Coverage & CI Gates

Every change lands through a PR with green CI before merge (PR-only, even solo). The gates below run on each push and pull request.

The CI jobs

Job	What it enforces
Build and Test (SITL · x86)	Configures + builds the sitl-debug preset (gcc) and runs the full ctest suite.
Cross-Compile (KPU · aarch64)	Cross-compiles for the KPU silicon target via cross-toolchain.cmake, proving portability.
Coverage (cargo-llvm-cov)	Gates the Rust core at ≥ 85% line coverage.
Lint	clippy + cargo fmt + clang-format — style is enforced, not debated in review.
Conventional Commits lint	commitlint on the PR title (drives release-please).
CodeRabbit	Automated code review on every ready PR.

(The coverage floor above is pinned to the --fail-under-lines value in the CI config — this page is generated from source.)

Test suite shape

Tests are Catch2-based, registered with catch_discover_tests, and built for both gcc and clang locally (clang catches different issues). The VIO suites include:

• sdk_msckf_state_test — propagation / augmentation / marginalization / update PD/PSD invariants;
• sdk_msckf_camera_test — the 1000-step filter-stability benchmark;
• sdk_imu_init_test, sdk_msckf_backend_test, sdk_vio_estimator_test;
• sdk_vio_euroc_test (ctest -R vio_euroc) — ATE/RPE metrics + ASL parsers;
• sdk_vio_latency_test — the per-frame latency budget.

Dataset- and build-gating

Two kinds of gating keep CI green without external data or optimized builds:

• Dataset-gated — the EuRoC ATE bench and the real latency bench run only when CORTEX_EUROC_V101 points at a sequence; otherwise they SKIP.
• Build-gated — the latency budget asserts only under NDEBUG; CI builds Debug, so it reports-and-skips there and is enforced in sitl-release.

This is deliberate: CI verifies the metric implementations and the pipeline on synthetic fixtures every run, while the dataset-/hardware-sensitive numbers are reproducible on demand.

Release flow

main uses Conventional Commits + release-please for dynamic SemVer: merged feat:/fix: commits accrue into an automated release PR. Compiler caching (sccache) keeps CI build time down (warm-cache hit rates were ~73% SITL / ~50% KPU-cross at Phase 0).