mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 09:06:37 +00:00
Yuzviak
094895b21b
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>
49 lines
939 B
TOML
49 lines
939 B
TOML
[project]
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name = "gps-denied-onboard"
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version = "0.1.0"
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description = "GPS-denied UAV geolocalization service"
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requires-python = ">=3.11"
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dependencies = [
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"fastapi",
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"uvicorn[standard]",
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"pydantic>=2",
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"pydantic-settings>=2",
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"sqlalchemy>=2",
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"alembic>=1.14",
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"sse-starlette>=2.0",
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"aiosqlite>=0.20",
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"python-multipart>=0.0.9",
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"httpx>=0.27",
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"diskcache>=5.6",
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"numpy>=1.26",
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"opencv-python-headless>=4.9",
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"gtsam>=4.3a0",
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"pymavlink>=2.4",
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]
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[project.optional-dependencies]
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dev = [
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"ruff>=0.9",
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"pytest>=8.0",
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"pytest-asyncio>=0.24",
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"httpx>=0.28",
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]
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[build-system]
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requires = ["setuptools>=75"]
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build-backend = "setuptools.build_meta"
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[tool.setuptools.packages.find]
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where = ["src"]
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[tool.ruff]
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target-version = "py311"
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line-length = 100
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[tool.ruff.lint]
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select = ["E", "F", "I", "W"]
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[tool.pytest.ini_options]
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testpaths = ["tests"]
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asyncio_mode = "auto"
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