Custom PID controller that integrates standard PID functionalities with advanced features: - Proportional on Measurement (PoM): Enhances stab

Unified tracker output schema supporting multiple tracking modalities. This dataclass provides a flexible structure that can accommodate

CSRT Tracker with legacy / balanced / robust performance modes.

Mock cv2.TrackerCSRT for testing CSRTTracker. Simulates OpenCV CSRT tracker behavior with configurable responses. Attributes: i

Comprehensive mock VideoHandler for testing. Simulates all VideoHandler functionality including frame states, history, recovery, and hea

Mock dlib.correlation_tracker for testing DlibTracker. Simulates dlib correlation tracker behavior with configurable PSR (Peak-to-Sidelo

dlib Correlation Filter Tracker with fast / balanced / robust modes.

Mock cv2.TrackerKCF for testing KCFKalmanTracker. Simulates OpenCV KCF tracker behavior with configurable responses.

KCF + Kalman Filter Hybrid Tracker with multi-frame validation.

Schema-aware setpoint handler that loads follower profiles and field definitions from the unified command schema YAML file. Provides type saf

Mock GimbalInterface for testing GimbalTracker. Simulates UDP gimbal communication with configurable responses.

Mock coordinate transformer for testing.

Status-driven gimbal tracker that passively monitors external gimbal systems. This tracker does not control gimbal operation. Instead, it mo

Container for gimbal angle data with validation. Attributes: roll: Roll angle in degrees (-180 to +180) pitch: Pitch angle i

Predicts object motion during temporary tracking loss. Uses velocity-based linear prediction with EMA smoothing to estimate where the ob

Visual appearance model for object re-identification. Extracts and compares visual features (color histogram, HOG) to re-identify object

Base OSD element for testing.

Monitors disk space for the recording output directory. Starts a background thread that periodically checks free disk space. When free s

Container for individual test results.

Handles video input from various sources with optimized capture methods. Supported video sources: - VIDEO_FILE: Video files (mp4, av

Manages tracking state with hybrid ID + spatial + distance + appearance matching. Provides robust single-target tracking with: 1. Primar

Ultralytics YOLO detection backend. Handles: - Model loading with GPU→CPU→NCNN fallback chain - Inference via model.track() and mode

Enterprise-grade yaw rate smoothing with deadzone, rate limiting, and EMA. Features: - Configurable deadzone to prevent jitter at low ra

Mock cv2.VideoCapture for testing VideoHandler. Simulates video capture behavior with configurable responses. Attributes: width

Comprehensive coordinate transformation utility for gimbal-based tracking. This class provides all coordinate transformations needed for con

Container for drone velocity commands. Attributes: forward: Forward velocity (m/s, positive = forward) right: Right velocity

Professional logging manager that provides: - Spam reduction for repetitive messages - Periodic summary reports - Status-at-a-glance

Simple 3D vector representation for velocity commands.

Per-client streaming statistics.

Centralized manager for detection model operations. Features: - Auto-discovery of models in models/ folder - Validation with custom

Result of hardware encoder auto-detection.

Mock application controller for testing.

Mock dlib.rectangle for testing.

Unified detection record used by SmartTracker internals.

Generic PID with deadband and anti-windup. kp, ki, kd → gains lo, hi → output clamping deadband → error range to ignore

Rate-limited logger to prevent log spam in high-frequency control loops. Ensures the same error message is logged at most once per interval,

Unified target measurement structure. This dataclass represents a target measurement from any source, including position, optional v

Track connection status for clean logging.

Aggregate errors and report summary periodically. Instead of logging individual errors at high frequency, this class tracks error counts

Mock detector for appearance model testing.

Lightweight mock PX4 controller for follower testing. Simulates telemetry data and records commands for verification. All async methods

Mock video handler for testing trackers.

Non-blocking video recording engine. Follows the identical architecture as GStreamerHandler: - write_frame() queues frames via bounded q

Result of parameter validation.

Camera calibration and mounting parameters

Preferred compute device for model inference.

A single difference between two configs.

Comprehensive safety validation system for gimbal transformations. Provides multi-level validation with temporal consistency checks, rat

Mock gimbal data packet.

Mock velocity limits for testing.

OSD renderer for testing.

Record of a sent command for verification.

Record of a command sent for verification.

Complete gimbal interface demonstration This class shows how to: - Connect to the gimbal via UDP - Read real-time camera angles

Mock altitude limits for testing.

Mock gimbal angles data.

Mock MAVLink2REST HTTP client for testing. Simulates the REST API endpoints used by MavlinkDataManager.

Mock MAVSDK System for testing PX4InterfaceManager. Provides mock implementations of all MAVSDK components needed for testing drone cont

Mock rate limits for testing (radians/sec).

Mock streaming pipeline for integration tests.

Mock tracking status data.

Mock cv2.VideoWriter for testing RecordingManager. Records frames in memory instead of writing to disk. Can simulate failure states for

Mock FastAPI WebSocket for testing streaming endpoints. Simulates bidirectional WebSocket communication with message tracking.

Represents a WebSocket message.

Main OSD rendering system with professional text quality and adaptive layout. This class replaces the legacy OSDHandler while maintaining 10

Result of a safety check.

Enhanced setpoint sender that runs in its own thread and sends commands at a fixed rate. Avoids async conflicts by using synchronous command

Represents a rectangular area on screen.

Real camera API integration template. Implement get_measurement() for your camera system.

Legacy camera API integration for backward compatibility.

Camera-based target detection source. Connects to a camera API endpoint to receive target detections in camera frame coordinates. Su

Metadata for a config backup.

Streams video frames to a GStreamer H.264/RTP/UDP pipeline. This is a SECONDARY output for ground control stations (e.g. QGroundControl).

Container for gimbal angle data

Centralized parameter management for the entire system. All configuration in one place for easy access and modification. Usage:

Centralized parameter management for the entire system. All configuration in one place for easy access and modification. Usage:

Mock MAVSDK Action interface for testing. Simulates drone actions (arm, takeoff, land, RTL).

Mock altitude data from ALTITUDE message.

Mock attitude data.

Mock attitude data from ATTITUDE message.

Combined mock for complete drone interface testing. Provides coordinated MAVSDK and MAVLink2REST mocks with synchronized state for integ

Mock VideoCapture with GStreamer backend behavior.

Mock global position from GLOBAL_POSITION_INT message.

Mock heartbeat data.

Mock local position NED from LOCAL_POSITION_NED message.

Mock OSD layout manager for testing element positioning. Handles anchor-based positioning and layout calculations.

Mock OSD renderer for testing. Combines text rendering and layout management with element tracking.

Mock OSD text renderer for testing. Tracks all rendered text for verification without actual rendering.

Mock MAVSDK Offboard interface for testing. Simulates offboard control with command tracking.

Mock MAVSDK Telemetry interface for testing. Provides async generators for telemetry streams.

Mock VFR HUD data.