Merge branch 'main' of https://github.com/PX4/PX4-Autopilot

.ci/Jenkinsfile-compile

@@ -77,6 +77,7 @@ pipeline {
                      "matek_h743-mini_default",
                      "matek_h743-slim_default",
                      "matek_h743_default",
+                     "micoair_h743_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
                      "mro_ctrl-zero-classic_default",

.github/workflows/build_all_targets.yml

@@ -1,3 +1,8 @@
+# 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: Build all targets
 
 on:
@@ -14,7 +19,8 @@ on:
 jobs:
   group_targets:
     name: Scan for Board Targets
-    runs-on: ubuntu-latest
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -34,7 +40,8 @@ jobs:
 
   setup:
     name: ${{ matrix.group }}
-    runs-on: ubuntu-latest
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
     needs: group_targets
     strategy:
       matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}

.github/workflows/sitl_tests.yml

@@ -1,3 +1,8 @@
+# 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:
@@ -10,126 +15,139 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    name: Testing PX4 ${{ matrix.config.model }}
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    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: "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 [email protected]: # 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: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Git Ownership Workaround
+        run: git config --system --add safe.directory '*'
+
+      - id: set-timestamp
+        name: Set timestamp for cache
+        run: echo "::set-output name=timestamp::$(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 [email protected]: # 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

.vscode/cmake-variants.yaml

@@ -286,6 +286,11 @@ CONFIG:
       buildType: MiniSizeRel
       settings:
         CONFIG: matek_gnss-m9n-f4_default
+    micoair_h743_default:
+      short: micoair_h743
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

CMakeLists.txt

@@ -113,12 +113,20 @@ include(px4_parse_function_args)
 include(px4_git)
 
 execute_process(
-	COMMAND git describe --exclude ext/* --always --tags
+	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
+	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
+# if proper git tag unavilable default to v0.0.0
+if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
+	set(PX4_GIT_TAG "v0.0.0")
+endif()
+
+message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
+
 # git describe to X.Y.Z version
 string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
 

Makefile

@@ -340,6 +340,7 @@ bootloaders_update: \
 	matek_h743_bootloader \
 	matek_h743-mini_bootloader \
 	matek_h743-slim_bootloader \
+        micoair_h743_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \

ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter

@@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0
 
-parm set-default FD_FAIL_R 70
+param set-default FD_FAIL_R 70
 
 param set-default FW_P_TC 0.6
 

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -14,15 +14,18 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 # Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
 param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
 param set-default RD_MAX_ACCEL 6
 param set-default RD_MAX_JERK 30
-param set-default RD_MAX_SPEED 7
-param set-default RD_HEADING_P 5
-param set-default RD_HEADING_I 0.1
+param set-default RD_MAX_THR_YAW_R 5
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0
+param set-default RD_MAX_THR_SPD 7
+param set-default RD_SPEED_P 1
+param set-default RD_SPEED_I 0
 param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 7
+param set-default RD_MISS_SPD_DEF 5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -27,8 +27,8 @@ param set-default RD_YAW_RATE_P 5
 param set-default RD_MAX_ACCEL 1
 param set-default RD_MAX_JERK 3
 param set-default RD_MAX_SPEED 8
-param set-default RD_HEADING_P 5
-param set-default RD_HEADING_I 0.1
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
 param set-default RD_MAX_YAW_RATE 30
 param set-default RD_MISS_SPD_DEF 8
 param set-default RD_TRANS_DRV_TRN 0.349066

ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_x500_mono_cam_down

@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam_down}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500