mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:26:38 +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>
121 lines
3.6 KiB
YAML
121 lines
3.6 KiB
YAML
# ---------------------------------------------------------------------------
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# GPS-Denied Onboard — ArduPilot SITL Integration Harness
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# ---------------------------------------------------------------------------
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# Runs ArduPlane SITL alongside the gps-denied service on a shared network.
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# GPS_INPUT messages are sent by gps-denied to the SITL FC via MAVLink.
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#
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# Usage:
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# docker compose -f docker-compose.sitl.yml up --build
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# docker compose -f docker-compose.sitl.yml run integration-tests
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# docker compose -f docker-compose.sitl.yml down -v
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#
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# Integration tests (skipped unless ARDUPILOT_SITL_HOST is set):
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# ARDUPILOT_SITL_HOST=ardupilot-sitl \
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# docker compose -f docker-compose.sitl.yml run integration-tests
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# ---------------------------------------------------------------------------
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version: "3.9"
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services:
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# --------------------------------------------------------------------------
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# ArduPilot SITL — ArduPlane (fixed-wing) simulator
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# Exposes:
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# 5762/tcp — MAVLink connection for gps-denied (GPS_INPUT output)
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# 5763/tcp — MAVLink connection for ground-station / MAVProxy
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# --------------------------------------------------------------------------
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ardupilot-sitl:
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image: ardupilot/ardupilot-dev:latest
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container_name: ardupilot-sitl
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command: >
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bash -c "
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cd /ardupilot &&
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Tools/autotest/sim_vehicle.py
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-v ArduPlane
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-f plane-elevon
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--no-rebuild
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--no-mavproxy
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--out=tcp:0.0.0.0:5762
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--out=tcp:0.0.0.0:5763
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--speedup=1
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--simin=none
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"
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ports:
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- "5762:5762"
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- "5763:5763"
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networks:
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- sitl_net
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# SITL needs a few seconds to boot before gps-denied connects
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healthcheck:
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test: ["CMD", "nc", "-z", "localhost", "5762"]
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interval: 5s
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timeout: 3s
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retries: 12
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start_period: 30s
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# --------------------------------------------------------------------------
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# GPS-Denied Onboard service — connects to SITL via TCP MAVLink
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# --------------------------------------------------------------------------
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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:sitl
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container_name: gps-denied-sitl
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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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# MAVLink: connect to SITL FC on TCP
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ARDUPILOT_SITL_HOST: ardupilot-sitl
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ARDUPILOT_SITL_PORT: "5762"
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MAVLINK_CONNECTION: "tcp:ardupilot-sitl:5762"
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volumes:
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- sitl_data:/data
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depends_on:
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ardupilot-sitl:
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condition: service_healthy
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networks:
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- sitl_net
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restart: on-failure
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# --------------------------------------------------------------------------
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# Integration test runner — runs test_sitl_integration.py against live SITL
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# --------------------------------------------------------------------------
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integration-tests:
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build:
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context: .
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dockerfile: Dockerfile
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target: builder
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container_name: sitl-integration-tests
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entrypoint: >
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python -m pytest tests/test_sitl_integration.py -v
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--timeout=60
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--tb=short
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environment:
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ARDUPILOT_SITL_HOST: ardupilot-sitl
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ARDUPILOT_SITL_PORT: "5762"
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PYTHONPATH: /app/src
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volumes:
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- ./src:/app/src:ro
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- ./tests:/app/tests:ro
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depends_on:
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ardupilot-sitl:
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condition: service_healthy
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gps-denied:
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condition: service_healthy
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networks:
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- sitl_net
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profiles:
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- test
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volumes:
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sitl_data:
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driver: local
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networks:
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sitl_net:
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driver: bridge
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