────────────┬────────────┘
│    failsafe web  │              │
└────────┬─────────┘              │
         └───────────┬────────────┘
                     ▼
┌─────────────────────────────────────┐
│ T3: Build Site (~7-10 min)         │
│  (skipped if only workflow YAML     │
│   changed — no docs/source changes) │
│  • Builds VitePress site            │
│  • Verifies no build errors         │
└─────────────────┬───────────────────┘
                  │
                  ▼
                DONE

Job	Duration	설명
T1: Detect Changes	~10s	Determines if metadata regeneration is needed
T2: PR Metadata	~10-15m	Rebuilds PX4 SITL and regenerates all metadata (only if source files changed)
T2: Link Check	~30s	Checks for broken links in changed markdown files and posts a sticky comment to the PR (skipped on fork PRs)
T3: Build Site	~7-10m	Builds the VitePress site to verify there are no build errors. Skipped when only the workflow YAML changed (no docs or source changes).

Push / Dispatch Flow (main/release branches)

When changes are pushed to main or release/** branches (or a workflow_dispatch is triggered), the workflow regenerates metadata, builds, and deploys. Only main and release/* branches are accepted for deploy — other branches will fail with a clear error.

Push / Dispatch Event
    │
    ▼
┌─────────────────────────────────────┐
│ T2: Metadata Sync (~10-15 min)     │
│  • Builds px4_sitl_default          │
│  • Generates parameter/airframe/    │
│    module documentation             │
│  • Builds failsafe web simulator    │
│  • Formats with Prettier            │
│  • Auto-commits if changes detected │
│    (with [skip ci])                 │
└─────────────────┬───────────────────┘
                  │
                  ▼
┌─────────────────────────────────────┐
│ T3: Build Site (~7-10 min)         │
│  • Builds VitePress site            │
│  • Uploads build artifact           │
└─────────────────┬───────────────────┘
                  │
                  ▼
┌─────────────────────────────────────┐
│ T4: Deploy (~3 min)                │
│  • Syncs to AWS S3                  │
│  • HTML: 60s cache                  │
│  • Assets: 24h immutable cache      │
└─────────────────────────────────────┘

Job	Duration	설명
T2: Metadata Sync	~10-15m	Rebuilds PX4 SITL, regenerates all metadata, formats with Prettier, auto-commits with [skip ci]
T3: Build Site	~7-10m	Builds the VitePress documentation site
T4: Deploy	~3m	Syncs built site to AWS S3 (HTML: 60s cache, assets: 24h cache)

Crowdin upload is handled by a separate workflow (see below).

Generated Metadata

The metadata regeneration job creates the following auto-generated documentation:

형식	출력	설명
매개변수	docs/en/advanced_config/parameter_reference.md	Complete parameter reference
기체	docs/en/airframes/airframe_reference.md	Airframe configurations
모듈	docs/en/modules/*.md	Module documentation
Messages	docs/en/msg_docs/*.md	uORB message documentation
uORB Graphs	docs/public/middleware/*.json	Topic dependency graphs
Failsafe Simulator	docs/public/config/failsafe/*	Interactive failsafe simulator (WebAssembly)

:::warning Do not manually edit the auto-generated files listed above. They are overwritten on every push to main. :::

Path Triggers

The workflow triggers on different paths depending on the event:

Push (main/release branches):

Path	Reason
docs/**	Documentation source files
src/**	Source code changes affect metadata
msg/**	Message definitions affect metadata
ROMFS/**	ROMFS files affect metadata
Tools/module_config/**	Module configuration affects metadata

Pull Request:

Path	Reason
docs/**	Documentation source files
.github/workflows/docs-orchestrator.yml	Changes to the workflow itself

Source-only changes on PRs are detected at runtime by the T1: Detect Changes job using dorny/paths-filter, which conditionally triggers the T2: PR Metadata job.

Crowdin Download Workflow

Workflow file: docs_crowdin_download.yml

This scheduled workflow downloads completed translations from Crowdin and creates pull requests.

설정	Value
Schedule	Every Sunday at 00:00 UTC
Target Languages	Korean (ko), Ukrainian (uk), Chinese Simplified (zh-CN)

Process:

1. Downloads translations for each target language from Crowdin
2. Creates a separate PR for each language with new translations
3. PRs are labeled "Documentation" and assigned for review

Caching Strategy

The workflows use caching to speed up builds:

Cache	Size	Purpose
ccache	1GB	C++ compilation cache for SITL builds
node_modules	~26MB	Node.js dependencies for VitePress

Infrastructure

Jobs run on runs-on self-hosted runners with S3 cache:

Job	Runner
T1: Detect Changes	ubuntu-latest
T2: PR Metadata	4 CPU (with px4-dev container)
T2: Metadata Sync	4 CPU (with px4-dev container)
T2: Link Check	ubuntu-latest
T3: Build Site	4 CPU
T4: Deploy	ubuntu-latest