 Yuzviak
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78dcf7b4e7
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fix: post-audit — runtime bugs, functional gaps, docs, hardening
Phase A — Runtime bugs:
- SSE: add push_event() method to SSEEventStreamer (was missing, masked by mocks)
- MAVLink: satellites_visible=10 (was 0, triggers ArduPilot failsafe)
- MAVLink: horiz_accuracy=sqrt(P[0,0]+P[1,1]) per spec (was sqrt(avg))
- MAVLink: MEDIUM confidence → fix_type=3 per solution.md (was 2)
Phase B — Functional gaps:
- handle_user_fix() injects operator GPS into ESKF with noise=500m
- app.py uses create_vo_backend() factory (was hardcoded SequentialVO)
- ESKF: Mahalanobis gating on satellite updates (rejects outliers >5σ)
- ESKF: public accessors (position, quaternion, covariance, last_timestamp)
- Processor: no more private ESKF field access
Phase C — Documentation:
- README: correct API endpoints, CLI command, 40+ env vars documented
- Dockerfile: ENV prefixes match pydantic-settings (DB_, SATELLITE_, MAVLINK_)
- tech_stack.md marked ARCHIVED (contradicts solution.md)
Phase D — Hardening:
- JWT auth middleware (AUTH_ENABLED=false default, verify_token on /flights)
- TLS config env vars (AUTH_SSL_CERTFILE, AUTH_SSL_KEYFILE)
- SHA-256 tile manifest verification in SatelliteDataManager
- AuthConfig, ESKFSettings, MAVLinkConfig, SatelliteConfig in config.py
Also: conftest.py shared fixtures, download_tiles.py, convert_to_trt.py scripts,
config wiring into app.py lifespan, config-driven ESKF, calculate_precise_angle fix.
Tests: 196 passed / 8 skipped. Ruff clean.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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2026-04-02 18:27:35 +03:00 |
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Yuzviak
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094895b21b
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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>
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2026-04-02 17:00:41 +03:00 |
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