Add yaw-relative-to-heading function to Copter Guided mode #5852

Workflow file for this run

.github/workflows/test_sitl_blimp.yml at 5f34a40

	name: test blimp

	on:
	push:
	paths-ignore:
	# remove other vehicles
	- 'AntennaTracker/**'
	- 'ArduPlane/**'
	- 'ArduSub/**'
	- 'ArduCopter/**'
	- 'Rover/**'
	# remove non SITL HAL
	- 'libraries/AP_HAL_ChibiOS/**'
	- 'libraries/AP_HAL_ESP32/**'
	# remove non SITL directories
	- 'Tools/AP_Bootloader/**'
	- 'Tools/AP_Periph/**'
	- 'Tools/bootloaders/**'
	- 'Tools/CHDK-Script/**'
	- 'Tools/CodeStyle/**'
	- 'Tools/completion/**'
	- 'Tools/CPUInfo/**'
	- 'Tools/debug/**'
	- 'Tools/environment_install/**'
	- 'Tools/FilterTestTool/**'
	- 'Tools/Frame_params/**'
	- 'Tools/geotag/**'
	- 'Tools/GIT_Test/**'
	- 'Tools/gittools/**'
	- 'Tools/Hello/**'
	- 'Tools/IO_Firmware/**'
	- 'Tools/Linux_HAL_Essentials/**'
	- 'Tools/LogAnalyzer/**'
	- 'Tools/Pozyx/**'
	- 'Tools/PrintVersion.py'
	- 'Tools/Replay/**'
	- 'Tools/simulink/**'
	- 'Tools/UDP_Proxy/**'
	- 'Tools/vagrant/**'
	- 'Tools/Vicon/**'
	# Discard python file from Tools/scripts as not used
	- 'Tools/scripts/**.py'
	- 'Tools/scripts/build_sizes/**'
	- 'Tools/scripts/build_tests/**'
	- 'Tools/scripts/CAN/**'
	- 'Tools/scripts/signing/**'
	# Remove other vehicles autotest
	- 'Tools/autotest/antennatracker.py'
	- 'Tools/autotest/arduplane.py'
	- 'Tools/autotest/arducopter.py'
	- 'Tools/autotest/ardusub.py'
	- 'Tools/autotest/balancebot.py'
	- 'Tools/autotest/helicopter.py'
	- 'Tools/autotest/location.txt'
	- 'Tools/autotest/quadplane.py'
	- 'Tools/autotest/rover.py'
	- 'Tools/autotest/sailboat.py'
	- 'Tools/autotest/swarminit.txt'
	# Remove markdown files as irrelevant
	- '**.md'
	# Remove dotfile at root directory
	- './.dir-locals.el'
	- './.dockerignore'
	- './.editorconfig'
	- './.flake8'
	- './.gitattributes'
	- './.github'
	- './.gitignore'
	- './.pre-commit-config.yaml'
	- './.pydevproject'
	- './.valgrind-suppressions'
	- './.valgrindrc'
	- 'Dockerfile'
	- 'Vagrantfile'
	- 'Makefile'
	# Remove some directories check
	- '.vscode/**'
	- '.github/ISSUE_TEMPLATE/**'


	pull_request:
	paths-ignore:
	# remove other vehicles
	- 'AntennaTracker/**'
	- 'ArduPlane/**'
	- 'ArduSub/**'
	- 'ArduCopter/**'
	- 'Rover/**'
	# remove non SITL HAL
	- 'libraries/AP_HAL_ChibiOS/**'
	- 'libraries/AP_HAL_ESP32/**'
	# remove non SITL directories
	- 'Tools/AP_Bootloader/**'
	- 'Tools/AP_Periph/**'
	- 'Tools/bootloaders/**'
	- 'Tools/CHDK-Script/**'
	- 'Tools/CodeStyle/**'
	- 'Tools/completion/**'
	- 'Tools/CPUInfo/**'
	- 'Tools/debug/**'
	- 'Tools/environment_install/**'
	- 'Tools/FilterTestTool/**'
	- 'Tools/Frame_params/**'
	- 'Tools/geotag/**'
	- 'Tools/GIT_Test/**'
	- 'Tools/gittools/**'
	- 'Tools/Hello/**'
	- 'Tools/IO_Firmware/**'
	- 'Tools/Linux_HAL_Essentials/**'
	- 'Tools/LogAnalyzer/**'
	- 'Tools/Pozyx/**'
	- 'Tools/PrintVersion.py'
	- 'Tools/Replay/**'
	- 'Tools/simulink/**'
	- 'Tools/UDP_Proxy/**'
	- 'Tools/vagrant/**'
	- 'Tools/Vicon/**'
	# Discard python file from Tools/scripts as not used
	- 'Tools/scripts/**.py'
	- 'Tools/scripts/build_sizes/**'
	- 'Tools/scripts/build_tests/**'
	- 'Tools/scripts/CAN/**'
	- 'Tools/scripts/signing/**'
	# Remove other vehicles autotest
	- 'Tools/autotest/antennatracker.py'
	- 'Tools/autotest/arduplane.py'
	- 'Tools/autotest/arducopter.py'
	- 'Tools/autotest/ardusub.py'
	- 'Tools/autotest/balancebot.py'
	- 'Tools/autotest/helicopter.py'
	- 'Tools/autotest/location.txt'
	- 'Tools/autotest/quadplane.py'
	- 'Tools/autotest/rover.py'
	- 'Tools/autotest/sailboat.py'
	- 'Tools/autotest/swarminit.txt'
	# Remove markdown files as irrelevant
	- '**.md'
	# Remove dotfile at root directory
	- './.dir-locals.el'
	- './.dockerignore'
	- './.editorconfig'
	- './.flake8'
	- './.gitattributes'
	- './.github'
	- './.gitignore'
	- './.pre-commit-config.yaml'
	- './.pydevproject'
	- './.valgrind-suppressions'
	- './.valgrindrc'
	- 'Dockerfile'
	- 'Vagrantfile'
	- 'Makefile'
	# Remove some directories check
	- '.vscode/**'
	- '.github/ISSUE_TEMPLATE/**'

	workflow_dispatch:

	concurrency:
	group: ci-${{github.workflow}}-${{ github.ref }}
	cancel-in-progress: true

	jobs:
	build:
	runs-on: ubuntu-22.04
	container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
	strategy:
	fail-fast: false # don't cancel if a job from the matrix fails
	matrix:
	toolchain: [
	base, # GCC
	clang,
	]
	steps:
	# git checkout the PR
	- uses: actions/checkout@v4
	with:
	submodules: 'recursive'
	# Put ccache into github cache for faster build
	- name: Prepare ccache timestamp
	id: ccache_cache_timestamp
	run: \|
	NOW=$(date -u +"%F-%T")
	echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
	- name: ccache cache files
	uses: actions/cache@v3
	with:
	path: ~/.ccache
	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: \|
	. .github/workflows/ccache.env
	- name: build blimp ${{ matrix.toolchain }}
	shell: bash
	run: \|
	git config --global --add safe.directory ${GITHUB_WORKSPACE}
	if [[ ${{ matrix.toolchain }} == "clang" ]]; then
	export CC=clang
	export CXX=clang++
	fi
	PATH="/github/home/.local/bin:$PATH"
	./waf configure --board sitl --debug
	./waf build --target bin/blimp
	ccache -s
	ccache -z

	autotest:
	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-22.04
	container:
	image: ardupilot/ardupilot-dev-base:v0.1.3
	options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
	strategy:
	fail-fast: false # don't cancel if a job from the matrix fails
	matrix:
	config: [
	sitltest-blimp,
	]

	steps:
	# git checkout the PR
	- uses: actions/checkout@v4
	with:
	submodules: 'recursive'
	# Put ccache into github cache for faster build
	- name: Prepare ccache timestamp
	id: ccache_cache_timestamp
	run: \|
	NOW=$(date -u +"%F-%T")
	echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
	- name: ccache cache files
	uses: actions/cache/restore@v3
	with:
	path: ~/.ccache
	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: \|
	. .github/workflows/ccache.env
	- name: test ${{matrix.config}}
	env:
	CI_BUILD_TARGET: ${{matrix.config}}
	shell: bash
	run: \|
	git config --global --add safe.directory ${GITHUB_WORKSPACE}
	PATH="/github/home/.local/bin:$PATH"
	Tools/scripts/build_ci.sh

	- name: Archive buildlog artifacts
	uses: actions/upload-artifact@v3
	if: failure()
	with:
	name: fail-${{matrix.config}}
	path: \|
	/tmp/buildlogs
	/__w/ardupilot/ardupilot/logs
	/__w/ardupilot/ardupilot/ap-*.core
	/__w/ardupilot/ardupilot/core.*
	/__w/ardupilot/ardupilot/dumpstack.sh_*
	/__w/ardupilot/ardupilot/dumpcore.sh_*
	retention-days: 14

	- name: Archive .bin artifacts
	uses: actions/upload-artifact@v3
	with:
	name: BIN-${{matrix.config}}
	path: /__w/ardupilot/ardupilot/logs
	retention-days: 7

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Add yaw-relative-to-heading function to Copter Guided mode #5852

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Add yaw-relative-to-heading function to Copter Guided mode #5852

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Workflow file for this run