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https://github.com/azaion/autopilot.git
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Oleksandr Bezdieniezhnykh
ccf929af69
Batch 15 ships the four foundation tickets sitting on top of AZ-675 (gRPC server) and AZ-667 (mapobjects_store hydrate): * AZ-676: telemetry_stream video path (rtsp_forward + bytes_inline) with ai_locked atomic + session counter, SubscribeVideo RPC. * AZ-677: MapObjects snapshot-on-subscribe + diff broadcast + reconnect-resync (StartThen stream-prepend pattern). * AZ-678: HmacOperatorValidator with per-session monotonic seq, in-process session registry + TTL, constant-time HMAC compare, rejection-reason counters, sliding 60 s sig-failure red-health gate. Trait OperatorCommandValidator in shared::contracts::operator_auth. * AZ-679: PoiSurfaceMapper produces OperatorPoiEvent per architecture §7.10; PoiDequeued events on rotate/age-out/complete; pushed via new TelemetrySink::push_operator_event extension on Topic::OperatorEvent. Cross-task wiring: TelemetrySink trait extended with push_operator_event; OperatorBridge gets optional builder methods with_telemetry_sink / with_validator (composition root wires in AZ-680). Workspace deps: hmac = "0.12"; per-crate adds bytes, serde_json, parking_lot, chrono, uuid, sha2, thiserror. Tests: 14/14 ACs verified locally (4 + 3 + 5 + 3 by AC) plus 6 supporting unit tests + 7 integration tests + 2 shared serde roundtrips. cargo clippy clean on touched crates. Cumulative review for batches 13-15 produced; verdict PASS_WITH_WARNINGS (0 Critical, 0 High, 1 Medium, 4 Low — all carry-overs or deferred-producer notes for AZ-680/AZ-684). 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).