References
Every project this lab builds on, with its source repository, its official website or documentation, the exact version pinned here, and what it does in the lab. Links were checked on 26 September 2026. Pinned revisions are enforced by scripts/build_sitl.sh, requirements*.lock.txt and package-lock.json; the flight evidence records them again at run time.
This project
| Link | |
|---|---|
| Source code | github.com/buicongnguyen/mission-computer-lab |
| Live replay site | buicongnguyen.github.io/mission-computer-lab |
| PX4 flight replay | web/sitl.html |
| Fleet on a moving carrier | web/fleet.html |
| Guardian evaluation and flight | web/guardian.html |
| Fast policy replay | web/index.html |
Flight stack (executed)
| Project | Version used | Source | Website and documentation | Role in this lab |
|---|---|---|---|---|
| PX4 Autopilot | v1.16.0 (6ea3539) |
PX4/PX4-Autopilot | px4.io, PX4 Guide v1.16 | Flight firmware in SITL: EKF2, offboard mode, land mode and failsafes |
| px4_msgs | release/1.16 (392e831) |
PX4/px4_msgs | uXRCE-DDS bridge | ROS 2 message definitions that match the firmware's uORB topics |
| PX4 Gazebo models | Bundled with PX4 v1.16 | PX4/PX4-gazebo-models | Gazebo simulation | x500 quadcopter model flown in the inspection world |
| Micro XRCE-DDS Agent | v2.4.3 (7362281) |
eProsima/Micro-XRCE-DDS-Agent | Micro XRCE-DDS docs | Companion-side agent bridging PX4's client to the DDS/ROS 2 network |
| ROS 2 Humble | Ubuntu 22.04 packages | ros2/ros2 | docs.ros.org/en/humble | Nodes, typed interfaces and QoS for payload, perception and control |
| rosbag2 | Humble | ros2/rosbag2 | docs.ros.org/en/humble | Recording the decision, perception and LiDAR topics as evidence |
| Gazebo Harmonic | gz-harmonic 1.0.0 |
gazebosim/gz-harmonic, gazebosim/gz-sim | gazebosim.org | Vehicle physics and the flight sensors PX4 consumes; the carrier's drive and odometry; offscreen rendering of the recording cameras |
| ros_gz bridge | ros-humble-ros-gzharmonic-bridge 0.244.12 |
gazebosim/ros_gz | ROS 2 integration | Simulation clock and the carrier's odometry and velocity topics between Gazebo and ROS 2 |
| MAVLink and pymavlink | pymavlink 2.4.49 | mavlink/mavlink, ArduPilot/pymavlink | mavlink.io | Local ground-station heartbeat |
Perception, security and tooling
| Project | Version used | Source | Website and documentation | Role in this lab |
|---|---|---|---|---|
| ONNX Runtime | 1.20.1 | microsoft/onnxruntime | onnxruntime.ai | CPU inference of the detector, loaded from verified bytes |
| ONNX | 1.17.0 | onnx/onnx | onnx.ai | Authoring and checking the hand-built segmentation graph |
| NumPy | 1.26.4 | numpy/numpy | numpy.org | Sensor frames, Kalman filter and metrics |
| pyca/cryptography | 44.0.3 | pyca/cryptography | cryptography.io | Ed25519 signing and verification of the model manifest |
| Mermaid | 11.17.2 | mermaid-js/mermaid | mermaid.js.org | Offline diagrams in the guides |
| marked | 17.0.5 | markedjs/marked | marked.js.org | Rendering the Markdown guides to HTML |
| jsdom | 26.1.0 | jsdom/jsdom | — | Inert DOM for diagram syntax tests |
| three.js | 0.147.0 (r147) | mrdoob/three.js | threejs.org | Interactive 3D replay of recorded flights; the last release with a non-module build, so pages also work opened from disk |
Upstream guides used for the integration
- PX4 ROS 2 user guide (v1.16): client/agent architecture, message alignment and companion setup.
- PX4 ROS 2 offboard control example (v1.16): the setpoint and proof-of-life pattern the mission adapter follows.
- PX4 offboard mode (v1.16): entry requirements and loss behavior.
- PX4 uXRCE-DDS bridge (v1.16): versioned topics such as
vehicle_status_v1. - PX4 Gazebo simulation (v1.16): standalone Gazebo mode and model/world selection.
- ROS 2 quality of service: best-effort sensor subscriptions and endpoint compatibility.
- PX4 multi-vehicle simulation with Gazebo (v1.16): instance numbers, model names and DDS namespaces for the fleet.
- ROS 2 clock and time design:
use_sim_timeand the/clocktopic that keep every adapter on simulation time. - Gazebo system references: CameraVideoRecorder for the recorded videos, VelocityControl and OdometryPublisher for the carrier.
Guardian design background
- ASTM F3442/F3442M-23, detect and avoid system performance requirements: the standard framing for keeping an unmanned aircraft clear of other traffic; the guardians' keep-clear logic is a simplified, simulation-only relative of it.
- PX4 EKF2 tuning guide (v1.16): the GNSS quality checks (
EKF2_GPS_CHECK,EKF2_REQ_HDRIFT) behind the moving-deck finding, and the aircraft-side view of navigation integrity that the station's spoofing cross-check complements.
Target platforms (referenced, not executed)
| Platform | Links | Relevance |
|---|---|---|
| Qualcomm IQ9 series | Product brief, secure boot architecture | Mission-computer target family and its hardware trust chain |
| Qualcomm AI acceleration | ONNX Runtime QNN execution provider, Qualcomm AI Hub docs, quic/ai-hub-models | Path from the CPU provider used here to NPU execution |
| NXP MR-VMU-RT1176 | NXP product page, NXP VMU documentation, PX4 board guide | NXP-based PX4 flight-controller class that the SITL firmware stands in for |
The domain notes discuss these platforms in context, and the architecture guide maps each simulated component to its production counterpart.