{
  "schema": 1,
  "project": "PX4-AprilTag-Follow-Demo",
  "verified_at": "2026-08-07",
  "status": "PASS",
  "environment": {
    "ubuntu": "24.04",
    "ros": "Jazzy",
    "gazebo": "Harmonic",
    "px4_tag": "v1.17.0",
    "px4_commit": "d6f12ad1c4f70ad3230afd7d86e971421e02fef4"
  },
  "control_boundary": {
    "tag_fused_into_ekf": false,
    "truth_used_for_control": false,
    "forbidden_inputs": [
      "GPS",
      "LOCAL_POSITION_NED",
      "GLOBAL_POSITION_INT",
      "optical_flow",
      "LiDAR/SLAM",
      "Gazebo truth"
    ]
  },
  "static_perception": {
    "run_id": "20260806-202019-gate1-b6flhu",
    "status": "PASS",
    "scenes": 5,
    "minimum_valid_ratio": 1.0,
    "minimum_source_rate_hz": 20.0,
    "hamming_zero_only": true
  },
  "attitude_compensation": {
    "run_id": "20260806-203314-gate2-1kRnFb",
    "status": "PASS",
    "samples": 335,
    "raw_horizontal_rmse_m": 0.4594521869,
    "compensated_horizontal_rmse_m": 0.0009567215,
    "compensated_horizontal_p95_m": 0.0010757977,
    "minimum_attitude_pair_ratio": 0.9841269841
  },
  "static_flight": {
    "run_id": "20260806-222737-gate4-0ppJZy",
    "status": "PASS",
    "track_duration_s": 59.94,
    "xy_rms_m": 0.0963349277,
    "xy_p95_m": 0.2271727179,
    "setpoint_rate_hz": 50.0001343538,
    "max_commanded_tilt_deg": 1.895099009,
    "final_armed": false
  },
  "moving_target": {
    "run_id": "20260806-232554-gate5-FdEypp",
    "status": "PASS",
    "profile": "figure8",
    "target_speed_m_s": 0.5,
    "target_distance_m": 42.8499121323,
    "track_duration_s": 126.956,
    "visual_xy_rms_m": 0.3193421716,
    "visual_xy_p95_m": 0.5604489843,
    "truth_xy_rms_m": 0.324369907,
    "truth_xy_p95_m": 0.5743647018,
    "setpoint_rate_hz": 50.0000513852,
    "max_commanded_tilt_deg": 6.2374412992,
    "truth_evaluator_publications": [],
    "final_armed": false
  },
  "visible_gui": {
    "run_id": "20260807-103528-gate5-FEeAwi",
    "status": "PASS",
    "track_duration_s": 66.94,
    "visual_xy_rms_m": 0.2292100194,
    "visual_xy_p95_m": 0.4484833633,
    "max_commanded_tilt_deg": 3.6559488302,
    "final_armed": false
  },
  "keyboard": {
    "run_id": "20260807-111110-gate5-4nfXa9",
    "arrow_key_run_id": "20260807-142107-gate5-8oNyDZ",
    "status": "PASS",
    "deadman_timeout_s": 0.4,
    "exit_reason": "operator_quit",
    "truth_used_for_control": false,
    "final_armed": false
  },
  "tag_loss": {
    "run_id": "20260807-152857-gate5-JFlH6Z",
    "status": "PASS",
    "short_occlusion_duration_s": 0.352,
    "short_occlusion_recovered_track": true,
    "tag_loss_to_descent_s": 9.94,
    "post_land_exit_delay_s": 3.0,
    "max_relative_altitude_m": 1.8555029035,
    "final_armed": false
  },
  "camera_overlay": {
    "run_id": "20260807-145330-gate5-Yx8Lps",
    "status": "PASS",
    "display_only": true,
    "output_topic": "/camera/tag_overlay",
    "frames_published": 1232,
    "frames_control_valid": 692
  },
  "unit_tests": 27
}