AP_Motors: add support for offsetting collective when landed #885
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name: test rover | |
on: | |
push: | |
paths-ignore: | |
# remove other vehicles | |
- 'AntennaTracker/**' | |
- 'ArduCopter/**' | |
- 'ArduPlane/**' | |
- 'ArduSub/**' | |
- 'Blimp/**' | |
# remove non SITL HAL | |
- 'libraries/AP_HAL_ChibiOS/**' | |
- 'libraries/AP_HAL_ESP32/**' | |
# remove non SITL directories | |
- 'Tools/AP_Bootloader/**' | |
- 'Tools/AP_Periph/**' | |
- 'Tools/bootloaders/**' | |
- 'Tools/CHDK-Script/**' | |
- 'Tools/CodeStyle/**' | |
- 'Tools/completion/**' | |
- 'Tools/CPUInfo/**' | |
- 'Tools/debug/**' | |
- 'Tools/environment_install/**' | |
- 'Tools/FilterTestTool/**' | |
- 'Tools/Frame_params/**' | |
- 'Tools/geotag/**' | |
- 'Tools/GIT_Test/**' | |
- 'Tools/gittools/**' | |
- 'Tools/Hello/**' | |
- 'Tools/IO_Firmware/**' | |
- 'Tools/Linux_HAL_Essentials/**' | |
- 'Tools/Pozyx/**' | |
- 'Tools/PrintVersion.py' | |
- 'Tools/Replay/**' | |
- 'Tools/simulink/**' | |
- 'Tools/UDP_Proxy/**' | |
- 'Tools/vagrant/**' | |
- 'Tools/Vicon/**' | |
# Discard python file from Tools/scripts as not used | |
- 'Tools/scripts/**.py' | |
- 'Tools/scripts/build_sizes/**' | |
- 'Tools/scripts/build_tests/**' | |
- 'Tools/scripts/CAN/**' | |
- 'Tools/scripts/signing/**' | |
# Remove other vehicles autotest | |
- 'Tools/autotest/antennatracker.py' | |
- 'Tools/autotest/arducopter.py' | |
- 'Tools/autotest/arduplane.py' | |
- 'Tools/autotest/ardusub.py' | |
- 'Tools/autotest/helicopter.py' | |
- 'Tools/autotest/location.txt' | |
- 'Tools/autotest/quadplane.py' | |
- 'Tools/autotest/swarminit.txt' | |
# Remove markdown files as irrelevant | |
- '**.md' | |
# Remove dotfile at root directory | |
- './.dir-locals.el' | |
- './.dockerignore' | |
- './.editorconfig' | |
- './.flake8' | |
- './.gitattributes' | |
- './.github' | |
- './.gitignore' | |
- './.pre-commit-config.yaml' | |
- './.pydevproject' | |
- './.valgrind-suppressions' | |
- './.valgrindrc' | |
- 'Dockerfile' | |
- 'Vagrantfile' | |
- 'Makefile' | |
# Remove some directories check | |
- '.vscode/**' | |
- '.github/ISSUE_TEMPLATE/**' | |
# Remove change on other workflows | |
- '.github/workflows/test_environment.yml' | |
pull_request: | |
paths-ignore: | |
# remove other vehicles | |
- 'AntennaTracker/**' | |
- 'ArduCopter/**' | |
- 'ArduPlane/**' | |
- 'ArduSub/**' | |
- 'Blimp/**' | |
# remove non SITL HAL | |
- 'libraries/AP_HAL_ChibiOS/**' | |
- 'libraries/AP_HAL_ESP32/**' | |
# remove non SITL directories | |
- 'Tools/AP_Bootloader/**' | |
- 'Tools/AP_Periph/**' | |
- 'Tools/bootloaders/**' | |
- 'Tools/CHDK-Script/**' | |
- 'Tools/CodeStyle/**' | |
- 'Tools/completion/**' | |
- 'Tools/CPUInfo/**' | |
- 'Tools/debug/**' | |
- 'Tools/environment_install/**' | |
- 'Tools/FilterTestTool/**' | |
- 'Tools/Frame_params/**' | |
- 'Tools/geotag/**' | |
- 'Tools/GIT_Test/**' | |
- 'Tools/gittools/**' | |
- 'Tools/Hello/**' | |
- 'Tools/IO_Firmware/**' | |
- 'Tools/Linux_HAL_Essentials/**' | |
- 'Tools/LogAnalyzer/**' | |
- 'Tools/Pozyx/**' | |
- 'Tools/PrintVersion.py' | |
- 'Tools/Replay/**' | |
- 'Tools/simulink/**' | |
- 'Tools/UDP_Proxy/**' | |
- 'Tools/vagrant/**' | |
- 'Tools/Vicon/**' | |
# Discard python file from Tools/scripts as not used | |
- 'Tools/scripts/**.py' | |
- 'Tools/scripts/build_sizes/**' | |
- 'Tools/scripts/build_tests/**' | |
- 'Tools/scripts/CAN/**' | |
- 'Tools/scripts/signing/**' | |
# Remove other vehicles autotest | |
- 'Tools/autotest/antennatracker.py' | |
- 'Tools/autotest/arducopter.py' | |
- 'Tools/autotest/arduplane.py' | |
- 'Tools/autotest/ardusub.py' | |
- 'Tools/autotest/helicopter.py' | |
- 'Tools/autotest/location.txt' | |
- 'Tools/autotest/quadplane.py' | |
- 'Tools/autotest/swarminit.txt' | |
# Remove markdown files as irrelevant | |
- '**.md' | |
# Remove dotfile at root directory | |
- './.dir-locals.el' | |
- './.dockerignore' | |
- './.editorconfig' | |
- './.flake8' | |
- './.gitattributes' | |
- './.github' | |
- './.gitignore' | |
- './.pre-commit-config.yaml' | |
- './.pydevproject' | |
- './.valgrind-suppressions' | |
- './.valgrindrc' | |
- 'Dockerfile' | |
- 'Vagrantfile' | |
- 'Makefile' | |
# Remove some directories check | |
- '.vscode/**' | |
- '.github/ISSUE_TEMPLATE/**' | |
# Remove change on other workflows | |
- '.github/workflows/test_environment.yml' | |
workflow_dispatch: | |
concurrency: | |
group: ci-${{github.workflow}}-${{ github.ref }} | |
cancel-in-progress: true | |
jobs: | |
build: | |
runs-on: ubuntu-22.04 | |
container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3 | |
strategy: | |
fail-fast: false # don't cancel if a job from the matrix fails | |
matrix: | |
toolchain: [ | |
base, # GCC | |
clang, | |
] | |
steps: | |
# git checkout the PR | |
- uses: actions/checkout@v4 | |
with: | |
submodules: 'recursive' | |
# Put ccache into github cache for faster build | |
- name: Prepare ccache timestamp | |
id: ccache_cache_timestamp | |
run: | | |
NOW=$(date -u +"%F-%T") | |
echo "timestamp=${NOW}" >> $GITHUB_OUTPUT | |
- name: ccache cache files | |
uses: actions/cache@v4 | |
with: | |
path: ~/.ccache | |
key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} | |
restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}- # restore ccache from either previous build on this branch or on master | |
- name: setup ccache | |
run: | | |
. .github/workflows/ccache.env | |
- name: build rover ${{ matrix.toolchain }} | |
shell: bash | |
run: | | |
sudo apt-get update || true | |
sudo apt-get -y install ppp || true | |
git config --global --add safe.directory ${GITHUB_WORKSPACE} | |
if [[ ${{ matrix.toolchain }} == "clang" ]]; then | |
export CC=clang | |
export CXX=clang++ | |
fi | |
PATH="/github/home/.local/bin:$PATH" | |
./waf configure --board sitl --debug --enable-math-check-indexes | |
./waf build --target bin/ardurover | |
ccache -s | |
ccache -z | |
autotest: | |
needs: build # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build | |
runs-on: ubuntu-22.04 | |
container: | |
image: ardupilot/ardupilot-dev-base:v0.1.3 | |
options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined | |
strategy: | |
fail-fast: false # don't cancel if a job from the matrix fails | |
matrix: | |
config: [ | |
sitltest-rover, | |
sitltest-sailboat, | |
sitltest-balancebot | |
] | |
steps: | |
# git checkout the PR | |
- uses: actions/checkout@v4 | |
with: | |
submodules: 'recursive' | |
- name: Register gcc problem matcher | |
run: echo "::add-matcher::.github/problem-matchers/gcc.json" | |
- name: Register python problem matcher | |
run: echo "::add-matcher::.github/problem-matchers/python.json" | |
- name: Register autotest warn matcher | |
run: echo "::add-matcher::.github/problem-matchers/autotestwarn.json" | |
- name: Register autotest fail matcher | |
run: echo "::add-matcher::.github/problem-matchers/autotestfail.json" | |
# Put ccache into github cache for faster build | |
- name: Prepare ccache timestamp | |
id: ccache_cache_timestamp | |
run: | | |
NOW=$(date -u +"%F-%T") | |
echo "timestamp=${NOW}" >> $GITHUB_OUTPUT | |
- name: ccache cache files | |
uses: actions/cache/restore@v3 | |
with: | |
path: ~/.ccache | |
key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}} | |
restore-keys: ${{github.workflow}}-ccache-base- # restore ccache from either previous build on this branch or on master | |
- name: setup ccache | |
run: | | |
. .github/workflows/ccache.env | |
- name: test ${{matrix.config}} | |
env: | |
CI_BUILD_TARGET: ${{matrix.config}} | |
shell: bash | |
run: | | |
git config --global --add safe.directory ${GITHUB_WORKSPACE} | |
PATH="/github/home/.local/bin:$PATH" | |
Tools/scripts/build_ci.sh | |
- name: Archive buildlog artifacts | |
uses: actions/upload-artifact@v4 | |
if: failure() | |
with: | |
name: fail-${{matrix.config}} | |
path: | | |
/tmp/buildlogs | |
/__w/ardupilot/ardupilot/logs | |
/__w/ardupilot/ardupilot/ap-*.core | |
/__w/ardupilot/ardupilot/core.* | |
/__w/ardupilot/ardupilot/dumpstack.sh_* | |
/__w/ardupilot/ardupilot/dumpcore.sh_* | |
retention-days: 14 | |
- name: Archive .bin artifacts | |
uses: actions/upload-artifact@v4 | |
with: | |
name: BIN-${{matrix.config}} | |
path: /__w/ardupilot/ardupilot/logs | |
retention-days: 7 | |