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Oleksandr Bezdieniezhnykh bc40ea7300 [AZ-626] Decompose complete: 47 tasks + docs + module layout

Greenfield Steps 1-6 baseline for the autopilot rewrite from legacy
Qt/C++ to a Rust workspace.

- Remove legacy Qt/C++ tree (ai_controller, drone_controller,
  misc/camera, python_scaffold, root Dockerfile, autopilot.pro,
  legacy main.py / requirements.txt).
- Add _docs/00_problem (problem, restrictions, acceptance criteria,
  security approach, input data + fixtures).
- Add _docs/01_solution/solution_draft01.
- Add _docs/02_document (architecture, system-flows, data_model,
  glossary, decision-rationale, deployment, 13 component descriptions,
  tests/ specs, FINAL_report, module-layout).
- Add _docs/02_tasks/todo with 47 task specs (AZ-640..AZ-686, one
  bootstrap + 46 component tasks) and _dependencies_table.md.
- Add .cursor/rules/artifact-srp.mdc (single-responsibility rule for
  canonical _docs artifacts).
- Track autodev state in _docs/_autodev_state.md (Step 6 completed,
  ready for Step 7 Implement).

Jira: bootstrap AZ-626; component epics AZ-627..AZ-639; tasks
AZ-640..AZ-686. Total complexity 173 points across 12 epics.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-19 11:02:01 +03:00

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Component — `telemetry_stream`

Layer: Telemetry plane (always-on, parallel to the decision loop) Status: forward-looking design (Rust)

1. Purpose

Continuous, always-on push of the camera feed + UAV telemetry + bbox overlay to the Ground Station API over modem. Carries operator commands (confirm / decline / target-follow start / target-follow release) on the return path. Independent of the decision loop — the operator always sees the live feed, not just on detection.

2. Inputs

Input	Source	Cadence	Notes
Decoded `Frame`	`frame_ingest`	up to 30 fps	Re-encoded for the modem link bandwidth.
`DetectionBatch`	`detection_client`	per frame	Used to build the bbox overlay (server-burn-in or client-render — see Open Questions).
`MovementCandidate` (zoom-out + zoom-in)	`scan_controller` (forwarded)	per candidate	Surfaced in operator overlay; the `source_zoom_band` tag is preserved so the overlay can render zoom-out vs zoom-in candidates differently.
UAV telemetry	`mavlink_layer` (via `mission_executor`)	10 Hz	Position, attitude, mode, sys-status.
Gimbal state	`gimbal_controller`	per change	yaw / pitch / zoom.
`POI` events	`operator_bridge`	per POI surface / dequeue	Passed straight through.
Operator commands	Ground Station (return path)	event	Forwarded to `operator_bridge`.

3. Outputs

Output	Consumer	Shape
Outbound stream	Ground Station API (over modem)	per stream protocol (TBD — see Open Questions)
Inbound operator commands	`operator_bridge`	event
Health metric	health aggregator	`link_state`, `bandwidth_used_mbps`, `frame_drop_rate`, `last_command_received_ts`.

4. Key Responsibilities

Encode and push the camera feed + telemetry + bbox overlay continuously, regardless of detection state.
Apply bandwidth-aware rate adaptation (drop bbox-overlay frequency before frame frequency; drop frame frequency before resolution).
Surface the modem link state to the health aggregator; operator_bridge consults this to decide whether to surface POIs.
Receive operator commands on the return path; forward to operator_bridge with monotonic timestamps.

5. Internal State

Stream session handle.
Rate-adaptation state machine.
In-flight frame buffer (bounded).

State is in-process only.

6. Failure Modes

Failure	Detection	Behaviour
Modem link down	transport error / heartbeat	Surface `link_lost`; pause outbound push (do not buffer indefinitely); `operator_bridge` pauses POI surfacing.
Bandwidth saturation	adaptive monitor	Reduce bbox-overlay rate, then frame rate, then resolution; surface to health → yellow.
Inbound command unparseable	parser error	Reject; ack with error; do not act.
Inbound command from unauthenticated peer	session check (per Ground Station contract)	Reject; alert.

7. Dependencies

In-process (input): frame_ingest, detection_client, scan_controller, mavlink_layer, gimbal_controller, operator_bridge. In-process (output): operator_bridge (return-path commands).

External: Ground Station API. Contract owner: ../_docs/04_system_design_clarifications.md.

8. Non-Functional Targets

Concern	Target
End-to-end glass-to-operator latency	bounded by modem characteristics; target ≤2 s p99 on a healthy link
Always-on	yes; not detection-gated
Rate adaptation	smooth; no sudden full-resolution → no-feed transitions
Outbound buffering	bounded; no unbounded growth on slow link

9. Open Questions

Ground Station API contract (architecture.md §8 Q2): stream protocol (WebRTC / WebSocket-H.264 / gRPC server-streaming?), session/auth model, bbox-overlay rendering (server-side burn-in vs client-side render).

10. References

architecture.md §3, §5 Architectural Principles (always-on stream, no silent error swallowing), §7.6 Integration and reliability.
system-flows.md §F5 Operator round trip.
../_docs/04_system_design_clarifications.md.

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Component — telemetry_stream