gps-denied-onboard

azaion/gps-denied-onboard

Fork 0

mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-21 08:51:12 +00:00

Commit Graph

Author	SHA1	Message	Date
Oleksandr Bezdieniezhnykh	64d961f60c	[AZ-697] [AZ-702] tlog GPS truth + KHP20S30 factory calibration Batch 98 (cycle 2) — first two PBIs of epic AZ-696 (real-flight validation harness): AZ-697: direct binary-tlog GPS-truth extractor - New src/gps_denied_onboard/replay_input/tlog_ground_truth.py reads GLOBAL_POSITION_INT (with GPS_RAW_INT fallback) from a binary ArduPilot tlog via pymavlink.mavutil and returns a frozen+slotted TlogGroundTruth DTO with per-record ts_ns / lat_deg / lon_deg / alt_m / hdg_deg / vx_m_s / vy_m_s / vz_m_s. - Promoted l2_horizontal_m + match_percentage + GroundTruthRow from tests/e2e/replay/_helpers.py into the new production module src/gps_denied_onboard/helpers/gps_compare.py. The e2e helper now re-exports the same objects (identity, not copies) so existing test imports continue working untouched. - tests/e2e/replay/conftest.py prefers the real derkachi.tlog when present, falls back to the CSV synth path otherwise. - 22 new unit tests cover AC-1..AC-5 (mypy --strict subprocess test included). All passing. AZ-702: Topotek KHP20S30 factory-sheet camera calibration - New _docs/00_problem/input_data/flight_derkachi/khp20s30_factory.json: fx = fy = 4644.444, cx = 960, cy = 540, HFOV ~ 23.3 deg, VFOV ~ 13.2 deg, computed from the published 8.5 mm focal length + 1/2.8" sensor + 1920x1080 capture at lowest zoom step. Distortion zeroed, body_to_camera_se3 = identity with nadir convention. Acquisition method explicitly recorded as factory_sheet so downstream code can expect higher residual error than a lab calibration. - _docs/00_problem/input_data/flight_derkachi/camera_info.md updated to document the assumptions, expected residual error window, and conftest pick-up rule. - tests/e2e/replay/conftest.py::_calibration_path() prefers khp20s30_factory.json when present, falls back to adti26.json. - 9 new unit tests cover AC-1..AC-4 (schema, intrinsics traceback, doc reference, conftest pick-up). All passing. Test run: 45 new tests, all passing. Full-suite gate deferred to Step 16 (after the last batch in cycle 2 per the implement skill). Adjacent note (not fixed in this batch, recorded in the batch report): auto_sync.py has the same redundant pymavlink type:ignore + a few numpy/cv2 mypy --strict issues. None on this batch's path. Refs: _docs/03_implementation/batch_98_cycle2_report.md Refs: _docs/02_tasks/done/AZ-697_tlog_ground_truth_extractor.md Refs: _docs/02_tasks/done/AZ-702_khp20s30_calibration.md Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-20 16:09:03 +03:00
Oleksandr Bezdieniezhnykh	d7e6b0959e	[AZ-404] [AZ-389] [AZ-559] E2E replay test (Derkachi 60s) + AZ-389 cleanup Batch 63 of /autodev replay slice. Adds the AZ-404 E2E test harness against the Derkachi fixture and resolves the AZ-389 dependency phantom (closing AZ-559 Won't Fix). E2E test (AZ-404) - tests/e2e/replay/_tlog_synth.py: deterministic CSV->tlog generator (the original Derkachi tlog is not in repo; data_imu.csv is its export, so we round-trip the CSV through pymavlink). Verified: SCALED_IMU2 + ATTITUDE + GPS_RAW_INT + HEARTBEAT round-trip cleanly through mavutil.mavlink_connection. - tests/e2e/replay/_helpers.py: parse_jsonl, l2_horizontal_m (haversine), match_percentage, CapturingMavlinkTransport (ready for AZ-558 unblock), GroundTruthRow + load_ground_truth_csv. - tests/e2e/replay/conftest.py: derkachi_replay_inputs (session scope), replay_runner (subprocess fixture per AZ-402 CLI), operator_pre_flight_setup placeholder. - tests/e2e/replay/test_derkachi_1min.py: 9 tests covering AC-1..AC-8 with AC-7 skip-gate self-check + AC-4a mode-agnosticism AST scan (passes unconditionally, confirms ADR-011 holding). - tests/e2e/replay/test_helpers.py: 14 unit tests covering AC-9 helper L2 correctness + match_percentage + parse_jsonl + CapturingMavlinkTransport (all unconditional). - tests/e2e/replay/README.md: AC matrix, fixture state, runtime budget, failure cookbook (AC-10). AC matrix - AC-1, AC-2, AC-5, AC-6 implemented and Tier-1 gated on RUN_REPLAY_E2E=1. - AC-3 (<=100m for 80%) xfail until real Topotek KHP20S30 calibration ships (camera_info.md states intrinsics are unknown). - AC-4a (mode-agnosticism AST scan) PASSES unconditionally. - AC-4b (encoder byte-equality) skip until AZ-558 routes C8 bytes through MavlinkTransport. - AC-7 (skip-gate self-check) PASSES unconditionally. - AC-8 (operator workflow rehearsal) skip until D-PROJ-2 mock-suite-sat-service implements tile-fetch + index-build endpoints. - AC-9 (helper L2 correctness) 14 PASSES unconditionally. AZ-389 housekeeping - AZ-559 closed Won't Fix: investigation against c6_tile_cache/_types.py confirmed TileSource.ONBOARD_INGEST + TileMetadata.quality_metadata + write_tile's FreshnessRejectionError already cover the mid-flight ingest semantic. The "missing API" was a spec-vs-impl naming mismatch. - AZ-389 spec rewritten to consume the existing write_tile API + catch FreshnessRejectionError per AC-NEW-3 opportunistic emission. - _dependencies_table.md reverted: AZ-389 deps -> AZ-303 (was AZ-559 in the previous commit on this branch); total 150 / 497 pts. Tests - Full regression: 2099 passed (+14 new e2e/replay), 94 skipped (incl. 8 e2e/replay heavy-tier + documented blocker skips), 3 perf-microbench flakes deselected (test_cli_cold_start_under_2s, test_cold_start_under_500ms_p99, test_nfr_perf_sign_microbench; all pass in isolation - pre-existing under-load flakes on dev macOS). Reviews - _docs/03_implementation/reviews/batch_63_review.md: code review PASS_WITH_WARNINGS (3 documented spec-gap deferrals: AC-3, AC-4b, AC-8). - _docs/03_implementation/cumulative_review_batches_61-63_cycle1_report.md: cumulative review PASS_WITH_WARNINGS. Action items: prioritise AZ-558 (closes AZ-401 AC-9 + AZ-404 AC-4b); consider 2pt hygiene PBI for Protocol-completeness AST scan to catch the AZ-389 / AZ-559 phantom-API pattern at task-prep time. Architecture invariants observably holding - ADR-011 (replay-as-configuration): AC-4a's AST scan over src/gps_denied_onboard/components/*/.py finds zero violations - components branch on neither config.mode nor any synonym. - Single composition root (replay protocol Invariant 11): AZ-402 CLI dispatches to runtime_root.main(config); does not call compose_root directly. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-14 21:41:39 +03:00

Author

SHA1

Message

Date

Oleksandr Bezdieniezhnykh

64d961f60c

[AZ-697] [AZ-702] tlog GPS truth + KHP20S30 factory calibration

Batch 98 (cycle 2) — first two PBIs of epic AZ-696 (real-flight
validation harness):

AZ-697: direct binary-tlog GPS-truth extractor

- New src/gps_denied_onboard/replay_input/tlog_ground_truth.py reads
  GLOBAL_POSITION_INT (with GPS_RAW_INT fallback) from a binary
  ArduPilot tlog via pymavlink.mavutil and returns a frozen+slotted
  TlogGroundTruth DTO with per-record ts_ns / lat_deg / lon_deg / alt_m
  / hdg_deg / vx_m_s / vy_m_s / vz_m_s.
- Promoted l2_horizontal_m + match_percentage + GroundTruthRow from
  tests/e2e/replay/_helpers.py into the new production module
  src/gps_denied_onboard/helpers/gps_compare.py. The e2e helper now
  re-exports the same objects (identity, not copies) so existing test
  imports continue working untouched.
- tests/e2e/replay/conftest.py prefers the real derkachi.tlog when
  present, falls back to the CSV synth path otherwise.
- 22 new unit tests cover AC-1..AC-5 (mypy --strict subprocess test
  included). All passing.

AZ-702: Topotek KHP20S30 factory-sheet camera calibration

- New _docs/00_problem/input_data/flight_derkachi/khp20s30_factory.json:
  fx = fy = 4644.444, cx = 960, cy = 540, HFOV ~ 23.3 deg, VFOV ~ 13.2
  deg, computed from the published 8.5 mm focal length + 1/2.8" sensor
  + 1920x1080 capture at lowest zoom step. Distortion zeroed,
  body_to_camera_se3 = identity with nadir convention. Acquisition
  method explicitly recorded as factory_sheet so downstream code can
  expect higher residual error than a lab calibration.
- _docs/00_problem/input_data/flight_derkachi/camera_info.md updated
  to document the assumptions, expected residual error window, and
  conftest pick-up rule.
- tests/e2e/replay/conftest.py::_calibration_path() prefers
  khp20s30_factory.json when present, falls back to adti26.json.
- 9 new unit tests cover AC-1..AC-4 (schema, intrinsics traceback,
  doc reference, conftest pick-up). All passing.

Test run: 45 new tests, all passing. Full-suite gate deferred to
Step 16 (after the last batch in cycle 2 per the implement skill).

Adjacent note (not fixed in this batch, recorded in the batch report):
auto_sync.py has the same redundant pymavlink type:ignore + a few
numpy/cv2 mypy --strict issues. None on this batch's path.

Refs: _docs/03_implementation/batch_98_cycle2_report.md
Refs: _docs/02_tasks/done/AZ-697_tlog_ground_truth_extractor.md
Refs: _docs/02_tasks/done/AZ-702_khp20s30_calibration.md

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-20 16:09:03 +03:00

Oleksandr Bezdieniezhnykh

d7e6b0959e

[AZ-404] [AZ-389] [AZ-559] E2E replay test (Derkachi 60s) + AZ-389 cleanup

Batch 63 of /autodev replay slice. Adds the AZ-404 E2E test harness
against the Derkachi fixture and resolves the AZ-389 dependency
phantom (closing AZ-559 Won't Fix).

E2E test (AZ-404)
- tests/e2e/replay/_tlog_synth.py: deterministic CSV->tlog generator
  (the original Derkachi tlog is not in repo; data_imu.csv is its
  export, so we round-trip the CSV through pymavlink). Verified:
  SCALED_IMU2 + ATTITUDE + GPS_RAW_INT + HEARTBEAT round-trip cleanly
  through mavutil.mavlink_connection.
- tests/e2e/replay/_helpers.py: parse_jsonl, l2_horizontal_m
  (haversine), match_percentage, CapturingMavlinkTransport (ready
  for AZ-558 unblock), GroundTruthRow + load_ground_truth_csv.
- tests/e2e/replay/conftest.py: derkachi_replay_inputs (session
  scope), replay_runner (subprocess fixture per AZ-402 CLI),
  operator_pre_flight_setup placeholder.
- tests/e2e/replay/test_derkachi_1min.py: 9 tests covering AC-1..AC-8
  with AC-7 skip-gate self-check + AC-4a mode-agnosticism AST scan
  (passes unconditionally, confirms ADR-011 holding).
- tests/e2e/replay/test_helpers.py: 14 unit tests covering AC-9
  helper L2 correctness + match_percentage + parse_jsonl +
  CapturingMavlinkTransport (all unconditional).
- tests/e2e/replay/README.md: AC matrix, fixture state, runtime
  budget, failure cookbook (AC-10).

AC matrix
- AC-1, AC-2, AC-5, AC-6 implemented and Tier-1 gated on
  RUN_REPLAY_E2E=1.
- AC-3 (<=100m for 80%) xfail until real Topotek KHP20S30
  calibration ships (camera_info.md states intrinsics are unknown).
- AC-4a (mode-agnosticism AST scan) PASSES unconditionally.
- AC-4b (encoder byte-equality) skip until AZ-558 routes C8 bytes
  through MavlinkTransport.
- AC-7 (skip-gate self-check) PASSES unconditionally.
- AC-8 (operator workflow rehearsal) skip until D-PROJ-2
  mock-suite-sat-service implements tile-fetch + index-build
  endpoints.
- AC-9 (helper L2 correctness) 14 PASSES unconditionally.

AZ-389 housekeeping
- AZ-559 closed Won't Fix: investigation against
  c6_tile_cache/_types.py confirmed TileSource.ONBOARD_INGEST +
  TileMetadata.quality_metadata + write_tile's FreshnessRejectionError
  already cover the mid-flight ingest semantic. The "missing API"
  was a spec-vs-impl naming mismatch.
- AZ-389 spec rewritten to consume the existing write_tile API +
  catch FreshnessRejectionError per AC-NEW-3 opportunistic emission.
- _dependencies_table.md reverted: AZ-389 deps -> AZ-303 (was
  AZ-559 in the previous commit on this branch); total 150 / 497
  pts.

Tests
- Full regression: 2099 passed (+14 new e2e/replay), 94 skipped
  (incl. 8 e2e/replay heavy-tier + documented blocker skips), 3
  perf-microbench flakes deselected (test_cli_cold_start_under_2s,
  test_cold_start_under_500ms_p99, test_nfr_perf_sign_microbench;
  all pass in isolation - pre-existing under-load flakes on dev
  macOS).

Reviews
- _docs/03_implementation/reviews/batch_63_review.md: code review
  PASS_WITH_WARNINGS (3 documented spec-gap deferrals: AC-3, AC-4b,
  AC-8).
- _docs/03_implementation/cumulative_review_batches_61-63_cycle1_report.md:
  cumulative review PASS_WITH_WARNINGS. Action items: prioritise
  AZ-558 (closes AZ-401 AC-9 + AZ-404 AC-4b); consider 2pt hygiene
  PBI for Protocol-completeness AST scan to catch the AZ-389 /
  AZ-559 phantom-API pattern at task-prep time.

Architecture invariants observably holding
- ADR-011 (replay-as-configuration): AC-4a's AST scan over
  src/gps_denied_onboard/components/**/*.py finds zero violations -
  components branch on neither config.mode nor any synonym.
- Single composition root (replay protocol Invariant 11): AZ-402
  CLI dispatches to runtime_root.main(config); does not call
  compose_root directly.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-14 21:41:39 +03:00

2 Commits