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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/diagrams/component_overview.md
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@@ -3,7 +3,7 @@
```mermaid
flowchart LR
camera[01 Camera Ingest And Calibration]
vio[02 BASALT VIO Adapter]
vio[02 VIO Adapter]
wrapper[03 Safety And Anchor Wrapper]
retrieval[04 Satellite Service]
verify[05 Anchor Verification]
_docs/02_document/diagrams/flows/flow_normal_localization.md
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@@ -7,7 +7,7 @@ flowchart TD
occlusion -->|Yes| imuOnly[03 IMU-only dead_reckoned propagation]
occlusion -->|No| frameOk{Frame usable for VIO?}
frameOk -->|No| degrade[03 Safety wrapper degraded mode]
frameOk -->|Yes| vio[02 BASALT VIO adapter]
frameOk -->|Yes| vio[02 VIO adapter]
telemetry[07 MAVLink telemetry] --> vio
vio --> healthy{VIO healthy?}
healthy -->|Yes| wrap[03 Covariance calibration + source label]