diff --git a/_docs/00_problem/input_data/expected_results/results_report.md b/_docs/00_problem/input_data/expected_results/results_report.md index 5109bcc..8924847 100644 --- a/_docs/00_problem/input_data/expected_results/results_report.md +++ b/_docs/00_problem/input_data/expected_results/results_report.md @@ -2,9 +2,9 @@ ## Scope -`coordinates.csv` is the current source of truth for the provided nadir image set. It gives expected WGS84 frame-center coordinates for `AD000001.jpg` through `AD000060.jpg`. +`coordinates.csv` is the current source of truth for the provided still-image nadir set. It gives expected WGS84 frame-center coordinates for `AD000001.jpg` through `AD000060.jpg`. -This data is sufficient for black-box frame-center geolocation tests against still images. It is not sufficient for final BASALT VIO, IMU-fusion, blackout, spoofing, or flight-controller tests because synchronized IMU/attitude/airspeed/altitude and ground-truth trajectory are not present in this sample set. +This data is sufficient for black-box frame-center geolocation tests against still images. The Derkachi representative fixture in `input_data/flight_derkachi/` adds cropped nadir video plus synchronized `SCALED_IMU2` and `GLOBAL_POSITION_INT` telemetry. It is sufficient for fixture validation, video/telemetry synchronization, replay, latency, VIO smoke tests, and trajectory comparison against the tlog GPS path. It is not sufficient by itself for final production accuracy because raw camera calibration, lens distortion, and exact camera-to-body calibration are still pending. ## Pass / Fail Rules @@ -15,6 +15,8 @@ This data is sufficient for black-box frame-center geolocation tests against sti ## Input To Expected Output Map +### Still-Image Frame Centers + | Input image | Expected latitude | Expected longitude | Primary threshold | Stretch threshold | |-------------|-------------------|--------------------|-------------------|-------------------| | AD000001.jpg | 48.275292 | 37.385220 | <= 50 m | <= 20 m | @@ -78,9 +80,18 @@ This data is sufficient for black-box frame-center geolocation tests against sti | AD000059.jpg | 48.255481 | 37.356501 | <= 50 m | <= 20 m | | AD000060.jpg | 48.256246 | 37.357485 | <= 50 m | <= 20 m | +### Representative Derkachi Video/IMU Fixture + +| Input fixture | Expected validation result | Threshold | +|---------------|----------------------------|-----------| +| `flight_derkachi/data_imu.csv` | Telemetry CSV has required `timestamp(ms)`, `Time`, `SCALED_IMU2.*`, and `GLOBAL_POSITION_INT.*` columns; non-empty rows are monotonic from `Time=0.0` to `489.9` | 0 missing required columns; 0 decreasing timestamps; 4,900 nonblank rows | +| `flight_derkachi/flight_derkachi.mp4` | Video stream is readable as cropped nadir footage for replay | H.264, 880 x 720, 30 fps, approximately 490.07 s | +| Video/telemetry alignment | Video has 14,700 frames and telemetry has 4,900 rows | Exactly 3 video frames per telemetry row; duration delta <=250 ms | +| Derkachi trajectory comparison | Replay output can be compared to `GLOBAL_POSITION_INT.lat`, `GLOBAL_POSITION_INT.lon`, `GLOBAL_POSITION_INT.alt`, `GLOBAL_POSITION_INT.relative_alt`, velocity, and heading | Thresholds are calibration-gated; use for smoke/relative trajectory validation until intrinsics and camera-to-body calibration are pinned | + ## Known Gaps -- No synchronized IMU, attitude, airspeed, altitude, or timestamp stream is present for these images. -- No ground-truth trajectory exists beyond per-image center coordinates. -- The sample cadence is slower than the target 3 fps runtime profile. -- Final acceptance requires additional public and representative datasets with synchronized camera/IMU/ground truth. +- The still-image set has expected WGS84 centers but no synchronized IMU, attitude, airspeed, altitude, or timestamp stream. +- The Derkachi fixture has synchronized video, IMU, and GPS trajectory, but no raw camera calibration, lens distortion, exact camera-to-body transform, attitude, or airspeed columns. +- The still-image sample cadence is slower than the target 3 fps runtime profile; the Derkachi video is 30 fps and must be sampled to target replay cadence for runtime tests. +- Final production acceptance requires camera calibration and representative datasets with synchronized camera/IMU plus ground-truth trajectory. diff --git a/_docs/00_problem/input_data/flight_derkachi/README.md b/_docs/00_problem/input_data/flight_derkachi/README.md new file mode 100644 index 0000000..d1a608f --- /dev/null +++ b/_docs/00_problem/input_data/flight_derkachi/README.md @@ -0,0 +1,14 @@ +# Derkachi Representative Flight Fixture + +## Files + +| File | Description | Observed Metadata | +|------|-------------|-------------------| +| `flight_derkachi.mp4` | Cropped nadir flight footage for replay | H.264, 880 x 720, 30 fps, about 490.07 s | +| `data_imu.csv` | Flight-controller telemetry trace exported from the tlog | 4,900 rows at 10 Hz from `Time=0.0` to `489.9`; includes `SCALED_IMU2` and `GLOBAL_POSITION_INT` trajectory fields | + +## Test Use + +Use this fixture for video/telemetry synchronization checks, representative replay smoke tests, VIO hot-path latency, frame-drop accounting, and trajectory comparison against `GLOBAL_POSITION_INT`. The video and telemetry align at exactly three video frames per telemetry row. Camera intrinsics, lens distortion, raw camera resolution, and exact camera-to-body calibration are still unknown, so this fixture is not sufficient by itself for final production camera calibration or satellite-anchor accuracy claims. + +For the test recording, the rotating camera was mechanically fixed in a downward/nadir orientation. 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b/_docs/00_problem/input_data/flight_derkachi/flight_derkachi.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9acb97042fc648301d73d3c0fe7d80f7e3e2697000c0d33afa8a7b7a74a20005 +size 282207328 diff --git a/_docs/00_problem/problem.md b/_docs/00_problem/problem.md index 7745fe7..1f662f4 100644 --- a/_docs/00_problem/problem.md +++ b/_docs/00_problem/problem.md @@ -1,2 +1,2 @@ We have a wing-type UAV with a fixed downward navigation camera that can take photos 3 times per second. The authoritative navigation-camera spec is defined in `restrictions.md` as the ADTi 20MP 20L V1, APS-C sensor, about 5472 x 3648 px; older higher-resolution references are superseded. Also plane has flight controller with IMU. During the plane flight, we know GPS coordinates initially. During the flight, GPS could be disabled or spoofed. We need to determine the GPS of the centers of the next frame from the camera. And also the coordinates of the center of any object in these photos. We can use an external satellite provider for ground checks on the existing photos. So, before the flight, UAV's operator should upload the satellite photos to the plane's companion PC. -The real world examples are in input_data folder, but the distance between each photo is way bigger than it will be from a real plane. On that particular example photos were taken 1 photo per 2-3 seconds. But in real-world scenario frames would appear within the interval no more than 500ms. We also don't have IMU data for the test. For now we have to search for the public data for that in internet. We've tried to record that with Mavic 3 Pro Mini, but failed, cause of the closed system if DJI. \ No newline at end of file +The real world examples are in input_data folder, but the original still-image set has a much larger distance between photos than the target aircraft will have. On that particular example photos were taken 1 photo per 2-3 seconds. But in real-world scenario frames would appear within the interval no more than 500ms. Additional representative data is available in `input_data/flight_derkachi/`: cropped nadir flight footage plus synchronized `SCALED_IMU2` and `GLOBAL_POSITION_INT` telemetry. This supports video/telemetry synchronization, replay, latency, VIO smoke tests, and trajectory comparison against the tlog GPS path. Camera intrinsics, lens distortion, raw camera feed parameters, and exact camera-to-body calibration are still pending, so final production accuracy claims remain gated on calibration data or a separately surveyed representative dataset. \ No newline at end of file diff --git a/_docs/00_problem/restrictions.md b/_docs/00_problem/restrictions.md index 8c1e29b..7f977e2 100644 --- a/_docs/00_problem/restrictions.md +++ b/_docs/00_problem/restrictions.md @@ -46,7 +46,7 @@ ## Sensors & Integration - High-rate **IMU** data is available from the flight controller via MAVLink. -- The provided sample imagery does **not** include synchronized IMU or ground-truth pose. Prototype validation may use public datasets or synthetic IMU injection, but final acceptance claims require synchronized navigation-camera frames, FC IMU/attitude/airspeed/altitude, emitted MAVLink messages, and ground-truth trajectory from a representative flight or replay rig. +- The original still-image sample does **not** include synchronized IMU or ground-truth pose. The Derkachi representative fixture adds cropped nadir video plus synchronized `SCALED_IMU2` and `GLOBAL_POSITION_INT` telemetry, which is enough for replay, synchronization, latency, VIO smoke tests, and trajectory comparison against the tlog GPS path. Final production acceptance still requires camera intrinsics, lens distortion, exact camera-to-body calibration, and representative synchronized navigation-camera frames, FC IMU/attitude/airspeed/altitude, emitted MAVLink messages, and ground-truth trajectory from a representative flight or replay rig. - The system communicates with the flight controller via MAVLink. Telemetry plumbing uses **MAVSDK**; the `GPS_INPUT` injection path is implemented via **pymavlink**, since MAVSDK does not expose a native `GPS_INPUT` API. - **Autopilot target: ArduPilot only** (with `GPS1_TYPE=14` for MAVLink GPS injection). PX4 is out of scope for the build; if it ever returns to scope it will use `VISION_POSITION_ESTIMATE`, not `GPS_INPUT`. (See `_docs/00_research/00_ac_assessment.md` Q-1.) - The system outputs WGS84 GPS coordinates to the flight controller as a replacement for the real GPS module (MAVLink GPS_INPUT, AC-4.3). diff --git a/_docs/00_research/00_question_decomposition.md b/_docs/00_research/00_question_decomposition.md index 9e3a8fe..8bdc228 100644 --- a/_docs/00_research/00_question_decomposition.md +++ b/_docs/00_research/00_question_decomposition.md @@ -25,7 +25,7 @@ | Constraint Area | Binding Constraint | |-----------------|-------------------| | Camera | ADTi 20MP 20L V1, APS-C, ~5472 x 3648, fixed nadir, no gimbal stabilization. | -| Sensors | FC IMU/attitude/airspeed/altitude available over MAVLink; sample data lacks synchronized IMU. | +| Sensors | FC IMU/attitude/airspeed/altitude available over MAVLink; original still-image sample lacks synchronized IMU, while Derkachi replay data now provides synchronized IMU and `GLOBAL_POSITION_INT` trajectory. | | Reference imagery | Offline cache only, 0.5 m/px minimum and 0.3 m/px ideal, freshness gates, no in-flight provider fetch. | | Runtime | Jetson Orin Nano Super, CUDA/TensorRT available, 25 W thermal envelope. | | Autopilot | ArduPilot only, v1 emits `GPS_INPUT` only; ODOMETRY intentionally disabled. | diff --git a/_docs/01_solution/solution.md b/_docs/01_solution/solution.md index 8366cef..7ca92e3 100644 --- a/_docs/01_solution/solution.md +++ b/_docs/01_solution/solution.md @@ -21,7 +21,7 @@ Image quality + calibration + orthorectification +--> Tile path: new COG tile + quality/provenance sidecar --> manifest update --> post-flight Satellite Service sync ``` -Heavy retrieval and local matching are not steady-state per-frame dependencies. They run on cold start, VO failure, sharp turns, disconnected segments, covariance growth, stale-anchor age, or operator-assisted relocalization. +Heavy local retrieval and local matching are not steady-state per-frame dependencies. They run on cold start, VO failure, sharp turns, disconnected segments, covariance growth, stale-anchor age, or operator-assisted relocalization, using only preloaded cache/index data during flight. ## Architecture @@ -42,7 +42,7 @@ Heavy retrieval and local matching are not steady-state per-frame dependencies. BASALT does not replace the project-owned safety logic. The wrapper remains responsible for satellite anchor acceptance, confidence calibration, source labels, blackout/spoofing modes, tile-write eligibility, and MAVLink `GPS_INPUT` semantics. -### Satellite Retrieval And Anchor Verification +### Satellite Service And Anchor Verification | Solution | Tools | Pinned Mode/Config | Fit | |----------|-------|--------------------|-----| @@ -50,16 +50,16 @@ BASALT does not replace the project-owned safety logic. The wrapper remains resp | SuperPoint+LightGlue | SuperPoint, LightGlue | Same matcher with SuperPoint features | License-gated benchmark/fallback only. | | Classical SIFT/ORB | OpenCV | Handcrafted features + homography | Regression/fallback baseline. | -The VPR index is built over ground-footprint-sized chunks with overlap and a multi-scale descriptor set. VPR is invoked only on relocalization triggers or covariance/anchor-age growth; normal flight uses BASALT VIO plus wrapper propagation. +The Satellite Service component imports mission cache/index packages before flight, uploads generated-tile packages after landing, and serves local VPR queries during flight. The VPR index is built over ground-footprint-sized chunks with overlap and a multi-scale descriptor set. VPR is invoked only on relocalization triggers or covariance/anchor-age growth; normal flight uses BASALT VIO plus wrapper propagation. No satellite-provider or Satellite Service network calls are allowed mid-flight. -### Cache And Tile Lifecycle +### Tile Manager | Solution | Tools | Pinned Mode/Config | Fit | |----------|-------|--------------------|-----| | COG tile objects + PostgreSQL/PostGIS manifest + signed JSON sidecars | GDAL COG, PostgreSQL/PostGIS, signed JSON sidecars, FAISS index files | Service tiles and generated tiles are write-new COG objects; active version selected by PostGIS-backed manifest | Selected. Fits geospatial raster access, provenance, spatial/freshness queries, and write-new tile lifecycle. | | PMTiles | PMTiles | Read-only archive snapshot | Rejected for live cache because in-flight tile generation needs mutable write-new objects. | -Service-source tiles and generated tiles carry CRS, capture date, source, m/px, freshness, quality score, sidecar hashes, and descriptor references. Stale tiles are rejected or down-confidence weighted. +Service-source tiles and generated tiles carry CRS, capture date, source, m/px, freshness, quality score, sidecar hashes, and descriptor references. The Tile Manager also orthorectifies eligible nadir frames into generated COG tiles. Stale tiles are rejected or down-confidence weighted. ### MAVLink Integration @@ -96,7 +96,7 @@ The system emits per-frame estimates locally and downsampled status to QGroundCo - DINOv2 descriptor fidelity: compare PyTorch/ONNX/TensorRT embeddings and retrieval rankings before accepting optimized engines. - FAISS CPU index tests: top-K recall, query latency, index size, save/load behavior on Jetson ARM64. - LightGlue extractor matrix: ALIKED vs DISK vs SIFT/ORB vs SuperPoint benchmark; SuperPoint excluded from production unless legal approves. -- COG cache lifecycle: write-new generated tile, update manifest, verify active version and rollback. +- Tile Manager: orthorectify eligible nadir frames into write-new generated tiles, update manifest, verify active version and rollback. - `GPS_INPUT` SITL: validate fix type, `horiz_accuracy`, velocity fields, ignore flags, `EK3_SRC1_*` parameters, QGC behavior. - Security gates: stale tile, mismatched tile hash, low inlier ratio, impossible velocity jump, and spoofed GPS during blackout. diff --git a/_docs/02_document/FINAL_report.md b/_docs/02_document/FINAL_report.md index e3f53f3..49f6662 100644 --- a/_docs/02_document/FINAL_report.md +++ b/_docs/02_document/FINAL_report.md @@ -2,7 +2,7 @@ ## Executive Summary -The solution planning phase decomposed the GPS-denied onboard localization service into 9 implementation components, 2 cross-cutting foundation epics, a bootstrap epic, and a blackbox-test epic. The architecture centers on a Jetson-hosted hot path using camera ingest, BASALT VIO, and a project-owned safety/anchor wrapper, with triggered satellite retrieval and ALIKED/DISK-LightGlue anchor verification against an offline PostgreSQL/PostGIS-backed cache. +The solution planning phase decomposed the GPS-denied onboard localization service into 9 implementation components, 2 cross-cutting foundation epics, a bootstrap epic, and a blackbox-test epic. The architecture centers on a Jetson-hosted hot path using camera ingest, BASALT VIO, and a project-owned safety/anchor wrapper, with triggered Satellite Service candidate retrieval and ALIKED/DISK-LightGlue anchor verification against an offline PostgreSQL/PostGIS-backed cache. Jira epics were created in project `AZ` from AZ-206 through AZ-218. Total estimated effort across epics is approximately 87-141 story points, with large work intentionally decomposed into child tasks of 2, 3, or 5 points where possible. @@ -25,9 +25,9 @@ The system is a trigger-based hybrid estimator. Normal flight uses camera ingest | 01 | Camera Ingest And Calibration | Ingest frames, validate calibration, detect total occlusion before VIO | Bootstrap, shared geometry/time, config/errors | AZ-209 | | 02 | BASALT VIO Adapter | Wrap BASALT relative VIO and emit replaceable state DTOs | Camera, MAVLink telemetry, shared helpers | AZ-213 | | 03 | Safety And Anchor Wrapper | Own localization state, covariance, anchors, blackout/failsafe, output semantics | Camera, MAVLink, VIO, anchor verification | AZ-216 | -| 04 | Satellite Retrieval | Retrieve VPR candidates from cache descriptors and FAISS | Camera, cache lifecycle, shared helpers | AZ-214 | -| 05 | Anchor Verification | Verify retrieved candidates with learned matching and RANSAC | Retrieval, camera, cache lifecycle | AZ-215 | -| 06 | Cache And Tile Lifecycle | Manage COGs, PostGIS manifests, sidecars, freshness, generated tiles | Bootstrap, shared helpers, config/errors | AZ-211 | +| 04 | Satellite Service | Sync Satellite Service cache/upload packages and retrieve local VPR candidates from cache descriptors and FAISS | Camera, Tile Manager, shared helpers | AZ-214 | +| 05 | Anchor Verification | Verify retrieved candidates with learned matching and RANSAC | Satellite Service, camera, Tile Manager | AZ-215 | +| 06 | Tile Manager | Manage COGs, PostGIS manifests, sidecars, freshness, and orthorectified generated tiles | Bootstrap, shared helpers, config/errors | AZ-211 | | 07 | MAVLink And GCS Integration | Consume FC telemetry and emit v1 `GPS_INPUT`/QGC status | Bootstrap, config/errors | AZ-210 | | 08 | FDR And Observability | Record bounded replayable evidence and status | Bootstrap, config/errors, runtime DTOs | AZ-212 | | 09 | Validation Harness | Drive blackbox, public replay, SITL, Jetson, and release evidence tests | All runtime components | AZ-217 | @@ -43,12 +43,12 @@ The system is a trigger-based hybrid estimator. Normal flight uses camera ingest | Flow | Description | Key Components | |------|-------------|----------------| -| Pre-flight cache preparation | Validate offline cache, sidecars, descriptors, and indexes | Cache lifecycle, retrieval | +| Pre-flight cache preparation | Validate offline cache, sidecars, descriptors, and indexes | Satellite Service, Tile Manager | | Normal frame processing | Route usable frames through BASALT; route total occlusion to IMU-only degraded path | Camera, BASALT, safety, MAVLink, FDR | -| Satellite relocalization | Retrieve and verify cache candidates, then accept/reject anchors | Safety, retrieval, anchor verification, cache | +| Satellite relocalization | Retrieve and verify cache candidates, then accept/reject anchors | Safety, Satellite Service, anchor verification, Tile Manager | | Visual blackout / spoofing | Propagate IMU-only from last trusted state and fail safe at thresholds | Camera, safety, MAVLink, QGC, FDR | -| Generated tile lifecycle | Write generated COG candidates only under covariance/quality gates | Safety, cache, FDR | -| Post-flight sync and audit | Package generated tiles and FDR evidence | Cache, FDR, Satellite Service | +| Generated tile lifecycle | Write generated COG candidates only under covariance/quality gates | Safety, Tile Manager, FDR | +| Post-flight sync and audit | Package generated tiles and FDR evidence | Tile Manager, FDR, Satellite Service | | Validation replay | Exercise runtime through public interfaces | Validation harness, all runtime components | See `system-flows.md` for full diagrams and details. @@ -74,9 +74,9 @@ See `risk_mitigations.md` for the full register. | Camera Ingest And Calibration | 3 | 1 | 1 | 2 | 7 ACs | | BASALT VIO Adapter | 4 | 1 | 1 | 1 | 8 ACs | | Safety And Anchor Wrapper | 7 | 1 | 1 | 3 | 15 ACs | -| Satellite Retrieval | 4 | 2 | 1 | 1 | 10 ACs | +| Satellite Service | 4 | 2 | 1 | 1 | 10 ACs | | Anchor Verification | 2 | 1 | 2 | 1 | 9 ACs | -| Cache And Tile Lifecycle | 4 | 1 | 3 | 1 | 10 ACs | +| Tile Manager | 4 | 1 | 3 | 1 | 10 ACs | | MAVLink And GCS Integration | 6 | 2 | 1 | 1 | 10 ACs | | FDR And Observability | 6 | 1 | 1 | 1 | 11 ACs | | Validation Harness | 9 | 2 | 1 | 2 | All AC groups | @@ -93,10 +93,10 @@ See `risk_mitigations.md` for the full register. | 3 | AZ-208: Cross-Cutting: Runtime Configuration And Errors | Shared helper | S-M / 3-5 pts | AZ-206 | | 4 | AZ-209: Camera Ingest And Calibration | Component 01 | M / 5-8 pts | AZ-206, AZ-207, AZ-208 | | 5 | AZ-210: MAVLink And GCS Integration | Component 07 | M / 5-8 pts | AZ-206, AZ-208 | -| 6 | AZ-211: Cache And Tile Lifecycle | Component 06 | L / 8-13 pts | AZ-206, AZ-207, AZ-208 | +| 6 | AZ-211: Tile Manager | Component 06 | L / 8-13 pts | AZ-206, AZ-207, AZ-208 | | 7 | AZ-212: FDR And Observability | Component 08 | M-L / 5-8 pts | AZ-206, AZ-208 | | 8 | AZ-213: BASALT VIO Adapter | Component 02 | L / 8-13 pts | AZ-209, AZ-210 | -| 9 | AZ-214: Satellite Retrieval | Component 04 | L / 8-13 pts | AZ-209, AZ-211 | +| 9 | AZ-214: Satellite Service | Component 04 | L / 8-13 pts | AZ-209, AZ-211 | | 10 | AZ-215: Anchor Verification | Component 05 | L / 8-13 pts | AZ-214, AZ-209, AZ-211 | | 11 | AZ-216: Safety And Anchor Wrapper | Component 03 | XL / 13-21 pts | AZ-209, AZ-210, AZ-213, AZ-215 | | 12 | AZ-217: Validation Harness | Component 09 | L / 8-13 pts | Component epics | diff --git a/_docs/02_document/architecture.md b/_docs/02_document/architecture.md index 3242eaf..ca66d9c 100644 --- a/_docs/02_document/architecture.md +++ b/_docs/02_document/architecture.md @@ -9,16 +9,16 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl - Camera ingest/calibration: load frames, apply intrinsics/extrinsics, validate image quality. - BASALT VIO adapter: produce relative camera+IMU motion from synchronized nav frames and FC IMU. - Safety/anchor wrapper: own covariance calibration, source labels, degraded modes, anchor fusion, and `GPS_INPUT`. -- Satellite retrieval: retrieve VPR chunks from offline descriptor indexes. +- Satellite Service: sync mission cache packages before flight, upload generated-tile packages after flight, and serve local VPR candidate retrieval from the offline cache. - Anchor verification: run local matching/RANSAC and reject unsafe anchors. -- Cache/tile lifecycle: manage COGs, manifests, freshness, generated tiles, and sync metadata. +- Tile Manager: manage COGs, manifests, freshness/provenance, orthorectified generated tiles, and local tile metadata. - MAVLink/GCS integration: consume FC telemetry and emit `GPS_INPUT`/QGC status. - FDR/observability: record replayable mission evidence under storage caps. - Validation harness: run still-image, public dataset, SITL, Jetson, and representative replay tests. ### Principles / Non-Negotiables -- No in-flight satellite-provider calls; runtime uses offline cache only. +- No in-flight satellite-provider or Satellite Service calls; runtime uses offline cache only. - BASALT is a VIO component, not the safety authority. - Confidence must be honest; covariance must grow in degraded modes. - Heavy VPR/local matching is trigger-based, not per-frame. @@ -42,7 +42,7 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl |--------|------------------|-----------|---------| | ArduPilot Plane FC | MAVLink | Inbound/Outbound | FC telemetry in, `GPS_INPUT` and status out | | QGroundControl | MAVLink telemetry | Outbound | Downsampled operator status and failsafe messages | -| Azaion Suite Satellite Service | Offline file/cache sync | Inbound before flight, outbound after landing | Provides cache and receives generated tiles | +| Azaion Suite Satellite Service | Offline file/cache sync | Inbound before flight, outbound after landing | Provides mission cache packages and receives generated-tile packages; never called mid-flight | | Public/replay datasets | File/rosbag/fixture | Inbound to validation | De-risk BASALT, VPR, and anchor logic | ## 2. Technology Stack @@ -99,10 +99,10 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl | TelemetrySample | FC IMU, attitude, airspeed, altitude, GPS health | MAVLink/GCS integration | | VioState | BASALT-relative pose/velocity/bias output and quality metadata | BASALT VIO adapter | | PositionEstimate | WGS84 estimate, covariance, source label, fix type, anchor age | Safety/anchor wrapper | -| VprChunk | Retrieval unit over cache imagery and descriptors | Satellite retrieval | +| VprChunk | Retrieval unit over cache imagery and descriptors | Satellite Service | | AnchorCandidate | Retrieved tile/chunk with local-match and RANSAC evidence | Anchor verification | -| CacheTile | COG tile plus manifest and sidecar metadata | Cache/tile lifecycle | -| GeneratedTile | In-flight orthorectified tile with trust/provenance metadata | Cache/tile lifecycle | +| CacheTile | COG tile plus manifest and sidecar metadata | Tile Manager | +| GeneratedTile | In-flight orthorectified tile with trust/provenance metadata | Tile Manager | | FdrSegment | Bounded replayable log segment | FDR/observability | **Data flow summary**: @@ -120,8 +120,8 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl | Camera ingest/calibration | BASALT VIO adapter | In-process queue or shared frame bus | Streaming | Timestamp discipline is critical | | MAVLink telemetry | BASALT VIO adapter | In-process telemetry buffer | Streaming | IMU/attitude/altitude sync | | BASALT VIO adapter | Safety/anchor wrapper | Typed state messages | Streaming | Wrapper calibrates confidence | -| Safety/anchor wrapper | Satellite retrieval | Command | Triggered request | Only on relocalization conditions | -| Satellite retrieval | Anchor verification | Candidate list | Request-response | Dynamic top-K | +| Safety/anchor wrapper | Satellite Service | Command | Triggered local request | Uses only preloaded cache/index data during flight | +| Satellite Service | Anchor verification | Candidate list | Request-response | Dynamic top-K | | Anchor verification | Safety/anchor wrapper | Anchor decision | Request-response | Includes MRE/inliers/provenance | | Safety/anchor wrapper | MAVLink/GCS integration | Position/status DTO | Streaming | `GPS_INPUT` emitted frame-by-frame | | Safety/anchor wrapper | FDR/observability | Append-only events | Streaming | Bounded segments | @@ -132,7 +132,7 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl |-----------------|----------|------|--------------| | ArduPilot Plane | MAVLink | Source/system ID allowlist | Degrade/failsafe; never trust spoofed GPS blindly | | QGroundControl | MAVLink | FC telemetry path | Downsampled status may be delayed but local FDR remains authoritative | -| Satellite Service | Offline cache files | Signed manifests/sidecars | Missing/stale cache causes degraded mode, not network fetch | +| Azaion Suite Satellite Service | Offline package sync | Signed manifests/sidecars | Missing/stale cache causes degraded mode, not mid-flight network fetch | | Public datasets | File/rosbag | License constraints | Not final acceptance unless representative and license-compatible | ## 6. Non-Functional Requirements @@ -157,7 +157,7 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl **Data protection**: - At rest: FDR and cache sidecars should be integrity protected; mission secrets/signing keys are not stored in code. -- In transit: no in-flight satellite-provider network dependency; MAVLink link security depends on FC/GCS deployment. +- In transit: no in-flight satellite-provider or Satellite Service network dependency; MAVLink link security depends on FC/GCS deployment. **Audit logging**: @@ -204,7 +204,7 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl 1. JSON-only manifest — simpler, but weak for query/update scale, spatial search, and consistency. 2. Embedded single-file metadata DB — efficient for small deployments, but rejected because the project will use PostgreSQL/PostGIS. -**Consequences**: The cache lifecycle component owns PostgreSQL migrations, PostGIS indexes, signature checks, and sidecar/db consistency. +**Consequences**: The Tile Manager owns PostgreSQL migrations, PostGIS indexes, signature checks, generated-tile orthorectification metadata, and sidecar/db consistency. ### ADR-004: FDR Format @@ -234,7 +234,7 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl ### ADR-005: Public Dataset Strategy -**Context**: Current project sample data lacks synchronized IMU and ground-truth trajectory. +**Context**: The original still-image sample lacks synchronized IMU and ground-truth trajectory. The Derkachi fixture adds cropped nadir video synchronized with IMU and `GLOBAL_POSITION_INT` trajectory, but camera intrinsics, distortion, and camera-to-body calibration remain pending. **Decision**: Prioritize MUN-FRL for synchronized nadir camera + IMU + GNSS/ground truth; use ALTO for aerial localization/VPR and long nadir trajectories; investigate Kagaru/EPFL for fixed-wing/farmland relevance; use EuRoC/UZH FPV only as VIO proxies if license-compatible. diff --git a/_docs/02_document/common-helpers/01_helper_geo_geometry.md b/_docs/02_document/common-helpers/01_helper_geo_geometry.md index 5a01f7d..6dea55e 100644 --- a/_docs/02_document/common-helpers/01_helper_geo_geometry.md +++ b/_docs/02_document/common-helpers/01_helper_geo_geometry.md @@ -2,7 +2,7 @@ ## Purpose -Shared geospatial and camera-geometry utilities used by camera ingest, safety wrapper, cache lifecycle, anchor verification, and validation. +Shared geospatial and camera-geometry utilities used by camera ingest, safety wrapper, Tile Manager, anchor verification, and validation. ## Responsibilities @@ -26,5 +26,5 @@ Shared geospatial and camera-geometry utilities used by camera ingest, safety wr | Camera ingest/calibration | Footprint and calibration sanity checks | | Safety/anchor wrapper | Distance/covariance/unit conversion | | Anchor verification | Pixel-to-ground error reporting | -| Cache/tile lifecycle | Tile footprint metadata | +| Tile Manager | Tile footprint metadata | | Validation harness | Error thresholds and reports | diff --git a/_docs/02_document/components/01_camera_ingest_calibration/description.md b/_docs/02_document/components/01_camera_ingest_calibration/description.md index 7649dd2..2350ca7 100644 --- a/_docs/02_document/components/01_camera_ingest_calibration/description.md +++ b/_docs/02_document/components/01_camera_ingest_calibration/description.md @@ -8,7 +8,7 @@ **Upstream dependencies**: Navigation camera, camera calibration files. -**Downstream consumers**: BASALT VIO adapter, satellite retrieval, anchor verification, cache/tile lifecycle, FDR. +**Downstream consumers**: BASALT VIO adapter, Satellite Service, anchor verification, Tile Manager, FDR. ## 2. Internal Interfaces @@ -82,7 +82,7 @@ ImageQualityReport: | Helper | Purpose | Used By | |--------|---------|---------| -| `geo_geometry_helper` | Coordinate transforms, GSD, WGS84/local conversions | Camera ingest, safety wrapper, cache lifecycle | +| `geo_geometry_helper` | Coordinate transforms, GSD, WGS84/local conversions | Camera ingest, safety wrapper, Tile Manager | ## 6. Caveats & Edge Cases @@ -98,7 +98,7 @@ ImageQualityReport: **Must be implemented after**: none. -**Can be implemented in parallel with**: cache/tile lifecycle, MAVLink/GCS integration. +**Can be implemented in parallel with**: Tile Manager, MAVLink/GCS integration. **Blocks**: BASALT VIO adapter, anchor verification, generated tile lifecycle. diff --git a/_docs/02_document/components/01_camera_ingest_calibration/tests.md b/_docs/02_document/components/01_camera_ingest_calibration/tests.md index b98d0a3..008b847 100644 --- a/_docs/02_document/components/01_camera_ingest_calibration/tests.md +++ b/_docs/02_document/components/01_camera_ingest_calibration/tests.md @@ -58,7 +58,7 @@ **Max execution time**: 100 ms per frame. -**Dependencies**: Cache lifecycle test double. +**Dependencies**: Tile Manager test double. ## Performance Tests diff --git a/_docs/02_document/components/02_basalt_vio_adapter/description.md b/_docs/02_document/components/02_basalt_vio_adapter/description.md index eb04d26..c215fdd 100644 --- a/_docs/02_document/components/02_basalt_vio_adapter/description.md +++ b/_docs/02_document/components/02_basalt_vio_adapter/description.md @@ -75,7 +75,7 @@ No persistent production data ownership. Reads calibration/config at startup and **Must be implemented after**: Camera ingest/calibration, MAVLink telemetry DTO definitions. -**Can be implemented in parallel with**: satellite retrieval, cache lifecycle. +**Can be implemented in parallel with**: Satellite Service, Tile Manager. **Blocks**: Safety/anchor wrapper final integration. diff --git a/_docs/02_document/components/02_basalt_vio_adapter/tests.md b/_docs/02_document/components/02_basalt_vio_adapter/tests.md index 63dc625..5ab4cf5 100644 --- a/_docs/02_document/components/02_basalt_vio_adapter/tests.md +++ b/_docs/02_document/components/02_basalt_vio_adapter/tests.md @@ -21,9 +21,9 @@ **Traces to**: AC-2.1a, AC-2.2 -**Input data**: MUN-FRL preferred slice, or representative synchronized nav-camera + IMU + ground truth. +**Input data**: Derkachi cropped nadir video + `SCALED_IMU2` + `GLOBAL_POSITION_INT`, MUN-FRL preferred slice, or representative synchronized nav-camera + IMU + ground truth. -**Expected result**: VO registration succeeds for >95% of normal usable frames; frame-to-frame MRE <1.0 px where ground-truth/feature evaluation supports it. +**Expected result**: VO registration succeeds for >95% of normal usable frames; frame-to-frame MRE <1.0 px where ground-truth/feature evaluation supports it. Derkachi runs are accepted as calibration-limited until intrinsics, distortion, and camera-to-body transform are pinned. **Max execution time**: Dataset-dependent; report per-frame latency. @@ -82,7 +82,7 @@ **Traces to**: AC-4.1, AC-4.2 **Load scenario**: -- Input: synchronized public/representative replay. +- Input: Derkachi synchronized replay and public/representative replay. - Duration: 30 minutes plus release long-run slice. - Target: Jetson Orin Nano Super. @@ -130,8 +130,9 @@ | Data Set | Description | Source | Size | |----------|-------------|--------|------| +| `derkachi_video_telemetry` | Cropped nadir MP4 + synchronized IMU and `GLOBAL_POSITION_INT` trajectory | Project fixture | ~282 MB video + CSV | | `public_nadir_vio_candidates` | MUN-FRL/ALTO/Kagaru/EPFL slices | Public pinned fixtures | Dataset-dependent | -| `representative_sync_replay` | Target camera + FC IMU + ground truth | Project collection | TBD | +| `representative_sync_replay` | Target camera + FC IMU + calibrated ground truth | Project collection | TBD | **Setup procedure**: Pin calibration/extrinsics and mount read-only synchronized replay data. diff --git a/_docs/02_document/components/03_safety_anchor_wrapper/description.md b/_docs/02_document/components/03_safety_anchor_wrapper/description.md index 1d790b2..a955dd7 100644 --- a/_docs/02_document/components/03_safety_anchor_wrapper/description.md +++ b/_docs/02_document/components/03_safety_anchor_wrapper/description.md @@ -8,7 +8,7 @@ **Upstream dependencies**: BASALT VIO adapter, anchor verification, MAVLink telemetry, camera quality reports. -**Downstream consumers**: MAVLink/GCS integration, FDR, cache/tile lifecycle, validation harness. +**Downstream consumers**: MAVLink/GCS integration, FDR, Tile Manager, validation harness. ## 2. Internal Interfaces @@ -73,7 +73,7 @@ No direct tile/image storage ownership. Writes all decisions to FDR via observab - Never emit optimistic accuracy when confidence is degraded. - On total occlusion or visual blackout, do not call VIO for that frame; propagate from the last trusted state with IMU-only dynamics, set `source_label=dead_reckoned`, and grow covariance monotonically. - If covariance or blackout thresholds exceed AC limits, emit no-fix/failsafe semantics. -- Treat cache freshness and provenance as evidence carried by `AnchorDecision`; do not call the cache lifecycle component directly during anchor acceptance. +- Treat cache freshness and provenance as evidence carried by `AnchorDecision`; do not call the Tile Manager directly during anchor acceptance. ## 5. Caveats & Edge Cases diff --git a/_docs/02_document/components/04_satellite_retrieval/description.md b/_docs/02_document/components/04_satellite_retrieval/description.md index e6282c2..504a134 100644 --- a/_docs/02_document/components/04_satellite_retrieval/description.md +++ b/_docs/02_document/components/04_satellite_retrieval/description.md @@ -1,21 +1,23 @@ -# Satellite Retrieval +# Satellite Service ## 1. High-Level Overview -**Purpose**: Convert a query frame and prior state into ranked satellite/cache VPR chunk candidates using DINOv2-VLAD descriptors and FAISS. +**Purpose**: Own the onboard boundary to the suite Satellite Service: import pre-flight mission cache packages, upload generated-tile packages after flight, and convert query frames into ranked local VPR candidates using preloaded DINOv2-VLAD descriptors and FAISS. -**Architectural Pattern**: Query service / retrieval index adapter. +**Architectural Pattern**: Offline sync gateway + local retrieval index adapter. -**Upstream dependencies**: Camera ingest/calibration, cache/tile lifecycle, safety/anchor wrapper. +**Upstream dependencies**: Camera ingest/calibration, Tile Manager, safety/anchor wrapper, Azaion Suite Satellite Service before/after flight. **Downstream consumers**: Anchor verification, FDR. ## 2. Internal Interfaces -### Interface: `CandidateRetriever` +### Interface: `SatelliteService` | Method | Input | Output | Async | Error Types | |--------|-------|--------|-------|-------------| +| `import_mission_cache` | `CacheImportRequest` | `CacheImportResult` | Yes | `SyncUnavailable`, `PackageInvalid` | +| `upload_generated_tiles` | `GeneratedTileUploadRequest` | `GeneratedTileUploadResult` | Yes | `SyncUnavailable`, `PackageRejected` | | `retrieve` | `RetrievalRequest` | `RetrievalResult` | Yes | `IndexUnavailable`, `DescriptorFailed` | | `load_index` | `IndexLoadRequest` | `IndexStatus` | No | `ManifestInvalid`, `IndexUnavailable` | @@ -49,11 +51,12 @@ VprCandidate: | Query | Frequency | Hot Path | Index Needed | |-------|-----------|----------|--------------| | Top-K FAISS search | Triggered only | No steady-state | FAISS index | +| Import/export package sync | Pre-flight / post-flight only | No mid-flight | Package manifest and sidecar hashes | | Load chunk metadata | Per candidate | No | PostgreSQL/PostGIS spatial and chunk indexes | ## 4. Implementation Details -**State Management**: Holds loaded descriptor model and FAISS index handles. +**State Management**: Holds loaded descriptor model and FAISS index handles; tracks pre-flight import and post-flight upload package status. **Key Dependencies**: @@ -61,16 +64,19 @@ VprCandidate: |---------|---------| | DINOv2 / ONNX / TensorRT candidate path | Query descriptor extraction | | FAISS CPU | Top-K retrieval | +| Satellite Service client | Pre-flight cache import and post-flight generated-tile upload | **Error Handling Strategy**: - If descriptor extraction or index load fails, return no candidates and trigger degraded mode. - Optimized engines are allowed only after descriptor-fidelity tests pass. +- Network/package sync failures are allowed only before takeoff or after landing; during flight, the component must never call a satellite provider or suite service. ## 5. Caveats & Edge Cases **Known limitations**: - VPR result is only a candidate, never an accepted fix. - Cross-domain retrieval can be wrong under seasonal, lighting, or terrain ambiguity. +- External Satellite Service availability cannot be part of the mid-flight localization safety case. **Performance bottlenecks**: - Descriptor extraction on Jetson must be trigger-limited and profiled separately from BASALT. diff --git a/_docs/02_document/components/04_satellite_retrieval/tests.md b/_docs/02_document/components/04_satellite_retrieval/tests.md index 21cf1f8..58f7a6c 100644 --- a/_docs/02_document/components/04_satellite_retrieval/tests.md +++ b/_docs/02_document/components/04_satellite_retrieval/tests.md @@ -1,4 +1,4 @@ -# Test Specification — Satellite Retrieval +# Test Specification — Satellite Service ## Acceptance Criteria Traceability @@ -31,7 +31,7 @@ --- -### IT-02: Sharp-Turn Retrieval Trigger +### IT-02: Sharp-Turn Local Retrieval Trigger **Summary**: Verify sharp-turn state requests candidates rather than relying on frame-to-frame VO. @@ -39,7 +39,7 @@ **Input data**: Wrapper relocalization request with sharp-turn/loss reason. -**Expected result**: Retrieval returns bounded top-K candidates based on sector/covariance policy. +**Expected result**: Satellite Service returns bounded top-K candidates from preloaded local indexes based on sector/covariance policy. **Max execution time**: 2 seconds per query. @@ -126,6 +126,25 @@ **Pass criteria**: 0 stale candidates without explicit stale/down-confidence metadata. +--- + +### ST-02: No Mid-Flight Satellite Service Calls + +**Summary**: Verify relocalization never performs satellite-provider or suite Satellite Service network calls during flight. + +**Traces to**: AC-8.3, R-SAT-01 + +**Attack vector**: Runtime attempts to fetch missing cache/index data over the network during relocalization. + +**Test procedure**: +1. Disable external network access during a replay scenario. +2. Trigger relocalization against preloaded cache fixtures. +3. Inspect network call logs and Satellite Service client telemetry. + +**Expected behavior**: Retrieval uses only mounted local cache/index data; missing data produces degraded/no-candidate behavior, not a network fetch. + +**Pass criteria**: 0 mid-flight Satellite Service or satellite-provider calls. + ## Acceptance Tests ### AT-01: Relocalization Candidate Returned diff --git a/_docs/02_document/components/05_anchor_verification/description.md b/_docs/02_document/components/05_anchor_verification/description.md index a9b53a7..b4492c3 100644 --- a/_docs/02_document/components/05_anchor_verification/description.md +++ b/_docs/02_document/components/05_anchor_verification/description.md @@ -6,7 +6,7 @@ **Architectural Pattern**: Validation pipeline. -**Upstream dependencies**: Satellite retrieval, camera ingest/calibration, cache/tile lifecycle. +**Upstream dependencies**: Satellite Service, camera ingest/calibration, Tile Manager. **Downstream consumers**: Safety/anchor wrapper, FDR. @@ -74,7 +74,7 @@ AnchorDecision: ## 6. Dependency Graph -**Must be implemented after**: satellite retrieval candidate DTOs, cache tile access. +**Must be implemented after**: Satellite Service candidate DTOs, Tile Manager tile access. **Can be implemented in parallel with**: BASALT VIO adapter. diff --git a/_docs/02_document/components/06_cache_tile_lifecycle/description.md b/_docs/02_document/components/06_cache_tile_lifecycle/description.md index 5d300dc..030bced 100644 --- a/_docs/02_document/components/06_cache_tile_lifecycle/description.md +++ b/_docs/02_document/components/06_cache_tile_lifecycle/description.md @@ -1,23 +1,24 @@ -# Cache And Tile Lifecycle +# Tile Manager ## 1. High-Level Overview -**Purpose**: Manage offline service-source tiles, manifests, descriptor metadata, freshness/provenance checks, generated tile writes, and post-flight sync packaging. +**Purpose**: Manage local tiles: service-source COGs, manifests, descriptor metadata, freshness/provenance checks, nadir-image orthorectification into generated tiles, generated tile writes, and post-flight package preparation. **Architectural Pattern**: Repository + policy gate. **Upstream dependencies**: Satellite Service cache packages, safety/anchor wrapper, camera ingest/calibration. -**Downstream consumers**: Satellite retrieval, anchor verification, FDR, post-flight sync. +**Downstream consumers**: Satellite Service, anchor verification, FDR, post-flight sync. ## 2. Internal Interfaces -### Interface: `CacheRepository` +### Interface: `TileManager` | Method | Input | Output | Async | Error Types | |--------|-------|--------|-------|-------------| | `validate_cache` | `CacheValidationRequest` | `CacheValidationReport` | No | `ManifestInvalid`, `SignatureInvalid` | | `get_tile_window` | `TileWindowRequest` | `TileWindow` | No | `TileUnavailable`, `TileRejected` | +| `orthorectify_frame` | `TileGenerationRequest` | `GeneratedTileCandidate` | Yes | `TileWriteRejected`, `FrameNotUsable` | | `write_generated_tile` | `GeneratedTileRequest` | `GeneratedTileRecord` | Yes | `TileWriteRejected`, `StorageFull` | | `package_sync` | `SyncPackageRequest` | `SyncPackage` | Yes | `PackageFailed` | @@ -26,7 +27,7 @@ | Query | Frequency | Hot Path | Index Needed | |-------|-----------|----------|--------------| | Tile by footprint/time/freshness | Per retrieval/anchor | Yes during relocalization | Spatial/time indexes | -| Descriptor metadata by chunk | Per retrieval | Yes during relocalization | Chunk ID index | +| Descriptor metadata by chunk | Per Satellite Service retrieval | Yes during relocalization | Chunk ID index | | Generated tile by mission/sector | Post-flight | No | Mission ID index | ### Caching Strategy @@ -53,6 +54,7 @@ |---------|---------| | PostgreSQL + PostGIS | Manifest, spatial metadata, freshness queries, and generated-tile metadata | | GDAL/rasterio candidate | COG read/write | +| OpenCV/GDAL geometry utilities | Nadir-frame orthorectification into generated COG tiles | | Cryptographic hash/signature library | Sidecar validation | **Error Handling Strategy**: @@ -75,7 +77,7 @@ **Can be implemented in parallel with**: camera ingest, MAVLink integration. -**Blocks**: satellite retrieval, anchor verification, generated tile lifecycle. +**Blocks**: Satellite Service retrieval, anchor verification, generated tile lifecycle. ## 7. Logging Strategy diff --git a/_docs/02_document/components/06_cache_tile_lifecycle/tests.md b/_docs/02_document/components/06_cache_tile_lifecycle/tests.md index 22c8c6e..c35821f 100644 --- a/_docs/02_document/components/06_cache_tile_lifecycle/tests.md +++ b/_docs/02_document/components/06_cache_tile_lifecycle/tests.md @@ -1,4 +1,4 @@ -# Test Specification — Cache And Tile Lifecycle +# Test Specification — Tile Manager ## Acceptance Criteria Traceability @@ -47,7 +47,7 @@ ### IT-03: Generated Tile Write -**Summary**: Verify generated tiles are written only when pose and frame quality gates pass. +**Summary**: Verify nadir frames are orthorectified and written as generated tiles only when pose and frame quality gates pass. **Traces to**: AC-8.4 @@ -111,7 +111,7 @@ ### ST-02: Raw Frame Persistence Check -**Summary**: Verify cache lifecycle persists tiles, not raw frames. +**Summary**: Verify Tile Manager persists tiles, not raw frames. **Traces to**: AC-8.5 @@ -149,7 +149,7 @@ | Step | Action | Expected Result | |------|--------|-----------------| -| 1 | Write generated candidate tile | COG + sidecar + PostGIS manifest row created | +| 1 | Orthorectify and write generated candidate tile | COG + sidecar + PostGIS manifest row created | | 2 | Package post-flight sync | Manifest delta includes trust level and parent covariance | | 3 | Inspect package | No tile is marked trusted basemap by onboard runtime | diff --git a/_docs/02_document/components/07_mavlink_gcs_integration/description.md b/_docs/02_document/components/07_mavlink_gcs_integration/description.md index 144195b..f71d5bc 100644 --- a/_docs/02_document/components/07_mavlink_gcs_integration/description.md +++ b/_docs/02_document/components/07_mavlink_gcs_integration/description.md @@ -52,7 +52,7 @@ No persistent data ownership; telemetry and emitted packets are mirrored to FDR. **Must be implemented after**: position estimate DTO and MAVLink output contract. -**Can be implemented in parallel with**: cache lifecycle, camera ingest. +**Can be implemented in parallel with**: Tile Manager, camera ingest. **Blocks**: SITL integration and production FC output. diff --git a/_docs/02_document/components/09_validation_harness/tests.md b/_docs/02_document/components/09_validation_harness/tests.md index 324112e..cdabb5a 100644 --- a/_docs/02_document/components/09_validation_harness/tests.md +++ b/_docs/02_document/components/09_validation_harness/tests.md @@ -30,15 +30,15 @@ --- -### IT-02: Public VIO Replay Runner +### IT-02: Synchronized VIO Replay Runner -**Summary**: Verify public/representative synchronized data can drive BASALT/wrapper tests. +**Summary**: Verify Derkachi and public/representative synchronized data can drive BASALT/wrapper tests. **Traces to**: AC-1.3, AC-2.1a, AC-2.2 -**Input data**: MUN-FRL preferred slice or representative synchronized dataset. +**Input data**: Derkachi cropped nadir video + telemetry fixture, MUN-FRL preferred slice, or representative synchronized dataset. -**Expected result**: Runner validates trajectory, VIO registration, latency, and covariance calibration. +**Expected result**: Runner validates fixture alignment, trajectory comparison, VIO registration, latency, and covariance calibration where calibration data supports it. **Max execution time**: Dataset-dependent. @@ -128,7 +128,7 @@ --- -### IT-09: Cache And Tile Lifecycle Runner +### IT-09: Tile Manager Runner **Summary**: Verify cache, generated tiles, and storage tests are executable. diff --git a/_docs/02_document/data_model.md b/_docs/02_document/data_model.md index e2907bf..c4b1e71 100644 --- a/_docs/02_document/data_model.md +++ b/_docs/02_document/data_model.md @@ -8,16 +8,16 @@ This model defines system-level runtime, cache, telemetry, and validation data. | Entity | Purpose | Storage / Transport | Owner | |--------|---------|---------------------|-------| -| MissionProfile | Operational area, sector type, route shape, altitude band, cache budget | Mission config file | Cache/tile lifecycle | +| MissionProfile | Operational area, sector type, route shape, altitude band, cache budget | Mission config file | Tile Manager | | CameraCalibration | Intrinsics, distortion, lens, fixed extrinsics, capture settings | Versioned calibration file | Camera ingest/calibration | | FrameRecord | Per-frame metadata, timestamp, total-occlusion/blackout state, image quality, processing status | PostgreSQL/FDR event; replay fixture | Camera ingest/calibration | | TelemetrySample | FC IMU, attitude, altitude, airspeed, GPS health | MAVLink stream; FDR event | MAVLink/GCS integration | | VioState | BASALT relative state, velocity, bias, tracking quality | Internal DTO; FDR event | BASALT VIO adapter | | PositionEstimate | WGS84 output, covariance, source label, anchor age, fix type | MAVLink DTO; FDR event | Safety/anchor wrapper | -| VprChunk | Retrieval footprint and descriptor metadata | PostgreSQL/PostGIS manifest + descriptor files | Satellite retrieval | +| VprChunk | Retrieval footprint and descriptor metadata | PostgreSQL/PostGIS manifest + descriptor files | Satellite Service | | AnchorCandidate | Top-K retrieval result and local verification metrics | Internal DTO; FDR event | Anchor verification | -| CacheTile | Service-source or generated COG tile metadata | PostgreSQL/PostGIS manifest + signed JSON sidecar | Cache/tile lifecycle | -| GeneratedTile | In-flight tile candidate with trust/provenance metadata | COG + sidecar + FDR event | Cache/tile lifecycle | +| CacheTile | Service-source or generated COG tile metadata | PostgreSQL/PostGIS manifest + signed JSON sidecar | Tile Manager | +| GeneratedTile | In-flight tile candidate with trust/provenance metadata | COG + sidecar + FDR event | Tile Manager | | FdrSegment | Bounded append-only mission evidence segment | PostgreSQL event index + CBOR segment payloads | FDR/observability | | ValidationRun | Replay/test run metadata and outcomes | CSV/Markdown/test artifacts | Validation harness | diff --git a/_docs/02_document/diagrams/component_overview.md b/_docs/02_document/diagrams/component_overview.md index 39fa5ea..8aed796 100644 --- a/_docs/02_document/diagrams/component_overview.md +++ b/_docs/02_document/diagrams/component_overview.md @@ -5,16 +5,16 @@ flowchart LR camera[01 Camera Ingest And Calibration] vio[02 BASALT VIO Adapter] wrapper[03 Safety And Anchor Wrapper] - retrieval[04 Satellite Retrieval] + retrieval[04 Satellite Service] verify[05 Anchor Verification] - cache[06 Cache And Tile Lifecycle] + cache[06 Tile Manager] mav[07 MAVLink And GCS Integration] fdr[08 FDR And Observability] tests[09 Validation Harness] navCam[[Nav Camera]] --> camera fc[[ArduPilot Plane FC]] --> mav - satSvc[[Satellite Service]] --> cache + satSvc[[Azaion Suite Satellite Service]] --> retrieval datasets[[Replay/Public Datasets]] --> tests camera --> vio @@ -42,5 +42,5 @@ flowchart LR tests --> cache mav --> qgc[[QGroundControl]] mav --> fc - cache --> satSvc + retrieval --> satSvc ``` diff --git a/_docs/02_document/diagrams/flows/flow_cache_tile_lifecycle.md b/_docs/02_document/diagrams/flows/flow_cache_tile_lifecycle.md index b4bf0af..566e2a6 100644 --- a/_docs/02_document/diagrams/flows/flow_cache_tile_lifecycle.md +++ b/_docs/02_document/diagrams/flows/flow_cache_tile_lifecycle.md @@ -1,18 +1,18 @@ -# Flow: Cache And Generated Tile Lifecycle +# Flow: Tile Manager And Generated Tile Lifecycle ```mermaid flowchart TD - preflight([Pre-flight cache sync]) --> validate[06 Validate manifest signatures hashes freshness] + preflight([Pre-flight Satellite Service sync]) --> validate[06 Tile Manager validates manifest signatures hashes freshness] validate --> cacheOk{Cache valid?} cacheOk -->|No| block[Block cache usage and report] - cacheOk -->|Yes| load[04 Load descriptor metadata and FAISS index] + cacheOk -->|Yes| load[04 Satellite Service loads local descriptor metadata and FAISS index] load --> flight([Flight runtime]) flight --> eligibility[03 Tile write eligibility check] eligibility --> eligible{Covariance and quality pass?} eligible -->|No| noWrite[Do not write generated tile] - eligible -->|Yes| write[06 Write COG + signed JSON sidecar] + eligible -->|Yes| write[06 Orthorectify frame and write COG + signed JSON sidecar] write --> fdr[08 Record tile-write audit] fdr --> postflight([Post-flight]) postflight --> package[06 Package generated tiles + manifest delta] - package --> sync[[Satellite Service ingest]] + package --> sync[[Post-flight Satellite Service upload]] ``` diff --git a/_docs/02_document/epics.md b/_docs/02_document/epics.md index 0d4baab..8411be2 100644 --- a/_docs/02_document/epics.md +++ b/_docs/02_document/epics.md @@ -15,10 +15,10 @@ | 3 | AZ-208 | Cross-Cutting: Runtime Configuration And Errors | cross-cutting | AZ-206 | S-M / 3-5 pts | | 4 | AZ-209 | Camera Ingest And Calibration | component | AZ-206, AZ-207, AZ-208 | M / 5-8 pts | | 5 | AZ-210 | MAVLink And GCS Integration | component | AZ-206, AZ-208 | M / 5-8 pts | -| 6 | AZ-211 | Cache And Tile Lifecycle | component | AZ-206, AZ-207, AZ-208 | L / 8-13 pts | +| 6 | AZ-211 | Tile Manager | component | AZ-206, AZ-207, AZ-208 | L / 8-13 pts | | 7 | AZ-212 | FDR And Observability | component | AZ-206, AZ-208 | M-L / 5-8 pts | | 8 | AZ-213 | BASALT VIO Adapter | component | AZ-206, AZ-207, AZ-208, AZ-209, AZ-210 | L / 8-13 pts | -| 9 | AZ-214 | Satellite Retrieval | component | AZ-206, AZ-207, AZ-208, AZ-209, AZ-211 | L / 8-13 pts | +| 9 | AZ-214 | Satellite Service | component | AZ-206, AZ-207, AZ-208, AZ-209, AZ-211 | L / 8-13 pts | | 10 | AZ-215 | Anchor Verification | component | AZ-206, AZ-207, AZ-208, AZ-209, AZ-211, AZ-214 | L / 8-13 pts | | 11 | AZ-216 | Safety And Anchor Wrapper | component | AZ-206, AZ-207, AZ-208, AZ-209, AZ-210, AZ-213, AZ-215 | XL / 13-21 pts | | 12 | AZ-217 | Validation Harness | component | AZ-206, AZ-207, AZ-208, component epics | L / 8-13 pts | @@ -52,10 +52,10 @@ flowchart TD config[AZ-208 Runtime Configuration And Errors] camera[AZ-209 Camera Ingest] mavlink[AZ-210 MAVLink And GCS] - cache[AZ-211 Cache And Tile Lifecycle] + cache[AZ-211 Tile Manager] fdr[AZ-212 FDR And Observability] vio[AZ-213 BASALT VIO Adapter] - retrieval[AZ-214 Satellite Retrieval] + retrieval[AZ-214 Satellite Service] anchor[AZ-215 Anchor Verification] safety[AZ-216 Safety And Anchor Wrapper] validation[AZ-217 Validation Harness] @@ -117,10 +117,10 @@ flowchart TD - AZ-208 — Cross-Cutting: Runtime Configuration And Errors - AZ-209 — Camera Ingest And Calibration - AZ-210 — MAVLink And GCS Integration -- AZ-211 — Cache And Tile Lifecycle +- AZ-211 — Tile Manager - AZ-212 — FDR And Observability - AZ-213 — BASALT VIO Adapter -- AZ-214 — Satellite Retrieval +- AZ-214 — Satellite Service - AZ-215 — Anchor Verification - AZ-216 — Safety And Anchor Wrapper - AZ-217 — Validation Harness diff --git a/_docs/02_document/module-layout.md b/_docs/02_document/module-layout.md new file mode 100644 index 0000000..3dbad87 --- /dev/null +++ b/_docs/02_document/module-layout.md @@ -0,0 +1,245 @@ +# Module Layout + +**Language**: mixed (Python orchestration + C++ native vision bridges) +**Layout Convention**: src-layout +**Root**: `src/` +**Last Updated**: 2026-05-03 + +## Layout Rules + +1. Each product component owns one top-level directory under `src/`. +2. Shared contracts and cross-cutting helpers live under `src/shared/`. +3. Native hot-path or third-party bridge code lives under `src/native/` and is owned by the component that wraps it. +4. Public API surface per component is limited to `__init__.py`, `types.py`, and `interfaces.py` unless a component entry lists another public file. +5. Tests live under `tests/` by test type and component; implementation tasks must not place tests inside the component tree unless a later test task explicitly changes this layout. + +## Per-Component Mapping + +### Component: Camera Ingest And Calibration + +- **Epic**: AZ-209 +- **Directory**: `src/camera_ingest_calibration/` +- **Public API**: + - `src/camera_ingest_calibration/__init__.py` + - `src/camera_ingest_calibration/types.py` + - `src/camera_ingest_calibration/interfaces.py` +- **Internal (do NOT import from other components)**: + - `src/camera_ingest_calibration/internal/*` + - `src/camera_ingest_calibration/_*.py` +- **Owns (exclusive write during implementation)**: `src/camera_ingest_calibration/**` +- **Imports from**: shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry +- **Consumed by**: BASALT VIO Adapter, Satellite Service, Anchor Verification, Tile Manager, FDR And Observability, Validation Harness + +### Component: BASALT VIO Adapter + +- **Epic**: AZ-213 +- **Directory**: `src/basalt_vio_adapter/` +- **Native Directory**: `src/native/basalt_bridge/` +- **Public API**: + - `src/basalt_vio_adapter/__init__.py` + - `src/basalt_vio_adapter/types.py` + - `src/basalt_vio_adapter/interfaces.py` +- **Internal (do NOT import from other components)**: + - `src/basalt_vio_adapter/internal/*` + - `src/basalt_vio_adapter/_*.py` + - `src/native/basalt_bridge/**` +- **Owns (exclusive write during implementation)**: + - `src/basalt_vio_adapter/**` + - `src/native/basalt_bridge/**` +- **Imports from**: Camera Ingest And Calibration, MAVLink And GCS Integration, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry +- **Consumed by**: Safety And Anchor Wrapper, FDR And Observability, Validation Harness + +### Component: Safety And Anchor Wrapper + +- **Epic**: AZ-216 +- **Directory**: `src/safety_anchor_wrapper/` +- **Public API**: + - `src/safety_anchor_wrapper/__init__.py` + - `src/safety_anchor_wrapper/types.py` + - `src/safety_anchor_wrapper/interfaces.py` +- **Internal (do NOT import from other components)**: + - `src/safety_anchor_wrapper/internal/*` + - `src/safety_anchor_wrapper/_*.py` +- **Owns (exclusive write during implementation)**: `src/safety_anchor_wrapper/**` +- **Imports from**: BASALT VIO Adapter, Anchor Verification, MAVLink And GCS Integration, Camera Ingest And Calibration, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry +- **Consumed by**: MAVLink And GCS Integration, Tile Manager, FDR And Observability, Validation Harness + +### Component: Satellite Service + +- **Epic**: AZ-214 +- **Directory**: `src/satellite_service/` +- **Native Directory**: `src/native/tensor_rt/` +- **Public API**: + - `src/satellite_service/__init__.py` + - `src/satellite_service/types.py` + - `src/satellite_service/interfaces.py` +- **Internal (do NOT import from other components)**: + - `src/satellite_service/internal/*` + - `src/satellite_service/_*.py` + - `src/native/tensor_rt/**` +- **Owns (exclusive write during implementation)**: + - `src/satellite_service/**` + - `src/native/tensor_rt/**` +- **Imports from**: Camera Ingest And Calibration, Tile Manager, Safety And Anchor Wrapper, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry +- **Consumed by**: Anchor Verification, FDR And Observability, Validation Harness +- **Network invariant**: external Satellite Service sync is allowed only pre-flight or post-flight; no mid-flight satellite-provider or suite-service calls. + +### Component: Anchor Verification + +- **Epic**: AZ-215 +- **Directory**: `src/anchor_verification/` +- **Native Directory**: `src/native/feature_matching/` +- **Public API**: + - `src/anchor_verification/__init__.py` + - `src/anchor_verification/types.py` + - `src/anchor_verification/interfaces.py` +- **Internal (do NOT import from other components)**: + - `src/anchor_verification/internal/*` + - `src/anchor_verification/_*.py` + - `src/native/feature_matching/**` +- **Owns (exclusive write during implementation)**: + - `src/anchor_verification/**` + - `src/native/feature_matching/**` +- **Imports from**: Satellite Service, Camera Ingest And Calibration, Tile Manager, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry +- **Consumed by**: Safety And Anchor Wrapper, FDR And Observability, Validation Harness + +### Component: Tile Manager + +- **Epic**: AZ-211 +- **Directory**: `src/tile_manager/` +- **Public API**: + - `src/tile_manager/__init__.py` + - `src/tile_manager/types.py` + - `src/tile_manager/interfaces.py` +- **Internal (do NOT import from other components)**: + - `src/tile_manager/internal/*` + - `src/tile_manager/_*.py` +- **Owns (exclusive write during implementation)**: + - `src/tile_manager/**` + - `migrations/postgresql/cache_*.sql` + - `migrations/seed/cache_*` +- **Imports from**: Camera Ingest And Calibration, Safety And Anchor Wrapper, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry +- **Consumed by**: Satellite Service, Anchor Verification, FDR And Observability, Validation Harness + +### Component: MAVLink And GCS Integration + +- **Epic**: AZ-210 +- **Directory**: `src/mavlink_gcs_integration/` +- **Public API**: + - `src/mavlink_gcs_integration/__init__.py` + - `src/mavlink_gcs_integration/types.py` + - `src/mavlink_gcs_integration/interfaces.py` +- **Internal (do NOT import from other components)**: + - `src/mavlink_gcs_integration/internal/*` + - `src/mavlink_gcs_integration/_*.py` +- **Owns (exclusive write during implementation)**: `src/mavlink_gcs_integration/**` +- **Imports from**: Safety And Anchor Wrapper, shared/contracts, shared/time_sync, shared/config, shared/errors, shared/telemetry +- **Consumed by**: BASALT VIO Adapter, Safety And Anchor Wrapper, FDR And Observability, Validation Harness + +### Component: FDR And Observability + +- **Epic**: AZ-212 +- **Directory**: `src/fdr_observability/` +- **Public API**: + - `src/fdr_observability/__init__.py` + - `src/fdr_observability/types.py` + - `src/fdr_observability/interfaces.py` +- **Internal (do NOT import from other components)**: + - `src/fdr_observability/internal/*` + - `src/fdr_observability/_*.py` +- **Owns (exclusive write during implementation)**: + - `src/fdr_observability/**` + - `migrations/postgresql/fdr_*.sql` + - `migrations/seed/fdr_*` +- **Imports from**: shared/contracts, shared/time_sync, shared/config, shared/errors, shared/telemetry +- **Consumed by**: all runtime components, Validation Harness + +### Component: Validation Harness + +- **Epic**: AZ-217 +- **Directory**: `src/validation_harness/` +- **Public API**: + - `src/validation_harness/__init__.py` + - `src/validation_harness/types.py` + - `src/validation_harness/interfaces.py` +- **Internal (do NOT import from other components)**: + - `src/validation_harness/internal/*` + - `src/validation_harness/_*.py` +- **Owns (exclusive write during implementation)**: + - `src/validation_harness/**` + - `e2e/replay/**` + - `e2e/reports/**` +- **Imports from**: public runtime interfaces only, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry +- **Consumed by**: CI/CD pipeline and release evidence review + +## Shared / Cross-Cutting + +### shared/contracts + +- **Epic**: AZ-206 +- **Directory**: `src/shared/contracts/` +- **Purpose**: Shared DTOs, protocol shapes, schemas, and public contract exports. +- **Owned by**: initial structure and shared-contract tasks under AZ-206. +- **Consumed by**: all components. + +### shared/geo_geometry + +- **Epic**: AZ-207 +- **Directory**: `src/shared/geo_geometry/` +- **Purpose**: WGS84/local conversions, GSD, camera footprint projection, homography/covariance unit conversion, and distance calculations. +- **Owned by**: shared geometry task under AZ-207. +- **Consumed by**: Camera Ingest And Calibration, Safety And Anchor Wrapper, Anchor Verification, Tile Manager, Validation Harness. + +### shared/time_sync + +- **Epic**: AZ-207 +- **Directory**: `src/shared/time_sync/` +- **Purpose**: Monotonic timestamp checks, frame-to-IMU alignment, clock-domain metadata, replay ordering, and gap/jitter metrics. +- **Owned by**: time-sync task under AZ-207. +- **Consumed by**: Camera Ingest And Calibration, BASALT VIO Adapter, MAVLink And GCS Integration, FDR And Observability, Validation Harness. + +### shared/config + +- **Epic**: AZ-208 +- **Directory**: `src/shared/config/` +- **Purpose**: Runtime profile loading, environment validation, typed settings, and startup readiness inputs. +- **Owned by**: runtime configuration task under AZ-208. +- **Consumed by**: all runtime components and Validation Harness. + +### shared/errors + +- **Epic**: AZ-208 +- **Directory**: `src/shared/errors/` +- **Purpose**: Error categories, result envelopes, fail-fast helpers, and non-silent exception contracts. +- **Owned by**: runtime error contract task under AZ-208. +- **Consumed by**: all components. + +### shared/telemetry + +- **Epic**: AZ-208 +- **Directory**: `src/shared/telemetry/` +- **Purpose**: Structured logging, metrics labels, health event shapes, and FDR-safe event metadata helpers. +- **Owned by**: observability/config contract task under AZ-208. +- **Consumed by**: all components. + +## Allowed Dependencies (layering) + +Read top-to-bottom; an upper layer may import from a lower layer but never the reverse. + +| Layer | Components | May import from | +|-------|------------|-----------------| +| 5. Validation / Evidence | Validation Harness | 1, 2, 3, 4 public interfaces | +| 4. Runtime Output / Coordination | Safety And Anchor Wrapper, MAVLink And GCS Integration, FDR And Observability | 1, 2, 3 public interfaces | +| 3. Perception / Satellite Anchor | BASALT VIO Adapter, Satellite Service, Anchor Verification | 1, 2 public interfaces | +| 2. Data Ingest / Persistence | Camera Ingest And Calibration, Tile Manager | 1 | +| 1. Shared / Foundation | shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry | none | + +Violations of this table are Architecture findings in code-review Phase 7 and are High severity. + +## Self-Verification + +- Every component under `_docs/02_document/components/` has a mapping entry. +- Cross-cutting epics AZ-206, AZ-207, and AZ-208 have shared ownership entries. +- Layering covers all components and keeps shared code at the bottom. +- Component-owned paths do not overlap, except explicitly assigned native directories. +- Paths follow the project `src/` layout already confirmed by `AZ-219_initial_structure`. diff --git a/_docs/02_document/risk_mitigations.md b/_docs/02_document/risk_mitigations.md index 263cdcf..0430b92 100644 --- a/_docs/02_document/risk_mitigations.md +++ b/_docs/02_document/risk_mitigations.md @@ -4,12 +4,12 @@ | Check | Result | Notes | |-------|--------|-------| -| Single Responsibility | Pass | Components each own one primary concern: ingest, VIO, safety, retrieval, verification, cache, MAVLink, FDR, validation | +| Single Responsibility | Pass | Components each own one primary concern: ingest, VIO, safety, Satellite Service sync/retrieval, verification, Tile Manager storage/generation, MAVLink, FDR, validation | | Dumb Code / Smart Data | Pass | Complex behavior is mostly expressed through DTOs, mode labels, covariance fields, manifests, and gates | -| Interface Consistency | Pass with fix | Safety wrapper no longer directly depends on cache lifecycle for anchor acceptance; cache freshness/provenance travels through `AnchorDecision` | +| Interface Consistency | Pass with fix | Safety wrapper no longer directly depends on Tile Manager for anchor acceptance; cache freshness/provenance travels through `AnchorDecision` | | Circular Dependencies | Pass with caution | Runtime flow is acyclic at component ownership level; MAVLink remains a bidirectional protocol adapter but owns no localization policy | | Missing Interactions | Pass | Pre-VIO occlusion, IMU-only blackout, relocalization, tile writes, FDR, and SITL validation are all represented | -| Security Considerations | Pass | Signed cache sidecars, source/system ID checks, spoofing rejection, and no in-flight satellite-provider access are covered | +| Security Considerations | Pass | Signed cache sidecars, source/system ID checks, spoofing rejection, and no in-flight satellite-provider or Satellite Service access are covered | | Performance Bottlenecks | Pass | Jetson latency, VPR/local matching, FDR append pressure, PostgreSQL availability, and thermal limits are identified | | API Contracts | Pass | Core DTO handoffs are documented: `FramePacket`, `VioStatePacket`, `AnchorDecision`, `PositionEstimate`, `FdrEvent` | @@ -39,9 +39,9 @@ | R03 | BASALT confidence/covariance may under-report real error | Safety | Medium | High | High | Wrapper owns covariance calibration; compare against ground truth, satellite residuals, and OpenVINS reference; never emit optimistic `horiz_accuracy` | Safety/anchor wrapper | Mitigated by wrapper design | | R04 | Total occlusion detector may false-negative and feed unusable frames into VIO | Safety / Technical | Medium | High | High | Conservative pre-VIO occlusion gate, FDR status, tests for total blackout, and fallback to IMU-only `dead_reckoned` mode | Camera ingest/calibration | Mitigated by spec/test | | R05 | IMU-only blackout propagation could be trusted too long | Safety | Medium | High | High | Monotonic covariance growth, `dead_reckoned` label, `fix_type=0`/`horiz_accuracy=999.0` when >30 s or covariance >500 m | Safety/anchor wrapper | Mitigated by AC gate | -| R06 | DINOv2-VLAD + ALIKED/DISK-LightGlue exceeds Jetson latency/memory budget | Performance | Medium | High | High | Trigger-only execution, CPU FAISS first, top-K caps, model profiling, TensorRT only after fidelity checks | Satellite retrieval / Anchor verification | Mitigated by profiling gates | -| R07 | PostgreSQL/PostGIS local DB is unavailable or too heavy for onboard runtime | Technical / Operational | Medium | High | High | Run local onboard PostgreSQL, health-check before flight, keep large payloads in files, fail mission cache validation if DB unavailable | Cache lifecycle / FDR | Mitigated by deployment gates | -| R08 | Generated tile cache poisoning corrupts future anchors | Security / Safety | Low | High | Medium | Sigma gate, provenance sidecars, post-flight Satellite Service voting, no direct promotion to trusted basemap | Cache/tile lifecycle | Mitigated by policy | +| R06 | DINOv2-VLAD + ALIKED/DISK-LightGlue exceeds Jetson latency/memory budget | Performance | Medium | High | High | Trigger-only execution, CPU FAISS first, top-K caps, model profiling, TensorRT only after fidelity checks | Satellite Service / Anchor verification | Mitigated by profiling gates | +| R07 | PostgreSQL/PostGIS local DB is unavailable or too heavy for onboard runtime | Technical / Operational | Medium | High | High | Run local onboard PostgreSQL, health-check before flight, keep large payloads in files, fail mission cache validation if DB unavailable | Tile Manager / FDR | Mitigated by deployment gates | +| R08 | Generated tile cache poisoning corrupts future anchors | Security / Safety | Low | High | Medium | Sigma gate, provenance sidecars, post-flight Satellite Service voting, no direct promotion to trusted basemap | Tile Manager | Mitigated by policy | | R09 | Public datasets do not cover final target terrain or commercial license needs | External / Schedule | Medium | Medium | Medium | Use public data for de-risking only; representative synchronized target data remains mandatory for acceptance | Validation harness | Mitigated by acceptance rule | | R10 | MAVLink `GPS_INPUT` parameters or Plane behavior differs from assumptions | Integration | Medium | High | High | Plane SITL release gate with production parameters, spoofing/failsafe tests, raw field validation with pymavlink | MAVLink/GCS integration | Mitigated by SITL gate | | R11 | FDR appends or PostgreSQL indexing interferes with hot-path latency | Performance | Medium | Medium | Medium | Append asynchronously, use CBOR payload segments for high-volume data, keep PostgreSQL as event index/query surface | FDR/observability | Mitigated by design | @@ -160,7 +160,7 @@ **Trigger conditions**: Relocalization exceeds p95 latency, memory budget, or causes thermal throttling. -**Affected components**: Satellite retrieval, anchor verification, validation harness. +**Affected components**: Satellite Service, anchor verification, validation harness. **Mitigation strategy**: 1. Keep VPR/local matching trigger-based. @@ -181,7 +181,7 @@ **Trigger conditions**: Local DB does not start, DB files corrupt, DB consumes too much memory/I/O, or migrations fail. -**Affected components**: Cache/tile lifecycle, FDR/observability, deployment procedures. +**Affected components**: Tile Manager, FDR/observability, deployment procedures. **Mitigation strategy**: 1. Require local onboard PostgreSQL health check before flight. @@ -202,7 +202,7 @@ **Trigger conditions**: Generated tile is promoted despite high parent covariance, stale source, bad sidecar, or inconsistent overlap voting. -**Affected components**: Cache/tile lifecycle, safety/anchor wrapper, Satellite Service integration. +**Affected components**: Tile Manager, safety/anchor wrapper, Satellite Service integration. **Mitigation strategy**: 1. Require tile-write sigma gates. @@ -262,7 +262,7 @@ | Risk ID | Document Modified | Change Description | |---------|-------------------|--------------------| | R04 | `components/01_camera_ingest_calibration/description.md` | Added explicit `detect_occlusion`, `OcclusionReport`, and pre-VIO bypass behavior | -| R04/R05 | `components/03_safety_anchor_wrapper/description.md` | Added `propagate_imu_only`, `total_occlusion`, monotonic covariance behavior, and no direct cache lifecycle dependency | +| R04/R05 | `components/03_safety_anchor_wrapper/description.md` | Added `propagate_imu_only`, `total_occlusion`, monotonic covariance behavior, and no direct Tile Manager dependency | | R07 | `data_model.md` | Replaced embedded DB references with PostgreSQL/PostGIS structured metadata and CBOR FDR payload segments | | R07 | `architecture.md` | Added PostgreSQL/PostGIS ADR and FDR storage decision | | R05 | `tests/blackbox-tests.md` / `tests/resilience-tests.md` | Made total occlusion and IMU-only blackout behavior explicit | diff --git a/_docs/02_document/system-flows.md b/_docs/02_document/system-flows.md index 4b0d67e..0b467df 100644 --- a/_docs/02_document/system-flows.md +++ b/_docs/02_document/system-flows.md @@ -4,19 +4,19 @@ | # | Flow Name | Trigger | Primary Components | Criticality | |---|-----------|---------|--------------------|-------------| -| F1 | Pre-flight cache preparation | Operator sync before mission | Satellite Service, cache/tile lifecycle, satellite retrieval | High | +| F1 | Pre-flight cache preparation | Operator sync before mission | Satellite Service, Tile Manager | High | | F2 | Normal frame processing | Navigation frame + FC telemetry | Camera ingest, BASALT VIO adapter, safety/anchor wrapper, MAVLink, FDR | High | -| F3 | Satellite relocalization | Cold start, VO failure, sharp turn, covariance growth, stale anchor | Satellite retrieval, anchor verification, safety/anchor wrapper | High | +| F3 | Satellite relocalization | Cold start, VO failure, sharp turn, covariance growth, stale anchor | Satellite Service, anchor verification, safety/anchor wrapper | High | | F4 | Visual blackout / spoofing degraded mode | Image-quality failure and GPS health failure | Camera ingest, MAVLink telemetry, safety/anchor wrapper, QGC, FDR | Critical | -| F5 | Generated tile lifecycle | High-confidence pose + usable frame | Camera ingest, safety/anchor wrapper, cache/tile lifecycle, FDR | Medium | -| F6 | Post-flight sync and audit | Landing / operator offload | Cache/tile lifecycle, Satellite Service, FDR | Medium | +| F5 | Generated tile lifecycle | High-confidence pose + usable frame | Camera ingest, safety/anchor wrapper, Tile Manager, FDR | Medium | +| F6 | Post-flight sync and audit | Landing / operator offload | Tile Manager, Satellite Service, FDR | Medium | | F7 | Validation replay | Test harness invocation | Validation harness, system runtime, public datasets, SITL | High | ## Flow Dependencies | Flow | Depends On | Shares Data With | |------|------------|------------------| -| F1 | Satellite Service cache export | F2, F3, F5 | +| F1 | Satellite Service cache export and Tile Manager validation | F2, F3, F5 | | F2 | F1 for cache availability; FC telemetry | F3, F4, F5, FDR | | F3 | F1 cache/index; F2 state estimate | F2, F5 | | F4 | F2 telemetry and quality signals | F2, QGC/FDR | @@ -30,7 +30,7 @@ ### Description -Before flight, the Satellite Service provides an offline cache for the operational area, including COG tiles, manifests, sidecars, VPR chunks, descriptors, and FAISS index files. +Before flight, the Satellite Service imports an offline cache package for the operational area, including COG tiles, manifests, sidecars, VPR chunks, descriptors, and FAISS index files. No Satellite Service or satellite-provider calls are allowed during flight. ### Preconditions @@ -44,23 +44,22 @@ Before flight, the Satellite Service provides an offline cache for the operation sequenceDiagram participant Operator participant SatelliteService - participant CacheLifecycle - participant SatelliteRetrieval + participant TileManager Operator->>SatelliteService: Request mission cache - SatelliteService-->>CacheLifecycle: COG tiles + manifests + sidecars - CacheLifecycle->>CacheLifecycle: Verify signatures, hashes, freshness, resolution - CacheLifecycle->>SatelliteRetrieval: Load VPR chunks + FAISS index - CacheLifecycle-->>Operator: Cache validation report + SatelliteService-->>TileManager: COG tiles + manifests + sidecars + TileManager->>TileManager: Verify signatures, hashes, freshness, resolution + TileManager-->>SatelliteService: Local cache/index ready + TileManager-->>Operator: Cache validation report ``` ### Data Flow | Step | From | To | Data | Format | |------|------|----|------|--------| -| 1 | Satellite Service | Cache lifecycle | Tiles and metadata | COG + PostgreSQL/PostGIS manifest + signed JSON sidecars | -| 2 | Cache lifecycle | Satellite retrieval | Descriptor/index files | FAISS index + descriptor sidecars | -| 3 | Cache lifecycle | Operator/FDR | Validation report | Markdown/CSV/log | +| 1 | Satellite Service | Tile Manager | Tiles and metadata | COG + PostgreSQL/PostGIS manifest + signed JSON sidecars | +| 2 | Tile Manager | Satellite Service | Descriptor/index readiness | FAISS index + descriptor sidecars | +| 3 | Tile Manager | Operator/FDR | Validation report | Markdown/CSV/log | ### Error Scenarios @@ -74,7 +73,7 @@ sequenceDiagram | Metric | Target | Notes | |--------|--------|-------| -| Runtime network calls | 0 | No in-flight provider calls | +| Runtime network calls | 0 | No in-flight Satellite Service or provider calls | | Cache load | Within cold-start budget contribution | Exact threshold set during implementation | --- @@ -157,14 +156,14 @@ When the state becomes uncertain or disconnected, the system retrieves satellite ```mermaid sequenceDiagram participant SafetyWrapper - participant SatelliteRetrieval + participant SatelliteService participant AnchorVerification - participant CacheLifecycle + participant TileManager participant FDR - SafetyWrapper->>SatelliteRetrieval: Relocalization request - SatelliteRetrieval->>CacheLifecycle: Read candidate chunk metadata - SatelliteRetrieval-->>AnchorVerification: Top-K candidates + SafetyWrapper->>SatelliteService: Relocalization request + SatelliteService->>TileManager: Read candidate chunk metadata + SatelliteService-->>AnchorVerification: Top-K candidates AnchorVerification->>AnchorVerification: ALIKED/DISK+LightGlue + RANSAC AnchorVerification-->>SafetyWrapper: Accepted/rejected anchor SafetyWrapper->>SafetyWrapper: Mahalanobis + freshness + provenance gates @@ -175,8 +174,8 @@ sequenceDiagram | Step | From | To | Data | Format | |------|------|----|------|--------| -| 1 | Safety wrapper | Satellite retrieval | Query frame and prior/covariance | Relocalization DTO | -| 2 | Satellite retrieval | Anchor verification | Top-K chunks | Candidate list | +| 1 | Safety wrapper | Satellite Service | Query frame and prior/covariance | Relocalization DTO | +| 2 | Satellite Service | Anchor verification | Top-K chunks from local cache/index | Candidate list | | 3 | Anchor verification | Safety wrapper | MRE, inliers, homography, provenance | AnchorDecision DTO | ### Error Scenarios @@ -184,7 +183,7 @@ sequenceDiagram | Error | Where | Detection | Recovery | |-------|-------|-----------|----------| | No good candidate | Retrieval/verification | Low score or failed RANSAC | Continue degraded and request GCS hint after threshold | -| Stale candidate | Cache lifecycle | Capture date gate | Reject/down-confidence | +| Stale candidate | Tile Manager | Capture date gate | Reject/down-confidence | | Implausible anchor | Safety wrapper | Mahalanobis/impossible velocity gate | Reject and log | ### Performance Expectations @@ -259,17 +258,17 @@ When pose confidence is strong enough, the system orthorectifies navigation imag | Step | From | To | Data | Format | |------|------|----|------|--------| -| 1 | Safety wrapper | Cache lifecycle | Pose/covariance + frame metadata | TileGenerationRequest | -| 2 | Cache lifecycle | Local storage | Generated COG + sidecar | COG + signed JSON | -| 3 | Cache lifecycle | FDR | Tile write event | FDR event | +| 1 | Safety wrapper | Tile Manager | Pose/covariance + frame metadata | TileGenerationRequest | +| 2 | Tile Manager | Local storage | Orthorectified generated COG + sidecar | COG + signed JSON | +| 3 | Tile Manager | FDR | Tile write event | FDR event | ### Error Scenarios | Error | Where | Detection | Recovery | |-------|-------|-----------|----------| | Parent covariance too high | Safety wrapper | Sigma gate | Do not write tile | -| Duplicate sector | Cache lifecycle | Spatial deduplication | Keep latest/highest-quality tile | -| Sidecar write failure | Cache lifecycle | I/O error | Log and do not mark tile eligible | +| Duplicate sector | Tile Manager | Spatial deduplication | Keep latest/highest-quality tile | +| Sidecar write failure | Tile Manager | I/O error | Log and do not mark tile eligible | --- @@ -277,13 +276,13 @@ When pose confidence is strong enough, the system orthorectifies navigation imag ### Description -After landing, generated tiles and FDR evidence are exported for Satellite Service ingest and incident analysis. +After landing, generated tiles and FDR evidence are exported through Satellite Service sync for ingest and incident analysis. ### Data Flow | Step | From | To | Data | Format | |------|------|----|------|--------| -| 1 | Cache lifecycle | Satellite Service | Generated tile package | COG + sidecar + manifest delta | +| 1 | Tile Manager | Satellite Service | Generated tile package | COG + sidecar + manifest delta | | 2 | FDR | Operator/audit tools | Mission replay evidence | Segmented logs + optional Parquet export | ### Error Scenarios diff --git a/_docs/02_document/tests/blackbox-tests.md b/_docs/02_document/tests/blackbox-tests.md index f5ab348..1e5ee9f 100644 --- a/_docs/02_document/tests/blackbox-tests.md +++ b/_docs/02_document/tests/blackbox-tests.md @@ -52,33 +52,38 @@ --- -### FT-P-03: BASALT VIO Replay With Public Synchronized Data +### FT-P-03: BASALT VIO Replay With Synchronized Video/Telemetry -**Summary**: Validate that BASALT + safety/anchor wrapper can process synchronized camera/IMU data and produce trajectory estimates with calibrated confidence. +**Summary**: Validate that BASALT + safety/anchor wrapper can process synchronized nadir video, IMU, and trajectory telemetry and produce frame-by-frame estimates with honest confidence. **Traces to**: AC-1.3, AC-2.1a, AC-2.2, AC-4.1, AC-4.2 **Category**: VO / IMU Propagation **Preconditions**: -- Public synchronized dataset slice is pinned during implementation. Strongest candidates: MUN-FRL, ALTO, EPFL fixed-wing, Kagaru; EuRoC/UZH FPV are proxy-only. -- Ground-truth trajectory or frame poses are available. +- Derkachi replay fixture is mounted from `input_data/flight_derkachi/`. +- `flight_derkachi.mp4` is readable as cropped nadir video: 880 x 720, 30 fps, approximately 490.07 s. +- `data_imu.csv` contains monotonic 10 Hz `Time`, `timestamp(ms)`, `SCALED_IMU2.*`, and `GLOBAL_POSITION_INT.*` fields for 4,900 rows. +- Camera intrinsics, lens distortion, and camera-to-body transform are either pinned or the run is marked as calibration-limited. +- Public synchronized dataset slice remains useful for calibrated final comparison. Strongest candidates: MUN-FRL, ALTO, EPFL fixed-wing, Kagaru; EuRoC/UZH FPV are proxy-only. -**Input data**: `public_nadir_vio_candidates` +**Input data**: `derkachi_video_telemetry`, `public_nadir_vio_candidates` | Step | Consumer Action | Expected System Response | |------|-----------------|--------------------------| -| 1 | Replay synchronized camera and IMU stream | System emits frame-by-frame `vo_extrapolated` or `satellite_anchored` estimates | -| 2 | Compare output trajectory to dataset ground truth | Error and covariance calibration are reported per segment | -| 3 | Compare against OpenVINS reference replay | BASALT + wrapper does not materially under-report uncertainty relative to error | +| 1 | Validate Derkachi video/telemetry alignment | Harness accepts the fixture only if MP4 duration and CSV duration differ by <=250 ms and there are exactly 3 video frames per telemetry row | +| 2 | Replay synchronized video frames and IMU stream | System emits frame-by-frame `vo_extrapolated` or `satellite_anchored` estimates without batching | +| 3 | Compare output trajectory to `GLOBAL_POSITION_INT` lat/lon/alt/heading | Error, covariance, source label, and anchor age are reported per segment | +| 4 | Compare calibrated public/representative replay against ground truth when available | BASALT + wrapper does not materially under-report uncertainty relative to error | +| 5 | Compare against OpenVINS reference replay when available | BASALT + wrapper does not materially under-report uncertainty relative to error | -**Expected outcome**: VO registration succeeds for >95% of normal overlapping frames in dataset-supported normal segments; VO homography MRE is <1.0 px where homography validation is applicable. +**Expected outcome**: Derkachi replay is accepted as a synchronized representative fixture and produces continuous estimates for >95% of normal overlapping frames. Absolute geolocation and covariance pass/fail thresholds are calibration-gated until camera intrinsics, distortion, and camera-to-body transform are pinned. For calibrated datasets, VO homography MRE is <1.0 px where homography validation is applicable. **Max execution time**: Dataset-dependent, but replay must report per-frame latency. --- -### FT-P-04: Satellite Retrieval And Anchor Verification +### FT-P-04: Satellite Service And Anchor Verification **Summary**: Validate that relocalization uses global retrieval plus local verification and emits only verified satellite anchors. diff --git a/_docs/02_document/tests/environment.md b/_docs/02_document/tests/environment.md index 19334fe..539c612 100644 --- a/_docs/02_document/tests/environment.md +++ b/_docs/02_document/tests/environment.md @@ -10,7 +10,7 @@ | Environment | Purpose | Required for | |-------------|---------|--------------| -| Local replay workstation | Fast still-image and dataset replay validation | Frame-center geolocation, satellite retrieval, stale-tile rejection | +| Local replay workstation | Fast still-image and dataset replay validation | Frame-center geolocation, Satellite Service local retrieval, stale-tile rejection | | Jetson Orin Nano Super | Production-like latency, memory, thermal, and TensorRT/ONNX profiling | AC-4.1, AC-4.2, AC-NEW-1, AC-NEW-5 | | ArduPilot Plane SITL + QGroundControl | MAVLink `GPS_INPUT`, spoofing, failsafe, and GCS status validation | AC-4.3, AC-5.2, AC-NEW-2, AC-NEW-8 | | Representative flight/replay rig | Final acceptance evidence with synchronized nav camera, FC IMU/attitude/airspeed/altitude, MAVLink logs, and ground truth | Final AC signoff | @@ -38,6 +38,7 @@ |--------|------------|---------| | input-data | `/data/input` | `_docs/00_problem/input_data/` and public dataset slices | | expected-results | `/data/expected` | `_docs/00_problem/input_data/expected_results/` | +| derkachi-replay | `/data/input/flight_derkachi` | Cropped nadir MP4 plus synchronized IMU and `GLOBAL_POSITION_INT` trajectory | | satellite-cache | `/cache/satellite` | COG tiles, manifests, descriptor index fixtures | | fdr-output | `/fdr` | Flight-data-recorder outputs for validation | @@ -98,6 +99,7 @@ Use Docker or local host replay for deterministic, reproducible tests that do not require physical Jetson hardware: - Still-image frame-center geolocation. +- Derkachi synchronized video/telemetry replay, including alignment and VIO smoke checks. - Satellite-cache freshness and integrity fixtures. - FAISS descriptor/index behavior. - Public dataset replay where GPU/hardware timing is not the assertion. diff --git a/_docs/02_document/tests/performance-tests.md b/_docs/02_document/tests/performance-tests.md index 071ee90..e988d1a 100644 --- a/_docs/02_document/tests/performance-tests.md +++ b/_docs/02_document/tests/performance-tests.md @@ -25,23 +25,25 @@ ### NFT-PERF-02: BASALT + Wrapper Replay Latency -**Summary**: Validate relative VIO hot-path latency using synchronized public or representative camera/IMU data. +**Summary**: Validate relative VIO hot-path latency using synchronized Derkachi video/telemetry and public or representative camera/IMU data. **Traces to**: AC-2.1a, AC-4.1, AC-4.2 **Metric**: Per-frame VIO latency, completion rate, and memory usage. **Preconditions**: -- MUN-FRL/ALTO/EPFL/Kagaru or representative synchronized dataset slice is pinned. -- OpenVINS reference replay is available for comparison. +- Derkachi `flight_derkachi.mp4` and `data_imu.csv` are mounted and pass fixture validation. +- MUN-FRL/ALTO/EPFL/Kagaru or another representative synchronized dataset slice is pinned for calibrated final comparison. +- OpenVINS reference replay is available for comparison when the dataset supports it. | Step | Consumer Action | Measurement | |------|-----------------|-------------| -| 1 | Replay synchronized camera/IMU stream through BASALT + wrapper | Measure per-frame processing time | -| 2 | Compare emitted trajectory against ground truth | Measure completion rate and error distribution | -| 3 | Monitor memory | Track CPU/GPU shared memory peak | +| 1 | Replay Derkachi video at target 3 fps and stress rates from the 30 fps source | Measure per-frame processing time, dropped frames, and telemetry alignment | +| 2 | Replay synchronized camera/IMU stream through BASALT + wrapper | Measure VIO processing time and completion rate | +| 3 | Compare emitted trajectory against Derkachi `GLOBAL_POSITION_INT` and calibrated dataset ground truth where available | Measure completion rate and error distribution | +| 4 | Monitor memory | Track CPU/GPU shared memory peak | -**Pass criteria**: Normal-frame VO registration >95%; p95 processing latency <400 ms for the hot path; memory <8 GB shared. +**Pass criteria**: Normal-frame VO registration >95% on calibration-supported segments; p95 processing latency <400 ms for the hot path; memory <8 GB shared; Derkachi replay maintains stable 3-video-frames-per-telemetry-row alignment with <=10% dropped frames under sustained target-rate replay. **Duration**: Dataset-dependent; at least one normal segment and one challenging segment. diff --git a/_docs/02_document/tests/test-data.md b/_docs/02_document/tests/test-data.md index 35e5ae9..967adf8 100644 --- a/_docs/02_document/tests/test-data.md +++ b/_docs/02_document/tests/test-data.md @@ -7,6 +7,7 @@ | `project_60_still_images` | 60 nadir images with WGS84 frame-center coordinates from `coordinates.csv`; height 400 m | FT-P-01, FT-P-02, FT-N-01, NFT-PERF-01 | Mounted from `_docs/00_problem/input_data/` | Read-only | | `project_gmaps_reference_subset` | Google Maps reference images available for the first sample frames | FT-P-02, FT-N-01 | Mounted from `_docs/00_problem/input_data/` | Read-only | | `expected_frame_centers` | Expected lat/lon and thresholds derived from `coordinates.csv` | FT-P-01, FT-P-02 | `_docs/00_problem/input_data/expected_results/results_report.md` | Read-only | +| `derkachi_video_telemetry` | Cropped nadir MP4 synchronized with IMU and `GLOBAL_POSITION_INT` trajectory: 880 x 720, 30 fps, ~490.07 s; telemetry 10 Hz, 4,900 rows | FT-P-03, NFT-PERF-02, NFT-RES-02 | Mounted from `_docs/00_problem/input_data/flight_derkachi/` | Read-only | | `public_nadir_vio_candidates` | MUN-FRL, ALTO, EPFL fixed-wing, Kagaru, AerialVL/VPAir slices, EuRoC/UZH FPV proxy slices | FT-P-03, FT-P-04, NFT-PERF-02, NFT-RES-02 | Downloaded or mounted by replay harness; exact files pinned during implementation | Reset fixture volume | | `sitl_spoofing_scenarios` | Generated ArduPilot Plane SITL GPS loss/spoofing traces | FT-N-02, NFT-RES-01, NFT-SEC-03 | Generated by test harness | Discard generated logs after report | | `cache_integrity_fixtures` | Fresh, stale, unsigned, hash-mismatched, and low-resolution cache manifests | FT-N-03, NFT-SEC-01, NFT-SEC-02 | Mounted fixture volume | Read-only | @@ -36,6 +37,7 @@ Every replay test uses read-only fixture mounts and writes results to a fresh `t | `coordinates.csv` | `_docs/00_problem/input_data/coordinates.csv` | Machine-readable expected frame centers | FT-P-01, FT-P-02 | | `data_parameters.md` | `_docs/00_problem/input_data/data_parameters.md` | Height 400 m and camera model | FT-P-01, NFT-PERF-01 | | `AD000001_gmaps.png`, `AD000002_gmaps.png` | `_docs/00_problem/input_data/` | Reference map screenshots for sample sanity checks | FT-P-02 | +| `flight_derkachi/flight_derkachi.mp4` + `flight_derkachi/data_imu.csv` | `_docs/00_problem/input_data/flight_derkachi/` | Cropped nadir video synchronized with IMU and `GLOBAL_POSITION_INT` GPS trajectory | FT-P-03, NFT-PERF-02, NFT-RES-02 | | Public dataset slices | External fixture paths pinned during implementation | Synchronized camera/IMU/GNSS/ground truth where available | FT-P-03, FT-P-04, NFT-PERF-02, NFT-RES-02 | ## Expected Results Mapping @@ -44,7 +46,7 @@ Every replay test uses read-only fixture mounts and writes results to a fresh `t |------------------|------------|-----------------|-------------------|-----------|------------------------| | FT-P-01 | `AD000001.jpg` ... `AD000060.jpg` | Output WGS84 frame center per mapped row; >=80% within 50 m, >=50% within 20 m | Haversine distance threshold + aggregate pass rate | 50 m primary, 20 m stretch | `input_data/expected_results/results_report.md` | | FT-P-02 | Same 60 images + map references where present | Output includes source label, covariance semi-major axis, and anchor age for every emitted estimate | Required-field validation + geolocation threshold | Required fields present; geolocation thresholds as above | `input_data/expected_results/results_report.md` | -| FT-P-03 | Public synchronized VIO dataset slice | BASALT + wrapper emits trajectory with calibrated covariance and no optimistic under-reporting | Dataset ground-truth trajectory comparison | Dataset-specific threshold pinned at implementation; must support AC-1/AC-2 signoff only after representative data | Public dataset ground truth | +| FT-P-03 | `derkachi_video_telemetry` plus public synchronized VIO dataset slice when available | BASALT + wrapper emits trajectory with calibrated covariance and no optimistic under-reporting | Compare Derkachi output to `GLOBAL_POSITION_INT` trajectory for smoke/relative validation; compare public/representative calibrated runs to ground truth for final accuracy | Derkachi threshold is calibration-gated; final threshold is dataset-specific and pinned after camera calibration | `data_imu.csv` trajectory plus public dataset ground truth | | FT-P-04 | AerialVL/ALTO/VPAir-style aerial localization slice | Satellite retrieval returns candidate chunks and local verification produces accepted/rejected anchors | Georeference error + MRE + source-label checks | AC-1.1/1.2 and AC-2.2 thresholds where dataset supports them | Public dataset ground truth/reference map | | FT-N-01 | Low-texture/repetitive frames from sample or public data | System emits degraded confidence or rejects anchor rather than confident false fix | Source label and covariance threshold | No `satellite_anchored` label unless gates pass | Fixture-specific | | FT-N-02 | Plane SITL GPS spoof/loss trace | Spoofed GPS rejected; system promotes own estimate within <3 s when trigger conditions are met | Event timing and MAVLink field checks | <3 s promotion; blackout thresholds from AC-NEW-8 | Generated SITL trace | @@ -64,7 +66,9 @@ Every replay test uses read-only fixture mounts and writes results to a fresh `t |-----------|------------|------------------|--------------------------| | Image frame | Existing file, readable image, expected timestamp/order metadata if sequence replay | Missing image, corrupt image, unsupported resolution | Mark estimate unavailable/degraded, log error, continue if possible | | Expected coordinate | Valid WGS84 latitude/longitude | Out-of-range lat/lon, missing row | Reject test fixture before replay | +| Video/telemetry pair | MP4 duration matches telemetry duration, frame-to-telemetry ratio is stable, timestamps are monotonic | Duration drift >250 ms, missing trajectory columns, non-monotonic timestamps | Reject fixture before replay | | IMU trace | Monotonic timestamps, angular rate/accel fields, calibrated units | Non-monotonic timestamps, missing samples | Reject fixture or enter degraded mode depending scenario | +| GPS trajectory trace | Valid WGS84 lat/lon, altitude, velocity, and heading fields | Out-of-range lat/lon, impossible altitude, missing `GLOBAL_POSITION_INT` columns | Reject trajectory comparison while allowing pure video replay if applicable | | Cache tile manifest | CRS, m/px, capture date, source, hashes, signature/provenance | Stale, unsigned, hash mismatch, low resolution | Reject or down-confidence per AC-8.2 and AC-NEW-6 | | MAVLink output | Valid `GPS_INPUT` fields and fix type/accuracy semantics | Missing `horiz_accuracy`, impossible fix type | Fail test; output contract violated | @@ -74,13 +78,13 @@ Every replay test uses read-only fixture mounts and writes results to a fresh `t |------------------|-------|---------------------|--------------------------|-----------------|---------------------------|---------------------| | FT-P-01 | Input/output | 60 project images + `coordinates.csv` | WGS84 center per image with 50 m / 20 m thresholds | Yes | Yes | Keep | | FT-P-02 | Input/output | 60 project images + output schema expectations | Required confidence/source-label fields and thresholds | Yes | Yes | Keep | -| FT-P-03 | Input/output | Public or representative synchronized camera/IMU dataset | Dataset ground truth and calibrated covariance checks | Accepted as required external fixture | Accepted as dataset ground truth | Keep with acquisition task | +| FT-P-03 | Input/output | Derkachi synchronized video/IMU/GPS fixture; public or calibrated representative dataset for final accuracy | Derkachi `GLOBAL_POSITION_INT` trajectory for smoke/relative validation; calibrated ground truth for final covariance checks | Yes for Derkachi; public/calibrated dataset still useful for final signoff | Yes for Derkachi GPS trajectory; calibrated camera thresholds pending | Keep with calibration gate | | FT-P-04 | Input/output | Public aerial localization or project cache fixture | Georeference, MRE, and source-label checks | Accepted as required external fixture | Accepted as dataset/reference-map ground truth | Keep with acquisition task | | FT-N-01 | Behavioral/input-output | Ambiguous low-texture/repetitive frames | 0 confident false anchors | Accepted as project/public fixture | Yes | Keep | | FT-N-02 | Behavioral | Generated Plane SITL spoof/blackout trace | Timing and MAVLink field thresholds from AC-NEW-8 | Generated by test harness | Yes | Keep | | FT-N-03 | Behavioral/input-output | Cache integrity fixtures | 0 trusted anchors from stale/invalid tiles | Generated fixture | Yes | Keep | | NFT-PERF-01 | Input/output | 60 project images | p95 latency and drop-rate thresholds | Yes | Yes | Keep | -| NFT-PERF-02 | Input/output | Public/representative synchronized camera/IMU dataset | VO registration, latency, memory thresholds | Accepted as required external fixture | Yes | Keep with acquisition task | +| NFT-PERF-02 | Input/output | Derkachi synchronized video/IMU/GPS fixture; public/representative synchronized camera/IMU dataset | VO registration, latency, memory thresholds | Yes for Derkachi | Yes | Keep with calibration gate | | NFT-PERF-03 | Behavioral/input-output | Precomputed descriptor/cache fixture | Trigger-path latency and MRE thresholds | Generated fixture | Yes | Keep | | NFT-PERF-04 | Behavioral | Cold-start harness and cache fixture | <30 s p95 over 50 runs | Generated by test harness | Yes | Keep | | NFT-RES-* | Behavioral | Fault triggers and generated traces | AC-defined timing/status thresholds | Generated by test harness | Yes | Keep | @@ -90,6 +94,7 @@ Every replay test uses read-only fixture mounts and writes results to a fresh `t **Coverage after validation**: 49/49 AC and restriction groups remain covered. No tests were removed. **Acquisition tasks required downstream**: +- Pin camera intrinsics, lens distortion, raw camera feed parameters, and camera-to-body mounting transform for the Derkachi fixture or future representative recordings. - Pin and download at least one strong synchronized nadir camera + IMU + ground-truth dataset, preferably MUN-FRL or ALTO, with EPFL fixed-wing and Kagaru as fixed-wing/farmland candidates. - Pin license-compatible VPR/localization datasets for satellite anchor tests; VPAir and UZH FPV have non-commercial restrictions and must not be used for commercial acceptance unless license terms allow it. - Create generated fixtures for Plane SITL spoofing, stale cache manifests, signed/unsigned manifests, FDR load, and thermal/resource monitoring during implementation. diff --git a/_docs/02_document/tests/traceability-matrix.md b/_docs/02_document/tests/traceability-matrix.md index 553da9a..2c50231 100644 --- a/_docs/02_document/tests/traceability-matrix.md +++ b/_docs/02_document/tests/traceability-matrix.md @@ -54,7 +54,7 @@ | R-SAT-01 | Offline-only Satellite Service cache, no in-flight provider fetch | NFT-SEC-04 | Covered | | R-SAT-02 | Cache resolution/freshness/metadata conventions | FT-N-03, NFT-RES-LIM-03 | Covered | | R-HW-01 | Jetson Orin Nano Super 8 GB / 25 W | NFT-RES-LIM-01, NFT-RES-LIM-02 | Covered | -| R-SENSOR-01 | FC IMU available; sample data lacks synchronized IMU | FT-P-03, NFT-PERF-02 | Covered through public/representative dataset plan | +| R-SENSOR-01 | FC IMU available; original still-image sample lacks synchronized IMU; Derkachi fixture provides video/IMU/GPS trajectory but calibration is pending | FT-P-03, NFT-PERF-02 | Covered through Derkachi representative replay plus public/calibrated dataset plan | | R-MAV-01 | MAVLink, ArduPilot only, GPS_INPUT via pymavlink | FT-N-02, NFT-SEC-03 | Covered | | R-GCS-01 | QGroundControl supported GCS | FT-N-02, NFT-SEC-03 | Covered | | R-SAFETY-01 | False-position, cold-start, spoofing, and failsafe constraints | FT-N-01, FT-N-02, NFT-PERF-04, NFT-RES-01 | Covered | @@ -76,5 +76,6 @@ ## Data Coverage Caveats - Current project data fully supports still-image frame-center checks for 60 mapped images. -- Current project data does not contain synchronized IMU or ground-truth trajectory for BASALT VIO validation. -- Phase 3 must validate public dataset acquisition before FT-P-03, FT-P-04, and NFT-PERF-02 can remain in the executable test plan. +- Derkachi project data supports synchronized video/IMU/GPS trajectory replay for FT-P-03 and NFT-PERF-02. +- Derkachi project data is calibration-limited: raw camera intrinsics, lens distortion, and camera-to-body transform are still required before final absolute accuracy thresholds can be treated as production acceptance. +- Phase 3 must validate camera calibration inputs and public/calibrated dataset acquisition before FT-P-03, FT-P-04, and NFT-PERF-02 can be used for final signoff. diff --git a/_docs/02_tasks/todo/AZ-219_initial_structure.md b/_docs/02_tasks/todo/AZ-219_initial_structure.md index dc02260..9591531 100644 --- a/_docs/02_tasks/todo/AZ-219_initial_structure.md +++ b/_docs/02_tasks/todo/AZ-219_initial_structure.md @@ -84,13 +84,13 @@ The scaffold separates runtime source, migrations, tests, deployment assets, con | DTO Name | Used By Components | Fields Summary | |----------|--------------------|----------------| -| `FramePacket` | Camera ingest, BASALT VIO, satellite retrieval, anchor verification, cache lifecycle, FDR | Frame ID, timestamp, image reference, calibration ID, occlusion status, quality metrics | +| `FramePacket` | Camera ingest, BASALT VIO, Satellite Service, anchor verification, Tile Manager, FDR | Frame ID, timestamp, image reference, camera calibration ID, occlusion status, quality metrics | | `TelemetrySample` | MAVLink/GCS, BASALT VIO, safety wrapper, FDR, validation harness | Timestamp, IMU, attitude, airspeed, altitude, GPS health | | `VioStatePacket` | BASALT VIO, safety wrapper, FDR, validation harness | Timestamp, relative pose, velocity, bias, tracking quality, covariance hint | -| `PositionEstimate` | Safety wrapper, MAVLink/GCS, cache lifecycle, FDR, validation harness | WGS84 coordinates, covariance semi-major axis, source label, fix type, horizontal accuracy, anchor age | -| `VprCandidate` | Satellite retrieval, anchor verification, FDR | Chunk ID, tile ID, score, footprint, freshness status | +| `PositionEstimate` | Safety wrapper, MAVLink/GCS, Tile Manager, FDR, validation harness | WGS84 coordinates, covariance semi-major axis, source label, fix type, horizontal accuracy, anchor age | +| `VprCandidate` | Satellite Service, anchor verification, FDR | Chunk ID, tile ID, score, footprint, freshness status | | `AnchorDecision` | Anchor verification, safety wrapper, FDR | Candidate ID, acceptance result, estimated pose, inliers, MRE, rejection reason | -| `CacheTileRecord` | Cache lifecycle, satellite retrieval, anchor verification, FDR | Tile ID, type, CRS, meters per pixel, capture date, signature/hash status, trust level | +| `CacheTileRecord` | Tile Manager, Satellite Service, anchor verification, FDR | Tile ID, type, CRS, meters per pixel, capture date, signature/hash status, trust level | | `FdrEvent` | All runtime components, validation harness | Event type, timestamp, component, severity, payload reference, mission/run ID | | `ScenarioReport` | Validation harness, CI/CD, release evidence | Scenario ID, result, metrics, artifacts, failure reason | @@ -98,12 +98,12 @@ The scaffold separates runtime source, migrations, tests, deployment assets, con | Component | Interface | Methods | Exposed To | |-----------|-----------|---------|------------| -| Camera ingest/calibration | `FrameProvider` | `next_frame`, `detect_occlusion`, `classify_quality` | BASALT VIO, satellite retrieval, anchor verification, cache lifecycle | +| Camera ingest/calibration | `FrameProvider` | `next_frame`, `detect_occlusion`, `classify_quality` | BASALT VIO, Satellite Service, anchor verification, Tile Manager | | BASALT VIO adapter | `VioAdapter` | `initialize`, `process`, `health` | Safety wrapper, validation harness | -| Safety/anchor wrapper | `LocalizationStateMachine` | `update_vio`, `consider_anchor`, `degrade`, `propagate_imu_only`, `tile_write_eligibility` | MAVLink/GCS, cache lifecycle, FDR, validation harness | -| Satellite retrieval | `CandidateRetriever` | `load_index`, `retrieve` | Safety wrapper, anchor verification | +| Safety/anchor wrapper | `LocalizationStateMachine` | `update_vio`, `consider_anchor`, `degrade`, `propagate_imu_only`, `tile_write_eligibility` | MAVLink/GCS, Tile Manager, FDR, validation harness | +| Satellite Service | `SatelliteService` | `import_mission_cache`, `load_index`, `retrieve`, `upload_generated_tiles` | Safety wrapper, anchor verification, Tile Manager | | Anchor verification | `AnchorVerifier` | `verify`, `benchmark_matcher` | Safety wrapper, FDR | -| Cache/tile lifecycle | `CacheRepository` | `validate_cache`, `get_tile_window`, `write_generated_tile`, `package_sync` | Satellite retrieval, anchor verification, post-flight sync | +| Tile Manager | `TileManager` | `validate_cache`, `get_tile_window`, `orthorectify_frame`, `write_generated_tile`, `package_sync` | Satellite Service, anchor verification, post-flight sync | | MAVLink/GCS integration | `MavlinkGateway` | `subscribe_telemetry`, `emit_gps_input`, `emit_status` | BASALT VIO, safety wrapper, QGC, FDR | | FDR/observability | `FlightRecorder` | `append_event`, `rollover`, `export` | All runtime components, validation harness | | Validation harness | `ScenarioRunner` | `validate_fixture`, `run_scenario` | CI/CD, release evidence review | @@ -115,7 +115,7 @@ The scaffold separates runtime source, migrations, tests, deployment assets, con | Format / lint | Enforce code style and static quality | Every PR and push to `dev` | | Unit tests | Validate component-local behavior and shared contracts | Every PR and push to `dev` | | Replay black-box smoke | Run deterministic still-image/cache/SITL subsets | Every PR | -| Cache/security fixture tests | Validate signed manifests, stale-tile rejection, no provider calls | Every PR | +| Cache/security fixture tests | Validate signed manifests, stale-tile rejection, and no mid-flight provider/Satellite Service calls | Every PR | | Plane SITL spoof/failsafe | Validate ArduPilot Plane `GPS_INPUT`, failsafe, spoofing promotion | Nightly and release candidate | | Public dataset replay | Exercise VIO, retrieval, and anchor behavior against pinned public slices | Nightly and release candidate | | Jetson latency/resource tests | Measure p95 latency, memory, cold start, TensorRT/ONNX fidelity | Release candidate | @@ -177,9 +177,9 @@ tests/ │ ├── camera_ingest_calibration/ │ ├── basalt_vio_adapter/ │ ├── safety_anchor_wrapper/ -│ ├── satellite_retrieval/ +│ ├── satellite_service/ │ ├── anchor_verification/ -│ ├── cache_tile_lifecycle/ +│ ├── tile_manager/ │ ├── mavlink_gcs_integration/ │ ├── fdr_observability/ │ └── validation_harness/ @@ -241,10 +241,10 @@ Each deployable service exposes `/health/live`, `/health/ready`, and `/metrics` | 3 | Runtime configuration and error handling | Prevent duplicated config/error behavior across components | | 4 | Camera ingest/calibration | Produces the frame and occlusion signals required by VIO, anchor, cache, and tests | | 5 | MAVLink/GCS integration | Supplies FC telemetry DTOs and validates `GPS_INPUT` output contract early | -| 6 | Cache/tile lifecycle | Owns PostGIS cache manifest, sidecars, COG access, and freshness gates | +| 6 | Tile Manager | Owns PostGIS cache manifest, sidecars, COG access, freshness gates, and generated-tile orthorectification | | 7 | FDR/observability | Provides audit path for all components and validation reports | | 8 | BASALT VIO adapter | Depends on frame and telemetry contracts, blocks wrapper integration | -| 9 | Satellite retrieval | Depends on cache schema and frame DTOs, feeds anchor verification | +| 9 | Satellite Service | Depends on tile schema and frame DTOs, feeds anchor verification, and handles pre-flight/post-flight package sync | | 10 | Anchor verification | Depends on retrieval candidates and cache tile access | | 11 | Safety/anchor wrapper | Consumes VIO, anchor, camera degradation, MAVLink, and FDR contracts | | 12 | Validation harness | Uses public interfaces once contracts and runtime components are stable | diff --git a/_docs/_autodev_state.md b/_docs/_autodev_state.md index 6d34b14..2b60499 100644 --- a/_docs/_autodev_state.md +++ b/_docs/_autodev_state.md @@ -2,13 +2,13 @@ ## Current Step flow: greenfield -step: 5 +step: 6 name: Decompose status: in_progress tracker: jira sub_step: - phase: 1 - name: bootstrap-structure - detail: "AZ-219_initial_structure.md flattened to src/ root; awaiting structure confirmation" + phase: 2 + name: module-layout + detail: "Module layout revised for Satellite Service and Tile Manager; awaiting confirmation before product task decomposition" retry_count: 0 cycle: 1 diff --git a/tools/__pycache__/remove_osd_lines.cpython-310.pyc b/tools/__pycache__/remove_osd_lines.cpython-310.pyc new file mode 100644 index 0000000..0dd4ecb Binary files /dev/null and b/tools/__pycache__/remove_osd_lines.cpython-310.pyc differ diff --git a/tools/remove_osd_lines.py b/tools/remove_osd_lines.py new file mode 100644 index 0000000..dc06c67 --- /dev/null +++ b/tools/remove_osd_lines.py @@ -0,0 +1,146 @@ +#!/usr/bin/env python3 +"""Remove neon OSD strokes from a video using color masking and inpainting.""" + +from __future__ import annotations + +import argparse +import subprocess +import tempfile +from pathlib import Path + +import cv2 +import numpy as np + + +def build_mask(frame: np.ndarray, dilate: int) -> np.ndarray: + """Return a mask for bright green/cyan OSD strokes.""" + b, g, r = cv2.split(frame) + + # The OSD strokes are neon-like: green/cyan channels are high and dominate red. + green = (g > 95) & ((g.astype(np.int16) - r.astype(np.int16)) > 22) & ( + (g.astype(np.int16) - b.astype(np.int16)) > 0 + ) + cyan = (g > 105) & (b > 95) & ((g.astype(np.int16) - r.astype(np.int16)) > 28) + + hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) + hue = hsv[:, :, 0] + sat = hsv[:, :, 1] + val = hsv[:, :, 2] + neon_hsv = (sat > 55) & (val > 85) & (hue >= 35) & (hue <= 105) + + mask = ((green | cyan) & neon_hsv).astype(np.uint8) * 255 + + # Remove isolated natural-color speckles, then expand just enough to cover antialiasing. + open_kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2, 2)) + mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, open_kernel) + if dilate > 0: + kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2 * dilate + 1, 2 * dilate + 1)) + mask = cv2.dilate(mask, kernel, iterations=1) + return mask + + +def process_video( + input_path: Path, + output_path: Path, + temp_video_path: Path, + *, + seconds: float | None, + mask_preview: bool, + method: str, + radius: float, + dilate: int, +) -> None: + cap = cv2.VideoCapture(str(input_path)) + if not cap.isOpened(): + raise RuntimeError(f"Could not open input video: {input_path}") + + fps = cap.get(cv2.CAP_PROP_FPS) or 30.0 + width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) + height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) + total_frames = int(cap.get(cv2.CAP_PROP_FRAME_COUNT)) + frame_limit = total_frames if seconds is None else min(total_frames, int(round(seconds * fps))) + + fourcc = cv2.VideoWriter_fourcc(*"mp4v") + writer = cv2.VideoWriter(str(temp_video_path), fourcc, fps, (width, height)) + if not writer.isOpened(): + raise RuntimeError(f"Could not open temporary output video: {temp_video_path}") + + frame_index = 0 + while frame_index < frame_limit: + ok, frame = cap.read() + if not ok: + break + + mask = build_mask(frame, dilate=dilate) + if mask_preview: + rendered = cv2.cvtColor(mask, cv2.COLOR_GRAY2BGR) + else: + inpaint_method = cv2.INPAINT_NS if method == "ns" else cv2.INPAINT_TELEA + rendered = cv2.inpaint(frame, mask, radius, inpaint_method) + + writer.write(rendered) + frame_index += 1 + if frame_index % int(max(fps * 10, 1)) == 0: + print(f"processed {frame_index}/{frame_limit} frames", flush=True) + + writer.release() + cap.release() + + +def mux_audio(input_path: Path, temp_video_path: Path, output_path: Path, seconds: float | None) -> None: + cmd = [ + "ffmpeg", + "-hide_banner", + "-y", + "-i", + str(temp_video_path), + "-i", + str(input_path), + "-map", + "0:v:0", + "-map", + "1:a?", + "-c:v", + "libx264", + "-crf", + "18", + "-preset", + "medium", + "-c:a", + "copy", + ] + if seconds is not None: + cmd.extend(["-t", str(seconds)]) + cmd.append(str(output_path)) + subprocess.run(cmd, check=True) + + +def main() -> None: + parser = argparse.ArgumentParser() + parser.add_argument("input", type=Path) + parser.add_argument("output", type=Path) + parser.add_argument("--seconds", type=float, default=None) + parser.add_argument("--mask-preview", action="store_true") + parser.add_argument("--method", choices=["telea", "ns"], default="telea") + parser.add_argument("--radius", type=float, default=3.0) + parser.add_argument("--dilate", type=int, default=1) + args = parser.parse_args() + + args.output.parent.mkdir(parents=True, exist_ok=True) + with tempfile.TemporaryDirectory(prefix="osd_inpaint_") as temp_dir: + temp_video_path = Path(temp_dir) / "video_no_audio.mp4" + process_video( + args.input, + args.output, + temp_video_path, + seconds=args.seconds, + mask_preview=args.mask_preview, + method=args.method, + radius=args.radius, + dilate=args.dilate, + ) + mux_audio(args.input, temp_video_path, args.output, args.seconds) + + +if __name__ == "__main__": + main()