mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 18:51:12 +00:00
Oleksandr Bezdieniezhnykh
64d961f60c
Batch 98 (cycle 2) — first two PBIs of epic AZ-696 (real-flight validation harness): AZ-697: direct binary-tlog GPS-truth extractor - New src/gps_denied_onboard/replay_input/tlog_ground_truth.py reads GLOBAL_POSITION_INT (with GPS_RAW_INT fallback) from a binary ArduPilot tlog via pymavlink.mavutil and returns a frozen+slotted TlogGroundTruth DTO with per-record ts_ns / lat_deg / lon_deg / alt_m / hdg_deg / vx_m_s / vy_m_s / vz_m_s. - Promoted l2_horizontal_m + match_percentage + GroundTruthRow from tests/e2e/replay/_helpers.py into the new production module src/gps_denied_onboard/helpers/gps_compare.py. The e2e helper now re-exports the same objects (identity, not copies) so existing test imports continue working untouched. - tests/e2e/replay/conftest.py prefers the real derkachi.tlog when present, falls back to the CSV synth path otherwise. - 22 new unit tests cover AC-1..AC-5 (mypy --strict subprocess test included). All passing. AZ-702: Topotek KHP20S30 factory-sheet camera calibration - New _docs/00_problem/input_data/flight_derkachi/khp20s30_factory.json: fx = fy = 4644.444, cx = 960, cy = 540, HFOV ~ 23.3 deg, VFOV ~ 13.2 deg, computed from the published 8.5 mm focal length + 1/2.8" sensor + 1920x1080 capture at lowest zoom step. Distortion zeroed, body_to_camera_se3 = identity with nadir convention. Acquisition method explicitly recorded as factory_sheet so downstream code can expect higher residual error than a lab calibration. - _docs/00_problem/input_data/flight_derkachi/camera_info.md updated to document the assumptions, expected residual error window, and conftest pick-up rule. - tests/e2e/replay/conftest.py::_calibration_path() prefers khp20s30_factory.json when present, falls back to adti26.json. - 9 new unit tests cover AC-1..AC-4 (schema, intrinsics traceback, doc reference, conftest pick-up). All passing. Test run: 45 new tests, all passing. Full-suite gate deferred to Step 16 (after the last batch in cycle 2 per the implement skill). Adjacent note (not fixed in this batch, recorded in the batch report): auto_sync.py has the same redundant pymavlink type:ignore + a few numpy/cv2 mypy --strict issues. None on this batch's path. Refs: _docs/03_implementation/batch_98_cycle2_report.md Refs: _docs/02_tasks/done/AZ-697_tlog_ground_truth_extractor.md Refs: _docs/02_tasks/done/AZ-702_khp20s30_calibration.md Co-authored-by: Cursor <cursoragent@cursor.com>
Derkachi Representative Flight Fixture
Files
| File | Description | Observed Metadata |
|---|---|---|
flight_derkachi.mp4 |
Cropped nadir flight footage for replay | H.264, 880 x 720, 30 fps, about 490.07 s |
data_imu.csv |
Flight-controller telemetry trace exported from the tlog | 4,900 rows at 10 Hz from Time=0.0 to 489.9; includes SCALED_IMU2 and GLOBAL_POSITION_INT trajectory fields |
Test Use
Use this fixture for video/telemetry synchronization checks, representative replay smoke tests, VIO hot-path latency, frame-drop accounting, and trajectory comparison against GLOBAL_POSITION_INT. The video and telemetry align at exactly three video frames per telemetry row. Camera intrinsics, lens distortion, raw camera resolution, and exact camera-to-body calibration are still unknown, so this fixture is not sufficient by itself for final production camera calibration or satellite-anchor accuracy claims.
For the test recording, the rotating camera was mechanically fixed in a downward/nadir orientation. Treat the MP4 as a cleaned/cropped replay fixture rather than the raw camera feed.