| 文件 | 最后提交记录 | 最后更新时间 |
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feat(bootloader): Revive secure-boot with example, docs, and various fixes (#27237) * feat(secure_bootloader): add ed25519 key and signing helpers Scaffolding for PX4 secure-boot firmware signing, split into two self-contained scripts: - generate_signing_keys.py: produces <name>.json (private+public hex) for use by sign_firmware.py and <name>.pub (C-array public key) for inclusion in the bootloader build via CONFIG_PUBLIC_KEYn. Refuses to overwrite existing private-key files. - sign_firmware.py: pads an input .bin to a 4-byte boundary and appends a 64-byte ed25519 signature, producing a file that drops directly into the flash slot described by the image TOC. Optionally appends an R&D certificate binary after the signature. Replaces the signing path of the old Tools/cryptotools.py that was removed along with the log-encryption cleanup; the new layout keeps bootloader-signing tooling separate from log encryption to avoid confusing the two independent crypto surfaces. * fix(bootloader): panic if px4_get_secure_random is ever called sw_crypto's crypto_open() unconditionally references px4_get_secure_random from its XCHACHA20 path, so even a bootloader that only performs ed25519 signature verification (and never touches stream ciphers) pulls in an undefined symbol at link time. The app build resolves it through nuttx_random.c, which is gated behind CONFIG_CRYPTO_RANDOM_POOL and only compiled in when the NuttX random pool is enabled. That config isn't on in the tiny bootloader NuttX defconfig, and enabling it would pull in a pile of kernel code the bootloader doesn't need. Supply the symbol locally, but make it call up_assert() instead of returning zeros. Silently handing out predictable bytes would be a serious security bug if anyone later enables the XCHACHA20 path in the bootloader without wiring up a real RNG. Aborting makes the mistake impossible to miss. * fix(bootloader): add PROTO_VERIFY_SIG opcode for upload-time signature check Today a signed-boot failure is invisible to the uploader: verify_app() runs inside jump_to_app() after PROTO_BOOT has already rebooted the chip, so the host sees a successful upload followed by the device silently staying in the bootloader. There is no protocol-level signal that the image that was just written is not going to run. Add PROTO_VERIFY_SIG (0x39) so the host can ask the bootloader to run find_toc() + verify_app(0) *before* the reboot and get a concrete OK / FAILED / INVALID answer back over the still-open USB connection. The new opcode is gated on BOOTLOADER_USE_SECURITY: bootloaders built without secure boot return cmd_bad (INSYNC/INVALID) so an uploader can tell "I don't know this command" apart from "verification failed". Two subtleties required care: 1. PROG_MULTI deliberately defers the very first word of the app image to a RAM variable (first_word) and only commits it to flash inside PROTO_BOOT, so a partial upload can never become bootable. But verify_app() reads directly from flash, so if we verified before committing first_word, even a valid image would always fail (the first four bytes at APP_LOAD_ADDRESS would still be 0xffffffff). The handler therefore mirrors the first half of the PROTO_BOOT handler: gate on STATE_ALLOWS_REBOOT, program the deferred first word, then run the crypto check. 2. On failure we deliberately do not try to "undo" the first-word write — H7 flash programming granularity makes it impossible to revert in place, and the device was going to end up in the same reject state at the next boot either way. The improvement is purely that the uploader sees the failure before REBOOT instead of after. Chose opcode 0x39 to stay clear of ArduPilot's 0x28 (READ_MULTI) and 0x40 (CHIP_FULL_ERASE), which PX4 does not currently use but which an AP-compatible uploader might. ArduPilot also has bootloader secure boot (monocypher ed25519, like us) but their verification runs at boot time, not upload time — so neither project currently solves the "upload silently wrote a bad image" problem. This puts PX4 ahead on that. * feat(Tools): add --image_signed to mark signed firmware for uploader px_uploader.py only needs to run signature verification over USB for images that actually carry a signature — asking the bootloader to verify an unsigned image would always fail, and the extra round trip is wasted time for the common unsigned case. It therefore needs a reliable way to tell the two apart. We cannot tell by inspecting the bytes: a sign_firmware.py output is just the raw .bin with 64 bytes of ed25519 signature glued on the end, indistinguishable in content from an unsigned image of the same padded length. The natural place to put the flag is the .px4 JSON envelope, which already carries board_id / version / summary / etc. Add --image_signed to px_mkfw.py, which sets "image_signed": true in the emitted JSON. The flag has no effect on what bytes actually end up on the device — it just tells the uploader "this blob has a signature, please verify it before booting". * feat(Tools): verify firmware signature before reboot After PROG_MULTI + GET_CRC, send a new VERIFY_SIG opcode (0x39) to the bootloader to check the ed25519 signature over the freshly flashed image *before* sending REBOOT. This way a signature failure is reported as a clean error from the uploader script, instead of a silent "device stays in bootloader after reboot" that leaves the user guessing. The uploader always probes VERIFY_SIG. The bootloader is the source of truth for whether secure boot is enabled: - INSYNC/OK -> verification passed, proceed to REBOOT - INSYNC/FAILED -> raise; "Signature does not verify against any trusted key" if the firmware claims to be signed, "Secure bootloader rejected an unsigned image" otherwise (= helpful guidance for the common misconfiguration of uploading default firmware to a secureboot bootloader) - INSYNC/INVALID -> bootloader has no secure boot. Quietly proceed unless the firmware metadata says image_signed, in which case raise. - recv timeout -> assume a pre-VERIFY_SIG bootloader, proceed. Surfaces a "Verifying image signature... passed" line on the upload status path when the firmware is marked signed, so users get a clear positive signal that the secure-boot pipeline ran end-to-end. Also drop the redundant logger.error in the upload() loop, which was duplicating the error message printed by the top-level handler in main() for every UploadError path (not specific to verify_signature, but only became obvious once these clean error messages started firing in normal usage). * fix(cmake): fix .px4board variant resolution to require exact match px4_config.cmake matched the requested CONFIG against each candidate .px4board with MATCHES, which is a regex partial match. For a config like px4_fmu-v6x_bootloader_secureboot, the iteration over .px4board files (alphabetical glob order) would match bootloader.px4board first — because "px4_fmu-v6x_bootloader" is a prefix of "px4_fmu-v6x_bootloader_secureboot" — and stop, silently selecting the wrong board config. Use STREQUAL instead so each candidate has to match the full requested CONFIG. Existing single-label cases (e.g. exact match on px4_fmu-v2_default or px4_fmu-v2) are unaffected because they were already exact in practice; this just plugs the prefix-match hole that any future <label>_<suffix> variant would trip over. * fix(nuttx): support bootloader_<variant> labels Boards can ship bootloader variants beyond the default bootloader label — e.g. a bootloader_secureboot that adds crypto + keystore Kconfig on top of the same source tree. Two pieces of build glue were hardcoded to the exact label bootloader and need to relax to match any bootloader_* label: 1. platforms/nuttx/CMakeLists.txt picked the bootloader linker script and bootloader-specific library list only when the label was exactly bootloader. Any other label (including bootloader_secureboot) silently fell through to the app build, producing nonsensical link flags. Match ^bootloader instead, and explicitly set SCRIPT_PREFIX to bootloader_ so all bootloader variants share the single existing linker script regardless of their full label. 2. platforms/nuttx/cmake/px4_impl_os.cmake selects the NuttX config subdirectory by exact label match, falling back to nsh when no matching directory exists. For bootloader_secureboot that fell through to nsh, dragging in a full app-style NuttX with cromfs, networking, and the full heap subsystem — a 128 KB bootloader sector overflowed by ~50 KB. Add an intermediate fallback: if the label starts with bootloader and a bootloader/ subdir exists, use that instead of nsh. Both changes are backward-compatible: existing single-label bootloader builds take exactly the same path as before. They only gain the ability for boards to add bootloader_<suffix>.px4board files without duplicating bootloader build wiring. * feat(build): auto-sign secure-boot images via BOARD_SECUREBOOT Add a Kconfig pair that boards can opt into: CONFIG_BOARD_SECUREBOOT -- bool: sign the .px4 with ed25519 CONFIG_BOARD_SECUREBOOT_KEY -- string: path to JSON private key (default: Tools/test_keys/test_keys.json) When set, the .px4 build rule inserts a Tools/secure_bootloader/sign_firmware.py step between the unsigned .bin and px_mkfw.py, and passes --image_signed so the .px4 envelope's metadata flags it for the uploader's VERIFY_SIG step. The unsigned .bin is still produced alongside the .px4, so users can sign with their own key out-of-tree if they prefer. A BOARD_SECUREBOOT_KEY environment variable overrides the Kconfig path at build time, mirroring the override pattern used for CONFIG_PUBLIC_KEYn in stub_keystore. This makes release builds practical: BOARD_SECUREBOOT_KEY=/secure/path/release.json make px4_<board>_secureboot Relative paths in the Kconfig are resolved against the repo root (not the build directory) so the same value works regardless of where the build runs from. Default builds are byte-identical to before; the new code path is gated on CONFIG_BOARD_SECUREBOOT being set. * feat(boards): add secureboot demo variant + docs Two coordinated build variants demonstrate end-to-end secure boot on px4_fmu-v6x without touching the default builds: px4_fmu-v6x_secureboot -- the app, with TOC + signing px4_fmu-v6x_bootloader_secureboot -- the matching secure bootloader App side (secureboot.px4board): - Selects nuttx-config/scripts/secureboot-script.ld via CONFIG_BOARD_LINKER_PREFIX. The script is a copy of the default layout plus a fixed 0x800 reservation past the vector table for the image TOC, and an empty .signature section at end-of-FLASH so sign_firmware.py knows where the appended ed25519 signature will land. - Compiles src/toc.c (a four-entry IMAGE_MAIN_TOC matching the layout used elsewhere in the tree) into drivers_board, gated on PX4_BOARD_LABEL == secureboot so the default build still produces the existing layout. - Sets CONFIG_BOARD_SECUREBOOT=y so the .px4 build rule signs the image with the upstream test key by default. Bootloader side (bootloader_secureboot.px4board): - Enables CONFIG_BOARD_CRYPTO + DRIVERS_SW_CRYPTO + DRIVERS_STUB_KEYSTORE, which links monocypher and the stub keystore into the bootloader. - Bakes Tools/test_keys/key0.pub in as CONFIG_PUBLIC_KEY0, paired with the test_keys.json the app variant signs with. - hw_config.h gates BOOTLOADER_USE_SECURITY, BOOTLOADER_SIGNING_ALGORITHM (CRYPTO_ED25519), and BOARD_IMAGE_TOC_OFFSET (0x800) on PX4_CRYPTO, so they only activate in this variant. Together the two variants implement the workflow: make px4_fmu-v6x_bootloader_secureboot # build + flash via SWD once make px4_fmu-v6x_secureboot upload # signs with test key, verifies Bootloader fits in 128 KB (~57 KB used) thanks to --gc-sections stripping the unused libtomcrypt code; nothing in the bootloader binary depends on monocypher beyond the ed25519 verifier. Replace the bundled test key for production with Tools/secure_bootloader/generate_signing_keys.py output and update both .px4board files (or set BOARD_SECUREBOOT_KEY at build time) — see docs/en/advanced_config/bootloader_secure_boot.md. * fix(boards): cap H7 bootloader linker scripts at 128 KB Roughly half of the H7 boards in tree had LENGTH = 2048K for the bootloader sector in their bootloader_script.ld, even though the matching app linker script places APP_LOAD_ADDRESS at 0x08020000 — i.e. the bootloader actually only owns the first 128 KB sector. The 2048K constraint is wrong: it lets a bootloader that grew past the 128 KB sector silently overflow into the app sector at link time and corrupt the start of the app on flash. The linker should fail the build instead. The current default bootloader is ~46 KB, well under 128 KB on every affected board, so this change is a no-op for default builds. It just plugs a footgun for anyone adding bootloader features (secure boot, extra UI, network boot, ...) that would have otherwise silently grown into the app's flash range. Boards fixed: 3dr-style H7 reference boards: cubepilot/cubeorange, cubepilot/cubeorangeplus, holybro/durandal-v1, narinfc/h7 vendor variants: corvon/743v1, cuav/nora, cuav/x7pro, gearup/airbrainh743, hkust/nxt-dual, hkust/nxt-v1, matek/h743, matek/h743-mini, matek/h743-slim, micoair/h743, micoair/h743-aio, micoair/h743-lite, micoair/h743-v2, x-mav/ap-h743r1, x-mav/ap-h743v2 Boards already correct (LENGTH = 128K) are unchanged. * fix(ci): add pynacl to Python requirements Tools/secure_bootloader/sign_firmware.py uses PyNaCl for ed25519 signing, and the .px4 build rule for boards with CONFIG_BOARD_SECUREBOOT calls it as part of the normal build (e.g. px4_fmu-v6x_secureboot). Without pynacl in the dev requirements, those builds fail in CI and fresh dev setups. * docs(update): Subedit * docs(update): Fix example error I made * fix(docs): document BOOT and SIG1 regions * fix(platforms): style fix * fix(ci): workaround to get pip dependency * fix(ci): fall back to plain pip on older build containers The voxl2 build image ships a pip that predates --break-system-packages (added in pip 23.0.1), so the install step blew up with "no such option". Modern containers enforce PEP 668 and need the flag; older ones don't support it but also don't enforce PEP 668, so plain pip works there. Try the modern flag first, fall back if pip rejects it. Signed-off-by: Julian Oes <julian@oes.ch> * fix(build): strip BUILD_DIR_SUFFIX from CONFIG in cmake-build cmake-build was passing the full build-dir name (including any BUILD_DIR_SUFFIX like _replay or _failsafe_web) as -DCONFIG=, which the board-lookup in cmake/px4_config.cmake then tried to match against <vendor>_<model>_<label> .px4board files. That used to work by accident because px4_config.cmake matched with regex MATCHES, but since the switch to STREQUAL (needed to disambiguate bootloader_secureboot from bootloader) the suffixed CONFIG no longer matches anything and LABEL ends up empty, tripping a CMake error in kconfig.cmake. Pass the bare CONFIG and keep the suffix only on the build dir so both concerns are independent. Signed-off-by: Julian Oes <julian@oes.ch> --------- Signed-off-by: Julian Oes <julian@oes.ch> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> | 4 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
feat(new_module): Static and moving vision-based target esitmator (Kalman Filter) (#23726) Co-authored-by: jonas <jonas.perolini@rigi.tech> | 4 个月前 | |
fix(ci): lint test files on PRs without breaking push-to-main 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> | 6 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
build(macos): add Python venv support to setup script (#26702) Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com> | 5 个月前 | |
ci(compile_ubuntu): only run on push to main compile_ubuntu.yml is a PR-focused Ubuntu container smoke check. On stable, beta, and release/** branches it duplicates build_all_targets.yml, which already covers those branches with the full board matrix and the S3 uploads. Drop stable, beta, and release/** from the push branch list so it matches the trigger pattern used by compile_macos.yml, checks.yml, and clang-tidy.yml. Fixes #27171 Signed-off-by: Ramon Roche <mrpollo@gmail.com> | 5 个月前 | |
ci(dev_container): drop branch push trigger on release branches Pushes to stable/beta/release/** only move when a release is cut, and that release was already built by the matching v* tag push moments earlier. The subsequent branch push reruns the arm64+amd64 matrix (~8 min) to produce the identical image digest. Registry push is already gated on refs/tags/, so the second run is pure waste. Drop those branches from on.push; keep main (regular development pushes) and the v* tag trigger (the authoritative release trigger). workflow_dispatch remains available for manual rebuilds. Fixes #27170 Signed-off-by: Ramon Roche <mrpollo@gmail.com> | 5 个月前 | |
ci(docsorchestrator): Update to latest markdown link checker and link fixes (#27098) | 6 个月前 | |
fix(labels): rename documentation label (#27187) * rename documentation label Signed-off-by: Onur Özkan <work@onurozkan.dev> * Update .github/ISSUE_TEMPLATE/docs_bug_report.yml Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Signed-off-by: Onur Özkan <work@onurozkan.dev> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> | 5 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
ci(flash-analysis): always post PR comment regardless of diff size (#27473) | 4 个月前 | |
fix(fuzzing): revert to old container image 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> | 6 个月前 | |
chore(issues): Add auto status:needs-triage labeling workflow (#27138) Adds a gha workflow that applies the status:needs-triage label to every newly opened issue. This gives maintainers a clear queue of unreviewed issues and lets them remove the label once the issue has been triaged and more specific labels have been assigned. Signed-off-by: Onur Özkan <work@onurozkan.dev> | 5 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
fix(ci): set GH_REPO so labeler works without checkout The auto-label step in pull_request_target runs without a repo checkout, so gh pr view/edit fail with 'not a git repository'. Setting GH_REPO points gh at the right repo without needing a checkout step. Signed-off-by: Ramon Roche <mrpollo@gmail.com> | 5 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
fix(ci): stop pr-review-poster from spamming REQUEST_CHANGES on every push 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> | 6 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
ci(ros_integration_tests): restart XRCE-DDS Agent between tests Restart the Micro-XRCE-DDS Agent before each integration test so DDS graph state from a previous PX4 instance does not leak into the next test. The MicroXRCEAgent is started once per session, but PX4 reboots between tests. The Agent retains writer entries from the previous PX4, so when the new PX4 reconnects, count_publishers() in px4-ros2-interface-lib's waitForFMU returns >0 immediately against a stale entry. Phase 1 (discovery) returns instantly, then Phase 2 (heartbeat) times out waiting for a message on a subscription matched to a dead writer. This is why ModesTest.denyArming (first test) passes while every later ModesTest fails with "timeout while waiting for FMU heartbeat". Adds an optional pre_test_hook on test_runner.Tester so ROS-specific lifecycle stays out of the shared test_runner. The workflow stops starting the Agent externally; ros_test_runner.py owns the lifecycle. Refs #27328 Signed-off-by: Ramon Roche <mrpollo@gmail.com> | 5 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
ci(sbom): check out submodules recursively in PR license check The PR-time SBOM license check was using submodules: false, so when generate_sbom.py ran the new submodule directory was empty. The script treats uninitialized submodules as (not checked out) -> NOASSERTION (skipped) rather than a failure, which let PR #27184 (adding PX4-OpticalFlow as a submodule) pass without ever inspecting the actual repo for a LICENSE file. The monthly audit then caught it (#27217) because it uses submodules: recursive. Switch the PR-time job to submodules: recursive so license issues are caught at PR time rather than on the next monthly audit. The job only runs when .gitmodules, license-overrides.yaml, or generate_sbom.py change, so the extra clone cost is bounded. Signed-off-by: Ramon Roche <mrpollo@gmail.com> | 5 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
ci(stale): bump operations-per-run and add manual trigger 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> | 6 个月前 | |
ci(ros): use matching branch for px4-ros2-interface-lib (#26781) * ci(ros): use matching branch for px4-ros2-interface-lib When running on release branches, the ROS integration tests now check if a matching branch exists in px4-ros2-interface-lib and clone it instead of always using main. This prevents build failures caused by uORB message divergence between main and release branches. Fixes https://github.com/Auterion/px4-ros2-interface-lib/issues/184 Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci(ros): dispatch release branch creation to px4-ros2-interface-lib Add a standalone workflow triggered by the create event that fires a repository_dispatch to Auterion/px4-ros2-interface-lib when a release/X.Y branch is created. Also supports manual workflow_dispatch. Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci(ros): add empty permissions block to dispatch workflow Fixes code scanning alert about missing GITHUB_TOKEN permissions. This workflow only uses a PAT secret, not GITHUB_TOKEN, so no permissions are needed. Signed-off-by: Ramon Roche <mrpollo@gmail.com> --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> | 7 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 | |
ci(workflows): bump all action versions to latest majors 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> | 6 个月前 |
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