Merge branch 'main' into ark/sch16t

.github/workflows/build_all_targets.yml

@@ -6,11 +6,6 @@
 name: Build all targets
 
 on:
-  workflow_dispatch:
-    inputs:
-      tag:
-        required: true
-        description: release version
   push:
     tags:
       - 'v*'
@@ -51,26 +46,15 @@ jobs:
       - id: set-timestamp
         run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
-      # This job is also triggered with versioned tags
-      #   Creating a and pushing a tag starting with "v" just as "v1.0.0"
-      #   will trigger this workflow and when all builds are done create a Github Release
-      #   then it will upload all binaries built as assets
-      # Additionally, we can also trigger this step manually
-      #   From the Github Actions tab for this repository:
-      #   https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml
-      #   You can now click a "Run Workflow" button that will prompt you for a tag name
-      #   This tag name has to match an existing tag otherwise the new release will be detached
-      #   Note: Only developers with "write" permission to the repository can use this feature
-      - id: set-tag
-        if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
-        run: echo "::set-output name=tagname::${{ github.event_name == 'workflow_dispatch' && inputs.tag || github.ref_name }}"
-
       - id: set-branch
         run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
 
       - name: Debug Matrix Output
         if: runner.debug == '1'
-        run: echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
+        run: |
+          echo "${{ steps.set-timestamp.outputs.timestamp }}"
+          echo "${{ steps.set-branch.outputs.branchname }}"
+          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
     name: Build Group [${{ matrix.group }}]
@@ -159,20 +143,16 @@ jobs:
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
+    if: startsWith(github.ref, 'refs/tags/v')
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
-
-      - name: Arrange Binaries
-        run: |
-          mkdir artifacts
-          cp **/**/*.px4 artifacts/
+        with:
+          path: artifacts/
+          merge-multiple: true
 
       - name: Upload Binaries to Release
         uses: softprops/action-gh-release@v2
         with:
-          name: ${{ needs.group_targets.outputs.tagname }}
-          tag_name: ${{ needs.group_targets.outputs.tagname }}
           draft: true
           files: artifacts/*.px4

.github/workflows/checks.yml

@@ -25,28 +25,27 @@ jobs:
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
           "px4_sitl_allyes",
-          "airframe_metadata",
           "module_documentation",
-          "parameters_metadata",
         ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: ${{matrix.check}}
-      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info
+      - name: Building [${{ matrix.check }}]
+        uses: addnab/docker-run-action@v3
+        with:
+          image: px4io/px4-dev-nuttx-focal:2022-08-12
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make ${{ matrix.check }}
+
+      - name: Uploading Coverage to Codecov.io
+        if: contains(matrix.check, 'coverage')
+        uses: codecov/codecov-action@v1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: unittests
+          file: coverage/lcov.info

.github/workflows/clang-tidy.yml

@@ -11,13 +11,17 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
       with:
-        token: ${{secrets.ACCESS_TOKEN}}
+        fetch-depth: 0
 
-    - uses: corrupt952/[email protected]
+    - name: Testing (clang-tidy-quiet)
+      uses: addnab/docker-run-action@v3
       with:
-        command: make clang-tidy-quiet
-        max_attempts: 3
+        image: px4io/px4-dev-clang:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make clang-tidy-quiet

.github/workflows/compile_macos.yml

@@ -19,13 +19,11 @@ jobs:
           ]
     steps:
     - name: install Python 3.10
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: "3.10"
 
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
+    - uses: actions/checkout@v4
 
     - name: setup
       run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
@@ -37,7 +35,7 @@ jobs:
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
         message("::set-output name=timestamp::${current_date}")
     - name: ccache cache files
-      uses: actions/cache@v2
+      uses: actions/cache@v4
       with:
         path: ~/.ccache
         key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/dev_container.yml

@@ -25,6 +25,18 @@ jobs:
           submodules: false
           fetch-depth: 0
 
+      - name: Set PX4 Tag
+        id: px4-tag
+        run: |
+          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        if: github.event_name != 'pull_request'
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:
@@ -38,6 +50,15 @@ jobs:
         with:
           images: |
             ghcr.io/PX4/px4-dev
+            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
+          tags: |
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+            type=semver,pattern={{major}}
+            type=ref,event=branch,value=${{ steps.px4-tag.outputs.tag }},priority=700
+            type=ref,event=branch,suffix=-{{date 'YYYY-MM-DD'}},priority=600
+            type=ref,event=branch,suffix=,priority=500
+            type=ref,event=pr
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
@@ -81,6 +102,6 @@ jobs:
           platforms: |
             linux/amd64
           provenance: mode=max
-          push: ${{ github.event_name == 'push' }}
+          push: true
           cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
           cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,21 +1,28 @@
 name: EKF Change Indicator
 
-on: pull_request
+on:
+  pull_request:
+    branches:
+    - '*'
 
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
-    - uses: actions/checkout@v2.3.1
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
+
     - name: main test
-      run: make tests TESTFILTER=EKF
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make tests TESTFILTER=EKF
+
     - name: Check if there is a functional change
       run: git diff --exit-code
       working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -5,25 +5,40 @@ on: push
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
     env:
       GIT_COMMITTER_EMAIL: [email protected]
       GIT_COMMITTER_NAME: PX4BuildBot
     steps:
-    - uses: actions/checkout@v2.3.1
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
+
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make tests TESTFILTER=EKF
+
     - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
+      id: diff-check
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
       working-directory: src/modules/ekf2/test/change_indication
+
     - name: auto-commit any changes to change indication
       uses: stefanzweifel/git-auto-commit-action@v4
       with:
-        commit_message: '[AUTO COMMIT] update change indication'
+        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
         commit_user_name: ${GIT_COMMITTER_NAME}
         commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
+        commit_message: |
+          '[AUTO COMMIT] update change indication'
+
+          See .github/workflopws/ekf_update_change_indicator.yml for more details
+
+    - name: if there is a functional change, fail check
+      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
       run: exit 1

.github/workflows/failsafe_sim.yml

@@ -24,21 +24,23 @@ jobs:
       image: px4io/px4-dev-nuttx-focal:2022-08-12
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - name: Install Node v20.18.0
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20.18.0
 
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: install emscripten
-      run: |
-        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-        cd _emscripten_sdk
-        ./emsdk install latest
-        ./emsdk activate latest
-    - name: ${{matrix.check}}
-      run: |
-        . ./_emscripten_sdk/emsdk_env.sh
-        make ${{matrix.check}}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Install empscripten
+        run: |
+          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+          cd _emscripten_sdk
+          ./emsdk install latest
+          ./emsdk activate latest
+
+      - name: Testing [${{ matrix.check }}]
+        run: |
+          . ./_emscripten_sdk/emsdk_env.sh
+          make ${{ matrix.check }}