mirror of
https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
f67c5f3cd0
- schemas/eskf.py: keep ConfidenceTier + ESKFConfig; re-export IMUSample and ESKFState from hot_types (define ConfidenceTier BEFORE the hot_types imports to avoid circular import — eskf_state.py imports ConfidenceTier from this module). Legacy alias IMUMeasurement = IMUSample. - schemas/vo.py: re-export Features, Matches, RelativePose, Motion, VOEstimate from hot_types.vo_estimate. - schemas/satellite.py: re-export TileCoords, TileBounds, SatelliteAnchor. - schemas/metric.py: keep LiteSAMConfig; re-export AlignmentResult, ChunkAlignmentResult, Sim3Transform. - schemas/rotation.py: keep HeadingHistory + RotationConfig; re-export RotationResult. Auto-fixes (Rules 1 + 3) needed to keep the 216-test floor green: - core/rotation.py: refactor try_rotation_steps to use dataclasses.replace instead of attribute assignment on RotationResult (Rule 1 — frozen dataclass forbids mutation; Pydantic silently allowed it). PATTERNS.md §6.1 already flagged Pose mutation but missed this site. - hot_types/vo_estimate.py: add Optional `covariance: np.ndarray` field to RelativePose (Rule 3 — five test sites construct RelativePose with `covariance=np.eye(6)`; Pydantic v2 silently accepted the extra kwarg via default `extra="ignore"`. Declaring the field preserves the construction contract under the dataclass migration without editing tests). Verification: pytest tests/ -q --ignore=tests/e2e → 216 passed, 8 skipped (matches baseline). Accuracy bench (23 tests) passes.
38 lines
938 B
Python
38 lines
938 B
Python
"""Rotation schemas (Component F06).
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Phase 1 shim — hot-path `RotationResult` lives in
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`gps_denied.hot_types.rotation_result`. `HeadingHistory` (mutable
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bookkeeping) and `RotationConfig` (config) stay here as Pydantic.
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"""
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from datetime import datetime
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from typing import Optional
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from pydantic import BaseModel
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from gps_denied.hot_types.rotation_result import RotationResult # noqa: F401
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class HeadingHistory(BaseModel):
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"""Flight heading tracking history."""
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flight_id: str
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current_heading: Optional[float] = None
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heading_history: list[float] = []
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last_update: Optional[datetime] = None
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sharp_turns: int = 0
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class RotationConfig(BaseModel):
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"""Configuration for rotation sweeps."""
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step_angle: float = 30.0
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sharp_turn_threshold: float = 45.0
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confidence_threshold: float = 0.7
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history_size: int = 10
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__all__ = [
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"HeadingHistory",
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"RotationConfig",
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"RotationResult",
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]
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