Revise acceptance criteria and restrictions documentation to clarify recent updates and specifications. Key changes include enhanced definitions for position accuracy, image processing quality, and operational parameters, as well as updates to camera specifications and validation requirements. This revision aims to improve clarity and ensure alignment with project goals.

2026-06-22 05:11:13 +00:00 · 2026-05-01 16:24:46 +03:00
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+# FDR And Observability
+
+## 1. High-Level Overview
+
+**Purpose**: Record bounded, replayable mission evidence and expose runtime health/status events for analysis and operator awareness.
+
+**Architectural Pattern**: Append-only event sink + exporter.
+
+**Upstream dependencies**: All runtime components.
+
+**Downstream consumers**: Validation harness, post-flight audit tools, QGC status through MAVLink component.
+
+## 2. Internal Interfaces
+
+### Interface: `FlightRecorder`
+
+| Method | Input | Output | Async | Error Types |
+|--------|-------|--------|-------|-------------|
+| `append_event` | `FdrEvent` | `AppendResult` | Yes | `RecorderUnavailable`, `StorageFull` |
+| `rollover` | `RolloverRequest` | `FdrSegmentInfo` | No | `RolloverFailed` |
+| `export` | `ExportRequest` | `ExportResult` | Yes | `ExportFailed` |
+
+## 3. Data Access Patterns
+
+| Query | Frequency | Hot Path | Index Needed |
+|-------|-----------|----------|--------------|
+| Append event | High | Yes | Append index only |
+| Export by time/type | Post-flight | No | Time/type index |
+
+### Storage Estimates
+
+| Table/Collection | Est. Row Count | Row Size | Total Size | Growth Rate |
+|------------------|----------------|----------|------------|-------------|
+| FDR events | Flight-dependent | Mixed | <=64 GB per 8 h | Per flight |
+
+## 4. Implementation Details
+
+**State Management**: Owns active segment, rollover policy, and export state.
+
+**Key Dependencies**:
+
+| Library | Purpose |
+|---------|---------|
+| PostgreSQL client | Event metadata, time/type indexes, mission query surface |
+| CBOR writer | Bounded runtime payload segments |
+| Parquet writer | Optional post-flight export |
+
+**Error Handling Strategy**:
+- Storage-full emits critical status and starts rollover/retention behavior.
+- Append failures are surfaced to the caller and health system.
+
+## 5. Caveats & Edge Cases
+
+**Known limitations**:
+- Raw frames are not retained by default; only metadata, decisions, hashes, and occlusion/blackout status are recorded.
+- PostgreSQL availability is required for indexed FDR metadata; CBOR payload segments preserve bounded append behavior for high-volume data.
+
+**Performance bottlenecks**:
+- FDR appends must not block hot-path localization.
+
+## 6. Dependency Graph
+
+**Must be implemented after**: event schema and key DTOs.
+
+**Can be implemented in parallel with**: MAVLink integration.
+
+**Blocks**: release evidence and most validation reports.
+
+## 7. Logging Strategy
+
+| Log Level | When | Example |
+|-----------|------|---------|
+| ERROR | Recorder unavailable | `fdr_unavailable path=...` |
+| WARN | Rollover occurs | `fdr_rollover segment=...` |
+| INFO | Export complete | `fdr_export_complete format=parquet` |
+
+**Log format**: FDR event metadata plus local health logs.
+
+**Log storage**: PostgreSQL FDR event tables plus CBOR segment payloads.