AHRS: add ability to configure AHRS via mavlink commands #19151
Workflow file for this run
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| name: ESP32 Build | |
| on: | |
| push: | |
| paths-ignore: | |
| # remove non copter and plane vehicles | |
| - 'AntennaTracker/**' | |
| - 'ArduSub/**' | |
| - 'Blimp/**' | |
| - 'Rover/**' | |
| # remove non esp32 HAL | |
| - 'libraries/AP_HAL_ChibiOS/**' | |
| - 'libraries/AP_HAL_SITL/**' | |
| # 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/mavproxy_modules/**' | |
| - '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 autotest | |
| - 'Tools/autotest/**' | |
| # 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 non copter and plane vehicles | |
| - 'AntennaTracker/**' | |
| - 'ArduSub/**' | |
| - 'Blimp/**' | |
| - 'Rover/**' | |
| # remove non esp32 HAL | |
| - 'libraries/AP_HAL_ChibiOS/**' | |
| - 'libraries/AP_HAL_SITL/**' | |
| # 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/mavproxy_modules/**' | |
| - '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 autotest | |
| - 'Tools/autotest/**' | |
| # 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 | |
| strategy: | |
| fail-fast: false # don't cancel if a job from the matrix fails | |
| matrix: | |
| config: [ | |
| esp32buzz, | |
| esp32s3empty, | |
| ] | |
| gcc: [10] | |
| steps: | |
| - 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" | |
| - name: Install Prerequisites | |
| shell: bash | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0 cmake | |
| python3 --version | |
| pip3 install gevent | |
| # we actualy want 3.11 .. but the above only gave us 3.10, not ok with esp32 builds. | |
| sudo add-apt-repository ppa:deadsnakes/ppa | |
| sudo apt-get update | |
| sudo apt-get install python3.11 python3.11-venv python3.11-distutils -y | |
| sudo apt-get install python3 python3-pip python3-venv python3-setuptools python3-serial python3-cryptography python3-future python3-pyparsing python3-pyelftools | |
| pip3 install gevent | |
| python3 --version | |
| python3.11 --version | |
| which python3.11 | |
| git submodule update --init --recursive --depth=1 | |
| ./Tools/scripts/esp32_get_idf.sh | |
| sudo ln -s /usr/bin/ninja /usr/bin/ninja-build | |
| cd modules/esp_idf | |
| echo "Installing ESP-IDF tools...." | |
| ./install.sh esp32,esp32s3 | |
| cd ../.. | |
| - name: build ${{matrix.config}} | |
| env: | |
| CI_BUILD_TARGET: ${{matrix.config}} | |
| shell: bash | |
| run: | | |
| source ~/.bash_profile | |
| PATH="/github/home/.local/bin:$PATH" | |
| echo $PATH | |
| echo "### Configure ${{matrix.config}} :rocket:" >> $GITHUB_STEP_SUMMARY | |
| cd modules/esp_idf | |
| ./install.sh | |
| source ./export.sh | |
| cd ../.. | |
| python3 -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy==3.3.4 dronecan | |
| which cmake | |
| ./waf configure --board ${{matrix.config}} | |
| echo './waf configure --board ${{matrix.config}}' >> $GITHUB_STEP_SUMMARY | |
| echo "### Build Plane ${{matrix.config}} :rocket:" >> $GITHUB_STEP_SUMMARY | |
| echo './waf plane' >> $GITHUB_STEP_SUMMARY | |
| ./waf plane | tee >( grep -vE 'Compiling|Generat|includes.list|Parsing|Validation|Building|Linking|Detecting|linker|\*\*\*\*\*\*\*|Partition|SubType|Checking|esp-idf' --color=never --line-buffered > summary.log) | |
| cat summary.log >> $GITHUB_STEP_SUMMARY | |
| cp build/${{matrix.config}}/esp-idf_build/ardupilot.bin ./ArduPlane.${{matrix.config}}.bin | |
| cp build/${{matrix.config}}/esp-idf_build/ardupilot.elf ./ArduPlane.${{matrix.config}}.elf | |
| echo "### Build Copter ${{matrix.config}} :rocket:" >> $GITHUB_STEP_SUMMARY | |
| echo './waf copter' >> $GITHUB_STEP_SUMMARY | |
| ./waf copter | tee >( grep -vE 'Compiling|Generat|includes.list|Parsing|Validation|Building|Linking|Detecting|linker|\*\*\*\*\*\*\*|Partition|SubType|Checking|esp-idf' --color=never --line-buffered > summary2.log) | |
| cat summary2.log >> $GITHUB_STEP_SUMMARY | |
| cp build/${{matrix.config}}/esp-idf_build/ardupilot.bin ./ArduCopter.${{matrix.config}}.bin | |
| cp build/${{matrix.config}}/esp-idf_build/ardupilot.elf ./ArduCopter.${{matrix.config}}.elf | |
| cp build/${{matrix.config}}/esp-idf_build/bootloader/bootloader.bin ./bootloader.${{matrix.config}}.bin | |
| cp build/${{matrix.config}}/esp-idf_build/partition_table/partition-table.bin ./partition-table.${{matrix.config}}.bin | |
| echo "### Assets avail in artifact:" >> $GITHUB_STEP_SUMMARY | |
| ls bootloader* partition* Ardu*.elf Ardu*.bin >> $GITHUB_STEP_SUMMARY | |
| - name: Archive artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: esp32-binaries -${{matrix.config}} | |
| path: | | |
| /home/runner/work/ardupilot/ardupilot/ArduPlane.${{matrix.config}}.bin | |
| /home/runner/work/ardupilot/ardupilot/ArduPlane.${{matrix.config}}.elf | |
| /home/runner/work/ardupilot/ardupilot/ArduCopter.${{matrix.config}}.bin | |
| /home/runner/work/ardupilot/ardupilot/ArduCopter.${{matrix.config}}.elf | |
| /home/runner/work/ardupilot/ardupilot/bootloader.${{matrix.config}}.bin | |
| /home/runner/work/ardupilot/ardupilot/partition-table.${{matrix.config}}.bin | |
| retention-days: 14 | |