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9 Commits

Author SHA1 Message Date
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 a15bef5c01 docs(phase-01): complete Phase 1 — ESKF Core execution 
Phase 1 status: Complete (3/3 plans, 35/35 tests)
- ESKF-01: 15-state IMU prediction ✓
- ESKF-02: VO measurement update ✓
- ESKF-03: Satellite measurement update ✓
- ESKF-04: GPS initialization ✓
- ESKF-05: Confidence tier computation ✓
- ESKF-06: Coordinate chain (pixel→GPS→pixel) ✓

Next: Phase 2 — Visual Odometry Pipeline

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-01 23:53:47 +03:00
Yuzviak ba00065e1d docs(phase-01): add test summary for plan 01-03 
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
Yuzviak bf9bef19c8 docs(01-eskf-core): create phase plan — 3 plans in 2 waves 2026-04-01 22:11:57 +03:00
Yuzviak d2b431f17f docs: add project STATE.md 
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-01 20:53:01 +03:00
Yuzviak 659050f20b docs: add requirements and roadmap 
36 v1 requirements across 6 categories (ESKF, VO, SAT, GPR, MAV, PIPE, TEST).
7-phase roadmap ordered by dependency: ESKF → VO → Satellite → MAVLink → Pipeline → SITL → Validation.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-01 20:52:42 +03:00
Yuzviak 06f9ccd28f chore: add project config 2026-04-01 20:48:56 +03:00
Yuzviak b3d2f8e5a2 docs: initialize project 2026-04-01 20:48:56 +03:00
Yuzviak 2dd60a0e37 Add codebase map to .planning/codebase/ 
7 structured documents covering stack, integrations, architecture,
structure, conventions, testing, and concerns.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-01 20:26:52 +03:00