[control_allocation] add parameter MC_REDUCE_THRUST to disable thrust reduction when desaturating #31983
Workflow file for this run
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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 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@v4 | |
| with: | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| flags: mavsdk | |
| file: coverage/lcov.info |