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Enhance skill discipline and clarify acceptance criteria and restrictions

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Updated the meta-rule document to emphasize strict adherence to skill instructions, prohibiting unnecessary investigations or external checks. Revised acceptance criteria and restrictions to correct communication protocol details for ArduPilot and iNav, ensuring clarity on external-positioning interfaces. Adjusted autodev state to reflect ongoing research phase and updated sub-step details for improved tracking.
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Oleksandr Bezdieniezhnykh
2026-05-07 06:09:37 +03:00
parent 12cc5a4e4b
commit 48dd81ee0f
7 changed files with 1151 additions and 9 deletions
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_docs/00_problem/restrictions.md
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# Restrictions
> Last revised 2026-05-07 (cleanup pass — design-independent, IEEE-830 style; only external dependencies, environmental constraints, integration boundaries).
> Subsequent revision 2026-05-07 (post-SQ6 research): the FC-facing communication protocol entries below were corrected — iNav firmware (master, post-9.0) has no inbound MAVLink external-positioning handler; the project must use a per-FC adapter (MAVLink `GPS_INPUT` for ArduPilot Plane; MSP2 `MSP2_SENSOR_GPS` for iNav). Rationale and L1 sources in `_docs/00_research/02_fact_cards.md` SQ6 / `_docs/00_research/01_source_registry.md` Sources #4, #9, #10, #12, #13.
## UAV & Flight
- Fixed-wing UAVs only; navigation camera fixed downward (no gimbal).
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- Storage budget ≥ tile cache (~10 GB) + per-flight FDR (64 GB, AC-NEW-3).
## Sensors & Integration
- **High-rate IMU** available from FC via MAVLink.
- **Communication protocol (pinned)**: MAVLink for both FC and GCS.
- **Supported flight controllers**: ArduPilot, iNav (both via standard MAVLink). PX4 out of scope.
- **Output to FC**: WGS84 GPS coordinates as a real-GPS replacement, via the MAVLink message type(s) the supported FCs accept for external positioning (per-FC message selection is a design choice; contract is AC-4.3).
- **High-rate IMU** available from FC via MAVLink (both ArduPilot Plane and iNav expose IMU telemetry over MAVLink outbound).
- **Communication protocol (pinned)**: MAVLink for the GCS link (QGroundControl). Companion ↔ FC interface is per-FC: MAVLink for ArduPilot Plane (inbound external positioning + outbound telemetry); MSP2 for iNav (inbound external positioning via `MSP2_SENSOR_GPS`); MAVLink outbound from iNav for telemetry to the GCS is preserved.
- **Supported flight controllers**: ArduPilot Plane, iNav. PX4 out of scope.
- **Output to FC**: WGS84 GPS coordinates as a real-GPS replacement, via each supported FC's documented external-positioning interface — MAVLink `GPS_INPUT` for ArduPilot Plane, MSP2 `MSP2_SENSOR_GPS` for iNav (companion is the sole GPS source on iNav; iNav has no dual-GPS arbitration). Per-FC parameter wiring (EKF source-set on ArduPilot; GPS provider/UART selection on iNav) and source-label out-of-band channel are design choices; outcome contract is AC-4.3.
- **Ground station**: QGroundControl (Mission Planner out of scope). Telemetry link bandwidth-limited; per-frame data stays on local FDR (AC-NEW-3); GCS sees 1–2 Hz downsampled summary (AC-6.1).
- **Representative data**: see `input_data/` (still images), `input_data/flight_derkachi/` (cropped nadir video + synchronized `SCALED_IMU2` + `GLOBAL_POSITION_INT`). Production acceptance still requires camera intrinsics, distortion, camera-to-body calibration, and synchronized representative flight data (frames + FC IMU/attitude/airspeed/altitude + emitted MAVLink + ground-truth trajectory).