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Oleksandr Bezdieniezhnykh
e56d428753
AZ-649 mission_executor telemetry forwarding: - shared::models::telemetry::UavTelemetry canonical model - TelemetryForwarder with atomic ArcSwap snapshot + 3 lossy tokio::sync::broadcast channels (MissionExecutor, ScanController, MavlinkUplink) + per-consumer drop counters - MavlinkProjection::from_mavlink for HEARTBEAT/GLOBAL_POSITION_INT/ ATTITUDE/SYS_STATUS - spawn_mavlink_pump bridges mavlink_layer into the forwarder at the binary edge AZ-674 vlm_client schema validation + model_version tracking: - AssessmentParser owns schema validation + model-version state - wire::read_response_raw splits raw bytes from parsing so invalid payloads can be logged size-capped - VlmStatus gains an Inconclusive variant; exhaustive-match test guards downstream consumers - VlmPipelineStatus mirrors the new variant in shared::models::poi AZ-667 mapobjects_store hydrate + pending logs + cascade: - SyncState enum aligned with description.md (FreshBoot, Synced, CachedFallback, Degraded, Failed) - Store::hydrate(MapObjectsBundle) replaces in-memory map atomically; freshness=Stale -> CachedFallback - classify() + end_of_pass append MapObjectObservation events to pending_observations (New/Moved/Existing/RemovedCandidate) - apply_decline + LocalAppended ignored items append to pending_ignored - drain_pending() returns and clears both logs - cascade_mission(id) purges by_cell + IgnoredSet + pending logs - Health surface reports sync_state, pending_obs, pending_ign 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).