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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,8 @@ | ||
| # 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 | ||
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| name: SITL Tests | ||
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| on: | ||
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@@ -10,126 +15,139 @@ on: | |
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| jobs: | ||
| build: | ||
| runs-on: ubuntu-latest | ||
| name: Testing PX4 ${{ matrix.config.model }} | ||
| runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"] | ||
| container: | ||
| image: px4io/px4-dev-simulation-focal:2021-09-08 | ||
| options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| config: | ||
| - {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska | ||
| # - {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia | ||
| - {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida | ||
| - {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich | ||
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| container: | ||
| image: px4io/px4-dev-simulation-focal:2021-09-08 | ||
| options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined | ||
| steps: | ||
| - uses: actions/checkout@v1 | ||
| with: | ||
| token: ${{ secrets.ACCESS_TOKEN }} | ||
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| - name: Download MAVSDK | ||
| run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" | ||
| - name: Install MAVSDK | ||
| run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" | ||
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| - name: Prepare ccache timestamp | ||
| id: ccache_cache_timestamp | ||
| shell: cmake -P {0} | ||
| run: | | ||
| string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) | ||
| message("::set-output name=timestamp::${current_date}") | ||
| - name: ccache cache files | ||
| uses: actions/cache@v2 | ||
| with: | ||
| path: ~/.ccache | ||
| key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} | ||
| restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache- | ||
| - name: setup ccache | ||
| run: | | ||
| mkdir -p ~/.ccache | ||
| echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf | ||
| echo "compression = true" >> ~/.ccache/ccache.conf | ||
| echo "compression_level = 6" >> ~/.ccache/ccache.conf | ||
| echo "max_size = 100M" >> ~/.ccache/ccache.conf | ||
| echo "hash_dir = false" >> ~/.ccache/ccache.conf | ||
| ccache -s | ||
| ccache -z | ||
| - name: check environment | ||
| env: | ||
| PX4_HOME_LAT: ${{matrix.config.latitude}} | ||
| PX4_HOME_LON: ${{matrix.config.longitude}} | ||
| PX4_HOME_ALT: ${{matrix.config.altitude}} | ||
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | ||
| run: | | ||
| export | ||
| ulimit -a | ||
| - name: Build PX4 | ||
| env: | ||
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | ||
| run: make px4_sitl_default | ||
| - name: ccache post-run px4/firmware | ||
| run: ccache -s | ||
| - name: Build SITL Gazebo | ||
| env: | ||
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | ||
| run: make px4_sitl_default sitl_gazebo-classic | ||
| - name: ccache post-run sitl_gazebo-classic | ||
| run: ccache -s | ||
| - name: Build MAVSDK tests | ||
| env: | ||
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | ||
| DONT_RUN: 1 | ||
| run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests | ||
| - name: ccache post-run mavsdk_tests | ||
| run: ccache -s | ||
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| - name: Core dump settings | ||
| run: | | ||
| ulimit -c unlimited | ||
| echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern | ||
| - name: Run SITL tests | ||
| env: | ||
| PX4_HOME_LAT: ${{matrix.config.latitude}} | ||
| PX4_HOME_LON: ${{matrix.config.longitude}} | ||
| PX4_HOME_ALT: ${{matrix.config.altitude}} | ||
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | ||
| run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose | ||
| timeout-minutes: 45 | ||
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| - name: Look at core files | ||
| if: failure() | ||
| run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit" | ||
| - name: Upload px4 coredump | ||
| if: failure() | ||
| uses: actions/upload-artifact@v2-preview | ||
| with: | ||
| name: coredump | ||
| path: px4.core | ||
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| - name: Upload px4 binary | ||
| if: failure() | ||
| uses: actions/upload-artifact@v2-preview | ||
| with: | ||
| name: binary | ||
| path: build/px4_sitl_default/bin/px4 | ||
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| # Report test coverage | ||
| - name: Upload coverage | ||
| if: contains(matrix.config.build_type, 'Coverage') | ||
| run: | | ||
| git config --global credential.helper "" # disable the keychain credential helper | ||
| git config --global --add credential.helper store # enable the local store credential helper | ||
| echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential | ||
| git config --global url."https://github.com/".insteadof [email protected]: # credentials add credential | ||
| mkdir -p coverage | ||
| lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info | ||
| - name: Upload coverage information to Codecov | ||
| if: contains(matrix.config.build_type, 'Coverage') | ||
| uses: codecov/codecov-action@v1 | ||
| with: | ||
| token: ${{ secrets.CODECOV_TOKEN }} | ||
| flags: mavsdk | ||
| file: coverage/lcov.info | ||
| - uses: actions/checkout@v4 | ||
| with: | ||
| fetch-depth: 0 | ||
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| - name: Git Ownership Workaround | ||
| run: git config --system --add safe.directory '*' | ||
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| - id: set-timestamp | ||
| name: Set timestamp for cache | ||
| run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")" | ||
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| - name: Cache Key Config | ||
| uses: actions/cache@v4 | ||
| with: | ||
| path: ~/.ccache | ||
| key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }} | ||
| restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }} | ||
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| - name: Cache Conf Config | ||
| run: | | ||
| mkdir -p ~/.ccache | ||
| echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf | ||
| echo "compression = true" >> ~/.ccache/ccache.conf | ||
| echo "compression_level = 6" >> ~/.ccache/ccache.conf | ||
| echo "max_size = 120M" >> ~/.ccache/ccache.conf | ||
| echo "hash_dir = false" >> ~/.ccache/ccache.conf | ||
| ccache -s | ||
| ccache -z | ||
| - name: Build PX4 | ||
| env: | ||
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | ||
| run: make px4_sitl_default | ||
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| - name: Cache Post-Run [px4_sitl_default] | ||
| run: ccache -s | ||
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| - name: Build SITL Gazebo | ||
| env: | ||
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | ||
| run: make px4_sitl_default sitl_gazebo-classic | ||
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| - name: Cache Post-Run [sitl_gazebo-classic] | ||
| run: ccache -s | ||
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| - name: Download MAVSDK | ||
| run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" | ||
|
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| - name: Install MAVSDK | ||
| run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" | ||
|
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| - name: Check PX4 Environment Variables | ||
| env: | ||
| PX4_HOME_LAT: ${{matrix.config.latitude}} | ||
| PX4_HOME_LON: ${{matrix.config.longitude}} | ||
| PX4_HOME_ALT: ${{matrix.config.altitude}} | ||
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | ||
| run: | | ||
| export | ||
| ulimit -a | ||
| - name: Build PX4 / MAVSDK tests | ||
| env: | ||
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | ||
| DONT_RUN: 1 | ||
| run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests | ||
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| - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests] | ||
| run: ccache -s | ||
|
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| - name: Core Dump Settings | ||
| run: | | ||
| ulimit -c unlimited | ||
| echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern | ||
| - name: Run SITL / MAVSDK Tests | ||
| env: | ||
| PX4_HOME_LAT: ${{matrix.config.latitude}} | ||
| PX4_HOME_LON: ${{matrix.config.longitude}} | ||
| PX4_HOME_ALT: ${{matrix.config.altitude}} | ||
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | ||
| run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose | ||
| timeout-minutes: 45 | ||
|
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| - name: Upload failed logs | ||
| if: failure() | ||
| uses: actions/upload-artifact@v4 | ||
| with: | ||
| name: failed-${{matrix.config.model}}-logs.zip | ||
| path: | | ||
| logs/**/**/**/*.log | ||
| logs/**/**/**/*.ulg | ||
| build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg | ||
| - name: Look at Core files | ||
| if: failure() && ${{ hashFiles('px4.core') != '' }} | ||
| run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit" | ||
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| - name: Upload PX4 coredump | ||
| if: failure() && ${{ hashFiles('px4.core') != '' }} | ||
| uses: actions/upload-artifact@v4 | ||
| with: | ||
| name: coredump | ||
| path: px4.core | ||
|
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| - name: Setup & Generate Coverage Report | ||
| if: contains(matrix.config.build_type, 'Coverage') | ||
| run: | | ||
| git config --global credential.helper "" # disable the keychain credential helper | ||
| git config --global --add credential.helper store # enable the local store credential helper | ||
| echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential | ||
| git config --global url."https://github.com/".insteadof [email protected]: # credentials add credential | ||
| mkdir -p coverage | ||
| lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info | ||
| - name: Upload Coverage Information to Codecov | ||
| if: contains(matrix.config.build_type, 'Coverage') | ||
| uses: codecov/codecov-action@v4 | ||
| with: | ||
| token: ${{ secrets.CODECOV_TOKEN }} | ||
| flags: mavsdk | ||
| file: coverage/lcov.info | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,5 +1,5 @@ | ||
| uint64 timestamp # time since system start (microseconds) | ||
| uint32 device_id # unique device ID for the sensor that does not change between power cycles | ||
| float32 speed # the speed being reported by the wind / airflow sensor | ||
| float32 direction # the direction bein report by the wind / airflow sensor | ||
| float32 direction # the direction being reported by the wind / airflow sensor | ||
| uint8 status # Status code from the sensor |
Submodule nuttx
updated
21 files
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -13,4 +13,4 @@ param set-default -s MC_AT_EN 1 | |
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| param set-default -s UAVCAN_ENABLE 2 | ||
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| set LOGGER_BUF 64 | ||
| set LOGGER_BUF 40 | ||
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