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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

4.3 KiB

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Component — `mavlink_layer`

Layer: Action (data plane out) Status: forward-looking design (Rust); hand-rolled (no third-party SDK)

1. Purpose

Hand-rolled MAVLink v2 transport. Implements only the ~10–15 commands this codebase needs (full list in architecture.md §7.7). Owns serialisation / deserialisation, heartbeat, sequence numbers, retry, and a single connection abstraction (UDP or serial, picked at startup from CLI / env). No third-party SDK — eliminating the largest current dependency-risk item.

2. Inputs

Input	Source	Cadence	Notes
Outgoing `COMMAND_LONG`, `MISSION_*`, `SET_MODE`	`mission_executor`	per state transition	Hand-rolled message constructors per command.
Outgoing heartbeat	self (timer)	1 Hz	`HEARTBEAT` to keep the autopilot's GCS-link alive.
Connection URI	startup config	once	`udp://...` or `serial:///dev/...`.
MAVLink-2 signing config	startup config	once	If supported by the link, signing is enabled; otherwise the link is treated as trusted.

3. Outputs

Output	Consumer	Shape
Decoded MAVLink messages	`mission_executor`, `telemetry_stream`, `movement_detector` (for UAV motion telemetry)	typed enum per message kind
Connection state	health aggregator	`connected`, `last_heartbeat_age_ms`, `tx_seq`, `rx_seq`, `parse_errors_total`, `signing_enabled`.

The supported message surface (concise list; full table in architecture.md §7.7):

HEARTBEAT (bidir)
COMMAND_LONG subset (out): arm/disarm, takeoff, set-mode, change-speed, change-alt, land, RTL
COMMAND_ACK (in)
MISSION_COUNT, MISSION_REQUEST_INT, MISSION_ITEM_INT, MISSION_ACK, MISSION_SET_CURRENT, MISSION_CURRENT, MISSION_ITEM_REACHED, MISSION_CLEAR_ALL
GLOBAL_POSITION_INT, ATTITUDE, SYS_STATUS, EXTENDED_SYS_STATE, STATUSTEXT
SET_MODE (out, fixed-wing)

4. Key Responsibilities

Open and maintain the MAVLink connection (UDP or serial). Reconnect on transport loss with bounded backoff.
Encode outgoing messages with correct sequence numbers, system / component IDs, and (when enabled) MAVLink-2 signing.
Decode incoming messages with strict validation: reject malformed frames, unknown message IDs, and signing failures.
Emit a 1 Hz heartbeat. Detect autopilot heartbeat timeouts and surface to health.
Demux COMMAND_ACK to the originating caller (per command_id); enforce a wall-clock ack timeout.

5. Internal State

Connection handle (UDP socket or serial port).
Outgoing sequence number.
In-flight command map (command_id → (caller, deadline)).
Per-message-kind parse error counters.

State is in-process only.

6. Failure Modes

Failure	Detection	Behaviour
Transport open failure	OS error	Bounded backoff; surface to health → red.
Heartbeat from autopilot missing	wall-clock timeout	Surface `link_lost` to health and to `mission_executor`; do not silently fail.
Command-ack timeout	wall-clock	Bubble timeout to `mission_executor`; the executor decides retry vs failure.
Malformed inbound frame	parser error	Drop the frame; increment counter; do not abort the link.
MAVLink-2 signing mismatch (if enabled)	signature check	Reject the frame; alert; do not silently accept.
Sequence-number gap	rx_seq vs expected	Log; not a hard failure on its own.

7. Dependencies

In-process (input): mission_executor. In-process (output): mission_executor, telemetry_stream, movement_detector.

External: ArduPilot / PX4 over MAVLink v2 (UDP or serial).

8. Non-Functional Targets

Concern	Target
Per-message round-trip on a healthy link	≤50 ms p99
Heartbeat cadence	1 Hz out
Command-ack timeout	configurable; default 1 s, with retry handled by `mission_executor`
Reconnect after transport loss	≤2 s on serial / ≤5 s on UDP
Message subset	~10–15 commands only — adding more requires explicit design review

9. Open Questions

MAVLink-2 message signing (architecture.md §8 Q6): whether the airframe link enables signing or treats the link as trusted.

10. References

architecture.md §3, §5 Architectural Principles (no MAVSDK, no silent error swallowing), §7.7 MAVLink and Piloting.
system-flows.md §F6 Mission lifecycle.

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Component — mavlink_layer