930tests
Algorithm tests
GoogleTest unit suite around the deterministic algorithms — trust gates, debouncers, mode-stack arithmetic, spoof detectors. 930 tests, run on every push.
01 · Validation
Tested before it
ever leaves the ground.
Every behaviour exercised in three layers — deterministic algorithm tests, hermetic integration against an in-process autopilot, and full SITL scenarios flown nightly against the production ArduPlane binary. Spoof detection independently validated on the Kharkiv jamming dataset.
02 · Test pyramid
Three layers.
Continuously run.
Explicit separation between deterministic algorithm tests (fast, run on every push), hermetic integration tests (medium, run on every push), and full SITL scenarios (slow, run nightly). Field-validation rides on top of the simulation suite.
50scenarios
Hermetic integration
In-process Fake Autopilot stubs out the MAVLink link. The supervisor runs against scripted scenarios with deterministic clocks. No flakes.
19nightly
SITL scenarios
Full simulation against the production ArduPlane binary, nightly. Covers jamming, spoofing, acoustic ingress, and combinations. Real autopilot, real flight-controller code.
0false positives
Field-validated
Phase-1 control handover validated through two real-world flight tests. Spoof detection validated on the Kharkiv dataset with zero false positives on paired clean sessions.