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Yuzviak a15bef5c01 docs(phase-01): complete Phase 1 — ESKF Core execution

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>

2026-04-01 23:53:47 +03:00

2.6 KiB

Raw Blame History

gsd_state_version, milestone, milestone_name, status, last_updated, progress

gsd_state_version

milestone

milestone_name

status

last_updated

progress

1.0

v1.0

milestone

Phase 1 complete

2026-04-01T21:05:00Z

total_phases	completed_phases	total_plans	completed_plans
7	1	3	3

Project State

Project Reference

See: .planning/PROJECT.md (updated 2026-04-01)

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. Current focus: Phase 2 — Visual Odometry Pipeline

Current Phase

Phase: 1 — ESKF Core (✓ Complete) Next action: Run /gsd:plan-phase 2 to plan Phase 2 (Visual Odometry Pipeline)

Roadmap Summary

Phase	Name	Status
1	ESKF Core	✓ Complete
2	Visual Odometry Pipeline	Pending
3	Satellite Matching + GPR	Pending
4	MAVLink I/O	Pending
5	End-to-End Pipeline Wiring	Pending
6	Docker SITL Harness + CI	Pending
7	Accuracy Validation	Pending

Key Files

.planning/PROJECT.md — project context and requirements
.planning/REQUIREMENTS.md — 36 v1 requirements with traceability
.planning/ROADMAP.md — 7-phase execution plan
.planning/codebase/ — codebase map (ARCHITECTURE, CONCERNS, STACK, etc.)
_docs/01_solution/solution.md — authoritative architecture spec
_docs/00_problem/acceptance_criteria.md — 43 test scenarios

Session Notes

Initialized 2026-04-01
Brownfield: scaffold exists (~2800 lines), critical algorithms missing (ESKF, MAVLink, real TRT/cuVSLAM)
cuVSLAM + TRT available only on Jetson; dev/CI uses OpenCV ORB stub + MockInferenceEngine
Pipeline direction: top-down (API → ESKF → VO → satellite → GPS_INPUT)

Phase 1 Execution Summary (2026-04-01)

Status: ✓ Complete — All 3 plans executed, 35 tests passing

Deliverables:

src/gps_denied/schemas/eskf.py (68 lines) — ESKF data contracts (ConfidenceTier, ESKFState, ESKFConfig, IMUMeasurement)
src/gps_denied/core/eskf.py (359 lines) — 15-state ESKF with IMU prediction, VO/satellite updates, confidence tiers
src/gps_denied/core/coordinates.py (176 lines added) — Real K-matrix projection, ray-ground intersection, gps_to_pixel inverse
tests/test_eskf.py (290 lines) — 18 ESKF unit tests
tests/test_coordinates.py (+200 lines) — 17 coordinate chain tests

Requirements Covered: ESKF-01 through ESKF-06 (all 6 Phase 1 requirements)

Commits: 4 total (schemas, core ESKF, coordinates, tests, summaries)

Verification: pytest 35/35 passing (100% success)

2.6 KiB Raw Blame History