ekf2: GPS yaw only invalidate yaw_align if stopping due to fusion failure #28042
Workflow file for this run
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: SITL Tests | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| pull_request: | |
| branches: | |
| - '*' | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska | |
| # - {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia | |
| - {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 | |
| container: | |
| image: px4io/px4-dev-simulation-focal:2021-09-08 | |
| options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined | |
| steps: | |
| - uses: actions/checkout@v1 | |
| with: | |
| token: ${{ secrets.ACCESS_TOKEN }} | |
| - name: Download MAVSDK | |
| run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(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: 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 | |
| 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 | |
| env: | |
| PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} | |
| run: make px4_sitl_default | |
| - name: ccache post-run px4/firmware | |
| 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: ccache post-run sitl_gazebo-classic | |
| run: ccache -s | |
| - name: Build 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: ccache post-run 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 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 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose | |
| timeout-minutes: 45 | |
| - name: Look at core files | |
| if: failure() | |
| run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit" | |
| - name: Upload px4 coredump | |
| if: failure() | |
| uses: actions/upload-artifact@v2-preview | |
| with: | |
| name: coredump | |
| path: px4.core | |
| - name: Upload px4 binary | |
| if: failure() | |
| uses: actions/upload-artifact@v2-preview | |
| with: | |
| name: binary | |
| path: build/px4_sitl_default/bin/px4 | |
| # Report test coverage | |
| - name: Upload coverage | |
| if: contains(matrix.config.build_type, 'Coverage') | |
| run: | | |
| git config --global credential.helper "" # disable the keychain credential helper | |
| git config --global --add credential.helper store # enable the local store credential helper | |
| echo "https://x-access-token:${{ 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: mavsdk | |
| file: coverage/lcov.info |