Makefile: add all_variants_@ helper target and consolidate github actions builds

.github/workflows/compile_nuttx.yml

@@ -15,80 +15,46 @@ jobs:
     strategy:
       matrix:
         config: [
-          airmind_mindpx-v2_default,
-          ark_can-flow_canbootloader,
-          ark_can-flow_debug,
-          ark_can-flow_default,
-          ark_can-gps_canbootloader,
-          ark_can-gps_debug,
-          ark_can-gps_default,
-          av_x-v1_default,
-          bitcraze_crazyflie21_default,
-          bitcraze_crazyflie_default,
-          cuav_can-gps-v1_canbootloader,
-          cuav_can-gps-v1_debug,
-          cuav_can-gps-v1_default,
-          cuav_nora_default,
-          cuav_x7pro_default,
-          cubepilot_cubeorange_default,
-          cubepilot_cubeorange_test,
-          cubepilot_cubeyellow_default,
-          cubepilot_cubeyellow_test,
-          cubepilot_io-v2_default,
-          freefly_can-rtk-gps_canbootloader,
-          freefly_can-rtk-gps_default,
-          holybro_can-gps-v1_canbootloader,
-          holybro_can-gps-v1_debug,
-          holybro_can-gps-v1_default,
-          holybro_durandal-v1_default,
-          holybro_kakutef7_default,
-          holybro_pix32v5_default,
-          modalai_fc-v1_default,
-          modalai_fc-v1_rtps,
-          modalai_fc-v2_default,
-          mro_ctrl-zero-f7-oem_default,
-          mro_ctrl-zero-f7_default,
-          mro_ctrl-zero-h7-oem_default,
-          mro_ctrl-zero-h7_default,
-          mro_pixracerpro_default,
-          mro_x21-777_default,
-          mro_x21_default,
-          nxp_fmuk66-e_default,
-          nxp_fmuk66-e_rtps,
-          nxp_fmuk66-e_socketcan,
-          nxp_fmuk66-v3_default,
-          nxp_fmuk66-v3_rtps,
-          nxp_fmuk66-v3_socketcan,
-          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_canbootloader,
-          nxp_ucans32k146_default,
-          omnibus_f4sd_default,
-          px4_fmu-v2_default,
-          px4_fmu-v2_fixedwing,
-          px4_fmu-v2_multicopter,
-          px4_fmu-v2_rover,
-          px4_fmu-v3_default,
-          px4_fmu-v4_cannode,
-          px4_fmu-v4_default,
-          px4_fmu-v4pro_default,
-          px4_fmu-v5_ctrlalloc,
-          px4_fmu-v5_debug,
-          px4_fmu-v5_default,
-          px4_fmu-v5_fixedwing,
-          px4_fmu-v5_multicopter,
-          px4_fmu-v5_optimized,
-          px4_fmu-v5_rover,
-          px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
-          px4_fmu-v5_uavcanv0periph,
-          px4_fmu-v5_uavcanv1,
-          px4_fmu-v5x_base_phy_DP83848C,
-          px4_fmu-v5x_default,
-          px4_fmu-v6u_default,
-          px4_fmu-v6x_default,
-          px4_io-v2_default,
-          spracing_h7extreme_default,
-          uvify_core_default
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeyellow,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_pix32v5,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          spracing_h7extreme,
+          uvify_core
           ]
     steps:
     - uses: actions/checkout@v1
@@ -117,8 +83,8 @@ jobs:
           ccache -s
           ccache -z
 
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
     - name: make ${{matrix.config}} bloaty_compileunits
       run: make ${{matrix.config}} bloaty_compileunits || true
     - name: make ${{matrix.config}} bloaty_inlines
@@ -137,7 +103,7 @@ jobs:
       run: ccache -s
 
     - name: Upload px4 package
-      uses: actions/upload-artifact@v1
+      uses: actions/upload-artifact@v2
       with:
         name: px4_package_${{matrix.config}}
-        path: build/${{matrix.config}}/${{matrix.config}}.px4
+        path: build/**/*.px4

Makefile

@@ -174,6 +174,7 @@ endif
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
+	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -221,16 +222,12 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*comm
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(eval PX4_CONFIG = $@)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+	@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
 
 # Filter for only default targets to allow omiting the "_default" postfix
 CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
 $(CONFIG_TARGETS_DEFAULT):
-	@$(eval PX4_CONFIG = $@_default)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
 
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
@@ -306,6 +303,11 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
+all_variants_%:
+	@echo 'Building all $(subst all_variants_,,$@) variants:'  $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
+	@echo
+	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
+
 uorb_graphs:
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
@@ -360,7 +362,6 @@ format:
 .PHONY: rostest python_coverage
 
 tests:
-	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)

boards/cuav/nora/test.cmake

@@ -31,7 +31,7 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
+		#imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689

boards/px4/fmu-v2/test.cmake

@@ -45,7 +45,7 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
+		#optical_flow/px4flow
 		#osd
 		#pca9685
 		#protocol_splitter

boards/px4/fmu-v5x/test.cmake

@@ -34,6 +34,7 @@ px4_add_board(
 		imu/bosch/bmi088
 		imu/invensense/icm20602
 		imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm20649
 		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
@@ -41,7 +42,7 @@ px4_add_board(
 		optical_flow # all available optical flow drivers
 		osd
 		pca9685
-		pca9685_pwm_out
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -49,9 +50,10 @@ px4_add_board(
 		pwm_out
 		px4io
 		rc_input
-		roboclaw
-		rpm
+		#roboclaw
+		#rpm
 		safety_button
+		#smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -73,7 +75,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control

src/modules/commander/CMakeLists.txt

@@ -63,6 +63,7 @@ px4_add_module(
 		ArmAuthorization
 		HealthFlags
 		sensor_calibration
+		world_magnetic_model
 	)
 
 if(PX4_TESTING)