Merge pull request #33 from tony2157/Copter-4.1

ArduPilot Copter 4.1 update and minor custom code changes (now BLISS)

.gitattributes

@@ -3,4 +3,10 @@
 # This breaks Vagrant for some users.
 *.sh text eol=lf
 
+*.bin -diff
+*.elf -diff
+*.hex -diff
 
+*.bin binary linguist-generated
+*.elf binary linguist-generated
+*.hex binary linguist-generated

.github/workflows/cygwin_build.yml

@@ -0,0 +1,34 @@
+name: Cygwin Build
+
+on: [push, pull_request, workflow_dispatch]
+concurrency:
+ group: ci-${{github.workflow}}-${{ github.ref }}
+ cancel-in-progress: true
+
+jobs:
+ build:
+ runs-on: 'windows-latest'
+
+ steps:
+ - uses: actions/checkout@v2
+ with:
+ submodules: 'recursive'
+ - name: Install cygwin
+ env:
+ HOME: ${{ runner.workspace }}/ardupilot
+ run: |
+ choco install cygwin --params "/InstallDir:C:\Cygwin /NoStartMenu /NoAdmin"
+ choco install cygwin32-gcc-g++ python37 python37-future python37-lxml python37-pip python37-setuptools python37-wheel git libexpat procps gettext --source cygwin
+ C:\Cygwin\bin\bash --login -c "ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip"
+ - name: Build SITL
+ env:
+ HOME: ${{ runner.workspace }}/ardupilot
+ run: |
+ C:\Cygwin\bin\bash --login -c "Tools/scripts/cygwin_build.sh"
+
+ - name: Archive build
+ uses: actions/upload-artifact@v2
+ with:
+ name: binaries
+ path: artifacts
+ retention-days: 7

.github/workflows/issue_notifier.yml

@@ -0,0 +1,20 @@
+name: Notify users based on issue labels
+
+on:
+ issues:
+ types: [labeled]
+ pull_request_target:
+ types: [labeled]
+
+jobs:
+ notify:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: bugobliterator/issue-label-notification-action@master
+ with:
+ recipients: |
+ CAN=@bugobliterator
+ AP_Periph=@bugobliterator
+ ChibiOS=@bugobliterator
+ Compass=@bugobliterator
+ bootloader=@bugobliterator

.github/workflows/test_chibios.yml

@@ -5,6 +5,9 @@ on: [push, pull_request, workflow_dispatch]
 # paths:
 # - "*"
 # - "!README.md" <-- don't rebuild on doc change
+concurrency:
+ group: ci-${{github.workflow}}-${{ github.ref }}
+ cancel-in-progress: true
 
 jobs:
  build:

.github/workflows/test_coverage.yml

@@ -0,0 +1,105 @@
+name: test coverage
+
+on:
+ workflow_dispatch:
+ schedule:
+ - cron: '0 0 * * 0' # every sunday at midnight
+# paths:
+# - "*"
+# - "!README.md" <-- don't rebuild on doc change
+concurrency:
+ group: ci-${{github.workflow}}-${{ github.ref }}
+ cancel-in-progress: true
+
+jobs:
+ build:
+ runs-on: ubuntu-20.04
+ container:
+ image: ardupilot/ardupilot-dev-coverage:latest
+ options: --privileged
+ strategy:
+ fail-fast: false # don't cancel if a job from the matrix fails
+ matrix:
+ toolchain: [
+ base, # GCC
+ ]
+ config: [
+ coverage,
+ sitltest-can,
+ ]
+ steps:
+ # git checkout the PR
+ - uses: actions/checkout@v2
+ with:
+ submodules: 'recursive'
+ # Put ccache into github cache for faster build
+ - name: Prepare ccache timestamp
+ id: ccache_cache_timestamp
+ run: |
+ NOW=$(date -u +"%F-%T")
+ echo "::set-output name=timestamp::${NOW}"
+ - name: ccache cache files
+ uses: actions/cache@v2
+ with:
+ path: ~/.ccache
+ key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+ restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}- # restore ccache from either previous build on this branch or on master
+ - 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: Configure CAN
+ if: ${{ matrix.config == 'sitltest-can'}}
+ run: |
+ sudo dpkg --add-architecture i386
+ sudo apt update
+ sudo apt install -y gcc-multilib g++-multilib
+ sudo apt -y install can-utils iproute2 linux-modules-extra-$(uname -r)
+ sudo modprobe vcan
+ sudo ip link add dev vcan0 type vcan
+ sudo ip link set up vcan0
+ - name: test ${{matrix.config}} ${{ matrix.toolchain }}
+ env:
+ CI_BUILD_TARGET: ${{matrix.config}}
+ shell: 'script -q -e -c "bash {0}"'
+ run: |
+ PATH="/github/home/.local/bin:$PATH"
+ python -m pip install --user mavproxy
+ python -m pip uninstall -y pymavlink
+ git submodule update --init --recursive
+ (cd modules/mavlink/pymavlink && DISABLE_MAVNATIVE=True MDEF="$PWD/../message_definitions" python -m pip install --user .)
+ if [[ ${{ matrix.config }} = "coverage" ]]; then
+ Tools/scripts/run_coverage.py -f
+ else
+ Tools/scripts/run_coverage.py -i
+ ./waf configure --board sitl_periph_gps --debug --coverage
+ ./waf build --target bin/AP_Periph
+ Tools/scripts/run_coverage.py -i
+ Tools/autotest/autotest.py test.CAN --debug --coverage
+ Tools/scripts/run_coverage.py -u
+ fi
+
+ - name: Coveralls
+ uses: coverallsapp/github-action@master
+ with:
+ github-token: ${{ secrets.GITHUB_TOKEN }}
+ path-to-lcov: ./reports/lcov-report/lcov.info
+ flag-name: run-${{matrix.config}}
+ parallel: true
+
+
+ finish:
+ if: always()
+ needs: build
+ runs-on: ubuntu-latest
+ steps:
+ - name: Coveralls Finished
+ uses: coverallsapp/github-action@master
+ with:
+ github-token: ${{ secrets.github_token }}
+ parallel-finished: true

.github/workflows/test_linux_sbc.yml

@@ -4,6 +4,9 @@ on: [push, pull_request, workflow_dispatch]
 # paths:
 # - "*"
 # - "!README.md" <-- don't rebuild on doc change
+concurrency:
+ group: ci-${{github.workflow}}-${{ github.ref }}
+ cancel-in-progress: true
 
 jobs:
  build:

.github/workflows/test_replay.yml

@@ -4,6 +4,9 @@ on: [push, pull_request, workflow_dispatch]
 # paths:
 # - "*"
 # - "!README.md" <-- don't rebuild on doc change
+concurrency:
+ group: ci-${{github.workflow}}-${{ github.ref }}
+ cancel-in-progress: true
 
 jobs:
  build:

.github/workflows/test_sitl_copter.yml

@@ -4,6 +4,9 @@ on: [push, pull_request, workflow_dispatch]
 # paths:
 # - "*"
 # - "!README.md" <-- don't rebuild on doc change
+concurrency:
+ group: ci-${{github.workflow}}-${{ github.ref }}
+ cancel-in-progress: true
 
 jobs:
  build:
@@ -113,7 +116,9 @@ jobs:
  if: failure()
  with:
  name: fail-${{matrix.config}}
- path: /tmp/buildlogs
+ path: |
+ /tmp/buildlogs
+ /__w/ardupilot/ardupilot/logs
  retention-days: 14
 
  - name: Archive .bin artifacts
@@ -214,7 +219,9 @@ jobs:
  if: failure()
  with:
  name: fail-${{matrix.config}}
- path: /tmp/buildlogs
+ path: |
+ /tmp/buildlogs
+ /__w/ardupilot/ardupilot/logs
  retention-days: 14
 
  - name: Archive .bin artifacts

.github/workflows/test_sitl_periph.yml

@@ -4,6 +4,9 @@ on: [push, pull_request, workflow_dispatch]
 # paths:
 # - "*"
 # - "!README.md" <-- don't rebuild on doc change
+concurrency:
+ group: ci-${{github.workflow}}-${{ github.ref }}
+ cancel-in-progress: true
 
 jobs:
  build-gcc-ap_periph:

.github/workflows/test_sitl_plane.yml

@@ -4,6 +4,9 @@ on: [push, pull_request, workflow_dispatch]
 # paths:
 # - "*"
 # - "!README.md" <-- don't rebuild on doc change
+concurrency:
+ group: ci-${{github.workflow}}-${{ github.ref }}
+ cancel-in-progress: true
 
 jobs:
  build:
@@ -108,7 +111,9 @@ jobs:
  if: failure()
  with:
  name: fail-${{matrix.config}}
- path: /tmp/buildlogs
+ path: |
+ /tmp/buildlogs
+ /__w/ardupilot/ardupilot/logs
  retention-days: 14
 
  - name: Archive .bin artifacts