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Update ci.yml #11288

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284 changes: 20 additions & 264 deletions .github/workflows/ci.yml
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@qodo-code-review qodo-code-review bot Jan 25, 2026

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High-level Suggestion

The PR's removal of the matrix build strategy and SITL builds eliminates crucial compilation verification across multiple hardware targets and operating systems. This reduction to a single build target (MATEKH743) introduces a high risk of undetected regressions for other hardware. [High-level, importance: 10]

Solution Walkthrough:

Before:

# .github/workflows/ci.yml
jobs:
  build:
    strategy:
      matrix:
        id: [0, 1, ..., 14] # Build for 15 target groups
    steps:
    - name: Build targets (${{ matrix.id }})
      run: cmake ... -DCI_JOB_INDEX=${{ matrix.id }} ... && ninja ci

  upload-artifacts:
    # ... aggregates matrix builds

  build-SITL-Linux:
    # ... builds SITL for Linux

  build-SITL-Mac:
    # ... builds SITL for macOS

  build-SITL-Windows:
    # ... builds SITL for Windows

After:

# .github/workflows/ci.yml
jobs:
  build:
    runs-on: ubuntu-latest
    steps:
    - name: Checkout source
    - name: Install dependencies
    - name: Configure build for MATEKH743
      run: cmake -B build -G Ninja -D TARGET=MATEKH743 .
    - name: Compile firmware
      run: cmake --build build
    - name: Upload firmware artifact

Original file line number Diff line number Diff line change
@@ -1,277 +1,33 @@
name: Build firmware
# Don't enable CI on push, just on PR. If you
# are working on the main repo and want to trigger
# a CI build submit a draft PR.
name: Build iNav for MATEKH743

on:
push:
branches:
- '!maintenance-8.x.x'
branches: [ main ]
pull_request:
paths:
- 'src/**'
- '.github/**'
- 'cmake/**'
- 'lib/**'
- 'docs/Settings.md'
- 'CMakeLists.txt'
- '*.sh'

workflow_call:
#inputs:
# release_build:
# description: 'Specifies if it is a build that should include commit hash in hex file names or not'
# default: false
# required: false
# type: boolean

branches: [ main ]
workflow_dispatch:

jobs:
build:
runs-on: ubuntu-latest
Comment on lines 10 to 12
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Suggestion: Add a timeout-minutes to the job to prevent stalled builds from running indefinitely due to external dependency or toolchain hangs. [Learned best practice, importance: 5]

Suggested change
jobs:
build:
runs-on: ubuntu-latest
jobs:
build:
runs-on: ubuntu-latest
timeout-minutes: 30

strategy:
matrix:
id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]

steps:
- uses: actions/checkout@v4
- name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Setup environment
env:
ACTIONS_ALLOW_UNSECURE_COMMANDS: true
run: |
# This is the hash of the commit for the PR
# when the action is triggered by PR, empty otherwise
COMMIT_ID=${{ github.event.pull_request.head.sha }}
# This is the hash of the commit when triggered by push
# but the hash of refs/pull/<n>/merge, which is different
# from the hash of the latest commit in the PR, that's
# why we try github.event.pull_request.head.sha first
COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
- uses: actions/cache@v4
with:
path: downloads
key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
- name: Build targets (${{ matrix.id }})
run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j${{ env.NUM_CORES }} ci
- name: Upload artifacts
uses: actions/upload-artifact@v4
with:
name: matrix-${{ env.BUILD_NAME }}.${{ matrix.id }}
path: ./build/*.hex
retention-days: 1

upload-artifacts:
runs-on: ubuntu-latest
needs: [build]
steps:
- uses: actions/checkout@v4
- name: Setup environment
env:
ACTIONS_ALLOW_UNSECURE_COMMANDS: true
run: |
# This is the hash of the commit for the PR
# when the action is triggered by PR, empty otherwise
COMMIT_ID=${{ github.event.pull_request.head.sha }}
# This is the hash of the commit when triggered by push
# but the hash of refs/pull/<n>/merge, which is different
# from the hash of the latest commit in the PR, that's
# why we try github.event.pull_request.head.sha first
COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
- name: Download artifacts
uses: actions/download-artifact@v4
with:
pattern: matrix-inav-*
merge-multiple: true
path: binaries
- name: Build target list
run: |
ls -1 binaries/*.hex | cut -d/ -f2 > targets.txt
- name: Upload firmware images
uses: actions/upload-artifact@v4
with:
name: ${{ env.BUILD_NAME }}
path: binaries/*.hex
- name: Upload firmware images
uses: actions/upload-artifact@v4
with:
name: targets
path: targets.txt

build-SITL-Linux-arm64:
runs-on: ubuntu-22.04-arm
steps:
- uses: actions/checkout@v4
- name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Setup environment
env:
ACTIONS_ALLOW_UNSECURE_COMMANDS: true
run: |
# This is the hash of the commit for the PR
# when the action is triggered by PR, empty otherwise
COMMIT_ID=${{ github.event.pull_request.head.sha }}
# This is the hash of the commit when triggered by push
# but the hash of refs/pull/<n>/merge, which is different
# from the hash of the latest commit in the PR, that's
# why we try github.event.pull_request.head.sha first
COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
- name: Build SITL
run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }}
- name: Strip version number
run: |
for f in build_SITL/*_SITL; do
mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
done
- name: Upload artifacts
uses: actions/upload-artifact@v4
with:
name: ${{ env.BUILD_NAME }}_SITL-Linux-aarch64
path: ./build_SITL/*_SITL

build-SITL-Linux:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Setup environment
env:
ACTIONS_ALLOW_UNSECURE_COMMANDS: true
run: |
# This is the hash of the commit for the PR
# when the action is triggered by PR, empty otherwise
COMMIT_ID=${{ github.event.pull_request.head.sha }}
# This is the hash of the commit when triggered by push
# but the hash of refs/pull/<n>/merge, which is different
# from the hash of the latest commit in the PR, that's
# why we try github.event.pull_request.head.sha first
COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
- name: Build SITL
run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }}
- name: Strip version number
run: |
for f in build_SITL/*_SITL; do
mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
done
- name: Upload artifacts
uses: actions/upload-artifact@v4
with:
name: ${{ env.BUILD_NAME }}_SITL-Linux
path: ./build_SITL/*_SITL

build-SITL-Mac:
runs-on: macos-latest
steps:
- uses: actions/checkout@v4
- name: Install dependencies
run: |
brew install ruby
- name: Checkout source
uses: actions/checkout@v4

- name: Setup environment
env:
ACTIONS_ALLOW_UNSECURE_COMMANDS: true
run: |
# This is the hash of the commit for the PR
# when the action is triggered by PR, empty otherwise
COMMIT_ID=${{ github.event.pull_request.head.sha }}
# This is the hash of the commit when triggered by push
# but the hash of refs/pull/<n>/merge, which is different
# from the hash of the latest commit in the PR, that's
# why we try github.event.pull_request.head.sha first
COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
- name: Build SITL
run: |
mkdir -p build_SITL && cd build_SITL
cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja ..
ninja -j4
- name: Strip version number
run: |
for f in build_SITL/*_SITL; do
mv -v $f $(echo $f | sed -Ee 's/_[0-9]+\.[0-9]+\.[0-9]+//')
done
- name: Upload artifacts
uses: actions/upload-artifact@v4
with:
name: ${{ env.BUILD_NAME }}_SITL-MacOS
path: ./build_SITL/*_SITL
- name: Install dependencies
run: |
sudo apt-get update
sudo apt-get install -y build-essential cmake ninja-build gcc-arm-none-eabi python3
build-SITL-Windows:
runs-on: windows-latest
defaults:
run:
shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
steps:
- uses: actions/checkout@v4
- name: Setup Cygwin
uses: egor-tensin/setup-cygwin@v4
with:
packages: cmake ruby ninja gcc-g++ rubygems
- name: Setup environment
env:
ACTIONS_ALLOW_UNSECURE_COMMANDS: true
run: |
# This is the hash of the commit for the PR
# when the action is triggered by PR, empty otherwise
COMMIT_ID=${{ github.event.pull_request.head.sha }}
# This is the hash of the commit when triggered by push
# but the hash of refs/pull/<n>/merge, which is different
# from the hash of the latest commit in the PR, that's
# why we try github.event.pull_request.head.sha first
COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
VERSION=$( grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }' )
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
- name: Configure build for MATEKH743
run: cmake -B build -G Ninja -D TARGET=MATEKH743 .
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Suggestion: Re-introduce the -DWARNINGS_AS_ERRORS=ON flag in the cmake configuration step to treat compiler warnings as errors, thereby improving code quality. [general, importance: 6]

Suggested change
- name: Configure build for MATEKH743
run: cmake -B build -G Ninja -D TARGET=MATEKH743 .
- name: Configure build for MATEKH743
run: cmake -B build -G Ninja -DWARNINGS_AS_ERRORS=ON -D TARGET=MATEKH743 .


- name: Build SITL
run: gem install getoptlong && mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4
- name: Strip version number
run: |
for f in ./build_SITL/*_SITL.exe; do
mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
done
- name: Copy cygwin1.dll
run: cp /bin/cygwin1.dll ./build_SITL/
- name: Upload artifacts
uses: actions/upload-artifact@v4
with:
name: ${{ env.BUILD_NAME }}_SITL-WIN
path: |
./build_SITL/*.exe
./build_SITL/cygwin1.dll
- name: Compile firmware
run: cmake --build build
Comment on lines +26 to +27
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Suggestion: Add a parallel flag like -- -j$(nproc) to the cmake --build build command to speed up firmware compilation. [general, importance: 7]

Suggested change
- name: Compile firmware
run: cmake --build build
- name: Compile firmware
run: cmake --build build -- -j$(nproc)


test:
#needs: [build]
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Run Tests
run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check
- name: Upload firmware artifact
uses: actions/upload-artifact@v4
with:
name: firmware-MATEKH743
path: build/**/*.bin
Comment on lines +29 to +33
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Suggestion: Configure the upload step to explicitly fail (or warn) when no matching firmware files are produced, so CI doesn’t “succeed” while uploading nothing. [Learned best practice, importance: 6]

Suggested change
- name: Upload firmware artifact
uses: actions/upload-artifact@v4
with:
name: firmware-MATEKH743
path: build/**/*.bin
- name: Upload firmware artifact
uses: actions/upload-artifact@v4
with:
name: firmware-MATEKH743
path: build/**/*.bin
if-no-files-found: error