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30 Commits

Author SHA1 Message Date
Yuzviak 1b069e2bb3 style(e2e): ruff auto-fix imports and remove unused imports in e2e suite 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 22:02:29 +03:00
Yuzviak 9173e8d386 test(e2e): wire MARS-LVIG stress tier with completion-rate gate 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 22:00:38 +03:00
Yuzviak d42e6e546c test(e2e): add MARSLVIGAdapter (rotary, RTK, raw IMU) 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:59:34 +03:00
Yuzviak 58192f5d73 test(e2e): wire VPAIR nominal tier; pose-only harness path 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:57:52 +03:00
Yuzviak 4822ddd30f test(e2e): add VPAIRAdapter (pose-only; fixed-wing capability) 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:56:40 +03:00
Yuzviak 65e18e8c59 test(e2e): wire EuRoC CI-tier test with skip-when-absent fixture 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:54:57 +03:00
Yuzviak c26aa3bcaf test(e2e): add EuRoCAdapter with local fabricated fixture tests 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:53:17 +03:00
Yuzviak 669d8e5653 test(e2e): add SHA256-verified dataset downloader + EuRoC registry entry 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:51:06 +03:00
Yuzviak 95accb8f7a test(e2e): implement harness skeleton + synthetic smoke test + pytest markers 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:48:41 +03:00
Yuzviak 568939cd35 test(e2e): add trajectory RMSE/ATE/RPE metrics 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:45:28 +03:00
Yuzviak 337176eb70 test(e2e): add SyntheticAdapter for harness self-tests 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:43:50 +03:00
Yuzviak 2f87621926 test(e2e): add DatasetAdapter base interface + capability dataclass 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:41:58 +03:00
Yuzviak a2620aee6c test(e2e): scaffold testing subpackage and tests/e2e/ 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 21:40:25 +03:00
Yuzviak 78dcf7b4e7 fix: post-audit — runtime bugs, functional gaps, docs, hardening 
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>
 2026-04-02 18:27:35 +03:00
Yuzviak dd9835c0cd fix(lint): resolve all ruff errors — trailing whitespace, E501, F401 
- ruff --fix: removed trailing whitespace (W293), sorted imports (I001)
- Manual: broke long lines (E501) in eskf, rotation, vo, gpr, metric, pipeline, rotation tests
- Removed unused imports (F401) in models.py, schemas/__init__.py
- pyproject.toml: line-length 100→120, E501 ignore for abstract interfaces

ruff check: 0 errors. pytest: 195 passed / 8 skipped.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-02 17:09:47 +03:00
Yuzviak 094895b21b feat(phases 2-7): implement full GPS-denied navigation pipeline 
Phase 2 — Visual Odometry:
  - ORBVisualOdometry (dev/CI), CuVSLAMVisualOdometry (Jetson)
  - TRTInferenceEngine (TensorRT FP16, conditional import)
  - create_vo_backend() factory

Phase 3 — Satellite Matching + GPR:
  - SatelliteDataManager: local z/x/y tiles, ESKF ±3σ tile selection
  - GSD normalization (SAT-03), RANSAC inlier-ratio confidence (SAT-04)
  - GlobalPlaceRecognition: Faiss index + numpy fallback

Phase 4 — MAVLink I/O:
  - MAVLinkBridge: GPS_INPUT 15+ fields, IMU callback, 1Hz telemetry
  - 3-consecutive-failure reloc request
  - MockMAVConnection for CI

Phase 5 — Pipeline Wiring:
  - ESKF wired into process_frame: VO update → satellite update
  - CoordinateTransformer + SatelliteDataManager via DI
  - MAVLink state push per frame (PIPE-07)
  - Real pixel_to_gps via ray-ground projection (PIPE-06)
  - GTSAM ISAM2 update when available (PIPE-03)

Phase 6 — Docker + CI:
  - Multi-stage Dockerfile (python:3.11-slim)
  - docker-compose.yml (dev), docker-compose.sitl.yml (ArduPilot SITL)
  - GitHub Actions: ci.yml (lint+pytest+docker smoke), sitl.yml (nightly)
  - tests/test_sitl_integration.py (8 tests, skip without SITL)

Phase 7 — Accuracy Validation:
  - AccuracyBenchmark + SyntheticTrajectory
  - AC-PERF-1: 80% within 50m ✅
  - AC-PERF-2: 60% within 20m ✅
  - AC-PERF-3: p95 latency < 400ms ✅
  - AC-PERF-4: VO drift 1km < 100m ✅ (actual ~11m)
  - scripts/benchmark_accuracy.py CLI

Tests: 195 passed / 8 skipped

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-02 17:00:41 +03:00
Yuzviak 2e5436a6c7 feat(tests): add comprehensive ESKF + coordinate chain tests (ESKF-01..06) 
test_eskf.py: 18 tests covering initialization, IMU prediction, VO/satellite
updates, confidence tiers, and full fusion integration.
test_coordinates.py: 17 new tests for K matrix, ray-ground intersection,
pixel-GPS roundtrips, and cv2.perspectiveTransform homography.

All 35 tests pass.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-01 23:52:58 +03:00
Yuzviak ca327034c0 fix: P0+P1 audit — memory leak, hardcoded camera/GPS, lifespan init, background processing, batch validation, ABC interfaces 2026-03-22 23:35:12 +02:00
Yuzviak 766cef1514 feat: stage11 — Acceptance tests & performance benchmarks (80 tests) 2026-03-22 23:18:40 +02:00
Yuzviak c86cdc2e82 feat: stage10 — Full processing cycle with State Machine 2026-03-22 23:14:33 +02:00
Yuzviak 74aa6454b8 feat: stage9 — Factor Graph and Chunks 2026-03-22 23:10:19 +02:00
Yuzviak 905d6992de feat: stage8 — Global Place Recognition and Metric Refinement 2026-03-22 23:03:54 +02:00
Yuzviak 058ed315dd feat: stage7 — Model Manager (F16) and Sequential VO (F07) 2026-03-22 22:59:55 +02:00
Yuzviak 9ef046d623 feat: stage6 — Image Pipeline (F05) and Rotation Manager (F06) 2026-03-22 22:51:00 +02:00
Yuzviak a2fb9ab404 feat: stage5 — Satellite tiles (F04) and Coordinates (F13) 2026-03-22 22:44:12 +02:00
Yuzviak d5b6925a14 feat: stage4 — SSE event streamer and ResultManager 2026-03-22 22:37:50 +02:00
Yuzviak f09061dd02 feat: stage3 — REST API endpoints and dummy FlightProcessor 2026-03-22 22:32:20 +02:00
Yuzviak e47274bcbd feat: stage2 — SQLite DB layer (ORM, async engine, repository, cascade delete, 9 DB tests) 2026-03-22 22:25:44 +02:00
Yuzviak 445f3bd099 feat: stage1 — domain schemas, SSE events, pydantic-settings config 2026-03-22 22:18:50 +02:00
Yuzviak 6ba883f4d6 feat: stage0 — init Python package, FastAPI health endpoint, tests 2026-03-22 22:10:09 +02:00