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[AZ-219] [AZ-228] Generalize VIO component layout

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Keep VIO package and native bridge paths backend-neutral so BASALT remains an implementation choice rather than a component boundary.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-03 12:20:41 +03:00
parent 79997e39ac
commit 72a9df6b57
34 changed files with 123 additions and 114 deletions
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_docs/02_document/FINAL_report.md
+3 -3
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@@ -23,7 +23,7 @@ The system is a trigger-based hybrid estimator. Normal flight uses camera ingest
| # | Component | Purpose | Dependencies | Epic |
|---|-----------|---------|--------------|------|
| 01 | Camera Ingest And Calibration | Ingest frames, validate calibration, detect total occlusion before VIO | Bootstrap, shared geometry/time, config/errors | AZ-209 |
| 02 | BASALT VIO Adapter | Wrap BASALT relative VIO and emit replaceable state DTOs | Camera, MAVLink telemetry, shared helpers | AZ-213 |
| 02 | VIO Adapter | Wrap the selected relative VIO backend and emit replaceable state DTOs | Camera, MAVLink telemetry, shared helpers | AZ-213 |
| 03 | Safety And Anchor Wrapper | Own localization state, covariance, anchors, blackout/failsafe, output semantics | Camera, MAVLink, VIO, anchor verification | AZ-216 |
| 04 | Satellite Service | Sync Satellite Service cache/upload packages and retrieve local VPR candidates from cache descriptors and FAISS | Camera, Tile Manager, shared helpers | AZ-214 |
| 05 | Anchor Verification | Verify retrieved candidates with learned matching and RANSAC | Satellite Service, camera, Tile Manager | AZ-215 |
@@ -72,7 +72,7 @@ See `risk_mitigations.md` for the full register.
| Component | Integration | Performance | Security | Acceptance | AC Coverage |
|-----------|-------------|-------------|----------|------------|-------------|
| Camera Ingest And Calibration | 3 | 1 | 1 | 2 | 7 ACs |
| BASALT VIO Adapter | 4 | 1 | 1 | 1 | 8 ACs |
| VIO Adapter | 4 | 1 | 1 | 1 | 8 ACs |
| Safety And Anchor Wrapper | 7 | 1 | 1 | 3 | 15 ACs |
| Satellite Service | 4 | 2 | 1 | 1 | 10 ACs |
| Anchor Verification | 2 | 1 | 2 | 1 | 9 ACs |
@@ -95,7 +95,7 @@ See `risk_mitigations.md` for the full register.
| 5 | AZ-210: MAVLink And GCS Integration | Component 07 | M / 5-8 pts | AZ-206, AZ-208 |
| 6 | AZ-211: Tile Manager | Component 06 | L / 8-13 pts | AZ-206, AZ-207, AZ-208 |
| 7 | AZ-212: FDR And Observability | Component 08 | M-L / 5-8 pts | AZ-206, AZ-208 |
| 8 | AZ-213: BASALT VIO Adapter | Component 02 | L / 8-13 pts | AZ-209, AZ-210 |
| 8 | AZ-213: VIO Adapter | Component 02 | L / 8-13 pts | AZ-209, AZ-210 |
| 9 | AZ-214: Satellite Service | Component 04 | L / 8-13 pts | AZ-209, AZ-211 |
| 10 | AZ-215: Anchor Verification | Component 05 | L / 8-13 pts | AZ-214, AZ-209, AZ-211 |
| 11 | AZ-216: Safety And Anchor Wrapper | Component 03 | XL / 13-21 pts | AZ-209, AZ-210, AZ-213, AZ-215 |