gps-denied-onboard/_docs/02_document/contracts/replay/example_data_imu.csv at 10c2a1ed2eba65b9fb3961b84affbc899e5b0dd4

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Oleksandr Bezdieniezhnykh 6be207cef3 [AZ-894] [AZ-896] Add CSV-driven replay adapter + format docs

Replaces the tlog two-clock replay surface with a single-clock path
driven by the Derkachi-schema CSV. --imu is the new required CLI arg;
--tlog stays as a deprecated alias (warned + ignored when --imu set)
until AZ-895 deletes it.

* csv_ground_truth.py parses the 15-column schema, fails fast at
  startup on every documented schema fault (AC-5).
* CsvReplayFcAdapter slots into ReplayInputBundle.fc_adapter alongside
  the tlog sibling; mirrors Invariant-5 outbound wiring; inbound bus is
  intentionally a no-op since the loop reads CSV directly.
* _run_replay_loop branches on imu_csv_path, stamps
  VioOutput.emitted_at_ns from the CSV-derived frame_end_ns (AC-4),
  closing the AZ-848 two-clock surface for the new path.
* AZ-896 ships the operator-facing format spec at
  _docs/02_document/contracts/replay/csv_replay_format.md plus a
  20-row example CSV (AC-3 regression-locked).

Tests: 11 + 12 new unit tests, plus updates to AZ-401 import-boundary
and AZ-402 CLI suites. Full unit suite 2,327 passed / 86 skipped.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-26 18:40:29 +03:00

2.4 KiB

Raw Blame History

1	timestamp(ms)	Time	SCALED_IMU2.xacc	SCALED_IMU2.yacc	SCALED_IMU2.zacc	SCALED_IMU2.xgyro	SCALED_IMU2.ygyro	SCALED_IMU2.zgyro	SCALED_IMU2.xmag	SCALED_IMU2.ymag	SCALED_IMU2.zmag	GLOBAL_POSITION_INT.lat	GLOBAL_POSITION_INT.lon	GLOBAL_POSITION_INT.alt	GLOBAL_POSITION_INT.relative_alt	GLOBAL_POSITION_INT.vx	GLOBAL_POSITION_INT.vy	GLOBAL_POSITION_INT.vz	GLOBAL_POSITION_INT.hdg
2	4551116.348	0	21	-3	-984	52	32	-5	312	-1048	442	50.0809634	36.1115442	141290	23.182	-4	-6	-88	35041
3	4551216.348	0.1	-68	-9	-995	58	-17	1	309	-1016	441	50.0809634	36.1115441	141360	23.251	-5	-2	-89	35042
4	4551316.348	0.2	9	108	-988	69	-65	13	308	-964	436	50.0809633	36.1115441	141410	23.303	-1	-2	-86	35048
5	4551416.348	0.3	-20	27	-977	55	10	26	310	-988	438	50.0809633	36.1115441	141450	23.348	-5	-6	-84	35057
6	4551516.348	0.4	-40	40	-1026	0	65	10	306	-1076	440	50.0809633	36.111544	141510	23.402	-2	-2	-86	35065
7	4551616.348	0.5	30	126	-1050	-1	75	14	321	-1146	442	50.0809633	36.111544	141570	23.464	0	0	-88	35074
8	4551716.348	0.6	-64	67	-1031	-31	-6	21	314	-1066	438	50.0809632	36.1115439	141640	23.53	-5	1	-90	35080
9	4551816.348	0.7	-22	112	-1027	-61	-88	-5	302	-951	436	50.0809632	36.1115439	141710	23.601	-2	3	-90	35082
10	4551916.348	0.8	-123	-16	-998	-55	-104	-12	301	-942	440	50.0809631	36.1115439	141770	23.669	-10	0	-91	35079
11	4552016.348	0.9	-64	-13	-1003	13	-70	-30	301	-936	442	50.080963	36.1115439	141860	23.755	-2	0	-90	35073
12	4552116.348	1	-22	39	-995	73	20	-18	314	-988	436	50.080963	36.1115439	141930	23.826	-2	-2	-88	35070
13	4552216.348	1.1	-49	-69	-984	2	29	1	317	-992	433	50.080963	36.1115438	142010	23.9	-6	-2	-88	35068
14	4552316.348	1.2	-16	98	-991	-59	-28	-11	310	-970	435	50.080963	36.1115438	142080	23.975	-1	6	-86	35063
15	4552416.348	1.3	-6	169	-998	-29	2	-2	310	-983	435	50.0809629	36.1115438	142150	24.042	-3	5	-83	35059
16	4552516.348	1.4	-31	53	-1003	2	13	-10	317	-1042	438	50.0809629	36.1115438	142210	24.102	-3	3	-83	35051
17	4552616.348	1.5	-47	21	-1023	13	13	-14	320	-1069	439	50.0809629	36.1115438	142270	24.166	2	2	-83	35047
18	4552716.348	1.6	-30	-59	-1020	-18	24	0	315	-1083	438	50.0809629	36.1115439	142340	24.236	-5	1	-86	35049
19	4552816.348	1.7	-103	23	-1058	-59	26	-7	314	-1113	442	50.0809629	36.1115439	142430	24.321	-4	4	-90	35050
20	4552916.348	1.8	-17	51	-1037	-9	80	11	317	-1087	444	50.0809629	36.1115439	142510	24.404	-5	0	-93	35049
21	4553016.348	1.9	-87	72	-1022	-10	-45	0	309	-1004	439	50.0809628	36.111544	142600	24.494	-6	2	-97	35046

2.4 KiB Raw Blame History

2.4 KiB

Raw Blame History