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https://github.com/azaion/autopilot.git
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Oleksandr Bezdieniezhnykh
69c0629350
ci/woodpecker/push/build-arm Pipeline failed
AZ-643 mavlink_layer:
- ack demux on COMMAND_LONG/COMMAND_ACK with oneshot dispatch and
configurable deadline; MavlinkHandle::send_command + SendCommandError
- MAVLink-2 signing: Signer/Verifier built on SHA-256, key + timestamp
source, incompat-flag wiring in encoder, reject + counter in decoder
- new tests: tests/ack_demux.rs (3) + tests/signing.rs (5)
AZ-665 mapobjects_store:
- internal/h3_index.rs (h3o wrapper, cell_of, grid_disk, haversine)
- internal/store.rs (in-memory (cell -> Vec<MapObject>) hashmap with
k-ring classify and class-group resolution)
- public API: MapObjectsStoreHandle::classify(ClassifyInput) ->
Classification {New|Moved|Existing}
- AC1-4 in tests/classify.rs; AC5 perf gate (#[ignore], passes in
--release)
AZ-672 vlm_client + autopilot:
- DisabledVlmProvider in shared::contracts; VlmProvider::name() for
composition-root diagnostics
- vlm_client::VlmClient gated behind feature = "vlm"; placeholder
until AZ-673 lands the real NanoLLM IPC
- autopilot: vlm_client is now optional = true under feature vlm;
Runtime::select_vlm_provider picks DisabledVlmProvider when feature
off OR config.vlm.enabled = false
Workspace deps: +sha2 (mavlink signing), +h3o (mapobjects index).
Batch report: _docs/03_implementation/batch_04_cycle1_report.md
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).