Commit 5b00781a authored by Damien SIX's avatar Damien SIX
Browse files

Merge tag 'v1.12.3' into ls2n_drones

PX4 stable release v1.12.3

# gpg verification failed.

# Conflicts:
#	Tools/gazebo_sitl_multiple_run.sh
#	Tools/sitl_gazebo
#	msg/tools/uorb_rtps_message_ids.yaml
#	src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
parents cfb6e321 2e8918da
......@@ -9,10 +9,10 @@ pipeline {
script {
def build_nodes = [:]
def docker_images = [
armhf: "px4io/px4-dev-armhf:2021-02-04",
arm64: "px4io/px4-dev-aarch64:2021-02-04",
base: "px4io/px4-dev-base-bionic:2021-02-04",
nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
armhf: "px4io/px4-dev-armhf:2021-04-29",
arm64: "px4io/px4-dev-aarch64:2021-04-29",
base: "px4io/px4-dev-base-bionic:2021-04-29",
nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
]
......@@ -45,21 +45,19 @@ pipeline {
"cuav_can-gps-v1_canbootloader",
"cuav_can-gps-v1_default",
"cuav_nora_default",
"cuav_nora_test",
"cuav_x7pro_default",
"cuav_x7pro_test",
"cubepilot_cubeorange_console",
"cubepilot_cubeorange_default",
"cubepilot_cubeyellow_console",
"cubepilot_cubeyellow_default",
"freefly_can-rtk-gps_canbootloader",
"freefly_can-rtk-gps_default",
"holybro_can-gps-v1_canbootloader",
"holybro_can-gps-v1_default",
"holybro_durandal-v1_default",
"holybro_durandal-v1_test",
"holybro_kakutef7_default",
"holybro_pix32v5_default",
"modalai_fc-v1_default",
"modalai_fc-v1_rtps",
"modalai_fc-v2_default",
"mro_ctrl-zero-f7_default",
"mro_ctrl-zero-f7-oem_default",
"mro_ctrl-zero-h7_default",
......@@ -81,7 +79,6 @@ pipeline {
"px4_fmu-v2_fixedwing",
"px4_fmu-v2_multicopter",
"px4_fmu-v2_rover",
"px4_fmu-v2_test",
"px4_fmu-v3_default",
"px4_fmu-v4_cannode",
"px4_fmu-v4_default",
......@@ -100,7 +97,6 @@ pipeline {
"px4_fmu-v5x_base_phy_DP83848C",
"px4_fmu-v5x_default",
"px4_fmu-v6u_default",
"px4_fmu-v6u_test",
"px4_fmu-v6x_default",
"px4_io-v2_default",
"spracing_h7extreme_default",
......@@ -137,7 +133,7 @@ pipeline {
// TODO: actually upload artifacts to S3
// stage('S3 Upload') {
// agent {
// docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
// docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
// }
// options {
// skipDefaultCheckout()
......@@ -162,7 +158,7 @@ pipeline {
}
options {
buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
timeout(time: 60, unit: 'MINUTES')
timeout(time: 90, unit: 'MINUTES')
}
}
......
This diff is collapsed.
......@@ -2,7 +2,7 @@
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
{
"name": "px4-dev-nuttx",
"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
......
......@@ -23,12 +23,13 @@ jobs:
"shellcheck_all",
"NO_NINJA_BUILD=1 px4_fmu-v5_default",
"NO_NINJA_BUILD=1 px4_sitl_default",
"BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
"airframe_metadata",
"module_documentation",
"parameters_metadata",
]
container:
image: px4io/px4-dev-nuttx-focal:2021-02-04
image: px4io/px4-dev-nuttx-focal:2021-04-29
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
......
......@@ -11,7 +11,7 @@ on:
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-clang:2021-02-04
container: px4io/px4-dev-clang:2021-04-29
steps:
- uses: actions/checkout@v1
with:
......
......@@ -11,7 +11,7 @@ on:
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-armhf:2021-02-04
container: px4io/px4-dev-armhf:2021-04-29
strategy:
matrix:
config: [
......
......@@ -11,7 +11,7 @@ on:
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-aarch64:2021-02-04
container: px4io/px4-dev-aarch64:2021-04-29
strategy:
matrix:
config: [
......
......@@ -11,7 +11,7 @@ on:
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-nuttx-focal:2021-02-04
container: px4io/px4-dev-nuttx-focal:2021-04-29
strategy:
matrix:
config: [
......@@ -19,6 +19,9 @@ jobs:
ark_can-flow_canbootloader,
ark_can-flow_debug,
ark_can-flow_default,
ark_can-gps_canbootloader,
ark_can-gps_debug,
ark_can-gps_default,
av_x-v1_default,
bitcraze_crazyflie21_default,
bitcraze_crazyflie_default,
......@@ -26,23 +29,23 @@ jobs:
cuav_can-gps-v1_debug,
cuav_can-gps-v1_default,
cuav_nora_default,
cuav_nora_test,
cuav_x7pro_default,
cuav_x7pro_test,
cubepilot_cubeorange_console,
cubepilot_cubeorange_default,
cubepilot_cubeyellow_console,
cubepilot_cubeorange_test,
cubepilot_cubeyellow_default,
cubepilot_cubeyellow_test,
cubepilot_io-v2_default,
freefly_can-rtk-gps_canbootloader,
freefly_can-rtk-gps_default,
holybro_can-gps-v1_canbootloader,
holybro_can-gps-v1_debug,
holybro_can-gps-v1_default,
holybro_durandal-v1_default,
holybro_durandal-v1_test,
holybro_kakutef7_default,
holybro_pix32v5_default,
modalai_fc-v1_default,
modalai_fc-v1_rtps,
modalai_fc-v2_default,
mro_ctrl-zero-f7-oem_default,
mro_ctrl-zero-f7_default,
mro_ctrl-zero-h7-oem_default,
......@@ -64,7 +67,6 @@ jobs:
px4_fmu-v2_fixedwing,
px4_fmu-v2_multicopter,
px4_fmu-v2_rover,
px4_fmu-v2_test,
px4_fmu-v3_default,
px4_fmu-v4_cannode,
px4_fmu-v4_default,
......@@ -83,7 +85,6 @@ jobs:
px4_fmu-v5x_base_phy_DP83848C,
px4_fmu-v5x_default,
px4_fmu-v6u_default,
px4_fmu-v6u_test,
px4_fmu-v6x_default,
px4_io-v2_default,
spracing_h7extreme_default,
......@@ -128,6 +129,8 @@ jobs:
run: make ${{matrix.config}} bloaty_symbols || true
- name: make ${{matrix.config}} bloaty_templates
run: make ${{matrix.config}} bloaty_templates || true
- name: make ${{matrix.config}} bloaty_ram
run: make ${{matrix.config}} bloaty_ram || true
- name: make ${{matrix.config}} bloaty_compare_master
run: make ${{matrix.config}} bloaty_compare_master || true
- name: ccache post-run
......
......@@ -11,12 +11,13 @@ on:
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-nuttx-focal:2021-02-04
container: px4io/px4-dev-nuttx-focal:2021-04-29
strategy:
matrix:
config: [
ark_can-flow_default,
cuav_can-gps-v1_default,
freefly_can-rtk-gps_default,
holybro_can-gps-v1_default,
#nxp_ucans32k146_default,
px4_fmu-v4_cannode
......
......@@ -23,7 +23,7 @@ jobs:
needs: enumerate_targets
strategy:
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
steps:
- uses: actions/checkout@v1
with:
......
name: MAVROS Avoidance Tests
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
config:
- {test_file: "mavros_posix_test_avoidance.test", vehicle: "iris_obs_avoid", mission: "avoidance", build_type: "RelWithDebInfo"}
- {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
container:
image: px4io/px4-dev-ros-melodic:2021-02-04
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${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 = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: check environment
run: |
export
ulimit -a
- name: Build PX4 and sitl_gazebo
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
ccache -z
make px4_sitl_default
make px4_sitl_default sitl_gazebo
ccache -s
- name: Core dump settings
run: |
ulimit -c unlimited
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
- name: Run SITL tests
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
export
./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
- name: Look at core files
if: failure()
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
- name: Upload px4 coredump
if: failure()
uses: actions/upload-artifact@v2-preview
with:
name: coredump
path: px4.core
# - name: ecl EKF analysis
# if: always()
# run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
- name: Upload logs to flight review
if: always()
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
- name: Upload px4 binary
if: failure()
uses: actions/upload-artifact@v2
with:
name: binary
path: build/px4_sitl_default/bin/px4
- name: Store PX4 log
if: failure()
uses: actions/upload-artifact@v2
with:
name: px4_log
path: ~/.ros/log/*/*.ulg
- name: Store ROS log
if: failure()
uses: actions/upload-artifact@v2
with:
name: ros_log
path: ~/.ros/**/rostest-*.log
# Report test coverage
- name: Upload coverage
if: contains(matrix.config.build_type, 'Coverage')
run: |
git config --global credential.helper "" # disable the keychain credential helper
git config --global --add credential.helper store # enable the local store credential helper
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
git config --global url."https://github.com/".insteadof git@github.com: # 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: mavros_avoidance
file: coverage/lcov.info
......@@ -25,7 +25,7 @@ jobs:
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
container:
image: px4io/px4-dev-ros-melodic:2021-02-04
image: px4io/px4-dev-ros-melodic:2021-04-29
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
......
......@@ -20,7 +20,7 @@ jobs:
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
container:
image: px4io/px4-dev-ros-melodic:2021-02-04
image: px4io/px4-dev-ros-melodic:2021-04-29
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
......
......@@ -11,7 +11,7 @@ jobs:
airframe:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-02-04
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
......@@ -26,7 +26,7 @@ jobs:
module:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-02-04
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
......@@ -41,7 +41,7 @@ jobs:
parameter:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-02-04
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
......@@ -65,7 +65,7 @@ jobs:
uorb_graph:
runs-on: ubuntu-latest
container: px4io/px4-dev-nuttx-focal:2021-02-04
container: px4io/px4-dev-nuttx-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
......@@ -80,7 +80,7 @@ jobs:
micrortps_agent:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-02-04
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
......@@ -94,7 +94,7 @@ jobs:
ROS_msgs:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-02-04
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
......@@ -107,7 +107,7 @@ jobs:
ROS2_bridge:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-02-04
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
......
......@@ -18,7 +18,7 @@ jobs:
- name: Install Python3
run: sudo apt-get install python3 python3-setuptools python3-pip -y
- name: Install tools
run: pip3 install --user mypy flake8
run: pip3 install --user mypy types-requests flake8
- name: Check MAVSDK test scripts with mypy
run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
- name: Check MAVSDK test scripts with flake8
......
......@@ -15,12 +15,13 @@ jobs:
fail-fast: false
matrix:
config:
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
container:
image: px4io/px4-dev-simulation-focal:2021-02-04
image: px4io/px4-dev-simulation-focal:2021-04-29
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
......@@ -28,9 +29,9 @@ jobs:
token: ${{ secrets.ACCESS_TOKEN }}
- name: Download MAVSDK
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
- name: Install MAVSDK
run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
......
......@@ -108,3 +108,5 @@ src/systemcmds/topic_listener/listener_generated.cpp
# SITL
dataman
eeprom/
!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
......@@ -33,7 +33,7 @@
[submodule "src/modules/micrortps_bridge/micro-CDR"]
path = src/modules/micrortps_bridge/micro-CDR
url = https://github.com/PX4/Micro-CDR.git
branch = px4
branch = master
[submodule "platforms/nuttx/NuttX/nuttx"]
path = platforms/nuttx/NuttX/nuttx
url = https://github.com/PX4/NuttX.git
......@@ -63,3 +63,10 @@
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
path = src/drivers/uavcannode_gps_demo/libcanard
url = https://github.com/UAVCAN/libcanard.git
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
path = src/drivers/uavcan_v1/legacy_data_types
url = https://github.com/PX4/public_regulated_data_types.git
branch = legacy
[submodule "src/lib/crypto/monocypher"]
path = src/lib/crypto/monocypher
url = https://github.com/PX4/Monocypher.git
......@@ -51,6 +51,16 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v5x_default
px4_fmu-v6x_default:
short: px4_fmu-v6x
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v6x_default
px4_fmu-v6x_bootloader:
short: px4_fmu-v6x_bootloader
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v6x_bootloader
airmind_mindpx-v2_default:
short: airmind_mindpx-v2
buildType: MinSizeRel
......@@ -66,6 +76,16 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: ark_can-flow_canbootloader
ark_can-gps_default:
short: ark_can-gps_default
buildType: MinSizeRel
settings:
CONFIG: ark_can-gps_default
ark_can-gps_canbootloader:
short: ark_can-gps_canbootloader
buildType: MinSizeRel
settings:
CONFIG: ark_can-gps_canbootloader
av_x-v1_default:
short: av_x-v1
buildType: MinSizeRel
......@@ -96,16 +116,26 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: cuav_x7pro_default
cubepilot_cubeorange_console:
cubepilot_cubeorange_test:
short: cubepilot_cubeorange
buildType: MinSizeRel
settings:
CONFIG: cubepilot_orange_console
CONFIG: cubepilot_orange_test
emlid_navio2_default:
short: emlid_navio2
buildType: MinSizeRel
settings:
CONFIG: emlid_navio2_default
freefly_can-rtk-gps_default:
short: freefly_can-rtk-gps_default
buildType: MinSizeRel
settings:
CONFIG: freefly_can-rtk-gps_default
freefly_can-rtk-gps_canbootloader:
short: freefly_can-rtk-gps_canbootloader
buildType: MinSizeRel
settings:
CONFIG: freefly_can-rtk-gps_canbootloader
holybro_can-gps-v1_canbootloader:
short: holybro_can-gps-v1_canbootloader
buildType: MinSizeRel
......@@ -126,6 +156,11 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: modalai_fc-v1_default
modalai_fc-v2_default:
short: modalai_fc-v2
buildType: MinSizeRel
settings:
CONFIG: modalai_fc-v2_default
mro_ctrl-zero-f7_default:
short: mro_ctrl-zero-f7
buildType: MinSizeRel
......
......@@ -185,6 +185,8 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
set(MAX_CUSTOM_OPT_LEVEL -O0)
elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
set(MAX_CUSTOM_OPT_LEVEL -O1)
elseif(CMAKE_BUILD_TYPE MATCHES "Release")
set(MAX_CUSTOM_OPT_LEVEL -O3)
else()
if(px4_constrained_flash_build)
set(MAX_CUSTOM_OPT_LEVEL -Os)
......
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