Dynamically update ff gain for fw rate control (#24120) #31878
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# 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 | |
name: SITL Tests | |
on: | |
push: | |
branches: | |
- 'main' | |
pull_request: | |
branches: | |
- '*' | |
jobs: | |
build: | |
name: Testing PX4 ${{ matrix.config.model }} | |
runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false] | |
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: "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 | |
steps: | |
- uses: actions/checkout@v4 | |
with: | |
fetch-depth: 0 | |
- name: Git Ownership Workaround | |
run: git config --system --add safe.directory '*' | |
- id: set-timestamp | |
name: Set timestamp for cache | |
run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")" | |
- name: Cache Key Config | |
uses: actions/cache@v4 | |
with: | |
path: ~/.ccache | |
key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }} | |
restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }} | |
- 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 | |
- name: Cache Post-Run [px4_sitl_default] | |
run: ccache -s | |
- name: Build SITL Gazebo | |
env: | |
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | |
run: make px4_sitl_default sitl_gazebo-classic | |
- name: Cache Post-Run [sitl_gazebo-classic] | |
run: ccache -s | |
- name: Download MAVSDK | |
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(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" | |
- 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 | |
- name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests] | |
run: ccache -s | |
- 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 ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose | |
timeout-minutes: 45 | |
- name: Upload failed logs | |
if: failure() | |
uses: actions/upload-artifact@v4 | |
with: | |
name: failed-${{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" | |
- name: Upload PX4 coredump | |
if: failure() && ${{ hashFiles('px4.core') != '' }} | |
uses: actions/upload-artifact@v4 | |
with: | |
name: coredump | |
path: px4.core | |
- name: Setup & Generate Coverage Report | |
if: contains(matrix.config.build_type, 'Coverage') | |
run: | | |
git config --global credential.helper "" # disable the keychain credential helper | |
git config --global --add credential.helper store # enable the local store credential helper | |
echo "https://x-access-token:${{ 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 |