azaion/gps-denied-onboard
1
0
Fork 0
mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-21 14:41:12 +00:00
Code Issues Packages Projects Releases Wiki Activity
183 Commits 7 Branches 0 Tags
2f360ec4aed64594de65e557e132b0dc88ff9fb1
Commit Graph

4 Commits

Author SHA1 Message Date
Yuzviak 2f360ec4ae feat(02-05): rewrite ci.yml with per-marker jobs + ac-traceability gate 
Replaces single 'test' job with 6 jobs per TEST-02 + AC-06:
- lint: ruff check (scripts/ added to scope)
- test-unit: pytest -m unit (Py3.11 + Py3.12 matrix)
- test-integration: pytest -m integration (Py3.11)
- test-blackbox: pytest -m blackbox (PR-only, Py3.11)
- ac-traceability: regenerate + git diff --exit-code + --check
- docker-build: build smoke test (needs test-unit + test-integration)

ac-traceability gate fails on: stale committed matrix, non-deferred orphan
AC, or unknown AC ID referenced in any test.
 2026-05-11 18:32:36 +03:00
Yuzviak 97aa4d1cbe ci: trigger workflow on PRs to stage* branches too 
The comment above `on:` says "push and PR to main/dev/stage*" but the
pull_request trigger only listed [main, dev]. Result: PRs into stage
branches got no automated lint/test run — we noticed when PR #1
(into stage1) showed "no checks reported".

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-16 23:28:57 +03:00
Yuzviak d0009f012b fix(ci): remove --timeout flag (pytest-timeout not in dev deps) 
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-02 17:11:31 +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