mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:46:36 +00:00
Yuzviak
094895b21b
Phase 2 — Visual Odometry: - ORBVisualOdometry (dev/CI), CuVSLAMVisualOdometry (Jetson) - TRTInferenceEngine (TensorRT FP16, conditional import) - create_vo_backend() factory Phase 3 — Satellite Matching + GPR: - SatelliteDataManager: local z/x/y tiles, ESKF ±3σ tile selection - GSD normalization (SAT-03), RANSAC inlier-ratio confidence (SAT-04) - GlobalPlaceRecognition: Faiss index + numpy fallback Phase 4 — MAVLink I/O: - MAVLinkBridge: GPS_INPUT 15+ fields, IMU callback, 1Hz telemetry - 3-consecutive-failure reloc request - MockMAVConnection for CI Phase 5 — Pipeline Wiring: - ESKF wired into process_frame: VO update → satellite update - CoordinateTransformer + SatelliteDataManager via DI - MAVLink state push per frame (PIPE-07) - Real pixel_to_gps via ray-ground projection (PIPE-06) - GTSAM ISAM2 update when available (PIPE-03) Phase 6 — Docker + CI: - Multi-stage Dockerfile (python:3.11-slim) - docker-compose.yml (dev), docker-compose.sitl.yml (ArduPilot SITL) - GitHub Actions: ci.yml (lint+pytest+docker smoke), sitl.yml (nightly) - tests/test_sitl_integration.py (8 tests, skip without SITL) Phase 7 — Accuracy Validation: - AccuracyBenchmark + SyntheticTrajectory - AC-PERF-1: 80% within 50m ✅ - AC-PERF-2: 60% within 20m ✅ - AC-PERF-3: p95 latency < 400ms ✅ - AC-PERF-4: VO drift 1km < 100m ✅ (actual ~11m) - scripts/benchmark_accuracy.py CLI Tests: 195 passed / 8 skipped Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
40 lines
1.1 KiB
YAML
40 lines
1.1 KiB
YAML
# ---------------------------------------------------------------------------
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# GPS-Denied Onboard — Local Development Compose
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# ---------------------------------------------------------------------------
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# Usage:
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# docker compose up --build # start service
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# docker compose down -v # stop + remove volumes
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version: "3.9"
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services:
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gps-denied:
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build:
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context: .
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dockerfile: Dockerfile
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image: gps-denied-onboard:dev
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container_name: gps-denied-dev
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ports:
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- "8000:8000"
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environment:
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GPS_DENIED_DB_PATH: /data/flights.db
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GPS_DENIED_TILE_DIR: /data/satellite_tiles
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GPS_DENIED_LOG_LEVEL: DEBUG
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volumes:
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# Persistent data: SQLite DB + satellite tile cache
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- gps_denied_data:/data
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# Hot-reload: mount source for dev iteration
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- ./src:/app/src:ro
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restart: unless-stopped
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healthcheck:
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test: ["CMD", "python", "-c",
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"import urllib.request; urllib.request.urlopen('http://localhost:8000/health')"]
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interval: 30s
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timeout: 5s
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retries: 3
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start_period: 10s
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volumes:
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gps_denied_data:
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driver: local
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