mirror of
https://github.com/azaion/gps-denied-onboard.git
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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>
63 lines
2.2 KiB
Python
63 lines
2.2 KiB
Python
"""Tests for Failure Recovery Coordinator (F11)."""
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import pytest
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import numpy as np
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from gps_denied.core.recovery import FailureRecoveryCoordinator
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from gps_denied.core.chunk_manager import RouteChunkManager
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from gps_denied.core.graph import FactorGraphOptimizer
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from gps_denied.core.gpr import GlobalPlaceRecognition
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from gps_denied.core.metric import MetricRefinement
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from gps_denied.core.models import ModelManager
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from gps_denied.schemas.graph import FactorGraphConfig
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@pytest.fixture
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def recovery():
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opt = FactorGraphOptimizer(FactorGraphConfig())
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cm = RouteChunkManager(opt)
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mm = ModelManager()
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gpr = GlobalPlaceRecognition(mm)
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gpr.load_index("test", "test")
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metric = MetricRefinement(mm)
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return FailureRecoveryCoordinator(cm, gpr, metric)
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def test_handle_tracking_lost(recovery):
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flight = "recovery_fl"
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res = recovery.handle_tracking_lost(flight, 404)
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assert res is True
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# active chunk should be 404
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active = recovery.chunk_manager.get_active_chunk(flight)
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assert active.start_frame_id == 404
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def test_process_chunk_recovery_success(recovery, monkeypatch):
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# Mock LitSAM to guarantee match
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def mock_align(*args, **kwargs):
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from gps_denied.schemas.metric import ChunkAlignmentResult, Sim3Transform
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from gps_denied.schemas import GPSPoint
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return ChunkAlignmentResult(
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matched=True, chunk_id="x", chunk_center_gps=GPSPoint(lat=49, lon=30),
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rotation_angle=0, confidence=0.9, inlier_count=50,
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transform=Sim3Transform(translation=np.zeros(3), rotation=np.eye(3), scale=1),
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reprojection_error=1.0
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)
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monkeypatch.setattr(recovery.metric_refinement, "align_chunk_to_satellite", mock_align)
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flight = "rec2"
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recovery.handle_tracking_lost(flight, 10)
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chunk_id = recovery.chunk_manager.get_active_chunk(flight).chunk_id
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images = [np.zeros((256, 256, 3)) for _ in range(3)]
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res = recovery.process_chunk_recovery(flight, chunk_id, images)
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assert res is True
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from gps_denied.schemas.chunk import ChunkStatus
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active = recovery.chunk_manager.get_active_chunk(flight)
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assert active.has_anchor is True
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assert active.matching_status == ChunkStatus.ANCHORED
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