ekf2: mag control reset filtered test ratio on start (if aligning yaw) #34
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: MAVROS Mission Tests | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| pull_request: | |
| branches: | |
| - '*' | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - {vehicle: "iris", mission: "MC_mission_box", build_type: "RelWithDebInfo"} | |
| - {vehicle: "rover", mission: "rover_mission_1", build_type: "RelWithDebInfo"} | |
| #- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"} | |
| #- {vehicle: "plane_catapult",mission: "FW_mission_1", build_type: "RelWithDebInfo"} | |
| #- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"} | |
| #- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"} | |
| #- {vehicle: "tailsitter", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"} | |
| #- {vehicle: "tiltrotor", mission: "VTOL_mission_1", 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: ${{matrix.config.build_type}} | |
| run: | | |
| export | |
| ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} | |
| timeout-minutes: 45 | |
| - name: Look at core files | |
| if: failure() | |
| run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit" | |
| - name: Upload px4 coredump | |
| if: failure() | |
| uses: actions/upload-artifact@v2-preview | |
| with: | |
| name: coredump | |
| path: px4.core | |
| - name: ecl EKF analysis | |
| if: always() | |
| run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true | |
| - name: Upload logs to flight review | |
| if: always() | |
| run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg | |
| - name: Upload px4 binary | |
| if: failure() | |
| uses: actions/upload-artifact@v2 | |
| with: | |
| name: binary | |
| path: build/px4_sitl_default/bin/px4 | |
| - name: Store PX4 log | |
| if: failure() | |
| uses: actions/upload-artifact@v2 | |
| with: | |
| name: px4_log | |
| path: ~/.ros/log/*/*.ulg | |
| - name: Store ROS log | |
| if: failure() | |
| uses: actions/upload-artifact@v2 | |
| with: | |
| name: ros_log | |
| path: ~/.ros/**/rostest-*.log | |
| # Report test coverage | |
| - name: Upload coverage | |
| if: contains(matrix.config.build_type, 'Coverage') | |
| run: | | |
| git config --global credential.helper "" # disable the keychain credential helper | |
| git config --global --add credential.helper store # enable the local store credential helper | |
| echo "https://x-access-token:${{ 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_mission | |
| file: coverage/lcov.info |