# autopilot

Onboard mission executor for the AZAION reconnaissance UAV. Single Rust binary; runs on
NVIDIA Jetson Orin Nano Super (aarch64). See `_docs/02_document/architecture.md` for the
authoritative system design.

## Layout

```text
crates/
  shared/                # canonical DTOs, config, error, health, observability, clock, contracts
  autopilot/             # binary crate — runtime composition root + /health endpoint
  mavlink_layer/         # hand-rolled MAVLink v2 transport
  mission_client/        # missions API REST client + MapObjects sync
  frame_ingest/          # RTSP pull + decode
  detection_client/      # bi-directional gRPC to ../detections
  movement_detector/     # ego-motion-compensated residual-motion clustering
  semantic_analyzer/     # Tier 2 — primitive graph + ROI CNN
  vlm_client/            # Tier 3 — optional NanoLLM/VILA local IPC
  mapobjects_store/      # H3-indexed on-device map + ignored items
  gimbal_controller/     # ViewPro A40 UDP control
  scan_controller/       # central typed state machine (ZoomedOut/ZoomedIn/TargetFollow)
  operator_bridge/       # POI surface + operator command authentication
  mission_executor/      # multirotor + fixed-wing FSMs + geofence + failsafe
  telemetry_stream/      # always-on uplink to Ground Station

config/                  # TOML config per environment (dev / staging / prod)
deploy/systemd/          # on-airframe native systemd unit (Option A)
fixtures/                # replay clips (RTSP, MAVLink, missions, detections)
tests/e2e/               # workspace-level blackbox scenarios
benches/                 # NFR benchmark-gate harness
```

## Build

```bash
# Host-arch build + tests
cargo build --workspace
cargo test  --workspace --locked

# Optional VLM feature path
cargo build --workspace --features vlm

# No-default-features path (enforces the VLM optionality contract)
cargo build --workspace --no-default-features
cargo test  --workspace --no-default-features

# aarch64 cross-build (CI uses cargo-zigbuild; locally `cross` also works)
cargo install --locked cargo-zigbuild
rustup target add aarch64-unknown-linux-gnu
cargo zigbuild --release --target aarch64-unknown-linux-gnu --workspace
```

## Run (dev)

```bash
cp .env.example .env
docker compose up -d
# Then inspect:
curl -s http://127.0.0.1:8080/health | jq
```

## Documentation

The full document tree lives under `_docs/`. Start with:

- `_docs/00_problem/problem.md` — the problem statement
- `_docs/02_document/architecture.md` — system architecture
- `_docs/02_document/system-flows.md` — sequence diagrams
- `_docs/02_document/components/<name>/description.md` — per-component specs
- `_docs/02_document/deployment/{containerization,ci_cd_pipeline,observability}.md`

## CI

`.woodpecker.yml` drives the pipeline. Stages: `fetch → lint → unit-test →
build-arm64 → build-no-vlm → integration-test → sitl-conformance → security-scan
→ package → sign → publish → benchmark-gate (opt-in)`.