mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 12:56:36 +00:00
Yuzviak
78dcf7b4e7
Phase A — Runtime bugs: - SSE: add push_event() method to SSEEventStreamer (was missing, masked by mocks) - MAVLink: satellites_visible=10 (was 0, triggers ArduPilot failsafe) - MAVLink: horiz_accuracy=sqrt(P[0,0]+P[1,1]) per spec (was sqrt(avg)) - MAVLink: MEDIUM confidence → fix_type=3 per solution.md (was 2) Phase B — Functional gaps: - handle_user_fix() injects operator GPS into ESKF with noise=500m - app.py uses create_vo_backend() factory (was hardcoded SequentialVO) - ESKF: Mahalanobis gating on satellite updates (rejects outliers >5σ) - ESKF: public accessors (position, quaternion, covariance, last_timestamp) - Processor: no more private ESKF field access Phase C — Documentation: - README: correct API endpoints, CLI command, 40+ env vars documented - Dockerfile: ENV prefixes match pydantic-settings (DB_, SATELLITE_, MAVLINK_) - tech_stack.md marked ARCHIVED (contradicts solution.md) Phase D — Hardening: - JWT auth middleware (AUTH_ENABLED=false default, verify_token on /flights) - TLS config env vars (AUTH_SSL_CERTFILE, AUTH_SSL_KEYFILE) - SHA-256 tile manifest verification in SatelliteDataManager - AuthConfig, ESKFSettings, MAVLinkConfig, SatelliteConfig in config.py Also: conftest.py shared fixtures, download_tiles.py, convert_to_trt.py scripts, config wiring into app.py lifespan, config-driven ESKF, calculate_precise_angle fix. Tests: 196 passed / 8 skipped. Ruff clean. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
97 lines
3.1 KiB
Python
97 lines
3.1 KiB
Python
"""FastAPI application factory."""
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import logging
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from contextlib import asynccontextmanager
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from fastapi import FastAPI
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from gps_denied import __version__
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from gps_denied.api.routers import flights
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from gps_denied.config import get_settings
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logger = logging.getLogger(__name__)
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@asynccontextmanager
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async def lifespan(app: FastAPI):
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"""Initialise core pipeline components on startup."""
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from gps_denied.core.chunk_manager import RouteChunkManager
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from gps_denied.core.coordinates import CoordinateTransformer
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from gps_denied.core.gpr import GlobalPlaceRecognition
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from gps_denied.core.graph import FactorGraphOptimizer
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from gps_denied.core.mavlink import MAVLinkBridge
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from gps_denied.core.metric import MetricRefinement
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from gps_denied.core.models import ModelManager
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from gps_denied.core.recovery import FailureRecoveryCoordinator
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from gps_denied.core.rotation import ImageRotationManager
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from gps_denied.core.satellite import SatelliteDataManager
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from gps_denied.core.vo import create_vo_backend
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from gps_denied.schemas.eskf import ESKFConfig
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from gps_denied.schemas.graph import FactorGraphConfig
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settings = get_settings()
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mm = ModelManager(engine_dir=str(settings.models.weights_dir))
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vo = create_vo_backend(model_manager=mm)
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gpr = GlobalPlaceRecognition(mm)
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metric = MetricRefinement(mm)
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graph = FactorGraphOptimizer(FactorGraphConfig())
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chunk_mgr = RouteChunkManager(graph)
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recovery = FailureRecoveryCoordinator(chunk_mgr, gpr, metric)
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rotation = ImageRotationManager(mm)
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coord = CoordinateTransformer()
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satellite = SatelliteDataManager(tile_dir=settings.satellite.tile_dir)
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mavlink = MAVLinkBridge(
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connection_string=settings.mavlink.connection,
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output_hz=settings.mavlink.output_hz,
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telemetry_hz=settings.mavlink.telemetry_hz,
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)
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# ESKF config from env vars (per-airframe tuning)
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eskf_config = ESKFConfig(**settings.eskf.model_dump())
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# Store on app.state so deps can access them
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app.state.pipeline_components = {
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"vo": vo, "gpr": gpr, "metric": metric,
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"graph": graph, "recovery": recovery,
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"chunk_mgr": chunk_mgr, "rotation": rotation,
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"coord": coord, "satellite": satellite,
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"mavlink": mavlink,
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}
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app.state.eskf_config = eskf_config
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logger.info(
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"Pipeline ready — MAVLink: %s, tiles: %s",
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settings.mavlink.connection, settings.satellite.tile_dir,
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)
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yield
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# Cleanup
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try:
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await mavlink.stop()
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except Exception:
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pass
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app.state.pipeline_components = None
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def create_app() -> FastAPI:
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"""Factory function to create and configure the FastAPI application."""
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app = FastAPI(
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title="GPS-Denied Onboard API",
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description="REST API for UAV Flight Processing in GPS-denied environments.",
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version=__version__,
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lifespan=lifespan,
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)
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app.include_router(flights.router)
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@app.get("/health", tags=["Health"])
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async def health() -> dict[str, str]:
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"""Simple health check endpoint."""
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return {"status": "ok"}
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return app
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app = create_app()
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