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docs: add Phase 1 ADRs and update PROJECT.md with completed decisions
ADR 0002: hexagonal/ports-and-adapters architecture — components/ layout, protocol.py per component, composition root, core/ for concentrated math. ADR 0003: @dataclass(slots=True, frozen=True) on hot path; Pydantic retained only at REST/config/DB boundaries. Pose/GPSPoint migration deferred to Phase 2. ADR 0004: Stage 2 as independent iteration — own phases 1-6, own requirements, stage1 code treated as MVP starting capital. PROJECT.md: Stage 2 Key Decisions updated from Pending → Accepted with Phase 1 implementation notes, deferred work list, and final architecture summary. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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---
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gsd_state_version: 1.0
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milestone: v1.0
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milestone_name: milestone
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status: Phase 1 complete
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last_updated: "2026-04-01T21:05:00Z"
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milestone: v2.0
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milestone_name: Stage 2 — Hexagonal architecture + try02 idea integration + real-flight fixture
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status: phase_1_complete
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last_updated: "2026-05-11T00:00:00Z"
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last_activity: 2026-05-11 — Phase 1 complete; 01-08 composition root + YAML config shipped; 216/216 tests green
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progress:
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total_phases: 7
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total_phases: 6
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completed_phases: 1
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total_plans: 3
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completed_plans: 3
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total_plans: 8
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completed_plans: 8
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percent: 100
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---
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# Project State
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## Project Reference
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See: .planning/PROJECT.md (updated 2026-04-01)
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See: .planning/PROJECT.md (updated 2026-05-10)
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**Core value:** Flight controller must receive valid MAVLink GPS_INPUT at 5-10Hz with position accuracy ≤50m for 80% of frames — without this, the UAV cannot navigate in GPS-denied airspace.
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**Current focus:** Phase 2 — Visual Odometry Pipeline
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**Current focus:** Stage 2 / Phase 1 — Hexagonal Refactor & Composition Root
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## Current Phase
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**Phase:** 1 — ESKF Core (✓ Complete)
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**Next action:** Run `/gsd:plan-phase 2` to plan Phase 2 (Visual Odometry Pipeline)
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**Phase:** 1 — Hexagonal Refactor & Composition Root (COMPLETE)
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**Next phase:** Phase 2 — Acceptance Criteria + Test Taxonomy + Observability Spine
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## Roadmap Summary
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### Stage 1 (v1.0 — archived under `.planning/archive/v1.0/`)
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Treated as MVP starting capital, not active backlog. ESKF + cuVSLAM/ORB VO + GPR + MAVLink + 195 passing tests + 8 SITL skipped. Refactoring is allowed and expected.
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### Stage 2 (v2.0 — current iteration, Phases 1–6)
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| Phase | Name | Status |
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|-------|------|--------|
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| 1 | ESKF Core | ✓ Complete |
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| 2 | Visual Odometry Pipeline | Pending |
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| 3 | Satellite Matching + GPR | Pending |
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| 4 | MAVLink I/O | Pending |
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| 5 | End-to-End Pipeline Wiring | Pending |
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| 6 | Docker SITL Harness + CI | Pending |
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| 7 | Accuracy Validation | Pending |
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| 1 | Hexagonal Refactor & Composition Root | **Complete** (8/8 plans, 216 tests green) |
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| 2 | Acceptance Criteria + Test Taxonomy + Observability Spine | Pending |
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| 3 | Safety Anchor State Machine & Geometry-Gated Verifier | Pending |
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| 4 | Conditional Multi-Scale VPR + Flight Data Recorder | Pending |
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| 5 | MAVLink Source-Aware Output & Spoofing/Blackout Handling | Pending |
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| 6 | Real-Flight Fixture (Azaion 10.05.2026) + CLI + Per-Env Docker | Pending |
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## Key Files
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- `.planning/PROJECT.md` — project context and requirements
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- `.planning/REQUIREMENTS.md` — 36 v1 requirements with traceability
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- `.planning/ROADMAP.md` — 7-phase execution plan
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- `.planning/PROJECT.md` — Stage 2 project context
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- `.planning/REQUIREMENTS.md` — 52 Stage 2 requirements with traceability
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- `.planning/ROADMAP.md` — Stage 2 roadmap, 6 phases
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- `.planning/archive/v1.0/` — Stage 1 historical record (PROJECT/REQUIREMENTS/ROADMAP/phases)
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- `.planning/codebase/` — codebase map (ARCHITECTURE, CONCERNS, STACK, etc.)
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- `_docs/01_solution/solution.md` — authoritative architecture spec
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- `_docs/00_problem/acceptance_criteria.md` — 43 test scenarios
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- `_docs/00_problem/acceptance_criteria.md` — to be rewritten with formal AC-1.x (Phase 2)
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## Session Notes
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- Initialized 2026-04-01
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- Brownfield: scaffold exists (~2800 lines), critical algorithms missing (ESKF, MAVLink, real TRT/cuVSLAM)
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- cuVSLAM + TRT available only on Jetson; dev/CI uses OpenCV ORB stub + MockInferenceEngine
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- Pipeline direction: top-down (API → ESKF → VO → satellite → GPS_INPUT)
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- 2026-04-01 — Project initialized; Stage 1 brownfield scaffold (~2800 lines)
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- Stage 1 complete — 195 passing + 8 SITL skipped tests, all 7 phases shipped, archived to `.planning/archive/v1.0/`
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- 2026-05-10 — Stage 2 opened as independent iteration with own phase numbering (1–6); 52 requirements drafted
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- 2026-05-10 — Stage 2 ROADMAP.md created; 100% requirement coverage; traceability populated in REQUIREMENTS.md
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- Stage 2 strategy: refactor stage1 working code to hexagonal layout, re-implement try02 concepts (NOT layout details), formalize AC, add Azaion real-flight fixture
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- Code from stage1 is MVP — refactoring is allowed and expected; no regression in 195 stage1 tests is the floor
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- 2026-05-11 — Phase 1 complete: Plans 01-01 through 01-08 executed; 216/216 tests passing; ARCH-01..07 all satisfied
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## Phase 1 Execution Summary (2026-04-01)
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## Stage 2 Phase Dependency Order
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**Status:** ✓ Complete — All 3 plans executed, 35 tests passing
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```
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Phase 1 (ARCH refactor — Protocol surfaces stabilize first)
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↓
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Phase 2 (AC + TEST taxonomy + structlog spine)
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↓
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Phase 3 (SAFE state machine + VERIFY anchor gates)
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↓
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Phase 4 (Conditional VPR + FDR — needs trigger semantics from SAFE)
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↓
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Phase 5 (MAVOUT — source labels + spoofing + blackout — needs SAFE labels + FDR audit)
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↓
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Phase 6 (FIXTURE — Azaion real-flight + CLI + per-env Docker — exercises everything end-to-end)
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```
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**Deliverables:**
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- `src/gps_denied/schemas/eskf.py` (68 lines) — ESKF data contracts (ConfidenceTier, ESKFState, ESKFConfig, IMUMeasurement)
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- `src/gps_denied/core/eskf.py` (359 lines) — 15-state ESKF with IMU prediction, VO/satellite updates, confidence tiers
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- `src/gps_denied/core/coordinates.py` (176 lines added) — Real K-matrix projection, ray-ground intersection, gps_to_pixel inverse
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- `tests/test_eskf.py` (290 lines) — 18 ESKF unit tests
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- `tests/test_coordinates.py` (+200 lines) — 17 coordinate chain tests
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## Current Position
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**Requirements Covered:** ESKF-01 through ESKF-06 (all 6 Phase 1 requirements)
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Phase: 1 — Hexagonal Refactor & Composition Root
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Plan: 08 (COMPLETE — final plan of phase)
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Status: Phase 1 complete — all 8 plans executed, 216/216 tests green, ARCH-01..07 satisfied
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Last activity: 2026-05-11 — Plan 01-08 complete; build_pipeline factory + RuntimeConfig + YAML config shipped
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**Commits:** 4 total (schemas, core ESKF, coordinates, tests, summaries)
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## Key Decisions (Phase 1)
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**Verification:** pytest 35/35 passing (100% success)
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- ARCH-01: components/{vio,satellite_matcher,gpr,mavlink_io,anchor_verifier,safety_state,flight_recorder,coordinate_transforms}/ created with protocol.py + impls
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- ARCH-02: hot_types migration deferred to Phase 2 (Pydantic retained for 216-test stability)
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- ARCH-03: pipeline/composition.py build_pipeline(env) as explicit DI root
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- ARCH-04: core/ math files retained as single files (eskf, factor_graph, coordinates, chunk_manager, recovery, rotation)
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- ARCH-05: typing.Protocol throughout; orchestrator.py has zero concrete adapter imports
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- ARCH-06: config/{jetson,x86_dev,ci,sitl}.yaml + RuntimeConfig.env + YamlConfigSettingsSource
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- ARCH-07: 216 passed / 8 skipped / 0 failed (baseline was 216+8 skipped)
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