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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/system-flows.md
+9 -9
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@@ -5,7 +5,7 @@
| # | Flow Name | Trigger | Primary Components | Criticality |
|---|-----------|---------|--------------------|-------------|
| F1 | Pre-flight cache preparation | Operator sync before mission | Satellite Service, Tile Manager | High |
| F2 | Normal frame processing | Navigation frame + FC telemetry | Camera ingest, BASALT VIO adapter, safety/anchor wrapper, MAVLink, FDR | High |
| F2 | Normal frame processing | Navigation frame + FC telemetry | Camera ingest, VIO adapter, safety/anchor wrapper, MAVLink, FDR | High |
| F3 | Satellite relocalization | Cold start, VO failure, sharp turn, covariance growth, stale anchor | Satellite Service, anchor verification, safety/anchor wrapper | High |
| F4 | Visual blackout / spoofing degraded mode | Image-quality failure and GPS health failure | Camera ingest, MAVLink telemetry, safety/anchor wrapper, QGC, FDR | Critical |
| F5 | Generated tile lifecycle | High-confidence pose + usable frame | Camera ingest, safety/anchor wrapper, Tile Manager, FDR | Medium |
@@ -82,12 +82,12 @@ sequenceDiagram
### Description
During normal flight, the system processes each navigation frame and FC telemetry sample. The camera component first checks for total occlusion/blackout. Usable frames go to BASALT VIO; total-occlusion frames bypass VIO and send the wrapper into IMU-only degraded propagation.
During normal flight, the system processes each navigation frame and FC telemetry sample. The camera component first checks for total occlusion/blackout. Usable frames go to the VIO adapter; total-occlusion frames bypass VIO and send the wrapper into IMU-only degraded propagation.
### Preconditions
- Camera calibration/extrinsics are loaded.
- BASALT and wrapper are initialized.
- VIO adapter and wrapper are initialized.
- FC telemetry stream is healthy.
### Sequence Diagram
@@ -115,9 +115,9 @@ sequenceDiagram
| Step | From | To | Data | Format |
|------|------|----|------|--------|
| 1 | Camera ingest | BASALT adapter or safety wrapper | Frame metadata, image, occlusion status | Frame DTO / DegradationSignal |
| 2 | FC telemetry | BASALT adapter | IMU/attitude/altitude | MAVLink-derived telemetry DTO |
| 3 | BASALT adapter | Safety wrapper | Relative VIO state | VioState DTO |
| 1 | Camera ingest | VIO adapter or safety wrapper | Frame metadata, image, occlusion status | Frame DTO / DegradationSignal |
| 2 | FC telemetry | VIO adapter | IMU/attitude/altitude | MAVLink-derived telemetry DTO |
| 3 | VIO adapter | Safety wrapper | Relative VIO state | VioState DTO |
| 4 | Safety wrapper | MAVLink output | WGS84 estimate | `GPS_INPUT` |
| 5 | Safety wrapper | FDR | Inputs/outputs/audit | FDR segment event |
@@ -125,9 +125,9 @@ sequenceDiagram
| Error | Where | Detection | Recovery |
|-------|-------|-----------|----------|
| Total occlusion / blackout | Camera ingest | Occlusion status, exposure/texture/decode checks | Bypass BASALT, enter IMU-only `dead_reckoned` propagation |
| Frame unreadable | Camera ingest | Decode/quality failure | Mark visual signal degraded and bypass BASALT for that frame |
| VIO quality low | BASALT adapter | Tracking/completion metrics | Trigger relocalization or dead reckoning |
| Total occlusion / blackout | Camera ingest | Occlusion status, exposure/texture/decode checks | Bypass VIO, enter IMU-only `dead_reckoned` propagation |
| Frame unreadable | Camera ingest | Decode/quality failure | Mark visual signal degraded and bypass VIO for that frame |
| VIO quality low | VIO adapter | Tracking/completion metrics | Trigger relocalization or dead reckoning |
| Covariance grows | Safety wrapper | Covariance threshold | Degrade fix type/source label |
### Performance Expectations