Copter: run rate loop at full filter rate in its own thread #1063
Workflow file for this run
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| name: QURT Build | |
| on: | |
| push: | |
| paths-ignore: | |
| # remove other vehicles | |
| - 'AntennaTracker/**' | |
| - 'Blimp/**' | |
| # remove non SITL HAL | |
| - 'libraries/AP_HAL_ChibiOS/**' | |
| - 'libraries/AP_HAL_ESP32/**' | |
| # remove non SITL directories | |
| - 'Tools/AP_Bootloader/**' | |
| - 'Tools/AP_Periph/**' | |
| - 'Tools/CHDK-Script/**' | |
| - 'Tools/CPUInfo/**' | |
| - 'Tools/CodeStyle/**' | |
| - 'Tools/FilterTestTool/**' | |
| - 'Tools/Frame_params/**' | |
| - 'Tools/GIT_Test/**' | |
| - 'Tools/Hello/**' | |
| - 'Tools/IO_Firmware/**' | |
| - 'Tools/Linux_HAL_Essentials/**' | |
| - 'Tools/Pozyx/**' | |
| - 'Tools/PrintVersion.py' | |
| - 'Tools/Replay/**' | |
| - 'Tools/UDP_Proxy/**' | |
| - 'Tools/Vicon/**' | |
| - 'Tools/bootloaders/**' | |
| - 'Tools/completion/**' | |
| - 'Tools/debug/**' | |
| - 'Tools/environment_install/**' | |
| - 'Tools/geotag/**' | |
| - 'Tools/gittools/**' | |
| - 'Tools/mavproxy_modules/**' | |
| - 'Tools/simulink/**' | |
| - 'Tools/vagrant/**' | |
| # Discard python file from Tools/scripts as not used | |
| - 'Tools/scripts/**.py' | |
| - 'Tools/scripts/build_sizes/**' | |
| - 'Tools/scripts/build_tests/**' | |
| - 'Tools/scripts/CAN/**' | |
| - 'Tools/scripts/signing/**' | |
| # Remove autotest | |
| - 'Tools/autotest/**' | |
| # Remove markdown files as irrelevant | |
| - '**.md' | |
| # Remove dotfile at root directory | |
| - './.dir-locals.el' | |
| - './.dockerignore' | |
| - './.editorconfig' | |
| - './.flake8' | |
| - './.gitattributes' | |
| - './.github' | |
| - './.gitignore' | |
| - './.pre-commit-config.yaml' | |
| - './.pydevproject' | |
| - './.valgrind-suppressions' | |
| - './.valgrindrc' | |
| - 'Dockerfile' | |
| - 'Vagrantfile' | |
| - 'Makefile' | |
| # Remove some directories check | |
| - '.vscode/**' | |
| - '.github/ISSUE_TEMPLATE/**' | |
| # Remove change on other workflows | |
| - '.github/workflows/test_environment.yml' | |
| pull_request: | |
| paths-ignore: | |
| # remove other vehicles | |
| - 'AntennaTracker/**' | |
| - 'Blimp/**' | |
| # remove non SITL HAL | |
| - 'libraries/AP_HAL_ChibiOS/**' | |
| - 'libraries/AP_HAL_ESP32/**' | |
| # remove non SITL directories | |
| - 'Tools/AP_Bootloader/**' | |
| - 'Tools/AP_Periph/**' | |
| - 'Tools/bootloaders/**' | |
| - 'Tools/CHDK-Script/**' | |
| - 'Tools/CodeStyle/**' | |
| - 'Tools/completion/**' | |
| - 'Tools/CPUInfo/**' | |
| - 'Tools/debug/**' | |
| - 'Tools/environment_install/**' | |
| - 'Tools/FilterTestTool/**' | |
| - 'Tools/Frame_params/**' | |
| - 'Tools/geotag/**' | |
| - 'Tools/GIT_Test/**' | |
| - 'Tools/gittools/**' | |
| - 'Tools/Hello/**' | |
| - 'Tools/IO_Firmware/**' | |
| - 'Tools/Linux_HAL_Essentials/**' | |
| - 'Tools/LogAnalyzer/**' | |
| - 'Tools/mavproxy_modules/**' | |
| - 'Tools/Pozyx/**' | |
| - 'Tools/PrintVersion.py' | |
| - 'Tools/Replay/**' | |
| - 'Tools/simulink/**' | |
| - 'Tools/UDP_Proxy/**' | |
| - 'Tools/vagrant/**' | |
| - 'Tools/Vicon/**' | |
| # Discard python file from Tools/scripts as not used | |
| - 'Tools/scripts/**.py' | |
| - 'Tools/scripts/build_sizes/**' | |
| - 'Tools/scripts/build_tests/**' | |
| - 'Tools/scripts/CAN/**' | |
| - 'Tools/scripts/signing/**' | |
| # Remove autotest | |
| - 'Tools/autotest/**' | |
| # Remove markdown files as irrelevant | |
| - '**.md' | |
| # Remove dotfile at root directory | |
| - './.dir-locals.el' | |
| - './.dockerignore' | |
| - './.editorconfig' | |
| - './.flake8' | |
| - './.gitattributes' | |
| - './.github' | |
| - './.gitignore' | |
| - './.pre-commit-config.yaml' | |
| - './.pydevproject' | |
| - './.valgrind-suppressions' | |
| - './.valgrindrc' | |
| - 'Dockerfile' | |
| - 'Vagrantfile' | |
| - 'Makefile' | |
| # Remove some directories check | |
| - '.vscode/**' | |
| - '.github/ISSUE_TEMPLATE/**' | |
| # Remove change on other workflows | |
| - '.github/workflows/test_environment.yml' | |
| workflow_dispatch: | |
| concurrency: | |
| group: ci-${{github.workflow}}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| build: | |
| if: github.repository == 'ArduPilot/ardupilot' | |
| runs-on: 'ardupilot-qurt' | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| - name: Build QURT | |
| run: | | |
| ./waf configure --board QURT | |
| ./waf copter | |
| ./waf plane | |
| ./waf rover | |
| cp -a build/QURT/bin/arducopter build/QURT/ArduPilot.so | |
| cp -a build/QURT/bin/arducopter build/QURT/ArduPilot_Copter.so | |
| cp -a build/QURT/bin/arduplane build/QURT/ArduPilot_Plane.so | |
| cp -a build/QURT/bin/ardurover build/QURT/ArduPilot_Rover.so | |
| - name: Archive build | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: qurt-binaries | |
| path: | | |
| build/QURT/ardupilot | |
| build/QURT/ArduPilot_Copter.so | |
| build/QURT/ArduPilot_Plane.so | |
| build/QURT/ArduPilot_Rover.so | |
| build/QURT/ArduPilot.so | |
| retention-days: 7 |