84e2f048e3
fix(lint): ruff --fix import ordering in new test files
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CI lint job flagged I001 (un-sorted imports) in:
- tests/test_gps_input_encoding.py (top-level)
- tests/test_vo.py (2 inline imports in new mono_depth tests)
Applied ruff --fix: stdlib / third-party / first-party blocks with correct
blank-line separators.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com >
2026-04-18 16:41:41 +03:00
759766d737
refactor(vo): address final review — accurate docstring + update_depth_hint tests
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Final review findings (Important):
- I1: e2e test docstring overclaimed — harness always uses ORBVisualOdometry.
Rewrite docstring to describe the actual scope: smoke test + ORB regression
guard. Wiring Mono-Depth wrapper through the harness is a sprint 2 task.
- I2: update_depth_hint had no tests. Add 2 tests: clamp at 1.0m for bogus
values, and verify next compute_relative_pose uses the updated scale.
- I3: add TODO marker for sprint 2 deduplication with CuVSLAMVisualOdometry.
No behavior change — only docstrings, TODO markers, and test coverage.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com >
2026-04-18 16:29:00 +03:00
d8cf539563
chore(test): translate remaining Cyrillic docstring to English
2026-04-18 16:18:57 +03:00
62dc3781b6
refactor(vo): address code review for CuVSLAMMonoDepthVisualOdometry
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- test_depth_hint_scales_translation: replace assert True with mock-based verification of scale factor
- _init_tracker / _compute_via_cuvslam: logger.exception for stack traces
- _init_tracker: loud warning when Jetson path disabled
- drop personal attribution (git blame suffices)
- translate Ukrainian test docstrings to English
2026-04-18 16:17:09 +03:00
2951a33ade
feat(vo): add CuVSLAMMonoDepthVisualOdometry — barometer as synthetic depth
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Replaces Inertial mode (requires stereo) with Mono-Depth mode.
Dev/CI fallback: ORB translation scaled by depth_hint_m.
factory: add prefer_mono_depth=True param.
Ref: docs/superpowers/specs/2026-04-18-oss-stack-tech-audit-design.md
2026-04-18 16:11:54 +03:00
dd9835c0cd
fix(lint): resolve all ruff errors — trailing whitespace, E501, F401
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- 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
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
058ed315dd
feat: stage7 — Model Manager (F16) and Sequential VO (F07)
2026-03-22 22:59:55 +02:00
Yuzviak