mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-23 02:36:37 +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>
85 lines
2.4 KiB
YAML
85 lines
2.4 KiB
YAML
name: CI
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# Run on every push and PR to main/dev/stage* branches.
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on:
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push:
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branches: [main, dev, "stage*"]
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pull_request:
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branches: [main, dev]
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jobs:
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# ---------------------------------------------------------------------------
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# Lint — ruff for style + import sorting
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# ---------------------------------------------------------------------------
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lint:
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name: Lint (ruff)
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: "3.11"
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- name: Install ruff
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run: pip install --no-cache-dir "ruff>=0.9"
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- name: Check style and imports
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run: ruff check src/ tests/
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# ---------------------------------------------------------------------------
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# Unit tests — fast, no SITL, no GPU
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# ---------------------------------------------------------------------------
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test:
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name: Test (Python ${{ matrix.python-version }})
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runs-on: ubuntu-latest
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needs: lint
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strategy:
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fail-fast: false
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matrix:
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python-version: ["3.11", "3.12"]
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: ${{ matrix.python-version }}
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cache: pip
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- name: Install system deps (OpenCV headless)
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run: |
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sudo apt-get update -qq
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sudo apt-get install -y --no-install-recommends libgl1 libglib2.0-0
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- name: Install package + dev extras
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run: pip install --no-cache-dir -e ".[dev]"
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- name: Run unit tests (excluding SITL integration)
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run: |
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python -m pytest tests/ \
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--ignore=tests/test_sitl_integration.py \
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-q \
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--tb=short \
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--timeout=60
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# ---------------------------------------------------------------------------
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# Docker build smoke test — verify image builds successfully
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# ---------------------------------------------------------------------------
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docker-build:
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name: Docker build smoke test
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runs-on: ubuntu-latest
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needs: test
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steps:
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- uses: actions/checkout@v4
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- name: Build Docker image
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run: docker build -t gps-denied-onboard:ci .
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- name: Health smoke test (container start)
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run: |
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docker run -d --name smoke -p 8000:8000 gps-denied-onboard:ci
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sleep 5
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curl --retry 5 --retry-delay 2 --fail http://localhost:8000/health
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docker stop smoke
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