Add geophysical measurement configuration to strapdown-sim by jbrodovsky · Pull Request #217 · jbrodovsky/strapdown-rs

jbrodovsky · 2026-01-09T16:53:31Z

Introduce configuration parameters for geophysical measurements, including gravity and magnetic anomaly settings, to the strapdown-sim config command. This enhancement simplifies the setup of simulations involving these measurements, allowing users to configure them interactively without manual file edits.

Fixes #214

… config command Fixes #214

Copilot

Pull request overview

This pull request adds interactive configuration support for geophysical measurements (gravity and magnetic anomaly) to the strapdown-sim config wizard. Users can now configure geophysical navigation parameters through prompts rather than manually editing configuration files.

Key changes:

Added geophysical configuration prompts to the CLI wizard with support for gravity and magnetic measurement settings
Extended the core SimulationConfig struct with an optional geophysical field
Provided comprehensive documentation and example configurations

Reviewed changes

Copilot reviewed 8 out of 31 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
core/src/sim.rs	Added `geophysical` field to `SimulationConfig` struct to support geophysical measurement configuration
sim/src/main.rs	Implemented five new prompt functions for interactive geophysical configuration and integrated them into the config wizard
docs/GEOPHYSICAL_CONFIG.md	Added comprehensive documentation for using the geophysical configuration wizard
examples/configs/geonav_example.toml	Created example configuration file demonstrating geophysical measurement setup
conf/geonav_example.toml	Duplicate example configuration (identical to examples/configs version)
test_geo_config_wizard.sh	Added test script for validating the configuration wizard
.github/workflows/copilot-setup-steps.yml	Added GitHub Actions workflow for Copilot setup with system dependencies
GEOPHYSICAL_CONFIG_CHANGES.md	Added summary document describing all changes made in this PR

Copilot · 2026-01-09T17:03:35Z

+11
+10.0
+150
+auto


The test script provides "auto" as input for the magnetic map file path, but the code checks for empty input to trigger auto-detection. The string "auto" will be treated as a file path rather than triggering auto-detection. This line should be empty to correctly test the auto-detection feature.

Copilot · 2026-01-09T17:03:35Z

+1. `/home/james/Code/strapdown-rs/core/src/sim.rs`
+2. `/home/james/Code/strapdown-rs/sim/src/main.rs`
+
+## Files Added
+
+1. `/home/james/Code/strapdown-rs/docs/GEOPHYSICAL_CONFIG.md`
+2. `/home/james/Code/strapdown-rs/examples/configs/geonav_example.toml`
+3. `/home/james/Code/strapdown-rs/test_geo_config_wizard.sh`


The file paths in this documentation contain hardcoded absolute paths specific to a user's local environment (e.g., /home/james/Code/strapdown-rs/). For documentation that may be committed to the repository, consider using relative paths or simply the filenames to make it more portable and professional.

Suggested change

1. `/home/james/Code/strapdown-rs/core/src/sim.rs`

2. `/home/james/Code/strapdown-rs/sim/src/main.rs`

## Files Added

1. `/home/james/Code/strapdown-rs/docs/GEOPHYSICAL_CONFIG.md`

2. `/home/james/Code/strapdown-rs/examples/configs/geonav_example.toml`

3. `/home/james/Code/strapdown-rs/test_geo_config_wizard.sh`

1. `core/src/sim.rs`

2. `sim/src/main.rs`

## Files Added

1. `docs/GEOPHYSICAL_CONFIG.md`

2. `examples/configs/geonav_example.toml`

3. `test_geo_config_wizard.sh`

Copilot · 2026-01-09T17:03:35Z

+# - Magnetic map file: (empty, auto-detect)
+# - Geo frequency: 1.0
+
+cd /home/james/Code/strapdown-rs


This script contains a hardcoded absolute path specific to a user's local environment. Consider making this path-independent by removing this line and relying on the current working directory, or using a relative path. Users running this script from different locations will encounter errors.

Copilot · 2026-01-09T17:03:36Z

+
+                    println!("\nGravity measurement bias (mGal) [0.0]: ");
+                    let bias = match read_user_input() {
+                        Some(input) if !input.is_empty() => match input.parse::<f64>() {
+                            Ok(v) => Some(v),
+                            Err(_) => {
+                                println!("Invalid number. Using default (0.0).");
+                                None
+                            }
+                        },
+                        _ => None,
+                    };
+


The bias prompt lacks consistency with other numeric prompts in this configuration wizard. It doesn't support the 'q' to quit functionality that other prompts provide, and doesn't use the standard prompt_f64_with_default helper function. Consider using prompt_f64_with_default for the bias prompt to maintain consistency with the noise standard deviation prompt and provide range validation.

Suggested change

println!("\nGravity measurement bias (mGal) [0.0]: ");

let bias = match read_user_input() {

Some(input) if !input.is_empty() => match input.parse::<f64>() {

Ok(v) => Some(v),

Err(_) => {

println!("Invalid number. Using default (0.0).");

None

}

},

_ => None,

};

let bias_value = prompt_f64_with_default(

"Gravity measurement bias (mGal)",

0.0,

f64::MIN,

f64::MAX,

);

let bias = Some(bias_value);

Copilot · 2026-01-09T17:03:36Z

+
+                    println!("\nMagnetic map file path (press Enter to auto-detect): ");
+                    let map_file = match read_user_input() {
+                        Some(input) if !input.is_empty() => Some(input),


The map file path prompt doesn't support the 'q' to quit functionality that other prompts in the configuration wizard provide. While the user can technically quit by using Ctrl+C, it would be more consistent to check for 'q' or 'quit' input and call std::process::exit(0) like other prompts do in this wizard.

Suggested change

Some(input) if !input.is_empty() => Some(input),

Some(input) if !input.is_empty() => {

match input.to_lowercase().as_str() {

"q" | "quit" => {

println!("Configuration cancelled.");

std::process::exit(0);

}

_ => Some(input),

}

}

Copilot · 2026-01-09T17:03:37Z

+
+                    println!("\nMagnetic measurement bias (nT) [0.0]: ");
+                    let bias = match read_user_input() {
+                        Some(input) if !input.is_empty() => match input.parse::<f64>() {
+                            Ok(v) => Some(v),
+                            Err(_) => {
+                                println!("Invalid number. Using default (0.0).");
+                                None
+                            }
+                        },
+                        _ => None,
+                    };
+


The magnetic bias prompt lacks consistency with other numeric prompts in this configuration wizard. It doesn't support the 'q' to quit functionality that other prompts provide, and doesn't use the standard prompt_f64_with_default helper function. Consider using prompt_f64_with_default for the bias prompt to maintain consistency with the noise standard deviation prompt and provide range validation.

Suggested change

println!("\nMagnetic measurement bias (nT) [0.0]: ");

let bias = match read_user_input() {

Some(input) if !input.is_empty() => match input.parse::<f64>() {

Ok(v) => Some(v),

Err(_) => {

println!("Invalid number. Using default (0.0).");

None

}

},

_ => None,

};

let bias_value = prompt_f64_with_default(

"Magnetic measurement bias (nT)",

0.0,

0.0,

f64::MAX,

);

let bias = Some(bias_value);

Copilot · 2026-01-09T17:03:37Z

+
+                    println!("\nGravity map file path (press Enter to auto-detect): ");
+                    let map_file = match read_user_input() {
+                        Some(input) if !input.is_empty() => Some(input),


The map file path prompt doesn't support the 'q' to quit functionality that other prompts in the configuration wizard provide. While the user can technically quit by using Ctrl+C, it would be more consistent to check for 'q' or 'quit' input and call std::process::exit(0) like other prompts do in this wizard.

Suggested change

Some(input) if !input.is_empty() => Some(input),

Some(input) if !input.is_empty() => {

let lower = input.to_lowercase();

if lower == "q" || lower == "quit" {

println!("Configuration cancelled.");

std::process::exit(0);

}

Some(input)

}

Copilot · 2026-01-09T17:03:37Z

+    println!("\nGeophysical measurement frequency (seconds) [auto]: ");
+
+    match read_user_input() {
+        Some(input) if !input.is_empty() => match input.parse::<f64>() {
+            Ok(freq) if freq > 0.0 => Some(freq),
+            Ok(_) => {
+                println!("Frequency must be positive. Using auto.");
+                None
+            }
+            Err(_) => {
+                println!("Invalid number. Using auto.");
+                None
+            }
+        },
+        _ => None,


The geophysical measurement frequency prompt doesn't support the 'q' to quit functionality that other prompts in the configuration wizard provide. While the user can technically quit by using Ctrl+C, it would be more consistent to check for 'q' or 'quit' input and call std::process::exit(0) like other prompts do in this wizard.

Suggested change

println!("\nGeophysical measurement frequency (seconds) [auto]: ");

match read_user_input() {

Some(input) if !input.is_empty() => match input.parse::<f64>() {

Ok(freq) if freq > 0.0 => Some(freq),

Ok(_) => {

println!("Frequency must be positive. Using auto.");

None

}

Err(_) => {

println!("Invalid number. Using auto.");

None

}

},

_ => None,

loop {

println!("\nGeophysical measurement frequency (seconds) [auto]: ");

match read_user_input() {

Some(input) => {

let trimmed = input.trim();

if trimmed.is_empty() {

// Use automatic behavior.

return None;

}

match trimmed.to_lowercase().as_str() {

"q" | "quit" => {

println!("Configuration cancelled.");

std::process::exit(0);

}

_ => match trimmed.parse::<f64>() {

Ok(freq) if freq > 0.0 => {

return Some(freq);

}

Ok(_) => {

println!("Frequency must be positive. Please enter a positive number, press Enter for auto, or 'q' to quit.");

continue;

}

Err(_) => {

println!("Invalid number. Please enter a positive number, press Enter for auto, or 'q' to quit.");

continue;

}

},

}

}

None => {

println!("Invalid input. Please enter a positive number, press Enter for auto, or 'q' to quit.");

continue;

}

}

Copilot · 2026-01-09T17:03:38Z

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


This configuration file appears to be duplicated in both conf/geonav_example.toml and examples/configs/geonav_example.toml. Having identical files in multiple locations creates a maintenance burden - if one is updated, the other must be kept in sync. Consider consolidating to a single location or documenting why both are needed.

Copilot · 2026-01-09T17:03:38Z

+11
+5.0
+100
+auto


The test script provides "auto" as input for the gravity map file path, but the code checks for empty input to trigger auto-detection. The string "auto" will be treated as a file path rather than triggering auto-detection. This line should be empty to correctly test the auto-detection feature. The same issue exists on line 58 for the magnetic map file.

Copilot AI and others added 5 commits January 9, 2026 02:24

Initial plan

4c96063

added copilot setup steps

086a866

changed libfontconfig1-dev to libfontconfig-dev

7c1d7be

removed binary files due to improper preprocessing step

e6d0e0f

Add geophysical measurement configuration parameters to strapdown-sim…

b876f05

… config command Fixes #214

Copilot AI review requested due to automatic review settings January 9, 2026 16:53

Copilot started reviewing on behalf of jbrodovsky January 9, 2026 16:55 View session

jbrodovsky merged commit dec4584 into main Jan 9, 2026
5 of 6 checks passed

jbrodovsky deleted the copilot/add-geophysical-measurement-params branch January 9, 2026 16:58

Copilot AI reviewed Jan 9, 2026

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Add geophysical measurement configuration to strapdown-sim#217

Add geophysical measurement configuration to strapdown-sim#217
jbrodovsky merged 5 commits into
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+
+.0
+
+              auto

-                        Some(input) if !input.is_empty() => Some(input),
+                        Some(input) if !input.is_empty() => {
+                            match input.to_lowercase().as_str() {
+                                "q" | "quit" => {
+                                    println!("Configuration cancelled.");
+                                    std::process::exit(0);
+                                }
+                                _ => Some(input),
+                            }
+                        }

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