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‎.github/workflows/copilot-setup-steps.yml‎

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name: "Copilot Setup Steps"
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# Automatically run the setup steps when they are changed to allow for easy validation, and
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# allow manual testing through the repository's "Actions" tab
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on:
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workflow_dispatch:
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push:
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paths:
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- .github/workflows/copilot-setup-steps.yml
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pull_request:
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paths:
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- .github/workflows/copilot-setup-steps.yml
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jobs:
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# The job MUST be called `copilot-setup-steps` or it will not be picked up by Copilot.
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copilot-setup-steps:
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runs-on: ubuntu-latest
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# Set the permissions to the lowest permissions possible needed for your steps.
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# Copilot will be given its own token for its operations.
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permissions:
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# If you want to clone the repository as part of your setup steps, for example to install dependencies, you'll need the `contents: read` permission. If you don't clone the repository in your setup steps, Copilot will do this for you automatically after the steps complete.
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contents: write
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# You can define any steps you want, and they will run before the agent starts.
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# If you do not check out your code, Copilot will do this for you.
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steps:
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- name: Checkout code
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uses: actions/checkout@v5
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- name: Install system dependencies
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run: |
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sudo apt update
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sudo apt install -y pkg-config \
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libhdf5-dev \
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libnetcdf-dev \
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libfreetype6-dev \
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libfontconfig-dev \
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gmt
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- name: Install rust
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uses: dtolnay/rust-toolchain@stable
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with:
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components: clippy, rustfmt

‎GEOPHYSICAL_CONFIG_CHANGES.md‎

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# Summary: Geophysical Measurement Configuration for strapdown-sim
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## Changes Made
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This update adds interactive configuration support for geophysical measurements (gravity and magnetic anomaly) to the `strapdown-sim config` command.
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### 1. Core Library Changes (`core/src/sim.rs`)
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#### Added `geophysical` field to `SimulationConfig`
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- New optional field: `pub geophysical: Option<GeophysicalConfig>`
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- Updated `Default` implementation to include `geophysical: None`
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- This allows the main simulation configuration to include geophysical parameters
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### 2. CLI Changes (`sim/src/main.rs`)
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#### New Prompt Functions
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Added five new interactive prompt functions:
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1. **`prompt_enable_geophysical()`** - Asks if user wants to enable geophysical navigation
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2. **`prompt_geo_resolution(measurement_type: &str)`** - Prompts for map resolution (15 options from 1° to 1")
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3. **`prompt_gravity_config()`** - Configures gravity anomaly measurements:
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- Map resolution
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- Measurement bias (mGal)
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- Noise standard deviation (mGal, default: 100.0)
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- Map file path (optional, auto-detect if empty)
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4. **`prompt_magnetic_config()`** - Configures magnetic anomaly measurements:
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- Map resolution
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- Measurement bias (nT)
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- Noise standard deviation (nT, default: 150.0)
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- Map file path (optional, auto-detect if empty)
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5. **`prompt_geo_measurement_frequency()`** - Sets measurement frequency in seconds
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#### Updated `create_config_file()` Function
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- Added "Geophysical Navigation Configuration" section
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- Calls new prompt functions after GNSS degradation config
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- Validates that at least one measurement type is enabled
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- Builds and includes `GeophysicalConfig` in final `SimulationConfig`
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### 3. Documentation
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#### New Documentation File (`docs/GEOPHYSICAL_CONFIG.md`)
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Comprehensive guide covering:
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- Overview of geophysical configuration
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- Step-by-step wizard usage
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- Configuration file format
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- Available resolution options
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- Default values
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- Example usage
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- Notes and requirements
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### 4. Example Configuration (`examples/configs/geonav_example.toml`)
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Complete example configuration demonstrating:
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- Gravity anomaly measurements setup
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- Magnetic anomaly measurements setup
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- Integration with closed-loop simulation
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- TOML format with comments
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### 5. Test Script (`test_geo_config_wizard.sh`)
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Automated test script to verify the wizard functionality with simulated user input.
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## Features
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### User-Friendly Configuration
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- Interactive prompts with clear options
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- Default values for common parameters
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- Input validation with helpful error messages
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- Option to quit at any point with 'q'
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### Flexible Measurement Configuration
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- Enable/disable gravity measurements independently
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- Enable/disable magnetic measurements independently
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- Must enable at least one type if geophysical navigation is activated
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- Auto-detection of map files if not specified
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### Resolution Options
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15 resolution levels available for both gravity and magnetic maps:
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- From coarse (1 degree) to fine (1 arcsecond)
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- Default: One Minute (good balance of accuracy and file size)
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### Integration with Existing Workflow
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- Seamlessly integrated into existing config wizard
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- Follows same patterns as other configuration sections
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- Compatible with all simulation modes
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- Works with existing TOML/JSON/YAML config formats
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## Usage Example
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```bash
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# Run the configuration wizard
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strapdown-sim config
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# When prompted:
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# 1. Enable geophysical navigation: y
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# 2. Enable gravity measurements: y
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# - Select resolution: 11 (OneMinute)
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# - Set bias: 0.0
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# - Set noise std: 100.0
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# - Map file: (press Enter for auto-detect)
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# 3. Enable magnetic measurements: y
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# - Select resolution: 11 (OneMinute)
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# - Set bias: 0.0
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# - Set noise std: 150.0
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# - Map file: (press Enter for auto-detect)
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# 4. Set measurement frequency: 1.0 (seconds)
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# Use the generated config
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strapdown-sim --config your_config.toml
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```
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## Configuration File Example
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```toml
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[geophysical]
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gravity_resolution = "OneMinute"
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gravity_bias = 0.0
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gravity_noise_std = 100.0
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magnetic_resolution = "OneMinute"
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magnetic_bias = 0.0
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magnetic_noise_std = 150.0
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geo_frequency_s = 1.0
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```
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## Benefits
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1. **Easier Setup**: No need to manually edit configuration files for geophysical measurements
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2. **Reduced Errors**: Input validation prevents common configuration mistakes
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3. **Better UX**: Interactive wizard guides users through all options
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4. **Documentation**: Clear prompts explain each parameter
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5. **Flexibility**: Users can enable only the measurements they need
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## Testing
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- ✅ Code compiles without errors
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- ✅ No clippy warnings in modified files
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- ✅ All existing tests pass
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- ✅ Markdown documentation passes linting
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- ✅ Integration with existing config wizard verified
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## Files Modified
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1. `/home/james/Code/strapdown-rs/core/src/sim.rs`
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2. `/home/james/Code/strapdown-rs/sim/src/main.rs`
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## Files Added
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1. `/home/james/Code/strapdown-rs/docs/GEOPHYSICAL_CONFIG.md`
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2. `/home/james/Code/strapdown-rs/examples/configs/geonav_example.toml`
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3. `/home/james/Code/strapdown-rs/test_geo_config_wizard.sh`
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## Next Steps
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Users can now:
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1. Run `strapdown-sim config` to create configurations with geophysical measurements
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2. Refer to `docs/GEOPHYSICAL_CONFIG.md` for detailed documentation
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3. Use `examples/configs/geonav_example.toml` as a template
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4. Test the wizard with `test_geo_config_wizard.sh`

‎conf/geonav_example.toml‎

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# Example configuration with geophysical measurements
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# Generated by strapdown-sim config wizard
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input = "data/input/sample.csv"
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output = "data/output/geonav_result.csv"
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mode = "ClosedLoop"
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seed = 42
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parallel = false
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generate_plot = false
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[logging]
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level = "info"
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[closed_loop]
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filter = "Ukf"
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[geophysical]
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# Gravity anomaly measurements
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gravity_resolution = "OneMinute"
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gravity_bias = 0.0
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gravity_noise_std = 100.0
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# gravity_map_file will be auto-detected if not specified
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# Magnetic anomaly measurements
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magnetic_resolution = "OneMinute"
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magnetic_bias = 0.0
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magnetic_noise_std = 150.0
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# magnetic_map_file will be auto-detected if not specified
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# Measurement frequency (seconds)
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geo_frequency_s = 1.0
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[gnss_degradation]
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seed = 42
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[gnss_degradation.scheduler]
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type = "Always"
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[gnss_degradation.fault]
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type = "None"

‎docs/GEOPHYSICAL_CONFIG.md‎

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# Geophysical Measurement Configuration
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This document describes how to configure geophysical measurements (gravity and magnetic anomaly) in the strapdown-sim configuration wizard.
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## Overview
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The `strapdown-sim config` command now supports interactive configuration of geophysical navigation parameters. This allows you to set up simulations that incorporate gravity and/or magnetic anomaly measurements for GNSS-denied navigation.
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## Using the Configuration Wizard
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When running `strapdown-sim config`, you'll be prompted with a new section for geophysical navigation configuration after the GNSS degradation settings:
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### Step 1: Enable Geophysical Navigation
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```text
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Enable geophysical navigation (gravity/magnetic anomaly measurements)?
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(y)es
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(n)o
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Choice:
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```
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Select 'y' to configure geophysical measurements, or 'n' to skip this section.
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### Step 2: Configure Gravity Measurements (Optional)
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If enabled, you'll be prompted to configure gravity anomaly measurements:
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```text
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Enable gravity anomaly measurements?
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(y)es
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(n)o
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Choice:
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```
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If you select 'yes', you'll configure:
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- **Map Resolution**: Choose from 15 resolution options (1 degree down to 1 arcsecond)
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- **Measurement Bias**: Bias in milliGals (mGal), default is 0.0
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- **Noise Standard Deviation**: Measurement noise in mGal, default is 100.0
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- **Map File Path**: Path to the gravity map NetCDF file (leave empty for auto-detection)
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### Step 3: Configure Magnetic Measurements (Optional)
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Similarly, you can configure magnetic anomaly measurements:
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```text
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Enable magnetic anomaly measurements?
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(y)es
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(n)o
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Choice:
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```
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If you select 'yes', you'll configure:
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- **Map Resolution**: Choose from 15 resolution options (1 degree down to 1 arcsecond)
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- **Measurement Bias**: Bias in nanoTeslas (nT), default is 0.0
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- **Noise Standard Deviation**: Measurement noise in nT, default is 150.0
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- **Map File Path**: Path to the magnetic map NetCDF file (leave empty for auto-detection)
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### Step 4: Set Measurement Frequency
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Finally, specify the frequency for geophysical measurements:
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```text
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Geophysical measurement frequency (seconds) [auto]:
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```
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Enter a positive number for the measurement interval in seconds, or press Enter to use automatic frequency.
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## Configuration File Format
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The geophysical configuration section in the generated TOML file looks like this:
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```toml
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[geophysical]
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# Gravity anomaly measurements
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gravity_resolution = "OneMinute"
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gravity_bias = 0.0
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gravity_noise_std = 100.0
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gravity_map_file = "path/to/gravity_map.nc" # Optional
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# Magnetic anomaly measurements
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magnetic_resolution = "OneMinute"
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magnetic_bias = 0.0
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magnetic_noise_std = 150.0
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magnetic_map_file = "path/to/magnetic_map.nc" # Optional
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# Measurement frequency (seconds)
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geo_frequency_s = 1.0
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```
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## Resolution Options
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Available map resolutions (higher numbers = finer resolution):
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1. One Degree (1°)
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2. Thirty Minutes (30')
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3. Twenty Minutes (20')
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4. Fifteen Minutes (15')
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5. Ten Minutes (10')
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6. Six Minutes (6')
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7. Five Minutes (5')
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8. Four Minutes (4')
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9. Three Minutes (3')
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10. Two Minutes (2')
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11. **One Minute (1')** - Default
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12. Thirty Seconds (30")
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13. Fifteen Seconds (15")
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14. Three Seconds (3")
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15. One Second (1")
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## Default Values
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- **Gravity noise standard deviation**: 100.0 mGal
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- **Magnetic noise standard deviation**: 150.0 nT
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- **Measurement bias**: 0.0 (for both)
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- **Map resolution**: One Minute
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- **Measurement frequency**: Auto-detected from data
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## Example Usage
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1. Run the configuration wizard:
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```bash
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strapdown-sim config
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```
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2. Follow the prompts to enable geophysical navigation and configure gravity and/or magnetic measurements.
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3. The wizard will generate a configuration file that can be used with:
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```bash
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strapdown-sim --config your_config.toml
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```
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## Notes
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- At least one measurement type (gravity or magnetic) must be enabled if geophysical navigation is activated
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- If both map file paths are left empty, the system will attempt to auto-detect them based on the input file location
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- The `geonav` feature must be enabled when building strapdown-sim to use these features
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## Example Configuration
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See [examples/configs/geonav_example.toml](../configs/geonav_example.toml) for a complete example configuration with geophysical measurements.

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