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https://github.com/azaion/autopilot.git
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Oleksandr Bezdieniezhnykh
4c63829ccd
ci/woodpecker/push/build-arm Pipeline failed
AZ-654 SweepEngine: pendulum default, Raster/LawnMower variants reserved and explicitly NotImplemented (no silent fallback per AC-3). Time injected via next_step(now) for deterministic dwell tests. AZ-655 PlanExecutor: linear yaw/pitch interpolation between PanGoals with self-throttle (default 50 ms); stats expose commands_emitted/dropped_to_throttle counters. PanGoal/PanPlan added to shared::models::gimbal (spec drift: data_model.md §PanPlan flagged for next doc sync). AZ-656 CentreOnTarget: zoom-aware proportional control loop (correction ~ 1/zoom); target_lost debounced — fires once per loss streak, resets on bbox return. Also fixes the misleadingly-named monotonic_ns() helper introduced by AZ-653 that used SystemTime::now(): GimbalController now owns a shared::clock::MonoClock and stamps GimbalState::ts_monotonic_ns via clock.elapsed_ns(). AZ-656 AC-2 forced the correction; integration test verifies the fix end-to-end. 58/58 gimbal_controller tests green (47 unit + 7 AZ-653 integration + 4 new batch_11 integration). Workspace test suite green this run. 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).