Fixed althold issue in surface mode for multirotors #5342
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: Build firmware | |
| # Don't enable CI on push, just on PR. If you | |
| # are working on the main repo and want to trigger | |
| # a CI build submit a draft PR. | |
| on: | |
| pull_request: | |
| paths: | |
| - 'src/**' | |
| - '.github/**' | |
| - 'cmake/**' | |
| - 'lib/**' | |
| - 'docs/Settings.md' | |
| - 'CMakeLists.txt' | |
| - '*.sh' | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: sudo apt-get update && sudo apt-get -y install ninja-build | |
| - name: Setup environment | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| run: | | |
| # This is the hash of the commit for the PR | |
| # when the action is triggered by PR, empty otherwise | |
| COMMIT_ID=${{ github.event.pull_request.head.sha }} | |
| # This is the hash of the commit when triggered by push | |
| # but the hash of refs/pull/<n>/merge, which is different | |
| # from the hash of the latest commit in the PR, that's | |
| # why we try github.event.pull_request.head.sha first | |
| COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} | |
| BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) | |
| VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') | |
| echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| - uses: actions/cache@v4 | |
| with: | |
| path: downloads | |
| key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}} | |
| - name: Build targets (${{ matrix.id }}) | |
| run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j4 ci | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: matrix-${{ env.BUILD_NAME }}.${{ matrix.id }} | |
| path: ./build/*.hex | |
| retention-days: 1 | |
| upload-artifacts: | |
| runs-on: ubuntu-latest | |
| needs: [build] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup environment | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| run: | | |
| # This is the hash of the commit for the PR | |
| # when the action is triggered by PR, empty otherwise | |
| COMMIT_ID=${{ github.event.pull_request.head.sha }} | |
| # This is the hash of the commit when triggered by push | |
| # but the hash of refs/pull/<n>/merge, which is different | |
| # from the hash of the latest commit in the PR, that's | |
| # why we try github.event.pull_request.head.sha first | |
| COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} | |
| BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) | |
| VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') | |
| echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| - name: Download artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: matrix-inav-* | |
| merge-multiple: true | |
| path: binaries | |
| - name: Build target list | |
| run: | | |
| ls -1 binaries/*.hex | cut -d/ -f2 > targets.txt | |
| - name: Upload firmware images | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.BUILD_NAME }} | |
| path: binaries/*.hex | |
| - name: Upload firmware images | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: targets | |
| path: targets.txt | |
| build-SITL-Linux: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: sudo apt-get update && sudo apt-get -y install ninja-build | |
| - name: Setup environment | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| run: | | |
| # This is the hash of the commit for the PR | |
| # when the action is triggered by PR, empty otherwise | |
| COMMIT_ID=${{ github.event.pull_request.head.sha }} | |
| # This is the hash of the commit when triggered by push | |
| # but the hash of refs/pull/<n>/merge, which is different | |
| # from the hash of the latest commit in the PR, that's | |
| # why we try github.event.pull_request.head.sha first | |
| COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} | |
| BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) | |
| VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') | |
| echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| - name: Build SITL | |
| run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4 | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.BUILD_NAME }}_SITL-Linux | |
| path: ./build_SITL/*_SITL | |
| build-SITL-Mac: | |
| runs-on: macos-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: | | |
| brew install cmake ninja ruby | |
| - name: Setup environment | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| run: | | |
| # This is the hash of the commit for the PR | |
| # when the action is triggered by PR, empty otherwise | |
| COMMIT_ID=${{ github.event.pull_request.head.sha }} | |
| # This is the hash of the commit when triggered by push | |
| # but the hash of refs/pull/<n>/merge, which is different | |
| # from the hash of the latest commit in the PR, that's | |
| # why we try github.event.pull_request.head.sha first | |
| COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} | |
| BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) | |
| VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') | |
| echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| - name: Build SITL | |
| run: | | |
| mkdir -p build_SITL && cd build_SITL | |
| cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja .. | |
| ninja -j3 | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.BUILD_NAME }}_SITL-MacOS | |
| path: ./build_SITL/*_SITL | |
| build-SITL-Windows: | |
| runs-on: windows-latest | |
| defaults: | |
| run: | |
| shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}' | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup Cygwin | |
| uses: egor-tensin/setup-cygwin@v4 | |
| with: | |
| packages: cmake ruby ninja gcc-g++ | |
| - name: Setup environment | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| run: | | |
| # This is the hash of the commit for the PR | |
| # when the action is triggered by PR, empty otherwise | |
| COMMIT_ID=${{ github.event.pull_request.head.sha }} | |
| # This is the hash of the commit when triggered by push | |
| # but the hash of refs/pull/<n>/merge, which is different | |
| # from the hash of the latest commit in the PR, that's | |
| # why we try github.event.pull_request.head.sha first | |
| COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} | |
| BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) | |
| VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') | |
| echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| - name: Build SITL | |
| run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4 | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.BUILD_NAME }}_SITL-WIN | |
| path: ./build_SITL/*.exe | |
| test: | |
| #needs: [build] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: sudo apt-get update && sudo apt-get -y install ninja-build | |
| - name: Run Tests | |
| run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check |