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fix: post-audit — runtime bugs, functional gaps, docs, hardening

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Phase A — Runtime bugs:
  - SSE: add push_event() method to SSEEventStreamer (was missing, masked by mocks)
  - MAVLink: satellites_visible=10 (was 0, triggers ArduPilot failsafe)
  - MAVLink: horiz_accuracy=sqrt(P[0,0]+P[1,1]) per spec (was sqrt(avg))
  - MAVLink: MEDIUM confidence → fix_type=3 per solution.md (was 2)

Phase B — Functional gaps:
  - handle_user_fix() injects operator GPS into ESKF with noise=500m
  - app.py uses create_vo_backend() factory (was hardcoded SequentialVO)
  - ESKF: Mahalanobis gating on satellite updates (rejects outliers >5σ)
  - ESKF: public accessors (position, quaternion, covariance, last_timestamp)
  - Processor: no more private ESKF field access

Phase C — Documentation:
  - README: correct API endpoints, CLI command, 40+ env vars documented
  - Dockerfile: ENV prefixes match pydantic-settings (DB_, SATELLITE_, MAVLINK_)
  - tech_stack.md marked ARCHIVED (contradicts solution.md)

Phase D — Hardening:
  - JWT auth middleware (AUTH_ENABLED=false default, verify_token on /flights)
  - TLS config env vars (AUTH_SSL_CERTFILE, AUTH_SSL_KEYFILE)
  - SHA-256 tile manifest verification in SatelliteDataManager
  - AuthConfig, ESKFSettings, MAVLinkConfig, SatelliteConfig in config.py

Also: conftest.py shared fixtures, download_tiles.py, convert_to_trt.py scripts,
config wiring into app.py lifespan, config-driven ESKF, calculate_precise_angle fix.

Tests: 196 passed / 8 skipped. Ruff clean.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Yuzviak
2026-04-02 18:27:35 +03:00
parent d0009f012b
commit 78dcf7b4e7
22 changed files with 756 additions and 64 deletions
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tests/test_mavlink.py
+9 -2
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@@ -76,7 +76,7 @@ def test_unix_to_gps_time_recent():
def test_confidence_to_fix_type():
"""MAV-02: confidence tier → fix_type mapping."""
assert _confidence_to_fix_type(ConfidenceTier.HIGH) == 3
assert _confidence_to_fix_type(ConfidenceTier.MEDIUM) == 2
assert _confidence_to_fix_type(ConfidenceTier.MEDIUM) == 3
assert _confidence_to_fix_type(ConfidenceTier.LOW) == 0
assert _confidence_to_fix_type(ConfidenceTier.FAILED) == 0
@@ -125,7 +125,14 @@ def test_eskf_to_gps_input_accuracy_from_covariance():
confidence=ConfidenceTier.HIGH,
)
msg = _eskf_to_gps_input(state, ORIGIN)
assert math.isclose(msg.horiz_accuracy, 10.0, abs_tol=0.01)
# horiz_accuracy = sqrt(P[0,0] + P[1,1]) = sqrt(200) ≈ 14.14
assert math.isclose(msg.horiz_accuracy, math.sqrt(200.0), abs_tol=0.1)
def test_eskf_to_gps_input_satellites_visible_10():
"""Synthetic satellites_visible = 10 to prevent ArduPilot failsafes."""
msg = _eskf_to_gps_input(_make_state(), ORIGIN)
assert msg.satellites_visible == 10
def test_eskf_to_gps_input_returns_message():