From b5c22e9fdf3a7221bded694c389132f5dc07ebff Mon Sep 17 00:00:00 2001 From: Balduin Date: Tue, 21 Jan 2025 14:53:54 +0100 Subject: [PATCH] add workflow for sih-sitl tests also, fix tailsitter model so actuator signs follow convention --- .github/workflows/sitl_sih_tests.yml | 153 ++++++++++++++++++ .../init.d-posix/airframes/10042_sihsim_xvert | 5 - src/modules/simulation/simulator_sih/sih.cpp | 2 +- .../configs/{sitl_gazebo.json => sitl.json} | 0 4 files changed, 154 insertions(+), 6 deletions(-) create mode 100644 .github/workflows/sitl_sih_tests.yml rename test/mavsdk_tests/configs/{sitl_gazebo.json => sitl.json} (100%) diff --git a/.github/workflows/sitl_sih_tests.yml b/.github/workflows/sitl_sih_tests.yml new file mode 100644 index 000000000000..f26afd0584f8 --- /dev/null +++ b/.github/workflows/sitl_sih_tests.yml @@ -0,0 +1,153 @@ +# 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 using SIH + +on: + push: + branches: + - 'main' + pull_request: + branches: + - '*' + +jobs: + build: + name: Testing PX4 ${{ matrix.config.model }} + runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false] + 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: "quadx", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska + - {model: "xvert" , 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 + + steps: + - 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 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@v4 + with: + token: ${{ secrets.CODECOV_TOKEN }} + flags: mavsdk + file: coverage/lcov.info diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert index 04870573b922..d82b92c1ef98 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert @@ -68,8 +68,3 @@ param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC5 201 param set-default PWM_MAIN_FUNC6 202 - -# param set-default PWM_MAIN_REV 48 -param set-default PWM_MAIN_REV 32 -# param set-default PWM_MAIN_REV 16 - diff --git a/src/modules/simulation/simulator_sih/sih.cpp b/src/modules/simulation/simulator_sih/sih.cpp index 1b114b7f582f..bdd4138d3e0c 100644 --- a/src/modules/simulation/simulator_sih/sih.cpp +++ b/src/modules/simulation/simulator_sih/sih.cpp @@ -389,7 +389,7 @@ void Sih::generate_ts_aerodynamics() for (int i = 0; i < NB_TS_SEG; i++) { if (i <= NB_TS_SEG / 2) { - _ts[i].update_aero(v_ts, w_ts, altitude, _u[5]*TS_DEF_MAX, _T_MAX * _u[1]); + _ts[i].update_aero(v_ts, w_ts, altitude, -_u[5]*TS_DEF_MAX, _T_MAX * _u[1]); } else { _ts[i].update_aero(v_ts, w_ts, altitude, -_u[4]*TS_DEF_MAX, _T_MAX * _u[0]); diff --git a/test/mavsdk_tests/configs/sitl_gazebo.json b/test/mavsdk_tests/configs/sitl.json similarity index 100% rename from test/mavsdk_tests/configs/sitl_gazebo.json rename to test/mavsdk_tests/configs/sitl.json