azaion/gps-denied-onboard
1
0
Fork 0
mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-23 08:31:13 +00:00
Code Issues Packages Projects Releases Wiki Activity
216 Commits 7 Branches 0 Tags
daff5d4d1cfbbe920c77cc62f98ec907c50e08b5
Commit Graph

3 Commits

Author SHA1 Message Date
Oleksandr Bezdieniezhnykh 8a83166261 [AZ-490] C5 set_takeoff_origin entrypoint + bounded-delta GPS gate 
Add operator warm-start path to C5 StateEstimator Protocol and both
implementations (GtsamIsam2StateEstimator, EskfStateEstimator), plus
the third clause of the AZ-385 spoof-promotion gate.

- StateEstimator Protocol: set_takeoff_origin(origin, sigma_horiz_m,
  sigma_vert_m) -> None.
- iSAM2: PriorFactorPose3 at origin with diagonal sigmas, single
  isam2.update().
- ESKF: zero _nominal_pos, overwrite _P position block with sigma**2.
- SourceLabelStateMachine.process_gps_sample bounded-delta clause:
  WgsConverter.horizontal_distance_m vs smoother estimate; reject
  resets the dwell-time counter so AZ-385 cannot re-promote off bad
  GPS.
- New EstimatorAlreadyStartedError (StateEstimatorConfigError
  subclass) on late call after first add_*.
- C5StateConfig: spoof_promotion_bounded_delta_m=200,
  default_takeoff_origin_sigma_horiz_m=5,
  default_takeoff_origin_sigma_vert_m=10.
- New GpsSample DTO + WgsConverter.horizontal_distance_m helper.
- 4 new FDR kinds (cold_start_origin.{set,unavailable},
  gps_bounded_delta.{accept,reject}) registered in AZ-272 schema.
- 33 new unit tests cover AC-1..AC-15; full repo 750 passed / 2
  skipped (pre-existing CI tooling skips).

Docs synced: protocol contract, C5 component description,
architecture, glossary, system-flows, C10 provisioning description.

Co-authored-by: Cursor <cursoragent@cursor.com>
 2026-05-12 02:53:58 +03:00
Oleksandr Bezdieniezhnykh 3acc7f33dd [AZ-270] [AZ-272] [AZ-279] [AZ-281] [AZ-283] Compose root + FDR schema + 3 Layer-1 helpers 
AZ-270: composition root with strategy registry, tier-gated lookup,
topo-order construction, all-or-nothing teardown, StrategyNotLinkedError
payload.
AZ-272: orjson-backed FdrRecord serialise/parse with forward-compat for
unknown payload + top-level fields and canonical overrun-record shape.
AZ-279: pyproj-backed WGS84/ECEF/ENU + OSM slippy-map tile math with
WgsConversionError for shape/range/zoom guards.
AZ-281: strict EngineFilenameSchema build/parse/matches_host with
anchored regex + enum validation; round-trip identity by construction.
AZ-283: dtype-preserving (fp16/fp32) single + batch L2 normaliser with
zero-norm safety and descriptor_metric() source-of-truth.
pyproject.toml pins pyproj>=3.6 and orjson>=3.9 (named-backend deps per
the AZ-272 / AZ-279 contracts). New DTOs LatLonAlt + BoundingBox and
EngineCacheKey + HostCapabilities land in _types/ to back the helper
contracts.
203 unit tests pass (64 new). Review verdict: PASS_WITH_WARNINGS;
findings are perf-NFR deferrals + dep amendment + minor docstring polish.

Co-authored-by: Cursor <cursoragent@cursor.com>
 2026-05-11 02:03:36 +03:00
Oleksandr Bezdieniezhnykh b12db61444 [AZ-263] Bootstrap: repo skeleton + Docker + CI + Alembic + Tier-1 tests 
Implements the AZ-263 / E-BOOT initial structure task:

- Python src/-layout package `gps_denied_onboard/` with per-component
  interface stubs (14 components), type-only DTOs under `_types/`,
  shared helpers under `helpers/` (R14 LightGlue ownership), structured
  JSON logging, runtime composition root with env-var fail-fast gate,
  healthcheck module shared by Docker and CI smoke.
- CMake top-level + `cmake/{build_options,dependencies,strategies}.cmake`
  with the BUILD_* per-binary flags (ADR-002) and pinned external git
  refs for OKVIS2 / VINS-Mono / GTSAM / FAISS / OpenCV >=4.12.0.
- Three Dockerfiles (companion-tier1, operator-tooling,
  mock-suite-sat-service) + two compose files (dev + Tier-1 test).
- Four GitHub Actions workflows: ci.yml (lint/unit/integration/dual
  binary build/SBOM diff/security), ci-tier2.yml (self-hosted Jetson
  AC-bound NFTs), release.yml, cve-rescan.yml.
- Two CI gate scripts: `ci/sbom_diff.py` (deployment SBOM subset +
  R02 exclusion), `ci/opencv_pin_gate.py` (>=4.12.0 enforcement,
  D-CROSS-CVE-1).
- Alembic-driven Postgres 16 initial migration `0001_initial.py`
  mirroring satellite-provider tiles + flights + sector_classifications
  + manifests + engine_cache_entries (data_model.md s 2).
- Tier-1 test scaffolding: 95 passing unit tests covering every AC,
  per-component smoke tests, structured logging JSON output check,
  env-var gate check, healthcheck import check. Two CI-gated tests
  (cmake configure, actionlint) skip locally with explicit reasons.
- Batch report + code review report under `_docs/03_implementation/`.

Verdict: PASS_WITH_WARNINGS (two Low findings, both informational).
Co-authored-by: Cursor <cursoragent@cursor.com>
 2026-05-11 01:00:28 +03:00