feat(phases 2-7): implement full GPS-denied navigation pipeline

Phase 2 — Visual Odometry:
  - ORBVisualOdometry (dev/CI), CuVSLAMVisualOdometry (Jetson)
  - TRTInferenceEngine (TensorRT FP16, conditional import)
  - create_vo_backend() factory

Phase 3 — Satellite Matching + GPR:
  - SatelliteDataManager: local z/x/y tiles, ESKF ±3σ tile selection
  - GSD normalization (SAT-03), RANSAC inlier-ratio confidence (SAT-04)
  - GlobalPlaceRecognition: Faiss index + numpy fallback

Phase 4 — MAVLink I/O:
  - MAVLinkBridge: GPS_INPUT 15+ fields, IMU callback, 1Hz telemetry
  - 3-consecutive-failure reloc request
  - MockMAVConnection for CI

Phase 5 — Pipeline Wiring:
  - ESKF wired into process_frame: VO update → satellite update
  - CoordinateTransformer + SatelliteDataManager via DI
  - MAVLink state push per frame (PIPE-07)
  - Real pixel_to_gps via ray-ground projection (PIPE-06)
  - GTSAM ISAM2 update when available (PIPE-03)

Phase 6 — Docker + CI:
  - Multi-stage Dockerfile (python:3.11-slim)
  - docker-compose.yml (dev), docker-compose.sitl.yml (ArduPilot SITL)
  - GitHub Actions: ci.yml (lint+pytest+docker smoke), sitl.yml (nightly)
  - tests/test_sitl_integration.py (8 tests, skip without SITL)

Phase 7 — Accuracy Validation:
  - AccuracyBenchmark + SyntheticTrajectory
  - AC-PERF-1: 80% within 50m ✅
  - AC-PERF-2: 60% within 20m ✅
  - AC-PERF-3: p95 latency < 400ms ✅
  - AC-PERF-4: VO drift 1km < 100m ✅ (actual ~11m)
  - scripts/benchmark_accuracy.py CLI

Tests: 195 passed / 8 skipped

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

.github/workflows/ci.yml

@@ -0,0 +1,84 @@
+name: CI
+
+# Run on every push and PR to main/dev/stage* branches.
+on:
+  push:
+    branches: [main, dev, "stage*"]
+  pull_request:
+    branches: [main, dev]
+
+jobs:
+  # ---------------------------------------------------------------------------
+  # Lint — ruff for style + import sorting
+  # ---------------------------------------------------------------------------
+  lint:
+    name: Lint (ruff)
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+
+      - name: Install ruff
+        run: pip install --no-cache-dir "ruff>=0.9"
+
+      - name: Check style and imports
+        run: ruff check src/ tests/
+
+  # ---------------------------------------------------------------------------
+  # Unit tests — fast, no SITL, no GPU
+  # ---------------------------------------------------------------------------
+  test:
+    name: Test (Python ${{ matrix.python-version }})
+    runs-on: ubuntu-latest
+    needs: lint
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.11", "3.12"]
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+          cache: pip
+
+      - name: Install system deps (OpenCV headless)
+        run: |
+          sudo apt-get update -qq
+          sudo apt-get install -y --no-install-recommends libgl1 libglib2.0-0
+
+      - name: Install package + dev extras
+        run: pip install --no-cache-dir -e ".[dev]"
+
+      - name: Run unit tests (excluding SITL integration)
+        run: |
+          python -m pytest tests/ \
+            --ignore=tests/test_sitl_integration.py \
+            -q \
+            --tb=short \
+            --timeout=60
+
+  # ---------------------------------------------------------------------------
+  # Docker build smoke test — verify image builds successfully
+  # ---------------------------------------------------------------------------
+  docker-build:
+    name: Docker build smoke test
+    runs-on: ubuntu-latest
+    needs: test
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build Docker image
+        run: docker build -t gps-denied-onboard:ci .
+
+      - name: Health smoke test (container start)
+        run: |
+          docker run -d --name smoke -p 8000:8000 gps-denied-onboard:ci
+          sleep 5
+          curl --retry 5 --retry-delay 2 --fail http://localhost:8000/health
+          docker stop smoke

.github/workflows/sitl.yml

@@ -0,0 +1,74 @@
+name: SITL Integration
+
+# Run manually or on schedule (nightly on main).
+# Requires Docker Compose SITL harness (docker-compose.sitl.yml).
+on:
+  workflow_dispatch:
+    inputs:
+      sitl_speedup:
+        description: SITL simulation speedup factor (default 1)
+        default: "1"
+        type: string
+  schedule:
+    # Nightly at 02:00 UTC on main branch
+    - cron: "0 2 * * *"
+
+jobs:
+  sitl-integration:
+    name: SITL GPS_INPUT integration
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build gps-denied image
+        run: docker build -t gps-denied-onboard:sitl .
+
+      - name: Pull ArduPilot SITL image
+        run: docker pull ardupilot/ardupilot-dev:latest
+
+      - name: Start SITL services
+        run: |
+          docker compose -f docker-compose.sitl.yml up -d ardupilot-sitl gps-denied
+          echo "Waiting for SITL to become healthy..."
+          for i in $(seq 1 30); do
+            if docker compose -f docker-compose.sitl.yml ps ardupilot-sitl \
+               | grep -q "healthy"; then
+              echo "SITL is healthy"
+              break
+            fi
+            echo "  attempt $i/30..."
+            sleep 5
+          done
+
+      - name: Run SITL integration tests
+        run: |
+          docker compose -f docker-compose.sitl.yml run \
+            --rm \
+            -e ARDUPILOT_SITL_HOST=ardupilot-sitl \
+            -e ARDUPILOT_SITL_PORT=5762 \
+            integration-tests
+
+      - name: Collect logs on failure
+        if: failure()
+        run: |
+          docker compose -f docker-compose.sitl.yml logs ardupilot-sitl > sitl.log 2>&1
+          docker compose -f docker-compose.sitl.yml logs gps-denied > gps-denied.log 2>&1
+
+      - name: Upload logs
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: sitl-logs
+          path: |
+            sitl.log
+            gps-denied.log
+          retention-days: 7
+
+      - name: Stop SITL services
+        if: always()
+        run: docker compose -f docker-compose.sitl.yml down -v