mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-21 19:21:12 +00:00

Files

T

Oleksandr Bezdieniezhnykh a12638dd92 [AZ-696] chore: cycle-2 bootstrap — gitignore tlog inputs, Step 9 PBIs

Pre-implement chore commit to land orchestration artifacts produced by
autodev cycle-2 Step 9 (New Task), so that Step 10 (Implement) starts
against a clean working tree.

What's included:

- .gitignore: exclude _docs/00_problem/input_data/**/*.{tlog,mp4,h264}
  (derkachi.tlog is a 5.8 MB binary input and stays out-of-band).
- _docs/02_tasks/todo/AZ-697..AZ-702: 6 new PBI specs under epic AZ-696
  (tlog ground-truth extractor, mid-flight trim+align, real-flight
  validation runner, replay map viz, HTTP replay API, KHP20S30 calib).
- _docs/02_tasks/_dependencies_table.md: dep edges for the 6 PBIs.
- _docs/_autodev_state.md: status -> in_progress, step 10 cycle 2.
- _docs/_process_leftovers/...opencv_pin_deferred.md: replay-attempt
  timestamp refreshed (gtsam-numpy-2 wheels still not published;
  leftover remains open).

No source code is modified by this commit.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-20 15:50:50 +03:00

4.5 KiB

Raw Blame History

Replay map visualization (estimated vs ground-truth tracks)

Task: AZ-700_replay_map_visualization Name: HTML map showing estimated GPS track vs tlog ground-truth track Description: New gps-denied-render-map console script. Takes a JSONL of estimator output + a tlog (or CSV fallback) and renders a single-file HTML map (folium / Leaflet) with both tracks in distinct colors, start/end markers, and an embedded accuracy summary from AZ-699. Complexity: 3 points Dependencies: AZ-699 Component: cli (offline analysis surface) Tracker: AZ-700 Epic: AZ-696

Problem

Today the only feedback from a replay run is a JSONL file. There is no way to visually verify whether the estimator is drifting, jumping, or roughly tracking the real flight. A human reading the JSONL cannot quickly answer "does this make sense geographically?"

The user's pipeline explicitly calls for: "and then show both points on the map."

Outcome

A standalone CLI gps-denied-render-map produces a self-contained HTML map of the estimated track + the tlog ground-truth track for any prior replay run.
The map is shareable as a single file (no server required); developers open it locally; AZ-701's HTTP API serves it back to API consumers.

Scope

Included

New module src/gps_denied_onboard/cli/render_map.py.
New console script gps-denied-render-map in pyproject.toml.
folium dependency pin in the appropriate [project.optional-dependencies] group (NOT in airborne-binary deps — operator-side only).
Default map style + tile provider (OpenStreetMap fallback documented for offline use).
Auto-fit bounds; distance circles (100 m, 50 m) around start point for scale.
Accuracy summary banner (read from _docs/06_metrics/real_flight_validation_{date}.md when --summary is passed).

Excluded

Interactive time-slider playback (deferred follow-up).
Embedded altitude profile chart.
Animated marker traversal.

Acceptance Criteria

AC-1: CLI produces self-contained HTML Given a JSONL + tlog When gps-denied-render-map --estimated out.jsonl --truth derkachi.tlog --output map.html runs Then map.html exists, parses as valid HTML, exits 0

AC-2: Two distinct tracks visible Given the rendered map opened in a browser When inspected Then it contains exactly two polyline layers (red = truth, blue = estimated) with start/end markers

AC-3: Markers + scale circles Given the rendered map When parsed Then it contains the start (green) + end (black) markers + 100 m + 50 m scale circles

AC-4: Accuracy summary inclusion Given --summary _docs/06_metrics/real_flight_validation_2026-XX-XX.md When the map renders Then the HTML header contains the accuracy metrics table

AC-5: Offline fallback documented Given an environment without internet access When the map is rendered with --offline-tiles Then tile loading uses a documented fallback (or fails fast with a clear error if no fallback is configured)

Non-Functional Requirements

Compatibility

Output HTML must render in Chrome 110+ and Firefox 110+ without console errors.

Performance

For a 60 s flight (~600 truth points + ~600 estimated points), render time < 5 s on Tier-1 hardware.

Unit Tests

AC Ref	What to Test	Required Outcome
AC-1	CLI invocation with synthetic data	Output HTML file exists + non-empty
AC-2	Parse output HTML	Exactly 2 polyline layers + 4 expected markers
AC-4	Summary embed	Markdown summary metrics present in HTML

Blackbox Tests

AC Ref	Initial Data/Conditions	What to Test	Expected Behavior	NFR References
AC-1	Real Derkachi replay JSONL + tlog	End-to-end render	HTML opens in browser, both tracks visible	Compat

Constraints

folium MUST be in the operator-only dep group; airborne binary cold-start regression test must remain green.
HTML output MUST be self-contained — embedded JS/CSS, no per-page CDN calls in --offline-tiles mode.
Console script naming follows the project pattern (gps-denied-<verb>).

Risks & Mitigation

Risk 1: folium dep size

Risk: folium pulls ~5 MB of JS. Adding to airborne deps would regress cold-start.
Mitigation: optional-dependencies group + ADR-002 build-time exclusion principle.

Risk 2: CDN dependency at render time

Risk: Default folium uses Leaflet via CDN — fails on offline Jetsons.
Mitigation: Document --offline-tiles flag; provide bundled assets path or fail-fast.

4.5 KiB Raw Blame History