e81b6fdfba
docs(02-05): complete CI pipeline split + AC orphan reconciliation plan
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- 02-05-SUMMARY.md: full execution record for plan 02-05
- ROADMAP.md: plan progress updated (5 summaries of 7 plans complete)
- REQUIREMENTS.md: AC-06 and TEST-02 marked complete
Per-marker CI jobs and ac-traceability gate are now the CI contract.
All 21 orphan ACs annotated pending-phase-N; --check exits 0 locally.
2026-05-11 18:35:47 +03:00
fcd4bb7b3e
docs(02-04): complete plan summary — 14 ACs covered, 216 passed, --check deterministic
2026-05-11 18:27:47 +03:00
61e5544d82
docs(02-03): add plan summary — 37 files marked, 216 passed, 100% coverage
2026-05-11 18:20:10 +03:00
35b2e98fad
docs(01-07): complete plan summary for hexagonal refactor plan 07
2026-05-11 08:59:51 +03:00
275c7b4642
docs(01-06): add SUMMARY.md for mavlink_io split
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Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com >
2026-05-11 08:50:22 +03:00
094895b21b
feat(phases 2-7): implement full GPS-denied navigation pipeline
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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
ba00065e1d
docs(phase-01): add test summary for plan 01-03
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35 tests pass covering ESKF-01..06 (initialization, IMU prediction,
VO/satellite updates, confidence tiers, coordinate chain).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com >
2026-04-01 23:53:18 +03:00
bf9bef19c8
docs(01-eskf-core): create phase plan — 3 plans in 2 waves
2026-04-01 22:11:57 +03:00
Yuzviak