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docs(phase-01): complete Phase 1 — ESKF Core execution

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Phase 1 status: Complete (3/3 plans, 35/35 tests)
- ESKF-01: 15-state IMU prediction ✓
- ESKF-02: VO measurement update ✓
- ESKF-03: Satellite measurement update ✓
- ESKF-04: GPS initialization ✓
- ESKF-05: Confidence tier computation ✓
- ESKF-06: Coordinate chain (pixel→GPS→pixel) ✓

Next: Phase 2 — Visual Odometry Pipeline

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Yuzviak
2026-04-01 23:53:47 +03:00
parent ba00065e1d
commit a15bef5c01
1 changed files with 34 additions and 4 deletions
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.planning/STATE.md
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@@ -1,3 +1,16 @@
---
gsd_state_version: 1.0
milestone: v1.0
milestone_name: milestone
status: Phase 1 complete
last_updated: "2026-04-01T21:05:00Z"
progress:
total_phases: 7
completed_phases: 1
total_plans: 3
completed_plans: 3
---
# Project State # Project State
## Project Reference ## Project Reference
@@ -5,18 +18,18 @@
See: .planning/PROJECT.md (updated 2026-04-01) See: .planning/PROJECT.md (updated 2026-04-01)
**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. **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.
**Current focus:** Ready to begin Phase 1 (ESKF Core) **Current focus:** Phase 2 — Visual Odometry Pipeline
## Current Phase ## Current Phase
**Phase:** Not started **Phase:** 1 — ESKF Core (✓ Complete)
**Next action:** Run `/gsd:plan-phase 1` to plan Phase 1 (ESKF Core) **Next action:** Run `/gsd:plan-phase 2` to plan Phase 2 (Visual Odometry Pipeline)
## Roadmap Summary ## Roadmap Summary
| Phase | Name | Status | | Phase | Name | Status |
|-------|------|--------| |-------|------|--------|
| 1 | ESKF Core | Pending | | 1 | ESKF Core | ✓ Complete |
| 2 | Visual Odometry Pipeline | Pending | | 2 | Visual Odometry Pipeline | Pending |
| 3 | Satellite Matching + GPR | Pending | | 3 | Satellite Matching + GPR | Pending |
| 4 | MAVLink I/O | Pending | | 4 | MAVLink I/O | Pending |
@@ -39,3 +52,20 @@ See: .planning/PROJECT.md (updated 2026-04-01)
- Brownfield: scaffold exists (~2800 lines), critical algorithms missing (ESKF, MAVLink, real TRT/cuVSLAM) - Brownfield: scaffold exists (~2800 lines), critical algorithms missing (ESKF, MAVLink, real TRT/cuVSLAM)
- cuVSLAM + TRT available only on Jetson; dev/CI uses OpenCV ORB stub + MockInferenceEngine - cuVSLAM + TRT available only on Jetson; dev/CI uses OpenCV ORB stub + MockInferenceEngine
- Pipeline direction: top-down (API → ESKF → VO → satellite → GPS_INPUT) - Pipeline direction: top-down (API → ESKF → VO → satellite → GPS_INPUT)
## Phase 1 Execution Summary (2026-04-01)
**Status:** ✓ Complete — All 3 plans executed, 35 tests passing
**Deliverables:**
- `src/gps_denied/schemas/eskf.py` (68 lines) — ESKF data contracts (ConfidenceTier, ESKFState, ESKFConfig, IMUMeasurement)
- `src/gps_denied/core/eskf.py` (359 lines) — 15-state ESKF with IMU prediction, VO/satellite updates, confidence tiers
- `src/gps_denied/core/coordinates.py` (176 lines added) — Real K-matrix projection, ray-ground intersection, gps_to_pixel inverse
- `tests/test_eskf.py` (290 lines) — 18 ESKF unit tests
- `tests/test_coordinates.py` (+200 lines) — 17 coordinate chain tests
**Requirements Covered:** ESKF-01 through ESKF-06 (all 6 Phase 1 requirements)
**Commits:** 4 total (schemas, core ESKF, coordinates, tests, summaries)
**Verification:** pytest 35/35 passing (100% success)