Merge branch 'px4-1.13' into test-build-firmware

https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners

.github/workflows/main.yml

@@ -10,7 +10,7 @@ on:
 
 jobs:
   build:
-    runs-on: macos-10.15 # Using macOS as https://github.com/actions/virtual-environments/issues/183
+    runs-on: macos-12 # Using macOS as https://github.com/actions/virtual-environments/issues/183
     steps:
       - uses: actions/checkout@v2
       - name: Download base image

scripts/install_software.sh

@@ -85,14 +85,13 @@ echo "--- Build PX4"
 cd ~/PX4-Autopilot
 make px4_sitl
 
-echo "--- Building the workspace"
-# sudo -E sh -c 'rm -rf /opt/ros/noetic/include/mavlink'
-ls ~/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/mavlink
-echo 'include_directories("/home/clover/PX4-Autopilot/build/px4_sitl_default/mavlink")' >> ~/catkin_ws/src/sitl_gazebo/CMakeLists.txt
-sed -i 's|#include <mavlink/mavlink_types.h>|#include <mavlink_types.h>|' ~/catkin_ws/src/PX4-Autopilot/src/modules/mavlink/mavlink_bridge_header.h
+echo "--- Build mavlink"
 cd ~/catkin_ws
-catkin_make mavlink_c_generate
-catkin_make
+catkin_make mavlink_c_generate -DCATKIN_WHITELIST_PACKAGES="px4"  # at first build px4's mavlink to force mavlink_sitl_gazebo to use it
+ln -s "." build/mavlink/mavlink  # fix https://github.com/PX4/PX4-Autopilot/pull/19964
+
+echo "--- Building the workspace"
+catkin_make -DCATKIN_WHITELIST_PACKAGES=""
 
 echo "--- Installing Visual Studio Code"
 sudo -E sh -c 'apt-get update; apt-get install -y curl'
@@ -213,6 +212,11 @@ set +x
 rospack list-names | while read line; do echo $line `rosversion $line`; done
 set -x
 
+echo "--- Test building the firmware"
+sudo -E sh -c 'apt-get install -y gcc-arm-none-eabi'
+cd ~/PX4-Autopilot
+make px4_fmu-v4_default
+
 echo "Trying running the Gazebo simulator, check the output"
 timeout --preserve-status 30 roslaunch clover_simulation simulator.launch gui:=false --screen