mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:06:37 +00:00
Yuzviak
a15bef5c01
Phase 1 status: Complete (3/3 plans, 35/35 tests) - ESKF-01: 15-state IMU prediction ✓ - ESKF-02: VO measurement update ✓ - ESKF-03: Satellite measurement update ✓ - ESKF-04: GPS initialization ✓ - ESKF-05: Confidence tier computation ✓ - ESKF-06: Coordinate chain (pixel→GPS→pixel) ✓ Next: Phase 2 — Visual Odometry Pipeline Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
72 lines
2.6 KiB
Markdown
72 lines
2.6 KiB
Markdown
---
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gsd_state_version: 1.0
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milestone: v1.0
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milestone_name: milestone
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status: Phase 1 complete
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last_updated: "2026-04-01T21:05:00Z"
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progress:
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total_phases: 7
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completed_phases: 1
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total_plans: 3
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completed_plans: 3
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---
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# Project State
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## Project Reference
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See: .planning/PROJECT.md (updated 2026-04-01)
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**Core value:** Flight controller must receive valid MAVLink GPS_INPUT at 5-10Hz with position accuracy ≤50m for 80% of frames — without this, the UAV cannot navigate in GPS-denied airspace.
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**Current focus:** Phase 2 — Visual Odometry Pipeline
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## Current Phase
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**Phase:** 1 — ESKF Core (✓ Complete)
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**Next action:** Run `/gsd:plan-phase 2` to plan Phase 2 (Visual Odometry Pipeline)
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## Roadmap Summary
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| Phase | Name | Status |
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|-------|------|--------|
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| 1 | ESKF Core | ✓ Complete |
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| 2 | Visual Odometry Pipeline | Pending |
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| 3 | Satellite Matching + GPR | Pending |
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| 4 | MAVLink I/O | Pending |
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| 5 | End-to-End Pipeline Wiring | Pending |
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| 6 | Docker SITL Harness + CI | Pending |
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| 7 | Accuracy Validation | Pending |
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## Key Files
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- `.planning/PROJECT.md` — project context and requirements
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- `.planning/REQUIREMENTS.md` — 36 v1 requirements with traceability
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- `.planning/ROADMAP.md` — 7-phase execution plan
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- `.planning/codebase/` — codebase map (ARCHITECTURE, CONCERNS, STACK, etc.)
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- `_docs/01_solution/solution.md` — authoritative architecture spec
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- `_docs/00_problem/acceptance_criteria.md` — 43 test scenarios
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## Session Notes
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- Initialized 2026-04-01
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- Brownfield: scaffold exists (~2800 lines), critical algorithms missing (ESKF, MAVLink, real TRT/cuVSLAM)
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- cuVSLAM + TRT available only on Jetson; dev/CI uses OpenCV ORB stub + MockInferenceEngine
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- Pipeline direction: top-down (API → ESKF → VO → satellite → GPS_INPUT)
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## Phase 1 Execution Summary (2026-04-01)
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**Status:** ✓ Complete — All 3 plans executed, 35 tests passing
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**Deliverables:**
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- `src/gps_denied/schemas/eskf.py` (68 lines) — ESKF data contracts (ConfidenceTier, ESKFState, ESKFConfig, IMUMeasurement)
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- `src/gps_denied/core/eskf.py` (359 lines) — 15-state ESKF with IMU prediction, VO/satellite updates, confidence tiers
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- `src/gps_denied/core/coordinates.py` (176 lines added) — Real K-matrix projection, ray-ground intersection, gps_to_pixel inverse
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- `tests/test_eskf.py` (290 lines) — 18 ESKF unit tests
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- `tests/test_coordinates.py` (+200 lines) — 17 coordinate chain tests
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**Requirements Covered:** ESKF-01 through ESKF-06 (all 6 Phase 1 requirements)
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**Commits:** 4 total (schemas, core ESKF, coordinates, tests, summaries)
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**Verification:** pytest 35/35 passing (100% success)
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