The pr-review-poster was flagging `gtest/gtest.h file not found` on any
PR that added or modified a test file, because clang-tidy-diff-18.py
ran against files that weren't in the compilation database. PR #27004
and PR #26233 both hit this. The root cause is that test TUs only
enter compile_commands.json when BUILD_TESTING is ON, which the
historical clang-tidy build does not enable.
This PR fixes both halves of the problem:
1. Add a second make target `px4_sitl_default-clang-test` that configures
a separate build dir with -DCMAKE_TESTING=ON. Test TUs land in its
compile_commands.json with resolved gtest/fuzztest include paths.
2. Add an umbrella `clang-ci` target that depends on both
`px4_sitl_default-clang` and `px4_sitl_default-clang-test` so the PR
job prepares both build dirs with one make invocation.
3. On PR events the workflow uses `make clang-ci`, installs
libclang-rt-18-dev (needed so fuzztest's FUZZTEST_FUZZING_MODE flags
do not fail the abseil try_compile with a misleading "pthreads not
found" error), and routes the clang-tidy-diff producer at the
test-enabled build dir.
4. Push-to-main is left entirely alone: same single build dir, same
`make px4_sitl_default-clang`, same `make clang-tidy`. Test files
are not in that DB so run-clang-tidy.py keeps ignoring them exactly
as before. This preserves green main while ~189 pre-existing
clang-tidy issues in test files remain untouched; fixing those is
out of scope for this change.
5. Replace the fragile `:!*/test/*` pathspec filter (which missed flat
`*Test.cpp` files in module roots) with
`Tools/ci/clang-tidy-diff-filter.py`, which reads the compilation
database and drops any changed source file that is not a TU.
Headers always pass through. Production code that happens to use
test-like names (src/systemcmds/actuator_test, src/drivers/test_ppm,
etc.) stays analyzed because those are real px4_add_module targets.
Verified in the ghcr.io/px4/px4-dev:v1.17.0-rc2 container and on the
real CI runner:
- cmake configure with CMAKE_TESTING=ON succeeds after installing
libclang-rt-18-dev (Found Threads: TRUE)
- compile_commands.json grows from 1333 to 1521 TUs
- Modifying HysteresisTest.cpp with a new `const char *p = NULL`
correctly flags hicpp-use-nullptr and
clang-diagnostic-unused-variable on the new line, while pre-existing
issues on other lines of the same file stay suppressed by
clang-tidy-diff-18.py's line filter ("Suppressed ... 1 due to line
filter")
- No gtest/gtest.h false positives
- Push-to-main path unchanged, still green
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Replace make quick_check with two explicit build targets:
px4_sitl_default (validates native SITL toolchain) and
px4_fmu-v5_default (validates NuttX cross-compile toolchain).
quick_check built four targets: px4_sitl_test, px4_fmu-v5_default,
tests, and check_format. The tests and check_format targets are
redundant with checks.yml which already runs them on 8cpu RunsOn
with ccache.
The purpose of this workflow is to validate that PX4 builds from a
fresh ubuntu.sh install on both Ubuntu 22.04 and 24.04, not to run
tests or check formatting. Two targeted builds are sufficient.
px4_fmu-v5_default is kept as the hardware target (same as
quick_check) since it builds with the arm-none-eabi-gcc version
that ubuntu.sh installs on both 22.04 and 24.04.
Expected duration drop from 16-17 min to 6-8 min per matrix entry.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
The v1.17.0-rc2 container's clang 18 + cmake 3.28 combination fails
abseil's cmake try_compile tests for C++17 and pthreads. This breaks
the fuzztest build which depends on abseil. Verified locally:
- px4io/px4-dev:v1.16.0-rc2 + apt install clang: cmake configure passes
- ghcr.io/px4/px4-dev:v1.17.0-rc2 (clang 18 pre-installed): cmake
configure fails with "ABSL_INTERNAL_AT_LEAST_CXX17 - Failed" and
"Could NOT find Threads"
- apt install clang on v1.17.0-rc2 is a no-op (already installed)
Revert to the old container image which has a working clang+cmake
combination. The apt install clang step (already in the workflow)
installs clang on the old container which doesn't ship it by default.
Remove the explicit fetch-depth: 0 added in the previous fix attempt
since the original workflow used the default depth (1) and it worked.
Fixes#27060
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Branch protection rules block the GITHUB_TOKEN from dismissing reviews
(HTTP 403), so every push added another undismissable REQUEST_CHANGES
review. PR #27004 accumulated 12 identical blocking reviews.
Switch to COMMENT-only reviews. Findings still show inline on the diff
but don't create blocking reviews that require manual maintainer
dismissal. The CI check status (pass/fail) gates merging, not the
review state.
Also enable CMAKE_TESTING=ON in the clang-tidy build so test files get
proper include paths in compile_commands.json. Without this,
clang-tidy-diff runs on test files from the PR diff but can't resolve
gtest headers, producing false positives.
Fixes#27004
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
.claude/settings.local.json contains user-specific Claude Code
permissions and should never be in the repo. Remove it and add
a .gitignore entry to prevent it from being committed again.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This board is not available for purchase online and the author confirmed
that it is "only used for research and educational purposes". Given
there are no docs about it, we should just remove it.
Migrate the fuzzing workflow from GitHub-hosted ubuntu-latest to
RunsOn 4cpu with s3-cache. Bump the container from the stale
px4io/px4-dev:v1.16.0-rc2 to ghcr.io/px4/px4-dev:v1.17.0-rc2.
Wire setup-ccache / save-ccache with cache-key-prefix ccache-sitl
and max-size 300M, sharing the SITL build cache with checks:tests.
Both build px4_sitl_test/px4_sitl_default so the ccache contents
overlap significantly.
Drop the manual apt install clang step since the v1.17.0-rc2
container already ships clang. Replace the git config --global
safe.directory workaround with --system to match the repo convention.
Add runs-on/action@v2 for the S3 cache proxy. Add fetch-depth: 1
since the fuzzer doesn't need git history.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Bump every GitHub Action in the repository to its latest major
version, addressing the upcoming Node.js 20 deprecation. Several
of the old versions (checkout v4, cache v4, setup-node v4,
labeler v5) use the Node 20 runtime which GitHub is deprecating.
The new versions use Node 22.
- actions/checkout v4/v5 to v6
- actions/upload-artifact v4 to v7
- actions/download-artifact v4 to v8
- actions/cache, cache/restore, cache/save v4 to v5
- actions/setup-node v4 to v6
- actions/setup-python v5 to v6
- actions/github-script v7/v8 to v9
- actions/labeler v5 to v6
- peter-evans/find-comment v3 to v4
- dorny/paths-filter v3 to v4
- codecov/codecov-action v4 to v6
- docker/setup-buildx-action v3 to v4
- docker/build-push-action v6 to v7
- tj-actions/changed-files v46 to v47
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Consolidate mavros_mission_tests.yml and mavros_offboard_tests.yml into a
single mavros_tests.yml with a matrix strategy. Switch from docker-in-docker
with px4-dev-ros-melodic to a native container using px4-dev-ros-noetic,
enabling ccache and composite actions (setup-ccache, build-gazebo-sitl,
save-ccache). Migrate all five MAVROS Python test files from Python 2 to
Python 3 (remove six/xrange, from __future__ imports, replace px4tools
with pyulog for estimator analysis). Bump git-auto-commit-action from v4
to v7 in ekf_update_change_indicator.yml.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
The stale workflow was hitting its 250 operations-per-run cap every
daily run, causing the "No more operations left! Exiting..." warning
and leaving a growing backlog of stale-labeled items that were never
being closed. GitHub API headroom is plentiful (250 ops uses ~1.6% of
the 15k/hour bucket), so raising to 1500 drains the backlog without
any rate-limit risk.
Also adds workflow_dispatch so maintainers can trigger the workflow
from the Actions tab or via gh workflow run stale.yml.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Port the checks.yml and python_checks.yml improvements from the CI
orchestrator branch (mrpollo/ci_orchestration, PR #26257) without
doing the full T1/T2 split.
checks.yml:
- Drop 5 matrix entries the orchestrator removed:
tests_coverage, px4_fmu-v2_default stack_check,
NO_NINJA_BUILD=1 px4_fmu-v5_default,
NO_NINJA_BUILD=1 px4_sitl_default, px4_sitl_allyes.
- Remove the codecov/codecov-action@v1 step (deprecated, only ran
for the dropped tests_coverage entry).
- Wire the setup-ccache / save-ccache composite actions around
make tests (cache-key-prefix ccache-sitl, max-size 300M) so
repeat runs reuse the SITL build tree. Matches the orchestrator
basic-tests job 1:1.
python_checks.yml:
- Replace the apt-get install python3 + pip install
--break-system-packages + hardcoded $HOME/.local/bin paths with
actions/setup-python@v5 pinned to 3.10 and plain pip install.
- Linters now run from PATH instead of $HOME/.local/bin.
Stacks on top of mrpollo/ci-checkout-hygiene (#27032) which shipped
fail-fast: true, fetch-depth: 1, and the safe.directory step
extraction.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Port checkout hygiene from the CI orchestrator branch
(mrpollo/ci_orchestration) to current workflows without merging the
orchestrator itself.
- checks.yml: enable fail-fast (99% success rate observed, cancel on
first failure saves runner time), switch to fetch-depth 1, extract
safe.directory to its own step
- itcm_check.yml: fetch-depth 1, drop submodules: recursive (the
Makefile bootstraps submodules as a prerequisite of board targets)
- sitl_tests.yml, ros_integration_tests.yml, mavros_mission_tests.yml,
mavros_offboard_tests.yml, python_checks.yml: fetch-depth 1
Each change matches the corresponding job in ci-orchestrator.yml on
mrpollo/ci_orchestration 1:1. Workflows that legitimately need history
(clang-tidy, flash_analysis, failsafe_sim, ros_translation_node,
ekf_*_change_indicator, build_all_targets) are left alone.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Delete the nuttx_env_config workflow. It validated the
PX4_EXTRA_NUTTX_CONFIG env var handling in
platforms/nuttx/NuttX/CMakeLists.txt by building px4_fmu-v5_default
with CONFIG_NSH_LOGIN_PASSWORD injected at configure time.
The CI orchestrator rewrite (mrpollo/ci_orchestration, PR #26257) drops
this workflow entirely. The cmake feature itself remains; only the CI
gate is removed.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Upgrade the RunsOn runner for sitl_tests and ros_integration_tests
from 4cpu-linux-x64 / ubuntu22-full-x64 to 8cpu-linux-x64 /
ubuntu24-full-x64 with extras=s3-cache.
Matches the runner_medium spec used by the sitl-tests and
ros-integration-tests jobs in the CI orchestrator branch
(mrpollo/ci_orchestration). Both jobs are compile-heavy and benefit
from the 2x core count. The ubuntu24 image and s3-cache extras align
with the house style already used by clang-tidy, dev_container,
docs_deploy, docs-orchestrator, and build_deb_package.
No other changes (speed factor unchanged, container images unchanged).
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci(pr-review-poster): add line-anchored review poster and migrate clang-tidy
Adds a generic PR review-comment poster as a sibling of the issue-comment
poster from #27021. Replaces platisd/clang-tidy-pr-comments@v1 in the
Static Analysis workflow with an in-tree, fork-friendly producer + poster
pair so fork PRs get inline clang-tidy annotations on the Files changed
tab without trusting a third-party action with a write token.
Architecture mirrors pr-comment-poster: a producer (clang-tidy.yml) runs
inside the px4-dev container and writes a `pr-review` artifact containing
manifest.json and a baked comments.json. A separate workflow_run-triggered
poster runs on ubuntu-latest with the base-repo write token, validates the
artifact, dismisses any stale matching review, and posts a fresh review
on the target PR. The poster never checks out PR code and only ever reads
two opaque JSON files from the artifact.
Stale-review dismissal is restricted to reviews authored by
github-actions[bot] AND whose body contains the producer's marker. A fork
cannot impersonate the bot login or inject the marker into a human
reviewer's body, so the poster can never dismiss a human review. APPROVE
events are explicitly forbidden so a bot cannot approve a pull request.
To avoid duplicating ~120 lines of HTTP plumbing between the two posters,
the GitHub REST helpers (single-request, pagination, error handling) are
extracted into Tools/ci/_github_helpers.py with a small GitHubClient
class. The existing pr-comment-poster.py is refactored to use it; net
change is roughly -80 lines on that script. The shared module is
sparse-checked-out alongside each poster script and is stdlib only.
The clang-tidy producer reuses MIT-licensed translation logic from
platisd/clang-tidy-pr-comments (generate_review_comments,
reorder_diagnostics, get_diff_line_ranges_per_file and helpers) under a
preserved attribution header. The HTTP layer is rewritten on top of
_github_helpers so the producer does not pull in `requests`. Conversation
resolution (the GraphQL path) is intentionally dropped for v1.
clang-tidy.yml now produces the pr-review artifact in the same job as
the build, so the cross-runner compile_commands.json hand-off and
workspace-path rewriting are no longer needed and the
post_clang_tidy_comments job is removed.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci(workflows): bump action versions to clear Node 20 deprecation
GitHub has deprecated the Node 20 runtime for Actions as of
September 16, 2026. Bump the pinned action versions in the three poster
workflows to the latest majors, all of which run on Node 24:
actions/checkout v4 -> v6
actions/github-script v7 -> v8
actions/upload-artifact v4 -> v7
No behavior changes on our side: upload-artifact v5/v6/v7 only added an
optional direct-file-upload mode we do not use, and checkout v5/v6 are
runtime-only bumps. The security-invariant comment headers in both
poster workflows are updated to reference the new version so they stay
accurate.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci(pr-posters): skip job when producer was not a pull_request event
Both poster workflows previously ran on every workflow_run completion of
their listed producers and then silently no-oped inside the script when
the triggering producer run was a push-to-main (or any other non-PR
event). That made the UI ambiguous: the job was always green, never
showed the reason it did nothing, and looked like a failure whenever
someone clicked in looking for the comment that was never there.
Gate the job at the workflow level on
github.event.workflow_run.event == 'pull_request'. Non-PR producer runs
now surface as a clean "Skipped" entry in the run list, which is
self-explanatory and needs no in-script summary plumbing.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
CMake 3.27+ warns on cmake_minimum_required(VERSION < 3.10), and CMake
4.x will make it a hard error. Align the lockstep_scheduler subdir with
the root CMakeLists.txt, which is already at 3.10.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Adds documentation for the SITL containers and .deb packages introduced in #26495. The containers are now live on Docker Hub: [`px4io/px4-sitl:latest`](https://hub.docker.com/r/px4io/px4-sitl) and [`px4io/px4-sitl-gazebo:latest`](https://hub.docker.com/r/px4io/px4-sitl-gazebo).
The main addition is a [Try PX4 Simulation](https://docs.px4.io/main/en/dev_setup/try_px4) page that leads with a single `docker run` command and gets someone flying in under a minute. It lives in Getting Started, right after Recommended Hardware/Setup, so it's one of the first things new users see.
The existing `.deb` package reference has been moved from `packaging/px4_sitl_deb.md` to `simulation/px4_sitl.md` and expanded to cover both containers and `.deb` packages on one page. Sections are ordered by how people use them: what's available, install, configure, connect QGC/MAVSDK, connect ROS 2.
Other changes:
- README now has a "Try PX4" section with the docker one-liner above "Build from Source"
- Landing page (`index.md`) reworked to lead with "Try PX4" before "For Developers"
- Toolchain page (`dev_env.md`) gets a tip redirecting simulation-only users to pre-built packages
- `getting_started.md` and `SUMMARY.md` updated with links to the new pages
- Simulation index tip updated to mention containers alongside `.deb` packages
The SIH container image is published as `px4io/px4-sitl` (renamed from `px4io/px4-sitl-sih`) so the default lightweight option carries the simplest name. The Gazebo image remains `px4io/px4-sitl-gazebo`.
Also upgrades all GitHub Actions in the SITL workflow to Node.js 24 compatible versions (`actions/checkout@v6`, `actions/cache@v5`, `actions/upload-artifact@v7`, `actions/download-artifact@v8`, `docker/setup-buildx-action@v4`, `docker/build-push-action@v7`) to fix the Node.js 20 deprecation warning ahead of the June 2026 deadline.
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
- Replace all MINDPX/MINDPXv2/PX4FMU board references with SaamPixV1_1
- Update Airmind Development Team to Saam Drones Development Team in copyright headers
- Update PX4 copyright year range to 2020-2026 on all C/C++ files
- Rename bootloader binary to match board version (v1_1)
- Remove untracked backup files
Adds a stand-alone workflow that posts or updates sticky PR comments on
behalf of any analysis workflow, including those triggered by fork PRs.
The poster runs on `workflow_run` in the base repo context, which is the
standard GitHub-sanctioned way to get a write token on events that
originate from untrusted forks without ever checking out fork code.
All validation, GitHub API interaction, and upsert logic lives in
Tools/ci/pr-comment-poster.py (Python 3 stdlib only, two subcommands:
`validate` and `post`). The workflow file itself is a thin orchestrator:
sparse-checkout the script, download the pr-comment artifact via
github-script, unzip, then invoke the script twice. No inline jq, no
inline bash validation, no shell-interpolated marker strings. The
sparse-checkout ensures only Tools/ci/pr-comment-poster.py lands in the
workspace, never the rest of the repo.
Artifact contract: a producer uploads an artifact named exactly
`pr-comment` containing `manifest.json` (with `pr_number`, `marker`, and
optional `mode`) and `body.md`. The script validates the manifest
(positive integer pr_number, printable-ASCII marker bounded 1..200
chars, UTF-8 body under 60000 bytes, mode in an allowlist), finds any
existing comment containing the marker via the comments REST API, and
either edits it in place or creates a new one.
The workflow file header documents six security invariants that any
future change MUST preserve, most importantly: NEVER check out PR code,
NEVER execute anything from the artifact, and treat all artifact
contents as opaque data.
Why a generic poster and not `pull_request_target`: `pull_request_target`
is the tool people reach for first and the one that most often turns
into a supply-chain vulnerability, because it hands a write token to a
workflow that is then tempted to check out the PR head. `workflow_run`
gives the same write token without any check-out temptation, because
the only input is a pre-produced artifact treated as opaque data.
Producer migrations
===================
flash_analysis.yml:
- Drop the fork gate on the `post_pr_comment` job.
- Drop the obsolete TODO pointing at issue #24408 (the fork-comment
workflow does not error anymore; it just no-ops).
- Keep the existing "comment only if threshold crossed or previous
comment exists" behaviour verbatim. peter-evans/find-comment@v3
stays as a read-only probe (forks can read issue comments just fine);
its body-includes is updated to search for the new marker
`<!-- pr-comment-poster:flash-analysis -->` instead of the old
"FLASH Analysis" heading substring.
- Replace the peter-evans/create-or-update-comment@v4 step with two
new steps that write pr-comment/manifest.json and pr-comment/body.md
and then upload them as artifact pr-comment. The body markdown is
byte-for-byte identical to the previous heredoc, with the marker
prepended as the first line so subsequent runs can find it.
- The threshold-or-existing-comment gate is preserved on both new
steps. When the gate does not fire no artifact is uploaded and the
poster no-ops.
docs-orchestrator.yml (link-check job):
- Drop the fork gate on the sticky-comment step.
- Replace marocchino/sticky-pull-request-comment@v2 with two new steps
that copy logs/filtered-link-check-results.md into pr-comment/body.md,
write a pr-comment/manifest.json with the marker
`<!-- pr-comment-poster:docs-link-check -->`, and upload the directory
as artifact pr-comment.
- The prepare step checks `test -s` on the results file and emits a
prepared step output; the upload step is gated on that output. In
practice the existing link-check step always writes a placeholder
("No broken links found in changed files.") into the file when empty,
so the guard is defensive but not load-bearing today.
- Tighten the link-check job's permissions from `pull-requests: write`
down to `contents: read`; writing PR comments now happens in the
poster workflow.
The poster's workflows allowlist is seeded with the two active
producers: "FLASH usage analysis" and "Docs - Orchestrator".
clang-tidy (workflow name "Static Analysis") is not in the list because
platisd/clang-tidy-pr-comments posts line-level review comments, a
different REST API from issue comments that the poster script does not
handle. Extending the poster to cover review comments is a follow-up.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
POSIX/SITL builds on macOS produce two classes of benign warnings that
clutter output and obscure real issues:
ranlib: warning: 'lib*.a(foo.o)' has no symbols
ld: warning: ignoring duplicate libraries: ...
The ranlib warnings come from sources wrapped in #if defined(CONFIG_*)
guards (i2c.cpp, spi.cpp, board_common.c, pab_manifest.c,
px4_log_history.cpp) and dummy.cpp placeholders, which legitimately
compile to empty object files on POSIX. GNU ranlib ignores this;
Apple's warns. The warning is emitted by 'ar qc' (which implicitly
builds a symbol table), not by ranlib itself, so overriding only
ARCHIVE_FINISH is insufficient. Use 'ar qcS' to skip the implicit
symbol table, then let ranlib -no_warning_for_no_symbols build it
quietly via ARCHIVE_FINISH.
The duplicate-library warnings come from CMake intentionally
re-emitting static libraries on the link line to resolve circular
dependencies between px4_layer, px4_work_queue, px4_daemon and
lockstep_scheduler. GNU ld silently dedupes; Apple's ld-prime
(Xcode 15+) warns. Pass -no_warn_duplicate_libraries to the linker.
Both fixes are Darwin-only and have no effect on Linux CI or NuttX
builds.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Switch the Static Analysis workflow to two modes:
- Push to main: run the full "make clang-tidy" target as before.
- Pull request: build the clang compile database with
"make px4_sitl_default-clang", then call Tools/ci/run-clang-tidy-pr.py
(already in-tree) to compute the translation units actually affected
by the PR diff and run clang-tidy only on that subset. PRs that touch
no C++ files exit silently; the large majority of PRs will skip the
slow full analysis entirely.
Replace the inline ccache restore/config/save steps with the composite
actions from .github/actions/setup-ccache and .github/actions/save-ccache,
which use content-hash cache keys (prefix-ref-sha with ref and base_ref
fallbacks), compression, and compiler_check=content. Same 120M cap.
Add a second job, post_clang_tidy_comments, that runs on a GitHub-hosted
runner when the analysis job reports has_findings=true. It downloads the
compile_commands.json artifact produced by the analysis job, rewrites
the AWS RunsOn workspace prefix (/__w/PX4-Autopilot/PX4-Autopilot) to the
GitHub-hosted runner workspace so clang-tidy can chdir into the build
directory, runs clang-tidy-diff-18 to export fixes, and posts inline
review annotations via platisd/clang-tidy-pr-comments@v1.
Annotations are set to request changes (request_changes: true), so a PR
with new clang-tidy findings will be blocked until they are addressed or
waived. suggestions_per_comment is capped at 10. Annotations are gated
to same-repo PRs only; forks skip the annotation job because GITHUB_TOKEN
has no write access there.
The post_clang_tidy_comments job uses if: always() && ... so it runs
whether the analysis job succeeded or failed (findings still need to be
surfaced when the analysis exits non-zero).
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
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