mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 18:51:12 +00:00
Oleksandr Bezdieniezhnykh
69 lines
3.0 KiB
Markdown
69 lines
3.0 KiB
Markdown
# Deployment Procedures
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## Deployment Targets
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| Target | Purpose |
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|--------|---------|
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| Replay environment | Development and CI fixtures |
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| Plane SITL | MAVLink/failsafe validation |
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| Jetson companion computer | Production runtime and release gating |
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| Representative flight/replay rig | Final acceptance evidence |
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## Pre-Deployment Checklist
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- Camera lens, resolution, FPS, sensor dimensions, and operating temperature are manufacturer-verified.
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- Camera intrinsics/extrinsics are calibrated and versioned.
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- BASALT, OpenCV, FAISS, LightGlue, DINOv2/ONNX/TensorRT dependencies are pinned.
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- TensorRT/ONNX descriptor-fidelity tests pass before optimized engines are used.
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- Satellite cache manifests and sidecars validate signatures, hashes, freshness, and resolution.
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- Plane SITL validates `GPS_INPUT` behavior with production parameters.
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- Jetson latency, memory, and thermal release gates pass.
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- FDR rollover test passes.
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## Deployment Steps
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1. Install JetPack-compatible runtime dependencies on the companion computer.
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2. Install/build BASALT and native vision dependencies.
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3. Pre-build any ONNX/TensorRT engines accepted by fidelity tests.
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4. Sync mission cache from Satellite Service before flight.
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5. Validate cache manifest, descriptors, signatures, resolution, and freshness.
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6. Start the onboard service and verify FC telemetry connection.
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7. Run cold-start first-fix check.
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8. Confirm QGroundControl status and FDR segment creation.
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## Health Checks
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| Check | Pass Condition |
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|-------|----------------|
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| Camera input | Frames received with expected resolution/rate |
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| FC telemetry | IMU/attitude/altitude/GPS-health stream healthy |
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| Cache | Manifest and descriptor index valid |
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| First fix | Valid `GPS_INPUT` <30 s p95 in cold-start test |
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| Resource health | Memory <8 GB, no thermal throttle |
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| QGC status | Status visible at configured downsample rate |
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| FDR | Segment open and writable |
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## Rollback
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- If runtime dependency update fails tests, revert to previous pinned build.
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- If cache manifest validation fails, reject the mission cache and resync/rebuild before flight.
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- If optimized engine fidelity fails, fall back to PyTorch/ONNX path that passed descriptor tests.
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- If BASALT candidate fails representative replay gates, evaluate Kimera backup or custom fallback tasks before production deployment.
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## Post-Flight Procedure
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1. Stop the onboard service cleanly.
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2. Export FDR summary and integrity hashes.
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3. Package generated tiles with sidecars and manifest delta.
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4. Upload generated tile package to Satellite Service when connectivity is available.
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5. Archive release evidence: tlogs, FDR summary, cache validation report, test results.
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## Deployment Blockers
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- ADTi camera spec mismatch unresolved for FPS/resolution/lens/temperature.
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- Missing representative synchronized nav-camera + FC telemetry + ground truth for final acceptance.
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- Any false-position safety budget failure.
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- Any cache-poisoning gate failure.
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- Any Plane SITL `GPS_INPUT` failure.
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- Thermal throttling during the 8-hour target workload.
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