Integration Testing

Publish STANAG 4817 messages to the MQTT broker, watch them validated against the selected draft, and see the stateful correlate-then-fuse track picture form live. Stateless 4817 messages flow in; the engine accumulates a lookback window per track and fuses by inverse variance.

Broker

offline

Cache

—

Monitor

stopped

Seen / fused

0 / 0

Example message ()

Publish a fusion example (e.g. catl_fusion_track_sensor_eo then …_radar) twice to watch two sensors correlate into one fused track.

Fused tracks0

No tracks yet — publish a fuseable message (one carrying a pose covariance).

Live validation

No traffic yet — connect and publish a message.