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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>
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Yuzviak
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"""SITL Integration Tests — GPS_INPUT delivery to ArduPilot SITL.
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These tests verify the full MAVLink GPS_INPUT pipeline against a real
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ArduPilot SITL flight controller. They are **skipped** unless the
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``ARDUPILOT_SITL_HOST`` environment variable is set.
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Run via Docker Compose SITL harness:
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docker compose -f docker-compose.sitl.yml run integration-tests
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Or manually with SITL running locally:
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ARDUPILOT_SITL_HOST=localhost ARDUPILOT_SITL_PORT=5762 pytest tests/test_sitl_integration.py -v
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Test IDs:
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SITL-01: MAVLink connection to ArduPilot SITL succeeds.
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SITL-02: GPS_INPUT message accepted by SITL FC (GPS_RAW_INT shows 3D fix).
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SITL-03: MAVLinkBridge.start/stop lifecycle with real connection.
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SITL-04: IMU RAW_IMU callback fires after connecting to SITL.
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SITL-05: 5 consecutive GPS_INPUT messages delivered within 1.1s (≥5 Hz).
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SITL-06: Telemetry NAMED_VALUE_FLOAT messages reach SITL at 1 Hz.
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SITL-07: After 3 consecutive FAILED-confidence updates, reloc request fires.
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"""
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from __future__ import annotations
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import asyncio
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import os
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import socket
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import time
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from typing import Optional
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import numpy as np
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import pytest
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from gps_denied.schemas import GPSPoint
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from gps_denied.schemas.eskf import ConfidenceTier, ESKFState
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# ---------------------------------------------------------------------------
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# Skip guard — all tests in this file are skipped unless SITL is available
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# ---------------------------------------------------------------------------
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SITL_HOST = os.environ.get("ARDUPILOT_SITL_HOST", "")
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SITL_PORT = int(os.environ.get("ARDUPILOT_SITL_PORT", "5762"))
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_SITL_AVAILABLE = bool(SITL_HOST)
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pytestmark = pytest.mark.skipif(
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not _SITL_AVAILABLE,
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reason="SITL integration tests require ARDUPILOT_SITL_HOST env var",
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)
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# ---------------------------------------------------------------------------
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# Helpers
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# ---------------------------------------------------------------------------
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_ORIGIN = GPSPoint(lat=49.0, lon=32.0)
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_MAVLINK_CONN = f"tcp:{SITL_HOST}:{SITL_PORT}" if SITL_HOST else "mock://"
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def _make_eskf_state(
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pos=(0.0, 0.0, 0.0),
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vel=(0.0, 0.0, 0.0),
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confidence: ConfidenceTier = ConfidenceTier.HIGH,
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cov_scale: float = 1.0,
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) -> ESKFState:
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cov = np.eye(15) * cov_scale
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return ESKFState(
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position=np.array(pos, dtype=float),
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velocity=np.array(vel, dtype=float),
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quaternion=np.array([1.0, 0.0, 0.0, 0.0]),
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accel_bias=np.zeros(3),
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gyro_bias=np.zeros(3),
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covariance=cov,
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timestamp=time.time(),
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confidence=confidence,
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)
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def _wait_for_tcp(host: str, port: int, timeout: float = 30.0) -> bool:
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"""Block until TCP port is accepting connections (or timeout)."""
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deadline = time.time() + timeout
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while time.time() < deadline:
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try:
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with socket.create_connection((host, port), timeout=2.0):
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return True
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except OSError:
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time.sleep(1.0)
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return False
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# ---------------------------------------------------------------------------
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# SITL-01: Connection
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# ---------------------------------------------------------------------------
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def test_sitl_tcp_port_reachable():
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"""SITL-01: ArduPilot SITL TCP port is reachable before running tests."""
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reachable = _wait_for_tcp(SITL_HOST, SITL_PORT, timeout=30.0)
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assert reachable, (
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f"SITL not reachable at {SITL_HOST}:{SITL_PORT} — "
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"is docker-compose.sitl.yml running?"
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)
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def test_pymavlink_connection_to_sitl():
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"""SITL-01: pymavlink connects to SITL without error."""
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pytest.importorskip("pymavlink", reason="pymavlink not installed")
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from pymavlink import mavutil
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mav = mavutil.mavlink_connection(_MAVLINK_CONN)
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# Wait for heartbeat (up to 15s)
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msg = mav.recv_match(type="HEARTBEAT", blocking=True, timeout=15)
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mav.close()
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assert msg is not None, "No HEARTBEAT received from SITL within 15s"
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# ---------------------------------------------------------------------------
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# SITL-02: GPS_INPUT accepted by SITL EKF
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# ---------------------------------------------------------------------------
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def test_gps_input_accepted_by_sitl():
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"""SITL-02: Sending GPS_INPUT produces GPS_RAW_INT with fix_type >= 3."""
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pytest.importorskip("pymavlink", reason="pymavlink not installed")
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from pymavlink import mavutil
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mav = mavutil.mavlink_connection(_MAVLINK_CONN)
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# Wait for SITL ready
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mav.recv_match(type="HEARTBEAT", blocking=True, timeout=15)
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# Send 10 GPS_INPUT messages at ~5 Hz
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for _ in range(10):
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now = time.time()
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gps_s = now - 315_964_800
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week = int(gps_s // (7 * 86400))
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week_ms = int((gps_s % (7 * 86400)) * 1000)
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mav.mav.gps_input_send(
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int(now * 1_000_000), # time_usec
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0, # gps_id
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0, # ignore_flags
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week_ms, # time_week_ms
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week, # time_week
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3, # fix_type (3D)
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int(_ORIGIN.lat * 1e7), # lat
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int(_ORIGIN.lon * 1e7), # lon
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600.0, # alt MSL
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1.0, # hdop
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1.5, # vdop
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0.0, # vn
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0.0, # ve
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0.0, # vd
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0.3, # speed_accuracy
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5.0, # horiz_accuracy
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2.0, # vert_accuracy
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10, # satellites_visible
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)
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time.sleep(0.2)
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# Wait for GPS_RAW_INT confirming fix
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deadline = time.time() + 10.0
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fix_type = 0
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while time.time() < deadline:
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msg = mav.recv_match(type="GPS_RAW_INT", blocking=True, timeout=2.0)
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if msg and msg.fix_type >= 3:
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fix_type = msg.fix_type
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break
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mav.close()
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assert fix_type >= 3, (
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f"SITL GPS_RAW_INT fix_type={fix_type} after GPS_INPUT — "
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"expected 3D fix (≥3)"
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)
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# ---------------------------------------------------------------------------
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# SITL-03: MAVLinkBridge lifecycle
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# ---------------------------------------------------------------------------
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@pytest.mark.asyncio
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async def test_mavlink_bridge_start_stop_with_sitl():
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"""SITL-03: MAVLinkBridge.start/stop with real SITL TCP connection."""
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pytest.importorskip("pymavlink", reason="pymavlink not installed")
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from gps_denied.core.mavlink import MAVLinkBridge
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bridge = MAVLinkBridge(
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connection_string=_MAVLINK_CONN,
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output_hz=5.0,
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telemetry_hz=1.0,
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)
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bridge.update_state(_make_eskf_state(), altitude_m=600.0)
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await bridge.start(_ORIGIN)
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# Let it run for one output period
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await asyncio.sleep(0.25)
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await bridge.stop()
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assert not bridge._running
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# ---------------------------------------------------------------------------
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# SITL-04: IMU receive callback
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# ---------------------------------------------------------------------------
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@pytest.mark.asyncio
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async def test_imu_callback_fires_from_sitl():
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"""SITL-04: IMU callback is invoked when SITL sends RAW_IMU messages."""
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pytest.importorskip("pymavlink", reason="pymavlink not installed")
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from gps_denied.core.mavlink import MAVLinkBridge
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from gps_denied.schemas.eskf import IMUMeasurement
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received: list[IMUMeasurement] = []
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bridge = MAVLinkBridge(connection_string=_MAVLINK_CONN, output_hz=5.0)
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bridge.set_imu_callback(received.append)
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bridge.update_state(_make_eskf_state(), altitude_m=600.0)
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await bridge.start(_ORIGIN)
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# SITL sends RAW_IMU at ~50-200 Hz; wait 1s
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await asyncio.sleep(1.0)
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await bridge.stop()
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assert len(received) >= 1, (
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"No IMUMeasurement received from SITL in 1s — "
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"check that SITL is sending RAW_IMU messages"
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)
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# ---------------------------------------------------------------------------
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# SITL-05: GPS_INPUT rate ≥ 5 Hz
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# ---------------------------------------------------------------------------
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@pytest.mark.asyncio
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async def test_gps_input_rate_at_least_5hz():
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"""SITL-05: MAVLinkBridge delivers GPS_INPUT at ≥5 Hz over 1 second."""
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pytest.importorskip("pymavlink", reason="pymavlink not installed")
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from pymavlink import mavutil
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from gps_denied.core.mavlink import MAVLinkBridge
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# Monitor incoming GPS_INPUT on a separate MAVLink connection
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monitor = mavutil.mavlink_connection(_MAVLINK_CONN)
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monitor.recv_match(type="HEARTBEAT", blocking=True, timeout=10)
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bridge = MAVLinkBridge(connection_string=_MAVLINK_CONN, output_hz=5.0)
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bridge.update_state(_make_eskf_state(confidence=ConfidenceTier.HIGH), altitude_m=600.0)
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await bridge.start(_ORIGIN)
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t_start = time.time()
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count = 0
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while time.time() - t_start < 1.1:
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msg = monitor.recv_match(type="GPS_INPUT", blocking=True, timeout=0.5)
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if msg:
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count += 1
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await asyncio.sleep(0)
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await bridge.stop()
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monitor.close()
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assert count >= 5, f"Only {count} GPS_INPUT messages in 1.1s — expected ≥5 (5 Hz)"
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# ---------------------------------------------------------------------------
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# SITL-06: Telemetry at 1 Hz
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# ---------------------------------------------------------------------------
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@pytest.mark.asyncio
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async def test_telemetry_reaches_sitl_at_1hz():
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"""SITL-06: NAMED_VALUE_FLOAT CONF_SCORE delivered at ~1 Hz."""
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pytest.importorskip("pymavlink", reason="pymavlink not installed")
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from pymavlink import mavutil
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from gps_denied.core.mavlink import MAVLinkBridge
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monitor = mavutil.mavlink_connection(_MAVLINK_CONN)
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monitor.recv_match(type="HEARTBEAT", blocking=True, timeout=10)
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bridge = MAVLinkBridge(connection_string=_MAVLINK_CONN, output_hz=5.0, telemetry_hz=1.0)
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bridge.update_state(_make_eskf_state(confidence=ConfidenceTier.MEDIUM), altitude_m=600.0)
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await bridge.start(_ORIGIN)
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t_start = time.time()
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conf_count = 0
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while time.time() - t_start < 2.2:
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msg = monitor.recv_match(type="NAMED_VALUE_FLOAT", blocking=True, timeout=0.5)
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if msg and getattr(msg, "name", "").startswith("CONF"):
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conf_count += 1
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await asyncio.sleep(0)
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await bridge.stop()
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monitor.close()
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assert conf_count >= 2, (
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f"Only {conf_count} CONF_SCORE messages in 2.2s — expected ≥2 (1 Hz)"
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)
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# ---------------------------------------------------------------------------
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# SITL-07: Reloc request after 3 consecutive failures
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# ---------------------------------------------------------------------------
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@pytest.mark.asyncio
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async def test_reloc_request_after_3_failures_with_sitl():
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"""SITL-07: After 3 FAILED-confidence updates, reloc callback fires."""
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pytest.importorskip("pymavlink", reason="pymavlink not installed")
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from gps_denied.core.mavlink import MAVLinkBridge
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from gps_denied.schemas.mavlink import RelocalizationRequest
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received: list[RelocalizationRequest] = []
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bridge = MAVLinkBridge(connection_string=_MAVLINK_CONN, output_hz=5.0)
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bridge.set_reloc_callback(received.append)
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bridge._origin = _ORIGIN
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bridge._last_state = _make_eskf_state()
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bridge._consecutive_failures = 3
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await bridge.start(_ORIGIN)
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await asyncio.sleep(0.1)
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# Trigger reloc manually (simulates 3 consecutive failures)
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bridge._send_reloc_request()
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await asyncio.sleep(0.1)
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await bridge.stop()
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assert len(received) == 1, f"Expected 1 reloc request, got {len(received)}"
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assert received[0].consecutive_failures == 3
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assert received[0].last_lat is not None
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