#20 · stacks/drone

What to build

Run a repeatable stand-off inspection route for one asset and attach visible/thermal imagery and observations to its geometry.

Acceptance criteria

Demonstrate asset-relative planning and clearances for a selected power-line, turbine, solar, bridge or pipeline case.
Record inspection position, camera pose, capture quality and human-reviewed defect annotations.
Test GNSS degradation, moving structure/wind, mission interruption and repeat-visit comparability.

The software evidence below covers the explicit modeled bridge case. These checkboxes retain the full acceptance scope, including qualified hardware and real inspection evidence.

Implemented owned software slice

Commit 019b392 adds:

Strict asset-relative planning for an explicit south-facing finite vertical bridge face, fixed LOCAL_NED origin, calibrated optical lever arm, held-out synthetic camera correspondences and three stand-off stations. Every mission leg is checked against body, position, motion, reaction and braking clearance margins.
Owned raw sensors, estimator, mission engine, authority supervisor, multirotor controls, independent modeled board watchdog and actual rigid-body wind dynamics. Fresh three-point range observations qualify asset registration and stopping clearance using estimated pose. Plant truth is confined to sensor/image production and independent simulation-clearance evidence.
Actual ray-cast visible RGBA imagery and a separate ideal synthetic centikelvin temperature field. Capture admission, session/sequence/reference, shutter ACK deadline, camera pose epochs, uncertainty, GSD, incidence and motion blur are retained. Uncertain shutter outcomes terminate collection without retry.
Shared runtime/recording capture policy, bounded decision replay and detached numeric image bytes. Explicit review declarations bind complete source image bytes, capture metadata and an asset-relative pixel projection with SHA-256. Background annotations and impossible clearance/uncertainty are rejected. Hashes do not authenticate reviewers or certify defects.
Repeat-visit pairing by asset revision and station, with camera displacement, view angle, uncertainty and GSD limits. Missing or unqualified stations remain visible; image differences do not establish deterioration.
Native Stacks inspection:plan, inspection:simulate, inspection:review and inspection:compare; standalone CLI execution outside the checkout; stx /inspection for actual capture pixels, operator declarations, quality, failures and repeat comparison.
Private exports containing lossless visible PNGs, raw uint16 little-endian thermal counts/metadata, recording, review and quality files, with content hashes and the shared completion-manifest publication protocol.

Read inspection semantics and limitations, ADR 20, and the explicit example configuration.

Verification evidence

Integrated local suite: 482 Bun tests, 33,221 assertions, zero failures, plus 13 Python bridge tests. Lint, application/runtime/view typechecks, roadmap/parity integrity and compiled CLI build pass. The parity audit still reports incomplete upstream coverage.
Independent analytic geometry, real owned runtime scenarios, exact image/thermal bytes, PNG decoding, review/source tampering, schema/resource limits, private export and comparison bounds are tested. The final affected runtime/evidence/export/geometry/shutter suite passes 27 tests / 7,206 assertions.
Nominal, wind and explicit pause/resume complete with three qualified captures. GNSS loss and RC override block; transient structure movement, lost/wrong camera ACK and operator abort terminate collection and revoke modeled outputs. Healthy data returning does not revive the mission.
Outside-checkout compiled commands plan and collect both visits, compare all three station pairs, retain an explicit synthetic QA declaration and verify all 39 exported file hashes. Structure-motion abort is also exercised.
Actual browser checks cover visible/thermal image loading, capture selection, explicit QA review binding, retained baseline notes, three comparable wind-visit station pairs, background rejection, GNSS/structure failure state, clear/scenario reset, an empty error/warning console and zero horizontal overflow at 320 and 375 px. Desktop and phone layouts were visually inspected. The delayed-review race also has an independent source-level controlled-promise reproduction; this is not a browser race-injection claim.
Both independent Standards and Spec review axes pass after correcting capture-policy consistency, image delivery and asynchronous review/repeat lifecycle.
Exact-head Drone CI passed, including Linux standalone inspection planning, both visits, explicit review, comparison and structure-motion scenarios, plus both neutral-only Pico 2 cross-builds.

Remaining full acceptance

Register measured real asset geometry and coordinate/heading alignment; qualify range, camera mount/optics, capture timing, pose uncertainty and actual stopping/clearance performance against surveyed references.
Integrate qualified physical visible and thermal payloads. Synthetic temperatures do not establish emissivity/reflection/atmosphere corrections, NUC, NETD or physical radiometry.
Collect actual human-reviewed field defect evidence and measure association, review provenance, coverage, occlusion and repeat-registration accuracy. Current QA declarations are synthetic and operator identity is not authenticated.
Exercise real GNSS degradation, wind, dynamic structures, interruption/restart and failure containment through bench, HIL and vehicle campaigns. Abort at height releases modeled thrust; it is not a controlled emergency landing.
Extend beyond the explicit finite bridge-face model to richer bridge geometry, power lines, turbines, solar arrays and pipelines, with asset-specific constraints, collision/occlusion planning and physical mission evidence.
Complete physical shutter reconciliation, whole-runtime restart, external driver/capability translation and storage hardware power-loss qualification as applicable.

Blocked by

#10 Mission engine: run and resume an owned waypoint mission
#11 Navigation: avoid an obstacle and land at a selected site
#8 Hardware adapters: command and verify the first camera or payload
#9 Operations: record, replay and diagnose native missions

Scope and evidence

This is owned physics simulation with actual synthetic image pixels, not physical infrastructure inspection, authenticated defect evidence, external firmware SITL or HIL. Physical outputs remain inhibited. Preserve explicit operator authority and report simulator, bench, HIL and vehicle evidence separately. The owned implementation remains replaceable behind shared driver and mission contracts. Keep this issue open for the remaining full acceptance.