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.github: build and exercise SITL clustering in CI
Build arduplane alongside arducopter, run the multi-instance lock-step test, and fly the cluster follow test (two copters following a plane). The follow job requests 50x speedup but does not assert on achieving it: a 2-core runner gets nowhere near, which is why the test times its phases in simulated seconds and reports the rate it actually achieves. ArduPlane is dropped from paths-ignore since the workflow now exercises plane code. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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‎.github/workflows/test_sitl_multi_instance.yml‎

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name: test SITL cluster clock sync
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on:
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push:
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paths-ignore:
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# remove other vehicles
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- 'AntennaTracker/**'
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- 'ArduSub/**'
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- 'Blimp/**'
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- 'Rover/**'
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# remove non SITL HAL
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- 'libraries/AP_HAL_ChibiOS/**'
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- 'libraries/AP_HAL_ESP32/**'
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- 'libraries/AP_HAL_QURT/**'
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# Remove markdown files as irrelevant
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- '**.md'
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pull_request:
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paths-ignore:
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# remove other vehicles
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- 'AntennaTracker/**'
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- 'ArduSub/**'
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- 'Blimp/**'
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- 'Rover/**'
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# remove non SITL HAL
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- 'libraries/AP_HAL_ChibiOS/**'
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- 'libraries/AP_HAL_ESP32/**'
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- 'libraries/AP_HAL_QURT/**'
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# Remove markdown files as irrelevant
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- '**.md'
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concurrency:
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group: ci-${{github.workflow}}-${{github.ref}}
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cancel-in-progress: true
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jobs:
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build:
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runs-on: ubuntu-22.04
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permissions:
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contents: read
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container:
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image: ardupilot/ardupilot-dev-base:v0.1.3
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options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
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steps:
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- uses: actions/checkout@v6
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with:
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submodules: 'recursive'
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- name: get timestamp for ccache
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id: ccache_cache_timestamp
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run: |
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NOW=$(date -u +"%F-%T")
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echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
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- name: ccache cache files
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uses: actions/cache@v5
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with:
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path: ~/.ccache
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key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
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restore-keys: ${{github.workflow}}-ccache-base-
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- name: setup ccache
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run: |
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. .github/workflows/ccache.env
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- name: build arducopter and arduplane
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shell: bash
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run: |
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git config --global --add safe.directory ${GITHUB_WORKSPACE}
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PATH="/github/home/.local/bin:$PATH"
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pip install empy==3.3.4
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./waf configure --board sitl
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./waf copter plane
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ccache -s
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- name: upload SITL binaries
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uses: actions/upload-artifact@v4
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with:
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name: sitl-cluster-binaries
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path: |
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build/sitl/bin/arducopter
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build/sitl/bin/arduplane
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retention-days: 1
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test-multi-instance-sync:
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needs: build
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runs-on: ubuntu-22.04
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permissions:
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contents: read
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container:
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image: ardupilot/ardupilot-dev-base:v0.1.3
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options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
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steps:
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- uses: actions/checkout@v6
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with:
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submodules: 'recursive'
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- name: download SITL binaries
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uses: actions/download-artifact@v4.1.3
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with:
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name: sitl-cluster-binaries
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path: build/sitl/bin/
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- name: make binaries executable
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run: chmod +x build/sitl/bin/arducopter build/sitl/bin/arduplane
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- name: run 5x SITL instances at speedup=100 and verify clock sync
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shell: bash
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timeout-minutes: 5
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run: |
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git config --global --add safe.directory ${GITHUB_WORKSPACE}
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PATH="/github/home/.local/bin:$PATH"
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Tools/scripts/test_sitl_multi_instance.sh build/sitl/bin/arducopter
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- name: archive logs on failure
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if: failure()
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uses: actions/upload-artifact@v4
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with:
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name: multi-instance-logs
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path: /tmp/sitl_multi_*
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retention-days: 7
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test-cluster-follow:
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needs: build
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runs-on: ubuntu-22.04
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permissions:
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contents: read
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container:
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image: ardupilot/ardupilot-dev-base:v0.1.3
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options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
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steps:
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- uses: actions/checkout@v6
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with:
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submodules: 'recursive'
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- name: download SITL binaries
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uses: actions/download-artifact@v4.1.3
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with:
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name: sitl-cluster-binaries
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path: build/sitl/bin/
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- name: make binaries executable
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run: chmod +x build/sitl/bin/arducopter build/sitl/bin/arduplane
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- name: fly 2 copters following a plane in one cluster
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shell: bash
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timeout-minutes: 30
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run: |
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git config --global --add safe.directory ${GITHUB_WORKSPACE}
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PATH="/github/home/.local/bin:$PATH"
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pip install pymavlink
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# A 2-core runner gets nowhere near 50x - locally, three vehicles
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# in lock-step manage about 3x - which is exactly why every phase
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# is timed in simulated seconds rather than wall seconds, and why
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# the achieved rate is reported rather than asserted on. The wall
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# limit is only a backstop for a wedged run, so it is raised well
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# above the local figure to leave room for a slow runner.
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python3 Tools/autotest/test_cluster_follow.py \
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--speedup 50 \
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--follow-time 250 \
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--min-hold-time 90 \
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--wall-limit 1500
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- name: archive logs on failure
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if: failure()
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uses: actions/upload-artifact@v4
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with:
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name: cluster-follow-logs
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path: /tmp/sitl_cluster_follow_*
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retention-days: 7

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