R1 rover wheel friction model improved for stability of EKF2 while PX4 SITL is running. #777
Workflow file for this run
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| name: Firmware Build and SITL Tests | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - '*' | |
| jobs: | |
| Firmware-build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| model: | |
| - "iris" | |
| - "standard_vtol" | |
| container: | |
| image: px4io/px4-dev-simulation-focal:2021-05-31 | |
| options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined | |
| steps: | |
| - name: Checkout Firmware main | |
| uses: actions/[email protected] | |
| with: | |
| repository: PX4/Firmware | |
| ref: main | |
| path: Firmware | |
| fetch-depth: 0 | |
| submodules: recurvise | |
| - name: Checkout matching branch on PX4/Firmware if possible | |
| run: | | |
| git checkout ${{github.head_ref}} || echo "Firmware branch: ${{github.head_ref}} not found, using main instead" | |
| git submodule update --init --recursive | |
| working-directory: Firmware | |
| - name: Configure Firmware to include current sitl_gazebo version | |
| working-directory: Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic | |
| run: | | |
| git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}} || echo "Couldn't find the feature branch of the pull request, using default branch" | |
| git checkout ${{github.head_ref}} | |
| - name: Download MAVSDK | |
| working-directory: Firmware | |
| run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" | |
| - name: Install MAVSDK | |
| working-directory: Firmware | |
| run: dpkg -i "libmavsdk-dev_$(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 = 400M" >> ~/.ccache/ccache.conf | |
| ccache -s | |
| ccache -z | |
| - name: Build Firmware | |
| working-directory: Firmware | |
| env: | |
| DONT_RUN: 1 | |
| GIT_SUBMODULES_ARE_EVIL: 1 | |
| run: make px4_sitl_default gazebo_iris | |
| - name: ccache post-run px4/firmware | |
| run: ccache -s | |
| - name: Build MAVSDK tests | |
| working-directory: Firmware | |
| env: | |
| DONT_RUN: 1 | |
| GIT_SUBMODULES_ARE_EVIL: 1 | |
| run: make px4_sitl_default gazebo_iris mavsdk_tests | |
| - name: ccache post-run mavsdk_tests | |
| run: ccache -s | |
| - name: Run SITL tests | |
| working-directory: Firmware | |
| run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.model}} test/mavsdk_tests/configs/sitl.json |