Rover 4.3

.flake8

@@ -1,5 +1,5 @@
 [flake8]
-ignore =
+extend-ignore =
     # H301: one import per line
     H301,
     # H306: imports not in alphabetical order (time, os)
@@ -15,4 +15,9 @@ ignore =
     # E221 multiple spaces before operator
     E221
 
+extend-exclude =
+    build,
+    modules,
+    .git
+
 max-line-length = 127

.github/workflows/ccache.env

@@ -0,0 +1,12 @@
+# common ccache env vars for CI
+export CCACHE_SLOPPINESS=file_stat_matches
+
+git config --global --add safe.directory ${GITHUB_WORKSPACE}
+
+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

.github/workflows/cygwin_build.yml

@@ -13,19 +13,28 @@ jobs:
       - uses: actions/checkout@v2
         with:
           submodules: 'recursive'
-      - name: Install cygwin
+      - uses: cygwin/cygwin-install-action@master
+        with:
+          packages: cygwin64 gcc-g++=10.2.0-1 python37 python37-future python37-lxml python37-pip python37-setuptools python37-wheel git procps gettext
+      - name: Prepare Python environment
         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"
-          C:\Cygwin\bin\bash --login -c "python -m pip install empy pexpect"
+          bash --login -c "ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip"
+          bash --login -c "python -m pip install empy==3.3.4 pexpect"
+          bash --login -c "python -m pip install dronecan --upgrade"
       - name: Build SITL
         env:
           HOME: ${{ runner.workspace }}/ardupilot
         run: |
-          C:\Cygwin\bin\bash --login -c "Tools/scripts/cygwin_build.sh"
+          bash --login -c "Tools/scripts/cygwin_build.sh"
+
+      - name: Check build files
+        id: check_files
+        uses: andstor/file-existence-action@v1
+        with:
+          files: "artifacts/*"
+          allow_failure: true
 
       - name: Archive build
         uses: actions/upload-artifact@v2

.github/workflows/macos_build.yml

@@ -42,13 +42,7 @@ jobs:
           restore-keys: ${{github.workflow}}-ccache-${{matrix.config}} # 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
+          . .github/workflows/ccache.env
       - name: test build ${{matrix.config}}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}

.github/workflows/test_chibios.yml

@@ -28,7 +28,10 @@ jobs:
             fmuv3,
             revo-mini,
             MatekF405-Wing,
-            configure-all
+            CubeOrange-ODID,
+            configure-all,
+            build-options-defaults-test,
+            signing
         ]
         toolchain: [
             chibios,  # GCC-6
@@ -44,6 +47,12 @@ jobs:
             config: revo-mini
           - gcc: 6
             config: MatekF405-Wing
+          - gcc: 6
+            config: periph-build
+          - gcc: 6
+            config: CubeOrange-ODID
+          - gcc: 6
+            config: signing
         include:
           - config: stm32h7
             toolchain: chibios-py2
@@ -67,13 +76,7 @@ jobs:
           restore-keys: ${{github.workflow}}-ccache-${{matrix.config}}-${{ matrix.toolchain }}-${{ matrix.gcc }}  # 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
+          . .github/workflows/ccache.env
       - name: test ${{matrix.config}} ${{ matrix.toolchain }} gcc-${{matrix.gcc}}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}

.github/workflows/test_coverage.yml

@@ -46,13 +46,7 @@ jobs:
           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
+          . .github/workflows/ccache.env
       - name: Configure CAN
         if: ${{ matrix.config == 'sitltest-can'}}
         run: |
@@ -66,6 +60,7 @@ jobs:
       - name: test ${{matrix.config}} ${{ matrix.toolchain }}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}
+          TERM: xterm
         shell: 'script -q -e -c "bash {0}"'
         run: |
           PATH="/github/home/.local/bin:$PATH"

.github/workflows/test_environment.yml

@@ -1,8 +1,8 @@
 name: test environment setup
 on:
-  workflow_dispatch:
   schedule:
     - cron: '0 0 * * 6'  # every saturday at midnight
+  workflow_dispatch:
 
 
 concurrency:
@@ -25,8 +25,6 @@ jobs:
             name: focal
           - os: ubuntu
             name: hirsute
-          - os: ubuntu
-            name: xenial
           - os: archlinux
             name: latest
           - os: debian
@@ -92,6 +90,7 @@ jobs:
             *"archlinux"*)
             cp /etc/skel/.bashrc /root
             cp /etc/skel/.bashrc /github/home
+            git config --global --add safe.directory /__w/ardupilot/ardupilot
             Tools/environment_install/install-prereqs-arch.sh -qy
             ;;
           esac
@@ -104,6 +103,7 @@ jobs:
         shell: 'script -q -e -c "bash {0}"'
         run: |
           source ~/.bashrc
+          git config --global --add safe.directory /__w/ardupilot/ardupilot
           ./waf configure
           ./waf rover
 
@@ -115,5 +115,12 @@ jobs:
         shell: 'script -q -e -c "bash {0}"'
         run: |
           source ~/.bashrc
+          case ${{matrix.os}} in
+            *"archlinux"*)
+              export PATH=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:$PATH
+              export PATH=/__w/ardupilot/ardupilot/ardupilot/Tools/autotest:$PATH
+              ;;
+          esac
+          git config --global --add safe.directory /__w/ardupilot/ardupilot
           ./waf configure --board CubeOrange
           ./waf plane

.github/workflows/test_linux_sbc.yml

@@ -60,13 +60,7 @@ jobs:
           restore-keys: ${{github.workflow}}-ccache-  # 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
+          . .github/workflows/ccache.env
       - name: test ${{matrix.config}} ${{ matrix.toolchain }}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}

.github/workflows/test_replay.yml

@@ -41,13 +41,7 @@ jobs:
           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
+          . .github/workflows/ccache.env
       - name: test ${{matrix.config}} ${{ matrix.toolchain }}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}

.github/workflows/test_sitl_copter.yml

@@ -38,13 +38,7 @@ jobs:
           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
+          . .github/workflows/ccache.env
       - name: build copter ${{ matrix.toolchain }}
         shell: bash
         run: |
@@ -96,13 +90,7 @@ jobs:
           restore-keys: ${{github.workflow}}-ccache-base-  # 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
+          . .github/workflows/ccache.env
       - name: test ${{matrix.config}}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}
@@ -133,7 +121,6 @@ jobs:
            retention-days: 7
 
   build-gcc-heli:
-    needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container:
       image: ardupilot/ardupilot-dev-base:latest
@@ -157,13 +144,7 @@ jobs:
           restore-keys: ${{github.workflow}}-ccache-base-  # 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
+          . .github/workflows/ccache.env
       - name: build heli
         shell: bash
         run: |
@@ -203,13 +184,7 @@ jobs:
           restore-keys: ${{github.workflow}}-ccache-base-  # 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
+          . .github/workflows/ccache.env
       - name: test ${{matrix.config}}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}

.github/workflows/test_sitl_periph.yml

@@ -31,13 +31,7 @@ jobs:
           restore-keys: ${{github.workflow}}-ccache-  # 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
+          . .github/workflows/ccache.env
       - name: install 32-bit libraries
         run: |
           dpkg --add-architecture i386
@@ -90,13 +84,7 @@ jobs:
           restore-keys: ${{github.workflow}}-ccache-  # 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
+          . .github/workflows/ccache.env
       - name: install 32-bit libraries
         run: |
           sudo dpkg --add-architecture i386

.github/workflows/test_sitl_plane.yml

@@ -38,13 +38,7 @@ jobs:
           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
+          . .github/workflows/ccache.env
       - name: build plane ${{ matrix.toolchain }}
         shell: bash
         run: |
@@ -91,13 +85,7 @@ jobs:
           restore-keys: ${{github.workflow}}-ccache-base-  # 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
+          . .github/workflows/ccache.env
       - name: test ${{matrix.config}}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}

.github/workflows/test_sitl_rover.yml

@@ -38,13 +38,7 @@ jobs:
           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
+          . .github/workflows/ccache.env
       - name: build rover ${{ matrix.toolchain }}
         shell: bash
         run: |
@@ -69,6 +63,7 @@ jobs:
       matrix:
         config: [
             sitltest-rover,
+            sitltest-sailboat,
             sitltest-balancebot
         ]
 
@@ -91,13 +86,7 @@ jobs:
           restore-keys: ${{github.workflow}}-ccache-base-  # 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
+          . .github/workflows/ccache.env
       - name: test ${{matrix.config}}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}