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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

4.1 KiB

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Component — `gimbal_controller`

Layer: Action (data plane out) Status: forward-looking design (Rust); ViewPro A40 vendor protocol

1. Purpose

Drives the ViewPro A40 gimbal: pan (yaw), tilt (pitch), and zoom. Honours the ≤2 s zoom-transition budget and ≤500 ms decision-to-movement latency. Owns the zoom-out sweep, the smooth-pan path-tracking primitive used during the zoom-in level (follow-the-footpath behaviour), and the centre-window primitive used during target-follow.

2. Inputs

Input	Source	Cadence	Notes
`GimbalCommand`	`scan_controller`	per state-machine tick or per zoom-in plan step	yaw / pitch / zoom goal; or pan plan; or centre-on-target.
Sweep config	startup config	once	Zoom-out sweep pattern (pendulum / raster / lawn-mower — see `architecture.md §8 Q1`).
Live gimbal status	ViewPro A40 (vendor protocol)	as emitted by camera	yaw / pitch / zoom feedback + faults.

3. Outputs

Output	Consumer	Shape
Vendor-protocol commands	ViewPro A40 (UDP)	yaw / pitch / zoom commands
`GimbalState`	`frame_ingest` (for telemetry tagging), `movement_detector` (for ego-motion compensation)	`{ yaw, pitch, zoom, ts_monotonic, command_in_flight: bool }`
Health metric	health aggregator	`commands_per_min`, `decision_to_movement_p99_ms`, `zoom_transition_p99_ms`, `vendor_faults_total`.

4. Key Responsibilities

Send vendor-protocol commands to the ViewPro A40 over UDP. Re-issue on timeout with bounded retry.
Run the zoom-out sweep pattern when scan_controller is in ZoomedOut (pattern itself depends on architecture.md §8 Q1 resolution).
For the zoom-in path-follow, accept a pan plan (sequence of yaw / pitch / zoom goals with timing) from scan_controller / semantic_analyzer and execute it smoothly.
For target-follow, accept a centre-on-target stream (target bbox normalized) from scan_controller and command the gimbal to keep the target inside the centre 25 % of frame while visible.
Stamp every emitted command with a monotonic timestamp so movement_detector can synchronise it with frames.
Surface vendor-protocol faults to health and to scan_controller.

5. Internal State

Last-known commanded yaw / pitch / zoom.
Last-known reported yaw / pitch / zoom (from gimbal feedback).
Sweep pattern state (current direction, dwell counter).
Current execution mode: Sweep | PanPlan | CentreOnTarget | Idle.

State is in-process only.

6. Failure Modes

Failure	Detection	Behaviour
ViewPro A40 not responding	command timeout	Bounded exponential backoff; health → yellow then red; `scan_controller` is informed and may pause zoom-in.
Decision-to-movement above budget	self-instrumented	Health → yellow; investigate (likely UDP loss or vendor firmware issue).
Zoom transition stalls	feedback shows no zoom progress	Re-issue command; health → yellow; report to `scan_controller`.
Target lost during target-follow	feedback + tracker	Surface `target_lost` to `scan_controller`; controller decides to release follow.
Conflicting commands	execution-mode mismatch	Reject the lower-priority command; log a hard error; never silently merge.

7. Dependencies

In-process (input): scan_controller. In-process (output): frame_ingest, movement_detector (timestamped state).

External: ViewPro A40 over UDP (vendor protocol).

8. Non-Functional Targets

Concern	Target
Decision-to-movement latency	≤500 ms
Zoom transition (medium → high)	≤2 s
Sweep pattern stability	bounded jitter; no overshoot beyond configured FOV bounds
Target-follow centre-window	target inside centre 25 % of frame while visible

9. Open Questions

Sweep pattern specification (architecture.md §8 Q1): pendulum / raster / lawn-mower; FOV per zoom tier; dwell time per direction.

10. References

architecture.md §3, §6 NFR, §7.6 Solution Architecture.
system-flows.md §F2 Movement detection (zoom-out + zoom-in).
data_model.md §GimbalState.

4.1 KiB Raw Blame History

Component — gimbal_controller