ArduPilot Fault-Injection Evidence Framework

This workspace is a multi-sensor fault-injection and evidence framework for ArduPilot + Gazebo Harmonic simulation. It currently supports three working lanes: wind_matrix, airspeed_failure, and gps_failure.

The platform's defining contract is that campaign results become dated, hash-manifested evidence packages instead of free-floating reports. Runtime output stays disposable under var/; reviewed proof is promoted under evidence/ with reports, manifests, hashes, and indexes.

This workspace separates:

• src/: owned runtime code.
• assets/: models, worlds, and missions.
• config/: reproducible shared parameters and campaign config.
• docs/: human onboarding and operations.
• governance/: decisions, audits, standards, runbooks.
• .ai/: compact agent protocol and active state only.
• evidence/: curated reports, manifests, hashes, and indexes.
• var/: disposable runtime output, ignored by git.
• .private/: local overlays and personal notes only, ignored by git.

Production workspace: /home/ahmed/ardupilot_workspace_next.

Start here:

source setup.bash
make doctor
scripts/ops/launch.sh help

AI agents start at AGENTS.md. That file is the fixed entry point for simulation runs, feature work, documentation changes, evidence work, and governance updates.

Governed Gazebo runs use the workspace-built plugin at build/ardupilot_gazebo/libArduPilotPlugin.so and do not use an installed plugin fallback. Launch and campaign entrypoints also perform clean-run cleanup before starting a new simulator stack. See docs/onboarding/installation.md and governance/decisions/ADR-0004-clean-run-and-workspace-plugin-policy.md.

make doctor runs the structure and evidence validators through scripts/ops/doctor.sh, including scripts/maintenance/validate_structure.sh.

Current status and operating entry points:

• docs/operations/workspace_status.md
• docs/operations/launch_targets.md
• docs/operations/evidence_workflow.md
• governance/standards/change_control.md

Runbooks live under organized subdirectories of governance/runbooks/. See governance/runbooks/README.md for the layout and rules.

History

The workspace migration completed on 2026-05-24 under governance/decisions/ADR-0005-workspace-next-cutover.md, evidence/reports/migration/CUTOVER_2026-05-24.md, and evidence/reports/migration/shadow_parity_2026-05-24.md. The compatibility wrapper layer was fully removed on 2026-06-30 under evidence/reports/migration/PHASE_8_COMPAT_FINAL_REMOVAL_AUDIT_2026-06-30.md, and the wind-matrix legacy attempt strategy was retired the same day under evidence/reports/migration/WIND_MATRIX_LEGACY_STRATEGY_RETIREMENT_2026-06-30.md.