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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>
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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/data_model.md
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@@ -12,7 +12,7 @@ This model defines system-level runtime, cache, telemetry, and validation data.
| CameraCalibration | Intrinsics, distortion, lens, fixed extrinsics, capture settings | Versioned calibration file | Camera ingest/calibration |
| FrameRecord | Per-frame metadata, timestamp, total-occlusion/blackout state, image quality, processing status | PostgreSQL/FDR event; replay fixture | Camera ingest/calibration |
| TelemetrySample | FC IMU, attitude, altitude, airspeed, GPS health | MAVLink stream; FDR event | MAVLink/GCS integration |
| VioState | BASALT relative state, velocity, bias, tracking quality | Internal DTO; FDR event | BASALT VIO adapter |
| VioState | Backend-relative state, velocity, bias, tracking quality | Internal DTO; FDR event | VIO adapter |
| PositionEstimate | WGS84 output, covariance, source label, anchor age, fix type | MAVLink DTO; FDR event | Safety/anchor wrapper |
| VprChunk | Retrieval footprint and descriptor metadata | PostgreSQL/PostGIS manifest + descriptor files | Satellite Service |
| AnchorCandidate | Top-K retrieval result and local verification metrics | Internal DTO; FDR event | Anchor verification |