From f40a5b978eafad0c0ae8127e9ac623abc305505f Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Thu, 12 Nov 2020 20:42:51 +0100
Subject: [PATCH] .github: reduce duplicate for GCC and Clang build

---
 .github/workflows/test_sitl_copter.yml  | 77 ++++++++-----------------
 .github/workflows/test_sitl_plane.yml   | 67 ++++++---------------
 .github/workflows/test_sitl_rover.yml   | 67 ++++++---------------
 .github/workflows/test_sitl_sub.yml     | 67 ++++++---------------
 .github/workflows/test_sitl_tracker.yml | 67 ++++++---------------
 .github/workflows/test_unit_tests.yml   | 71 +++++------------------
 6 files changed, 114 insertions(+), 302 deletions(-)

diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index f3d9fa06c4..4f2844ef32 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -6,9 +6,16 @@ on: [push, pull_request]
 # - "!README.md" <-- don't rebuild on doc change
 
 jobs:
-  build-gcc:
+  build:
     runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-base:latest
+    container: khancyr/ardupilot-dev-${{ matrix.toolchain }}:latest
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            base,  # GCC
+            clang,
+        ]
     steps:
       # git checkout the PR
       - uses: actions/checkout@v2
@@ -24,8 +31,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
@@ -35,57 +42,21 @@ jobs:
           echo "max_size = 400M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
-      - name: build copter
+      - name: build copter ${{ matrix.toolchain }}
         shell: bash
         run: |
+          if [[ ${{ matrix.toolchain }} = "clang" ]]; then
+            export CC=clang-7
+            export CXX=clang++-7
+          fi
           PATH="/github/home/.local/bin:$PATH"
           ./waf configure --board sitl
           ./waf build --target bin/arducopter
           ccache -s
           ccache -z
 
-  build-clang:
-    runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-clang:latest
-    steps:
-      # git checkout the PR
-      - uses: actions/checkout@v2
-        with:
-          submodules: 'recursive'
-      # Put ccache into github cache for faster build
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        run: |
-          NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
-      - name: ccache cache files
-        uses: actions/cache@v2
-        with:
-          path: ~/.ccache
-          key: ${{github.workflow}}-ccache-clang-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-clang-  # restore ccache from either previous build on this branch or on master
-      - name: setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-      - name: build copter
-        shell: bash
-        run: |
-          export CC=clang-7
-          export CXX=clang++-7
-          PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl --board sitl
-          ./waf build --target bin/arducopter
-          ccache -s
-          ccache -z
-
   autotest:
-    needs: build-gcc  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
+    needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container: khancyr/ardupilot-dev-base:latest
     strategy:
@@ -116,8 +87,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
@@ -151,7 +122,7 @@ jobs:
 
 
   build-gcc-heli:
-    needs: build-gcc  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
+    needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container: khancyr/ardupilot-dev-base:latest
     steps:
@@ -169,8 +140,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
@@ -215,8 +186,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index f09fa1b1e9..9a8d470c5b 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -6,47 +6,16 @@ on: [push, pull_request]
 # - "!README.md" <-- don't rebuild on doc change
 
 jobs:
-  build-gcc:
+  build:
     runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-base:latest
-    steps:
-      # git checkout the PR
-      - uses: actions/checkout@v2
-        with:
-          submodules: 'recursive'
-      # Put ccache into github cache for faster build
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        run: |
-          NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
-      - name: ccache cache files
-        uses: actions/cache@v2
-        with:
-          path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
-      - name: setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-      - name: build plane gcc
-        shell: bash
-        run: |
-          PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
-          ./waf build --target bin/arduplane
-          ccache -s
-          ccache -z
-
-  build-clang:
-    runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-clang:latest
+    container: khancyr/ardupilot-dev-${{ matrix.toolchain }}:latest
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            base,  # GCC
+            clang,
+        ]
     steps:
       # git checkout the PR
       - uses: actions/checkout@v2
@@ -62,8 +31,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-clang-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-clang-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
@@ -73,11 +42,13 @@ jobs:
           echo "max_size = 400M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
-      - name: build plane clang
+      - name: build plane ${{ matrix.toolchain }}
         shell: bash
         run: |
-          export CC=clang-7
-          export CXX=clang++-7
+          if [[ ${{ matrix.toolchain }} = "clang" ]]; then
+            export CC=clang-7
+            export CXX=clang++-7
+          fi
           PATH="/github/home/.local/bin:$PATH"
           ./waf configure --board sitl
           ./waf build --target bin/arduplane
@@ -85,7 +56,7 @@ jobs:
           ccache -z
 
   autotest:
-    needs: build-gcc  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
+    needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container: khancyr/ardupilot-dev-base:latest
     strategy:
@@ -111,8 +82,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index adf1ccfc72..fa6490fbb0 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -6,47 +6,16 @@ on: [push, pull_request]
 # - "!README.md" <-- don't rebuild on doc change
 
 jobs:
-  build-gcc:
+  build:
     runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-base:latest
-    steps:
-      # git checkout the PR
-      - uses: actions/checkout@v2
-        with:
-          submodules: 'recursive'
-      # Put ccache into github cache for faster build
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        run: |
-          NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
-      - name: ccache cache files
-        uses: actions/cache@v2
-        with:
-          path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
-      - name: setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-      - name: build rover gcc
-        shell: bash
-        run: |
-          PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
-          ./waf build --target bin/ardurover
-          ccache -s
-          ccache -z
-
-  build-clang:
-    runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-clang:latest
+    container: khancyr/ardupilot-dev-${{ matrix.toolchain }}:latest
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            base,  # GCC
+            clang,
+        ]
     steps:
       # git checkout the PR
       - uses: actions/checkout@v2
@@ -62,8 +31,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-clang-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-clang-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
@@ -73,11 +42,13 @@ jobs:
           echo "max_size = 400M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
-      - name: build rover clang
+      - name: build rover ${{ matrix.toolchain }}
         shell: bash
         run: |
-          export CC=clang-7
-          export CXX=clang++-7
+          if [[ ${{ matrix.toolchain }} = "clang" ]]; then
+            export CC=clang-7
+            export CXX=clang++-7
+          fi
           PATH="/github/home/.local/bin:$PATH"
           ./waf configure --board sitl
           ./waf build --target bin/ardurover
@@ -85,7 +56,7 @@ jobs:
           ccache -z
 
   autotest:
-    needs: build-gcc  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
+    needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container: khancyr/ardupilot-dev-base:latest
     strategy:
@@ -111,8 +82,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index 9a4afe0656..865f7a9db9 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -6,47 +6,16 @@ on: [push, pull_request]
 # - "!README.md" <-- don't rebuild on doc change
 
 jobs:
-  build-gcc:
+  build:
     runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-base:latest
-    steps:
-      # git checkout the PR
-      - uses: actions/checkout@v2
-        with:
-          submodules: 'recursive'
-      # Put ccache into github cache for faster build
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        run: |
-          NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
-      - name: ccache cache files
-        uses: actions/cache@v2
-        with:
-          path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
-      - name: setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-      - name: build sub gcc
-        shell: bash
-        run: |
-          PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
-          ./waf build --target bin/ardusub
-          ccache -s
-          ccache -z
-
-  build-clang:
-    runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-clang:latest
+    container: khancyr/ardupilot-dev-${{ matrix.toolchain }}:latest
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            base,  # GCC
+            clang,
+        ]
     steps:
       # git checkout the PR
       - uses: actions/checkout@v2
@@ -62,8 +31,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-clang-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-clang-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
@@ -73,11 +42,13 @@ jobs:
           echo "max_size = 400M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
-      - name: build sub clang
+      - name: build sub ${{ matrix.toolchain }}
         shell: bash
         run: |
-          export CC=clang-7
-          export CXX=clang++-7
+          if [[ ${{ matrix.toolchain }} = "clang" ]]; then
+            export CC=clang-7
+            export CXX=clang++-7
+          fi
           PATH="/github/home/.local/bin:$PATH"
           ./waf configure --board sitl
           ./waf build --target bin/ardusub
@@ -85,7 +56,7 @@ jobs:
           ccache -z
 
   autotest:
-    needs: build-gcc  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
+    needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container: khancyr/ardupilot-dev-base:latest
     strategy:
@@ -110,8 +81,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index 3bd98991e4..fbd93a5719 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -6,47 +6,16 @@ on: [push, pull_request]
 # - "!README.md" <-- don't rebuild on doc change
 
 jobs:
-  build-gcc:
+  build:
     runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-base:latest
-    steps:
-      # git checkout the PR
-      - uses: actions/checkout@v2
-        with:
-          submodules: 'recursive'
-      # Put ccache into github cache for faster build
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        run: |
-          NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
-      - name: ccache cache files
-        uses: actions/cache@v2
-        with:
-          path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
-      - name: setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-      - name: build tracker gcc
-        shell: bash
-        run: |
-          PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
-          ./waf build --target bin/antennatracker
-          ccache -s
-          ccache -z
-
-  build-clang:
-    runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-clang:latest
+    container: khancyr/ardupilot-dev-${{ matrix.toolchain }}:latest
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            base,  # GCC
+            clang,
+        ]
     steps:
       # git checkout the PR
       - uses: actions/checkout@v2
@@ -62,8 +31,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-clang-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-clang-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
@@ -73,11 +42,13 @@ jobs:
           echo "max_size = 400M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
-      - name: build antennatracker clang
+      - name: build tracker ${{ matrix.toolchain }}
         shell: bash
         run: |
-          export CC=clang-7
-          export CXX=clang++-7
+          if [[ ${{ matrix.toolchain }} = "clang" ]]; then
+            export CC=clang-7
+            export CXX=clang++-7
+          fi
           PATH="/github/home/.local/bin:$PATH"
           ./waf configure --board sitl
           ./waf build --target bin/antennatracker
@@ -85,7 +56,7 @@ jobs:
           ccache -z
 
   autotest:
-    needs: build-gcc  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
+    needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container: khancyr/ardupilot-dev-base:latest
     strategy:
@@ -110,8 +81,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index 82f5c19de5..cb9207cf49 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -6,60 +6,16 @@ on: [push, pull_request]
 # - "!README.md" <-- don't rebuild on doc change
 
 jobs:
-  build-gcc:
+  build:
     runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-base:latest
+    container: khancyr/ardupilot-dev-${{ matrix.toolchain }}:latest
     strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
-        config: [
-            unit-tests
+        toolchain: [
+            base,  # GCC
+            clang,
         ]
-    steps:
-      # git checkout the PR
-      - uses: actions/checkout@v2
-        with:
-          submodules: 'recursive'
-      # Put ccache into github cache for faster build
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        run: |
-          NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
-      - name: ccache cache files
-        uses: actions/cache@v2
-        with:
-          path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
-      - name: setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-      - name: test ${{matrix.config}} gcc
-        env:
-          CI_BUILD_TARGET: ${{matrix.config}}
-        shell: bash
-        run: |
-          PATH="/github/home/.local/bin:$PATH"
-          Tools/scripts/build_ci.sh
-
-      - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v2
-        with:
-           name: buildlogs-for-gcc-${{matrix.config}}
-           path: /tmp/buildlogs
-           retention-days: 14
-
-  build-clang:
-    runs-on: ubuntu-20.04
-    container: khancyr/ardupilot-dev-clang:latest
-    strategy:
-      matrix:
         config: [
             unit-tests
         ]
@@ -78,8 +34,8 @@ jobs:
         uses: actions/cache@v2
         with:
           path: ~/.ccache
-          key: ${{github.workflow}}-ccache-clang-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-clang-  # restore ccache from either previous build on this branch or on master
+          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           mkdir -p ~/.ccache
@@ -89,20 +45,21 @@ jobs:
           echo "max_size = 400M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
-      - name: test ${{matrix.config}} clang
+      - name: test ${{matrix.config}} ${{ matrix.toolchain }}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
-          export CC=clang-7
-          export CXX=clang++-7
+          if [[ ${{ matrix.toolchain }} = "clang" ]]; then
+            export CC=clang-7
+            export CXX=clang++-7
+          fi
           PATH="/github/home/.local/bin:$PATH"
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
         uses: actions/upload-artifact@v2
         with:
-           name: buildlogs-for-clang-${{matrix.config}}
+           name: buildlogs-for-${{ matrix.toolchain }}-${{matrix.config}}
            path: /tmp/buildlogs
            retention-days: 14
-