mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 23:06:37 +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>
75 lines
2.1 KiB
YAML
75 lines
2.1 KiB
YAML
name: SITL Integration
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# Run manually or on schedule (nightly on main).
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# Requires Docker Compose SITL harness (docker-compose.sitl.yml).
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on:
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workflow_dispatch:
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inputs:
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sitl_speedup:
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description: SITL simulation speedup factor (default 1)
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default: "1"
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type: string
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schedule:
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# Nightly at 02:00 UTC on main branch
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- cron: "0 2 * * *"
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jobs:
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sitl-integration:
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name: SITL GPS_INPUT integration
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runs-on: ubuntu-latest
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timeout-minutes: 30
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steps:
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- uses: actions/checkout@v4
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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- name: Build gps-denied image
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run: docker build -t gps-denied-onboard:sitl .
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- name: Pull ArduPilot SITL image
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run: docker pull ardupilot/ardupilot-dev:latest
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- name: Start SITL services
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run: |
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docker compose -f docker-compose.sitl.yml up -d ardupilot-sitl gps-denied
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echo "Waiting for SITL to become healthy..."
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for i in $(seq 1 30); do
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if docker compose -f docker-compose.sitl.yml ps ardupilot-sitl \
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| grep -q "healthy"; then
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echo "SITL is healthy"
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break
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fi
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echo " attempt $i/30..."
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sleep 5
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done
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- name: Run SITL integration tests
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run: |
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docker compose -f docker-compose.sitl.yml run \
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--rm \
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-e ARDUPILOT_SITL_HOST=ardupilot-sitl \
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-e ARDUPILOT_SITL_PORT=5762 \
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integration-tests
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- name: Collect logs on failure
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if: failure()
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run: |
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docker compose -f docker-compose.sitl.yml logs ardupilot-sitl > sitl.log 2>&1
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docker compose -f docker-compose.sitl.yml logs gps-denied > gps-denied.log 2>&1
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- name: Upload logs
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if: failure()
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uses: actions/upload-artifact@v4
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with:
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name: sitl-logs
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path: |
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sitl.log
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gps-denied.log
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retention-days: 7
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- name: Stop SITL services
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if: always()
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run: docker compose -f docker-compose.sitl.yml down -v
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