mirror of
https://github.com/azaion/autopilot.git
synced 2026-06-21 08:11:09 +00:00
Oleksandr Bezdieniezhnykh
2bcd4a8059
AZ-651 (mission_executor lost-link ladder):
- LostLinkLadder pure-logic state machine (LinkOk -> Degraded -> Lost
-> LinkLostInFollow + MavlinkLost branch). Configurable thresholds
via LostLinkConfig.
- LostLinkCommandIssuer trait + MavlinkCommandIssuer production impl
emitting MAV_CMD_NAV_RETURN_TO_LAUNCH via MavlinkHandle::send_command.
- LostLinkDriver task wires the ladder to operator-link watch, MAVLink
LinkEvent broadcast, and optional target-follow signal. On RTL,
driver calls the issuer THEN MissionExecutorHandle::failsafe_trigger.
- failsafe_trigger(LinkLost | LinkLostInFollow) short-circuits FlyMission
-> Land via direct FSM state mutation + TransitionEvent emission;
Paused state is intentionally NOT overridden.
- Tests: 4/4 ACs locally green (degraded-no-rtl; lost-fires-once;
follow-grace; mavlink-loss-no-rtl) plus driver + FSM integration.
AZ-668 (mapobjects_store persistence):
- Snapshot serializable shape + Store::{to_snapshot,from_snapshot}
round trip.
- MapObjectsPersistence async trait + JsonSnapshotEngine default impl
(write to .tmp, sync_all, atomic rename, best-effort parent fsync).
- PersistenceError::{Corrupt, SchemaMismatch} surfaces explicit errors
on bad blob; PersistenceMetrics tracks last_snapshot_ts,
snapshot_size_bytes, snapshot_errors_total.
- MapObjectsStore::from_snapshot factory for crash recovery from the
composition root.
- Tests: 4/4 ACs locally green (round-trip; atomic rename ignores
partial .tmp; crash recovery preserves pending; corruption returns
explicit error) plus schema-mismatch + metrics smoke checks.
Quality gates:
- cargo fmt: clean.
- cargo clippy -p mission_executor -p mapobjects_store --tests: 0 warns.
- cargo test --workspace: all green.
Co-authored-by: Cursor <cursoragent@cursor.com>
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
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
# 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)
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).