feat(ci): add GitHub Actions workflow and configure ruff + pytest

.github/workflows/ci.yml

@@ -0,0 +1,34 @@
+name: CI
+
+on:
+  push:
+    branches: [master]
+  pull_request:
+    branches: [master]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.10", "3.11", "3.12"]
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install package with dev dependencies
+        run: pip install -e ".[dev]"
+
+      - name: Lint with ruff
+        run: ruff check .
+
+      - name: Test with pytest
+        run: pytest tests/ -v
+        env:
+          MPLBACKEND: Agg  # headless — no display server in CI

.gitignore

@@ -46,3 +46,6 @@ MANIFEST
 
 # Jupyter
 .ipynb_checkpoints/
+
+# ruff
+.ruff_cache/

examples/01_imu_ekf_basic.py

@@ -5,23 +5,23 @@
 and runs the 10-state EKF to fuse accel/gyro/mag data.
 """
 
-import numpy as np
 import matplotlib.pyplot as plt
+import numpy as np
 
-from drones_sim.trajectory import generate_hover_accel_cruise
+from drones_sim.estimation import ExtendedKalmanFilter
+from drones_sim.models import load_drone_urdf
 from drones_sim.sensors import IMUSimulator
 from drones_sim.sensors.imu import IMUConfig
-from drones_sim.estimation import ExtendedKalmanFilter
+from drones_sim.trajectory import generate_hover_accel_cruise
 from drones_sim.visualization.plots import plot_ekf_results
-from drones_sim.models import load_drone_urdf
 
 
 def main():
     # Load drone URDF model (physics + geometry description)
     urdf_model = load_drone_urdf()
     print(urdf_model)
     print(f"  Total mass : {urdf_model.total_mass:.3f} kg")
-    print(f"  Links      : {[l.name for l in urdf_model.links]}")
+    print(f"  Links      : {[link.name for link in urdf_model.links]}")
     print(f"  Joints     : {[j.name for j in urdf_model.joints]}")
 
     # 1. Generate trajectory
@@ -56,7 +56,7 @@ def main():
         filt_quat[i] = state["quaternion"]
 
     # 4. Plot
-    fig = plot_ekf_results(
+    plot_ekf_results(
         traj.t,
         traj.position, traj.velocity, traj.orientation_quat,
         filt_pos, filt_vel, filt_quat,

examples/02_ekf_adaptive.py

@@ -5,23 +5,23 @@
 sensor models.
 """
 
-import numpy as np
 import matplotlib.pyplot as plt
+import numpy as np
 
-from drones_sim.trajectory import generate_hover_accel_cruise
+from drones_sim.estimation.ekf import AdaptiveEKF
+from drones_sim.models import load_drone_urdf
 from drones_sim.sensors import IMUSimulator
 from drones_sim.sensors.imu import IMUConfig
-from drones_sim.estimation.ekf import AdaptiveEKF
+from drones_sim.trajectory import generate_hover_accel_cruise
 from drones_sim.visualization.plots import plot_ekf_results
-from drones_sim.models import load_drone_urdf
 
 
 def main():
     # Load drone URDF model (physics + geometry description)
     urdf_model = load_drone_urdf()
     print(urdf_model)
     print(f"  Total mass : {urdf_model.total_mass:.3f} kg")
-    print(f"  Links      : {[l.name for l in urdf_model.links]}")
+    print(f"  Links      : {[link.name for link in urdf_model.links]}")
     print(f"  Joints     : {[j.name for j in urdf_model.joints]}")
 
     # 1. Trajectory
@@ -62,7 +62,7 @@ def main():
         filt_quat[i] = state["quaternion"]
 
     # 4. Plot
-    fig = plot_ekf_results(
+    plot_ekf_results(
         traj.t,
         traj.position, traj.velocity, traj.orientation_quat,
         filt_pos, filt_vel, filt_quat,

examples/03_waypoint_nav.py

@@ -6,22 +6,22 @@
 acceleration, and jerk) rather than a step-function target jump.
 """
 
-import numpy as np
 import matplotlib.pyplot as plt
+import numpy as np
 
-from drones_sim.dynamics import QuadcopterDynamics
 from drones_sim.control import QuadcopterController
+from drones_sim.dynamics import QuadcopterDynamics
+from drones_sim.models import load_drone_urdf
 from drones_sim.trajectory import generate_minimum_snap
 from drones_sim.visualization.plots import plot_quadcopter_results
-from drones_sim.models import load_drone_urdf
 
 
 def main():
     # Load drone URDF model (physics + geometry description)
     urdf_model = load_drone_urdf()
     print(urdf_model)
     print(f"  Total mass : {urdf_model.total_mass:.3f} kg")
-    print(f"  Links      : {[l.name for l in urdf_model.links]}")
+    print(f"  Links      : {[link.name for link in urdf_model.links]}")
     print(f"  Joints     : {[j.name for j in urdf_model.joints]}")
 
     quad = QuadcopterDynamics()

examples/04_viser_viewer.py

@@ -7,11 +7,11 @@
 
 import numpy as np
 
-from drones_sim.dynamics import QuadcopterDynamics
 from drones_sim.control import QuadcopterController
+from drones_sim.dynamics import QuadcopterDynamics
 from drones_sim.math_utils import euler_to_rotation_matrix
-from drones_sim.visualization.viewer import DroneViewer
 from drones_sim.models import load_drone_urdf
+from drones_sim.visualization.viewer import DroneViewer
 
 
 def main():

examples/05_full_pipeline.py

@@ -10,21 +10,21 @@
 """
 
 import os
-import numpy as np
+
 import matplotlib.pyplot as plt
+import numpy as np
 
-from drones_sim.dynamics import QuadcopterDynamics
 from drones_sim.control.pid import PIDController
-from drones_sim.sensors.models import SensorNoiseModel
-from drones_sim.sensors import GPSSimulator, GPSConfig
+from drones_sim.dynamics import QuadcopterDynamics
 from drones_sim.estimation import ExtendedKalmanFilter
 from drones_sim.math_utils import (
     euler_to_rotation_matrix,
-    quat_from_euler,
     quat_to_rotation_matrix,
 )
-from drones_sim.visualization.viewer import DroneViewer
 from drones_sim.models import load_drone_urdf
+from drones_sim.sensors import GPSConfig, GPSSimulator
+from drones_sim.sensors.models import SensorNoiseModel
+from drones_sim.visualization.viewer import DroneViewer
 
 
 def main():
@@ -107,7 +107,7 @@ def main():
         # Accelerometer measures specific force = R^T * (a_linear - g_world)
         # which in hover (a_linear ≈ 0) is just R^T * g (the reaction to gravity).
         # We approximate linear accel from the previous dynamics step.
-        lin_accel_world = np.array([0.0, 0.0, quad.g]) - np.array(
+        np.array([0.0, 0.0, quad.g]) - np.array(
             [0.0, 0.0, quad.g]
         )
         # Proper: rotate net force / mass back to body frame as specific force

examples/06_trajectory_following.py

@@ -29,15 +29,15 @@
 
 import numpy as np
 
-from drones_sim.dynamics import QuadcopterDynamics
 from drones_sim.control import QuadcopterController
-from drones_sim.sensors.models import SensorNoiseModel
-from drones_sim.sensors import GPSSimulator, GPSConfig
+from drones_sim.dynamics import QuadcopterDynamics
 from drones_sim.estimation import ExtendedKalmanFilter
-from drones_sim.trajectory import generate_circular, generate_minimum_snap
 from drones_sim.math_utils import euler_to_rotation_matrix
-from drones_sim.visualization.viewer import DroneViewer
 from drones_sim.models import load_drone_urdf
+from drones_sim.sensors import GPSConfig, GPSSimulator
+from drones_sim.sensors.models import SensorNoiseModel
+from drones_sim.trajectory import generate_circular, generate_minimum_snap
+from drones_sim.visualization.viewer import DroneViewer
 
 # ---------------------------------------------------------------------------
 # Module-level constants

pyproject.toml

@@ -20,5 +20,20 @@ dev = ["pytest>=7.0", "ruff"]
 [tool.setuptools.packages.find]
 where = ["src"]
 
+[tool.ruff]
+line-length = 100
+target-version = "py310"
+src = ["src", "tests", "examples"]
+extend-exclude = [".venv"]
+
+[tool.ruff.lint]
+select = ["E", "F", "W", "I", "UP"]
+ignore = ["E501"]   # long lines — not worth a mass reformat
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+addopts = "-q"
+markers = ["slow: marks tests as slow (deselect with '-m \"not slow\"')"]
+
 [tool.setuptools.package-data]
 "drones_sim.models" = ["*.urdf"]

src/drones_sim/control/__init__.py

@@ -1,3 +1,3 @@
-from .pid import PIDController
-from .cascaded import QuadcopterController
-from .lqr import LQRController
+from .cascaded import QuadcopterController  # noqa: F401
+from .lqr import LQRController  # noqa: F401
+from .pid import PIDController  # noqa: F401

src/drones_sim/dynamics/__init__.py

@@ -1 +1 @@
-from .quadcopter import QuadcopterDynamics
+from .quadcopter import QuadcopterDynamics  # noqa: F401

src/drones_sim/dynamics/quadcopter.py

@@ -36,11 +36,11 @@
 from numpy.typing import NDArray
 
 from ..math_utils import (
+    quat_derivative,
     quat_from_euler,
     quat_normalize,
     quat_to_euler,
     quat_to_rotation_matrix,
-    quat_derivative,
 )
 
 

src/drones_sim/estimation/__init__.py

@@ -1,2 +1,2 @@
-from .ekf import ExtendedKalmanFilter
-from .ahrs import AHRS
+from .ahrs import AHRS  # noqa: F401
+from .ekf import ExtendedKalmanFilter  # noqa: F401

src/drones_sim/estimation/ahrs.py

@@ -9,7 +9,7 @@
 import numpy as np
 from numpy.typing import NDArray
 
-from ..math_utils import quat_normalize, quat_multiply, quat_to_rotation_matrix
+from ..math_utils import quat_normalize, quat_to_rotation_matrix
 
 
 class AHRS:

src/drones_sim/estimation/ekf.py

@@ -19,14 +19,13 @@
 from numpy.typing import NDArray
 
 from ..math_utils import (
-    quat_derivative,
     quat_angular_velocity_jacobian,
+    quat_derivative,
     quat_normalize,
     quat_to_rotation_matrix,
 )
 from .ahrs import AHRS
 
-
 # ---------------------------------------------------------------------------
 # Full-state EKF (10-state) — from imu_ekf_simulation.py
 # ---------------------------------------------------------------------------
@@ -482,8 +481,8 @@ def correct(self, accel: NDArray, adaptive_factor: float = 1.0) -> None:
         self.x += K @ innovation
 
         # Joseph form for numerical stability
-        I = np.eye(self.n)
-        IKH = I - K @ H
+        I_mat = np.eye(self.n)
+        IKH = I_mat - K @ H
         self.P = IKH @ self.P @ IKH.T + K @ self.R_accel @ K.T
 
     # -- state access ------------------------------------------------------

src/drones_sim/math_utils.py

@@ -10,7 +10,6 @@
 import numpy as np
 from numpy.typing import NDArray
 
-
 # ---------------------------------------------------------------------------
 # Quaternion operations
 # ---------------------------------------------------------------------------

src/drones_sim/models/urdf_loader.py

@@ -15,7 +15,6 @@
 import numpy as np
 from numpy.typing import NDArray
 
-
 # ---------------------------------------------------------------------------
 # Data structures
 # ---------------------------------------------------------------------------
@@ -83,7 +82,7 @@ class DroneURDFModel:
     total_inertia: NDArray = field(default_factory=lambda: np.zeros((3, 3)))
 
     def __repr__(self) -> str:
-        link_names = [l.name for l in self.links]
+        link_names = [link.name for link in self.links]
         return (
             f"DroneURDFModel(name={self.name!r}, "
             f"links={link_names}, "
@@ -275,8 +274,8 @@ def load_drone_urdf(urdf_path: str | Path | None = None) -> DroneURDFModel:
         model.joints.append(joint)
 
     # --- aggregates ---
-    model.total_mass = sum(l.mass for l in model.links)
-    model.total_inertia = sum(l.inertia for l in model.links)  # type: ignore[assignment]
+    model.total_mass = sum(link.mass for link in model.links)
+    model.total_inertia = sum(link.inertia for link in model.links)  # type: ignore[assignment]
 
     return model
 

src/drones_sim/sensors/__init__.py

@@ -1,3 +1,3 @@
-from .imu import IMUSimulator
-from .models import SensorNoiseModel, TemperatureModel
-from .gps import GPSSimulator, GPSConfig, GPSData
+from .gps import GPSConfig, GPSData, GPSSimulator  # noqa: F401
+from .imu import IMUSimulator  # noqa: F401
+from .models import SensorNoiseModel, TemperatureModel  # noqa: F401

src/drones_sim/sensors/gps.py

@@ -14,8 +14,7 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass, field
-from typing import Optional
+from dataclasses import dataclass
 
 import numpy as np
 from numpy.typing import NDArray

src/drones_sim/sensors/imu.py

@@ -7,7 +7,6 @@
 from __future__ import annotations
 
 from dataclasses import dataclass, field
-from typing import Optional
 
 import numpy as np
 from numpy.typing import NDArray
@@ -46,7 +45,7 @@ class IMUData:
     accel: NDArray          # (N, 3)
     gyro: NDArray           # (N, 3)
     mag: NDArray            # (N, 3)
-    temperature: Optional[NDArray] = None  # (N,) if temperature model enabled
+    temperature: NDArray | None = None  # (N,) if temperature model enabled
 
     # Ground-truth biases for validation
     accel_bias: NDArray = field(default_factory=lambda: np.zeros(3))

src/drones_sim/trajectory.py

@@ -6,13 +6,13 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 from math import factorial
-from typing import Literal
 
 import numpy as np
+from numpy.polynomial.polynomial import polyder
+from numpy.polynomial.polynomial import polyval as polyval1d
 from numpy.typing import NDArray
-from numpy.polynomial.polynomial import polyval as polyval1d, polyder
 from scipy.linalg import lstsq
 from scipy.spatial.transform import Rotation as R
 

src/drones_sim/visualization/__init__.py

@@ -1,2 +1,2 @@
-from .plots import plot_ekf_results, plot_quadcopter_results
-from .viewer import DroneViewer
+from .plots import plot_ekf_results, plot_quadcopter_results  # noqa: F401
+from .viewer import DroneViewer  # noqa: F401