mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:31:13 +00:00
Oleksandr Bezdieniezhnykh
94d2358c8b
Derkachi e2e Tier-2 divergence had three stacked root causes; this
commit ships fixes for all three plus the IMU prerequisite they
depend on, plus a baseline cheirality gate for cv2.recoverPose.
AZ-918 MAVLink IMU adapters now convert raw mG/mrad-s + FRD body to
SI m/s^2 + rad/s + FLU body via helpers.imu_units. Without
this the ESKF receives values ~1000x too small with wrong-
sign Y/Z and cannot function at all.
AZ-919 Composition root wires EskfNominalAltitudeProvider into the
KLT/RANSAC strategy via the AZ-331 factory introspect path;
OKVIS2 and VINS-Mono are unaffected.
AZ-920 KLT/RANSAC recovers metric translation via Ground Sampling
Distance when AGL is available; otherwise falls through with
scale_quality=direction_only/unknown (no fake scale invented).
AZ-921 VioOutput.scale_quality signal; ESKF add_vio adapts R_meas
position block based on the flag (1e6 inflation when scale is
direction_only/unknown to keep the filter consistent).
AZ-922 KLT/RANSAC cheirality gate rejects single-frame rotations
beyond a config threshold (default 30 deg), catching
cv2.recoverPose twisted-pair flips that cause immediate ESKF
divergence on low-parallax aerial scenes.
Verification:
- Tier-1 (macOS) unit suite: 2346 passed, 0 failed.
- Tier-2 (Jetson) Derkachi e2e: divergence moves from frame 5
(mahalanobis^2 3757) to frame 233 (mahalanobis^2 212). Remaining
drift is open-loop attitude accumulation, not cheirality.
Follow-up tickets filed:
- AZ-923 closed as misdiagnosed: EskfNominalAltitudeProvider was
already correct (nominal_pos.z IS the AGL when takeoff origin sits
at ground level); the early-frame AGL near zero reflects the drone
being stationary on the ground, not a provider bug.
- AZ-942 filed: cross-check VIO rotation against IMU preintegrator
(consistency gate) - more physically grounded than the coarse
AZ-922 threshold and likely required to absorb the frame-233 drift.
Co-authored-by: Cursor <cursoragent@cursor.com>
80 lines
1.2 KiB
Plaintext
80 lines
1.2 KiB
Plaintext
# Python
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__pycache__/
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*.py[cod]
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*$py.class
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*.so
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*.egg
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*.egg-info/
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.eggs/
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.pytest_cache/
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.coverage
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.coverage.*
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coverage.xml
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htmlcov/
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.mypy_cache/
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.ruff_cache/
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.tox/
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.venv/
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venv/
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env/
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# Build artifacts
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build/
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dist/
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_skbuild/
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CMakeFiles/
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CMakeCache.txt
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cmake_install.cmake
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Makefile
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compile_commands.json
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# Native engines and caches
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*.engine
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*.calib
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*.index
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*.faiss
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*.onnx
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*.trt
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# Test fixtures — large blobs are out-of-band
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tests/fixtures/large_replays/
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tests/fixtures/flight_derkachi/*.mp4
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tests/fixtures/flight_derkachi/*.h264
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tests/fixtures/flight_derkachi/*.tlog
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tests/fixtures/tiles_corpus/*.jpg
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tests/fixtures/tiles_corpus/*.png
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e2e/fixtures/sitl_replay/
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# Problem-folder flight-log inputs (binary, out-of-band)
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_docs/00_problem/input_data/**/*.tlog
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_docs/00_problem/input_data/**/*.mp4
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_docs/00_problem/input_data/**/*.h264
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# Editor / OS noise
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.idea/
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.vscode/
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.DS_Store
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Thumbs.db
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*.swp
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*~
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# Logs and runtime data
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*.log
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/var/lib/gps-denied/
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fdr_output/
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tile_cache/
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e2e-results/
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# Local scratch / one-off diagnostics
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_scratch/
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# Secrets
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.env
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.env.local
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.env.test
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*.key
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!tests/fixtures/mavlink_signing/dev_key
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# Deploy rollback bookmark (written by scripts/stop-services.sh)
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.previous-tags.env
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