mirror of
https://github.com/azaion/autopilot.git
synced 2026-06-21 19:01:11 +00:00
Oleksandr Bezdieniezhnykh
bc40ea7300
Greenfield Steps 1-6 baseline for the autopilot rewrite from legacy Qt/C++ to a Rust workspace. - Remove legacy Qt/C++ tree (ai_controller, drone_controller, misc/camera, python_scaffold, root Dockerfile, autopilot.pro, legacy main.py / requirements.txt). - Add _docs/00_problem (problem, restrictions, acceptance criteria, security approach, input data + fixtures). - Add _docs/01_solution/solution_draft01. - Add _docs/02_document (architecture, system-flows, data_model, glossary, decision-rationale, deployment, 13 component descriptions, tests/ specs, FINAL_report, module-layout). - Add _docs/02_tasks/todo with 47 task specs (AZ-640..AZ-686, one bootstrap + 46 component tasks) and _dependencies_table.md. - Add .cursor/rules/artifact-srp.mdc (single-responsibility rule for canonical _docs artifacts). - Track autodev state in _docs/_autodev_state.md (Step 6 completed, ready for Step 7 Implement). Jira: bootstrap AZ-626; component epics AZ-627..AZ-639; tasks AZ-640..AZ-686. Total complexity 173 points across 12 epics. Co-authored-by: Cursor <cursoragent@cursor.com>
94 lines
7.3 KiB
Markdown
94 lines
7.3 KiB
Markdown
# Acceptance Criteria
|
||
|
||
Measurable, design-independent success criteria. Implementation choices (specific models, libraries, components, algorithms) belong in `_docs/01_solution/` and `_docs/02_document/`, NOT here. (Audited against `.cursor/rules/artifact-srp.mdc`.)
|
||
|
||
Every criterion below is observable through the system's external behaviour and can be evaluated by a black-box test.
|
||
|
||
## Latency
|
||
|
||
- Primitive (Tier 1) object detection — per-frame end-to-end on the deployed compute device: **≤100 ms** at 1280 px input.
|
||
- Semantic confirmation (Tier 2) over a single ROI: **≤200 ms**.
|
||
- Deep semantic confirmation (Tier 3 / VLM, when enabled): **≤5 s** per ROI.
|
||
- Camera zoom transition (medium → high): **≤2 s** wall-clock, including the physical zoom traversal.
|
||
- Decision-to-movement latency (internal scan-control decision → camera physically moving): **≤500 ms**.
|
||
- Movement candidate enqueue: **≤1 s** during the wide-area sweep; **≤1.5 s** during the zoomed-in inspection (accommodating gimbal slew).
|
||
- Zoom-out → zoom-in transition (POI detected → ROI fully zoomed): **≤2 s** wall-clock.
|
||
- Operator command → action: **≤500 ms** from operator click to outbound command (modem RTT excluded).
|
||
|
||
## Throughput / Rate
|
||
|
||
- POI rate surfaced to the operator: **≤5 POIs / minute** (hard cap; frozen 2026-05-06).
|
||
- Position telemetry rate: **≥1 Hz**, target **10 Hz**.
|
||
- Sustained camera frame-rate floor: **≥10 fps**. Below this, zoom-in transitions MUST be suppressed and overall health MUST surface yellow.
|
||
|
||
## Detection Quality
|
||
|
||
(Behaviour as observed at the system boundary. Model identity, training data, and label catalogue live in `_docs/02_document/architecture.md` and the `../ai-training` repo.)
|
||
|
||
- New target classes (black entrances, branch piles, footpaths, roads, trees, tree blocks): per-class **precision ≥80%** AND **recall ≥80%**.
|
||
- Existing-class regression: per-class precision and recall MUST NOT degrade by more than ±2 percentage points against the documented baseline.
|
||
- Concealed-position recall (initial gate, accepting high false-positive rate): **≥60%**.
|
||
- Concealed-position precision (initial gate, operators filter): **≥20%**.
|
||
- Footpath recall: **≥70%**.
|
||
|
||
## Movement Detection Behaviour
|
||
|
||
- Small moving point/cluster candidates that are not yet classifiable MUST be detected during the wide-area sweep and enqueued for zoomed inspection within **≤1 s**.
|
||
- Movement detection MUST continue during the zoomed-in inspection (a moving target that appears inside a held POI must not be lost), with enqueue within **≤1.5 s**.
|
||
- Stable objects (trees, houses, roads, terrain) MUST NOT be treated as moving solely because the camera platform itself moves.
|
||
- A configurable per-zoom-band false-positive budget MUST be honoured (the system must not flood the operator with false candidates by ignoring its own threshold).
|
||
|
||
## Scan & Camera Control Behaviour
|
||
|
||
- The wide-area sweep MUST cover the planned route with a left-right gimbal pattern at wide or light/medium zoom.
|
||
- Transition from sweep to detailed inspection MUST complete within **≤2 s** of POI detection (including physical zoom).
|
||
- During detailed inspection the system MUST keep the target locked while the airframe flies, pan to keep features visible, hold endpoints up to **2 s** for deep analysis, and return to the sweep after analysis or a configurable per-POI timeout (default **5 s/POI**).
|
||
- After operator confirmation, target-follow mode MUST keep the target within the **centre 25%** of the frame while visible.
|
||
- Gimbal commands MUST achieve **≤500 ms** decision-to-movement latency with visibly smooth transitions.
|
||
- The POI queue MUST be ordered by confidence × proximity to current camera × age factor (relative ranking, not absolute formula).
|
||
|
||
## Operator Workflow
|
||
|
||
- The decision window surfaced to the operator MUST scale linearly with confidence: **40% confidence → 30 s; 100% confidence → 120 s**. Below 40% confidence, the POI MUST NOT be surfaced at all.
|
||
- Operator-decline MUST result in a persistent ignored-item entry for the matching `(MGRS cell, class group)` so the same target is not re-surfaced.
|
||
- Timeout (no operator response within the window) MUST NOT create an ignored-item entry (forget, do not blacklist).
|
||
- A new detection whose `(MGRS cell, class group)` matches an existing ignored-item MUST NOT be surfaced.
|
||
- Operator confirmation MUST result in (a) a middle waypoint inserted into the mission and (b) a transition to target-follow mode.
|
||
- A replayed or unsigned operator command MUST be rejected with a logged security warning; system state MUST NOT change.
|
||
|
||
## Reliability & Safety
|
||
|
||
- Pre-flight self-test MUST pass (every dependency healthy OR explicit operator acknowledgement of a known degraded state) before takeoff is permitted.
|
||
- Loss of operator/Ground-Station radio link MUST trigger a known mission-safe outcome within a deterministic, configurable grace window (default **30 s grace → RTL**).
|
||
- Loss of airframe command link MUST surface health red immediately and defer to the airframe autopilot's own failsafe.
|
||
- Battery at or below the configured **RTL floor** (e.g. 25%) MUST trigger RTL automatically; battery at or below the **hard floor** (e.g. 15%) MUST trigger land-now. Only an authenticated operator command may override.
|
||
- MAVLink command exhaustion (bounded retry with exponential backoff fails through max-retry) MUST flip the airframe-link health to red.
|
||
- Wall-clock drift greater than **200 ms** versus GPS or NTP source MUST surface health yellow.
|
||
- Geofence INCLUSION and EXCLUSION violations MUST both result in waypoint refusal + RTL.
|
||
|
||
## Resources & Data
|
||
|
||
- Combined RSS on the deployed compute device, for everything autopilot owns onboard (excluding Tier 1), MUST stay within **≤6 GB**.
|
||
- Tier 1 per-frame latency MUST NOT degrade by more than **±5 ms** when autopilot's own onboard workload is running concurrently.
|
||
|
||
## Map Reconciliation (with the central area-level map)
|
||
|
||
- Pre-flight map pull for a **30 km × 30 km** mission area: **≤30 s** wall-clock. Cache-fallback on timeout is acceptable only with explicit operator acknowledgement.
|
||
- Post-flight pass diff push for a **60-minute** mission: **≤2 min** wall-clock. Failure MUST persist the pending diff to durable on-device storage with bounded retry.
|
||
|
||
## Acceptance Gates (project-level)
|
||
|
||
- A hardware/replay benchmark suite MUST pass before product implementation begins. Specifically: every latency criterion above MUST be measured on the deployed compute device, not on a developer workstation.
|
||
- Per-season dataset coverage MUST be demonstrated before MVP sign-off (winter, spring, summer, autumn).
|
||
- MAVLink command surface MUST pass SITL conformance against ArduPilot.
|
||
|
||
## Q-tagged criteria (depend on open architecture decisions)
|
||
|
||
These criteria are real and measurable; their tolerance ranges may sharpen once the linked open question resolves. The questions are tracked in `_docs/02_document/architecture.md §8`.
|
||
|
||
- Movement detection false-positive rate at zoomed-in inspection — depends on **Q14** (classical-CV adequacy vs learned-CV fallback).
|
||
- MapObjects conflict resolution behaviour — depends on **Q8** (append-only log + projection rules).
|
||
- Operator-command authentication conformance — depends on **Q9** (signing scheme).
|
||
- Airframe MAVLink-2 message signing — depends on **Q6**.
|
||
- Per-season flight-test gates — depends on **Q13**.
|