Oleksandr Bezdieniezhnykh 64d961f60c [AZ-697] [AZ-702] tlog GPS truth + KHP20S30 factory calibration ...

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>

2026-05-20 16:09:03 +03:00

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