control_allocator: Added linearization feature for 4 servo swash plates to prevent binding #26704
Workflow file for this run
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| name: MAVROS Offboard Tests | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| pull_request: | |
| branches: | |
| - '*' | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| env: | |
| ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - {test_file: "mavros_posix_tests_offboard_posctl.test", vehicle: "iris", build_type: "RelWithDebInfo"} | |
| #- {test_file: "mavros_posix_tests_offboard_attctl.test", vehicle: "iris", build_type: "RelWithDebInfo"} | |
| #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"} | |
| container: | |
| image: px4io/px4-dev-ros-melodic:2021-09-08 | |
| 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 = 6" >> ~/.ccache/ccache.conf | |
| echo "max_size = 100M" >> ~/.ccache/ccache.conf | |
| echo "hash_dir = false" >> ~/.ccache/ccache.conf | |
| ccache -s | |
| ccache -z | |
| - name: check environment | |
| run: | | |
| export | |
| ulimit -a | |
| - name: Build PX4 and sitl_gazebo-classic | |
| env: | |
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | |
| run: | | |
| ccache -z | |
| make px4_sitl_default | |
| make px4_sitl_default sitl_gazebo-classic | |
| 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_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}} | |
| timeout-minutes: 45 | |
| - 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@v3 | |
| with: | |
| name: coredump | |
| path: px4.core | |
| - name: ecl EKF analysis | |
| if: always() | |
| run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true | |
| - 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} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg | |
| - name: Upload px4 binary | |
| if: failure() | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: binary | |
| path: build/px4_sitl_default/bin/px4 | |
| - name: Store PX4 log | |
| if: failure() | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: px4_log | |
| path: ~/.ros/log/*/*.ulg | |
| - name: Store ROS log | |
| if: failure() | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: ros_log | |
| path: ~/.ros/**/rostest-*.log | |
| # Report test coverage | |
| - name: Upload coverage | |
| if: contains(matrix.config.build_type, 'Coverage') | |
| run: | | |
| git config --global credential.helper "" # disable the keychain credential helper | |
| git config --global --add credential.helper store # enable the local store credential helper | |
| echo "https://x-access-token:${{ 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_offboard | |
| file: coverage/lcov.info |