From dd2e592d46062ebb2ab0d360d3edfeb76add8178 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Tue, 9 Aug 2022 16:09:41 +1000
Subject: [PATCH 01/33] Update deprecating ubuntu 18.04

---
 .github/workflows/c.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index ce95541b7d..3f91937295 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -14,7 +14,7 @@ on:
 jobs:
   coverage:
     name: Code Coverage
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
         with:
@@ -51,8 +51,8 @@ jobs:
         exclude: [
           { build_type: "Debug", compiler: { c: "gcc-6", cxx: "g++-6" }, build_shared_libraries: false }
         ]
-    name: "Ubuntu 18.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
-    runs-on: ubuntu-18.04
+    name: "Ubuntu 22.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
         with:
@@ -128,7 +128,7 @@ jobs:
 
   big-endian:
     name: Test Big Endian
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
         with:

From 7f1c51f85aee26563b83575dc27b0e1a3db5a485 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Tue, 9 Aug 2022 16:12:43 +1000
Subject: [PATCH 02/33] Update to 22.04

---
 .github/workflows/haskell.yaml    | 2 +-
 .github/workflows/java.yaml       | 2 +-
 .github/workflows/javascript.yaml | 2 +-
 .github/workflows/rust.yaml       | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/haskell.yaml b/.github/workflows/haskell.yaml
index 002ed5d3a1..0cad6f823e 100644
--- a/.github/workflows/haskell.yaml
+++ b/.github/workflows/haskell.yaml
@@ -14,7 +14,7 @@ on:
 jobs:
   build:
     name: Build
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
 
diff --git a/.github/workflows/java.yaml b/.github/workflows/java.yaml
index a66beaf713..986b45f568 100644
--- a/.github/workflows/java.yaml
+++ b/.github/workflows/java.yaml
@@ -14,7 +14,7 @@ on:
 jobs:
   tests-java-1_8:
     name: Test
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
 
diff --git a/.github/workflows/javascript.yaml b/.github/workflows/javascript.yaml
index b2d5de4392..f65fc10143 100644
--- a/.github/workflows/javascript.yaml
+++ b/.github/workflows/javascript.yaml
@@ -17,7 +17,7 @@ on:
 jobs:
   coverage:
     name: Test
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
 
diff --git a/.github/workflows/rust.yaml b/.github/workflows/rust.yaml
index bf4cbb5845..f950159a59 100644
--- a/.github/workflows/rust.yaml
+++ b/.github/workflows/rust.yaml
@@ -62,7 +62,7 @@ jobs:
     strategy:
       matrix:
         os:
-          - ubuntu-18.04
+          - ubuntu-22.04
           - macos-12
           - windows-2022
     runs-on: ${{ matrix.os }}

From 3bd6a74488e205d5b7ae78d9e7761bab248b8dcc Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Tue, 9 Aug 2022 16:25:48 +1000
Subject: [PATCH 03/33] 20.04

---
 .github/workflows/c.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 3f91937295..09a4a62048 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -14,7 +14,7 @@ on:
 jobs:
   coverage:
     name: Code Coverage
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
         with:
@@ -51,8 +51,8 @@ jobs:
         exclude: [
           { build_type: "Debug", compiler: { c: "gcc-6", cxx: "g++-6" }, build_shared_libraries: false }
         ]
-    name: "Ubuntu 22.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
-    runs-on: ubuntu-22.04
+    name: "Ubuntu 20.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
         with:
@@ -128,7 +128,7 @@ jobs:
 
   big-endian:
     name: Test Big Endian
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
         with:

From b8897905757294f3625a757f98ee5f11e4566aea Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 15:38:42 +1000
Subject: [PATCH 04/33] Using container

---
 .github/workflows/c.yaml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 09a4a62048..8c96b1accc 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -51,8 +51,10 @@ jobs:
         exclude: [
           { build_type: "Debug", compiler: { c: "gcc-6", cxx: "g++-6" }, build_shared_libraries: false }
         ]
-    name: "Ubuntu 20.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
-    runs-on: ubuntu-20.04
+    name: "Ubuntu 18.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:18.04
     steps:
       - uses: actions/checkout@v2
         with:

From 74550eacdcc87718c73c1ee6db64b5f8962aaaff Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 15:43:05 +1000
Subject: [PATCH 05/33] Use docker step

---
 .github/workflows/c.yaml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 8c96b1accc..519412b17a 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -53,9 +53,8 @@ jobs:
         ]
     name: "Ubuntu 18.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
     runs-on: ubuntu-latest
-    container:
-      image: ubuntu:18.04
     steps:
+      - uses: docker://ubuntu:18.04
       - uses: actions/checkout@v2
         with:
           submodules: recursive

From 4812706cae9fe1a52af6393510665dbc092a97c8 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 15:51:49 +1000
Subject: [PATCH 06/33] Install git

---
 .github/workflows/c.yaml | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 519412b17a..b77239b9ac 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -53,18 +53,18 @@ jobs:
         ]
     name: "Ubuntu 18.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
     runs-on: ubuntu-latest
+    container: ubuntu:18.04
     steps:
-      - uses: docker://ubuntu:18.04
+      - name: Setup
+        run: |
+          sudo apt-get -qq update
+          sudo apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+          
       - uses: actions/checkout@v2
         with:
           submodules: recursive
           fetch-depth: 0
-
-      - name: Setup
-        run: |
-          sudo apt-get -qq update
-          sudo apt-get -qq install libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
-
+          
       - name: Configure
         run: |
           cmake -S c -B build \

From 04a2a210b119233d764f4f4b361ebdc6a07d46dc Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 15:55:52 +1000
Subject: [PATCH 07/33] Remove sudo

---
 .github/workflows/c.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index b77239b9ac..62fee3433c 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -23,8 +23,8 @@ jobs:
 
       - name: Setup
         run: |
-          sudo apt-get -qq update
-          sudo apt-get -qq install lcov libeigen3-dev libserialport-dev
+          apt-get -qq update
+          apt-get -qq install lcov libeigen3-dev libserialport-dev
 
       - name: Run tests
         run: make test-c

From 49f8a257997977dc664b09a8594161f793a124b3 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 15:56:18 +1000
Subject: [PATCH 08/33] Remove sudo

---
 .github/workflows/c.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 62fee3433c..2de06d72d9 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -23,8 +23,8 @@ jobs:
 
       - name: Setup
         run: |
-          apt-get -qq update
-          apt-get -qq install lcov libeigen3-dev libserialport-dev
+          sudo apt-get -qq update
+          sudo apt-get -qq install lcov libeigen3-dev libserialport-dev
 
       - name: Run tests
         run: make test-c
@@ -57,8 +57,8 @@ jobs:
     steps:
       - name: Setup
         run: |
-          sudo apt-get -qq update
-          sudo apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+          apt-get -qq update
+          apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           
       - uses: actions/checkout@v2
         with:

From 3821d03f15eb3fd68bdaa942ce57931e011a68ac Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 15:59:11 +1000
Subject: [PATCH 09/33] Add repository

---
 .github/workflows/c.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 2de06d72d9..8ea4827d89 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -57,6 +57,7 @@ jobs:
     steps:
       - name: Setup
         run: |
+          add-apt-repository ppa:git-core/ppa
           apt-get -qq update
           apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           

From d11be5b8896fea84d93e1da789c46e239ebd5fec Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 16:04:48 +1000
Subject: [PATCH 10/33] Add git

---
 .github/workflows/c.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 8ea4827d89..b295982992 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -57,9 +57,9 @@ jobs:
     steps:
       - name: Setup
         run: |
-          add-apt-repository ppa:git-core/ppa
+          apt-get -qq git
           apt-get -qq update
-          apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+          apt-get -qq install libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           
       - uses: actions/checkout@v2
         with:

From 70a8e899369b257755de4819502d6e74598aec04 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 16:05:46 +1000
Subject: [PATCH 11/33] Add upgrade

---
 .github/workflows/c.yaml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index b295982992..4d351a73df 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -57,9 +57,8 @@ jobs:
     steps:
       - name: Setup
         run: |
-          apt-get -qq git
-          apt-get -qq update
-          apt-get -qq install libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+          apt-get -qq upgrade update
+          apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           
       - uses: actions/checkout@v2
         with:

From 792287768b64a781d781eaf5a0ad71017ee22878 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 16:06:35 +1000
Subject: [PATCH 12/33] Update

---
 .github/workflows/c.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 4d351a73df..ec923aa19b 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -57,7 +57,8 @@ jobs:
     steps:
       - name: Setup
         run: |
-          apt-get -qq upgrade update
+          apt-get -qq update
+          apt-get -qq upgrade
           apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           
       - uses: actions/checkout@v2

From 52024cb33788177175ab44d5610ee92db3c09825 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 16:09:18 +1000
Subject: [PATCH 13/33] Add git repo

---
 .github/workflows/c.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index ec923aa19b..632bb2287f 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -57,6 +57,8 @@ jobs:
     steps:
       - name: Setup
         run: |
+          apt-get install software-properties-common
+          add-apt-repository ppa:git-core/ppa -y
           apt-get -qq update
           apt-get -qq upgrade
           apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}

From bf72825a2a11b0383ab77310404d73cab02d955f Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 16:10:10 +1000
Subject: [PATCH 14/33] Update c.yaml

---
 .github/workflows/c.yaml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 632bb2287f..85467eb492 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -57,10 +57,9 @@ jobs:
     steps:
       - name: Setup
         run: |
+          apt-get -qq update
           apt-get install software-properties-common
           add-apt-repository ppa:git-core/ppa -y
-          apt-get -qq update
-          apt-get -qq upgrade
           apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           
       - uses: actions/checkout@v2

From 6ea6ff8cd7082ddbb796aaa571e24b55aacb545a Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 16:11:11 +1000
Subject: [PATCH 15/33] Update c.yaml

---
 .github/workflows/c.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 85467eb492..46b0a997b1 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -58,7 +58,7 @@ jobs:
       - name: Setup
         run: |
           apt-get -qq update
-          apt-get install software-properties-common
+          apt-get -qq install software-properties-common
           add-apt-repository ppa:git-core/ppa -y
           apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           

From 22e6d97815759f1def4e2cf88bbcc99f7478ad9c Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Thu, 11 Aug 2022 16:14:27 +1000
Subject: [PATCH 16/33] Install cmake

---
 .github/workflows/c.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 46b0a997b1..7254db56d9 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -60,7 +60,7 @@ jobs:
           apt-get -qq update
           apt-get -qq install software-properties-common
           add-apt-repository ppa:git-core/ppa -y
-          apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+          apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           
       - uses: actions/checkout@v2
         with:

From 3a315be8c2de5c1f8d6fa3b3a620515ed944a19d Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Fri, 12 Aug 2022 08:05:50 +1000
Subject: [PATCH 17/33] libsbp build docker img

---
 .github/workflows/c.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 7254db56d9..36e6c55b87 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -53,14 +53,14 @@ jobs:
         ]
     name: "Ubuntu 18.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
     runs-on: ubuntu-latest
-    container: ubuntu:18.04
     steps:
+      - uses: docker://swiftnav/libsbp-build:2022-06-14
       - name: Setup
         run: |
           apt-get -qq update
-          apt-get -qq install software-properties-common
-          add-apt-repository ppa:git-core/ppa -y
-          apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+#          apt-get -qq install software-properties-common
+#          add-apt-repository ppa:git-core/ppa -y
+          apt-get -qq install libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           
       - uses: actions/checkout@v2
         with:

From 4d9193e5ae656d7b4062a1056d49252e8584a69b Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Fri, 12 Aug 2022 08:08:31 +1000
Subject: [PATCH 18/33] Container

---
 .github/workflows/c.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 36e6c55b87..daeb6d800f 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -53,8 +53,8 @@ jobs:
         ]
     name: "Ubuntu 18.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
     runs-on: ubuntu-latest
+    container: swiftnav/libsbp-build:2022-06-14
     steps:
-      - uses: docker://swiftnav/libsbp-build:2022-06-14
       - name: Setup
         run: |
           apt-get -qq update

From 0409f668a2426426ecf6f4adf0e22fed3e33aeff Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Fri, 12 Aug 2022 08:09:55 +1000
Subject: [PATCH 19/33] Fix error

---
 .github/workflows/c.yaml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index daeb6d800f..bf627bf422 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -58,8 +58,6 @@ jobs:
       - name: Setup
         run: |
           apt-get -qq update
-#          apt-get -qq install software-properties-common
-#          add-apt-repository ppa:git-core/ppa -y
           apt-get -qq install libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           
       - uses: actions/checkout@v2

From 6f9c4116b34e078b65a3ade7b6e68b99a7825836 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Fri, 12 Aug 2022 08:16:54 +1000
Subject: [PATCH 20/33] Add sudo

---
 .github/workflows/c.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index bf627bf422..ba7bdce23b 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -57,8 +57,8 @@ jobs:
     steps:
       - name: Setup
         run: |
-          apt-get -qq update
-          apt-get -qq install libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+          sudo apt-get -qq update
+          sudo apt-get -qq install libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           
       - uses: actions/checkout@v2
         with:

From 76397ffb225ad32fb1b4c268264b81ccf20e890f Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Fri, 12 Aug 2022 08:57:37 +1000
Subject: [PATCH 21/33] Using ubuntu container

---
 .github/workflows/c.yaml | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index ba7bdce23b..3233ffdae6 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -53,12 +53,14 @@ jobs:
         ]
     name: "Ubuntu 18.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
     runs-on: ubuntu-latest
-    container: swiftnav/libsbp-build:2022-06-14
+    container: ubuntu:18.04
     steps:
       - name: Setup
         run: |
-          sudo apt-get -qq update
-          sudo apt-get -qq install libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+          apt-get -qq update
+          apt-get -qq install software-properties-common
+          add-apt-repository ppa:git-core/ppa -y
+          apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
           
       - uses: actions/checkout@v2
         with:
@@ -67,6 +69,7 @@ jobs:
           
       - name: Configure
         run: |
+          mkdir build
           cmake -S c -B build \
             -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
             -DCMAKE_C_COMPILER=${{ matrix.compiler.c }} \

From cc143e6b1982a60b030d59df9ba77bdb1e266d78 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 09:37:08 +1000
Subject: [PATCH 22/33] Update c.yaml

---
 .github/workflows/c.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 3233ffdae6..82a7681b32 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -69,7 +69,7 @@ jobs:
           
       - name: Configure
         run: |
-          mkdir build
+          ls
           cmake -S c -B build \
             -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
             -DCMAKE_C_COMPILER=${{ matrix.compiler.c }} \

From ff8329cd27575ef1e530fb7f9a3f13a23ad9f36e Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 09:46:46 +1000
Subject: [PATCH 23/33] check cmake version

---
 .github/workflows/c.yaml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 82a7681b32..ebc6bcce98 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -55,6 +55,11 @@ jobs:
     runs-on: ubuntu-latest
     container: ubuntu:18.04
     steps:
+      - name: debug
+        run: |
+          cmake --version
+          cmake
+          
       - name: Setup
         run: |
           apt-get -qq update
@@ -69,7 +74,6 @@ jobs:
           
       - name: Configure
         run: |
-          ls
           cmake -S c -B build \
             -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
             -DCMAKE_C_COMPILER=${{ matrix.compiler.c }} \

From 4d6e7f26322cf73a1fedafb9e2308cf8fa99bd2c Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 09:47:38 +1000
Subject: [PATCH 24/33] check cmake version

---
 .github/workflows/c.yaml | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index ebc6bcce98..4f2733519e 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -55,17 +55,16 @@ jobs:
     runs-on: ubuntu-latest
     container: ubuntu:18.04
     steps:
-      - name: debug
-        run: |
-          cmake --version
-          cmake
-          
       - name: Setup
         run: |
           apt-get -qq update
           apt-get -qq install software-properties-common
           add-apt-repository ppa:git-core/ppa -y
           apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+      - name: debug
+        run: |
+          cmake --version
+          cmake
           
       - uses: actions/checkout@v2
         with:

From 8cbdf26fb58c8d896b8593dbb78e0ad69b7c22a3 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 09:51:18 +1000
Subject: [PATCH 25/33] cmake ppa

---
 .github/workflows/c.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 4f2733519e..3ab119ea94 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -60,6 +60,7 @@ jobs:
           apt-get -qq update
           apt-get -qq install software-properties-common
           add-apt-repository ppa:git-core/ppa -y
+          add-apt-repository ppa:george-edison55/cmake-3.x
           apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
       - name: debug
         run: |

From b8abf4a7b22e38a22a6d79fcea5f93f038d212d0 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 09:53:54 +1000
Subject: [PATCH 26/33] Add repository

---
 .github/workflows/c.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 3ab119ea94..190569884b 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -60,7 +60,7 @@ jobs:
           apt-get -qq update
           apt-get -qq install software-properties-common
           add-apt-repository ppa:git-core/ppa -y
-          add-apt-repository ppa:george-edison55/cmake-3.x
+          add-apt-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
           apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
       - name: debug
         run: |

From 8df9c25072d8b533a943019d14ce6264cbaf9e14 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 09:56:21 +1000
Subject: [PATCH 27/33] keys

---
 .github/workflows/c.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 190569884b..f8a61cc618 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -57,6 +57,7 @@ jobs:
     steps:
       - name: Setup
         run: |
+          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
           apt-get -qq update
           apt-get -qq install software-properties-common
           add-apt-repository ppa:git-core/ppa -y

From 70a8ffebff6fe5bce9b5d1b1e69392c50911724f Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 09:58:54 +1000
Subject: [PATCH 28/33] Update c.yaml

---
 .github/workflows/c.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index f8a61cc618..af709deb29 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -57,9 +57,9 @@ jobs:
     steps:
       - name: Setup
         run: |
-          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
           apt-get -qq update
           apt-get -qq install software-properties-common
+          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
           add-apt-repository ppa:git-core/ppa -y
           add-apt-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
           apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}

From a689ae68ac392db7596422db4b311d89723add73 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 10:01:44 +1000
Subject: [PATCH 29/33] key for kitware

---
 .github/workflows/c.yaml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index af709deb29..ab0dd7643b 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -59,7 +59,9 @@ jobs:
         run: |
           apt-get -qq update
           apt-get -qq install software-properties-common
-          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
+          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - |tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
+          echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ bionic main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null
+          apt-get -qq update
           add-apt-repository ppa:git-core/ppa -y
           add-apt-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
           apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}

From bf22964c659a2e0988e7729e81affb5035666800 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 10:05:24 +1000
Subject: [PATCH 30/33] using github actions to get cmake

---
 .github/workflows/c.yaml | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index ab0dd7643b..2326a987a7 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -59,12 +59,9 @@ jobs:
         run: |
           apt-get -qq update
           apt-get -qq install software-properties-common
-          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - |tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
-          echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ bionic main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null
-          apt-get -qq update
           add-apt-repository ppa:git-core/ppa -y
-          add-apt-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
-          apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+          apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+      - uses: lukka/get-cmake@latest
       - name: debug
         run: |
           cmake --version

From c58def11d8c78b08dd2ce264c1b4510693b81b7f Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 10:09:27 +1000
Subject: [PATCH 31/33] Update c.yaml

---
 .github/workflows/c.yaml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 2326a987a7..f09f357cbe 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -59,9 +59,12 @@ jobs:
         run: |
           apt-get -qq update
           apt-get -qq install software-properties-common
+          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add -
+          apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
           add-apt-repository ppa:git-core/ppa -y
-          apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
-      - uses: lukka/get-cmake@latest
+          apt-get -qq update
+          apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+
       - name: debug
         run: |
           cmake --version

From 439bf9b80734abdb7cc4e94a5da69fe79929eea6 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 10:15:52 +1000
Subject: [PATCH 32/33] pull sh from releases

---
 .github/workflows/c.yaml | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index f09f357cbe..fdc23d3407 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -59,14 +59,12 @@ jobs:
         run: |
           apt-get -qq update
           apt-get -qq install software-properties-common
-          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add -
-          apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
           add-apt-repository ppa:git-core/ppa -y
-          apt-get -qq update
-          apt-get -qq install cmake git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+          apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
 
       - name: debug
         run: |
+          wget -O - https://github.com/Kitware/CMake/releases/download/v3.24.0/cmake-3.24.0-linux-x86_64.sh | bash
           cmake --version
           cmake
           

From d7a7e57c802e5c670a251c8593114872f7c202d2 Mon Sep 17 00:00:00 2001
From: adrian-kong <35755741+adrian-kong@users.noreply.github.com>
Date: Mon, 15 Aug 2022 10:17:41 +1000
Subject: [PATCH 33/33] install wget

---
 .github/workflows/c.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index fdc23d3407..0e40c9daab 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -60,7 +60,7 @@ jobs:
           apt-get -qq update
           apt-get -qq install software-properties-common
           add-apt-repository ppa:git-core/ppa -y
-          apt-get -qq install git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
+          apt-get -qq install wget git libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
 
       - name: debug
         run: |