# Autopilot State

## Current Step
flow: greenfield
step: 3
name: Plan
status: in_progress
sub_step: 1 — Blackbox Tests (test-spec skill), Phase 2 complete, Phase 3 next
retry_count: 0

## Completed Steps

| Step | Name | Completed | Key Outcome |
|------|------|-----------|-------------|
| 1 | Problem | 2026-03-25 (detected) | Problem, restrictions, acceptance criteria, and input data defined |
| 2 | Research | 2026-03-25 (detected) | 8 research rounds, 6 solution drafts, tech_stack.md, security_analysis.md |

## Key Decisions
- Research Decision: Proceed to planning with current draft (6 drafts, 8 rounds sufficient)
- GPS-denied visual navigation system for UAV onboard Jetson Orin Nano Super
- Core algorithms: cuVSLAM, LiteSAM/XFeat, ESKF sensor fusion
- TRT engine migration for AI inference
- Latest draft (06) at TRL ~2.5-3; hardware/algorithms well-researched, system integration under-specified
- solution_draft06.md renamed to solution.md as finalized solution
- Test environment: dual-mode (Docker SITL for CI + Jetson hardware for nightly/pre-deploy)
- IMU data: ArduPilot SITL flies waypoint mission from coordinates.csv, generates 200Hz IMU via MAVLink
- Test coverage: 43 scenarios, 93% AC+restriction coverage (39/42)

## Last Session
date: 2026-03-25
ended_at: Step 3 Plan — SubStep 1 Blackbox Tests (test-spec Phase 2 complete)
reason: user paused — context break before Phase 3
notes: Test-spec Phase 1 (input data analysis) and Phase 2 (test scenario specification) complete. 8 artifacts written to _docs/02_document/tests/. Expected results created at _docs/00_problem/input_data/expected_results/. Phase 3 (test data validation gate) is next — scan all test scenarios, verify each has concrete test data + quantifiable expected result, ask user to provide missing items or remove tests, final coverage check ≥70%. Then Phase 4 (test runner scripts).

## Retry Log
| Attempt | Step | Name | SubStep | Failure Reason | Timestamp |
|---------|------|------|---------|----------------|-----------|

## Blockers
- none
