# Project State

## Project Reference

See: .planning/PROJECT.md (updated 2026-04-01)

**Core value:** Flight controller must receive valid MAVLink GPS_INPUT at 5-10Hz with position accuracy ≤50m for 80% of frames — without this, the UAV cannot navigate in GPS-denied airspace.
**Current focus:** Ready to begin Phase 1 (ESKF Core)

## Current Phase

**Phase:** Not started
**Next action:** Run `/gsd:plan-phase 1` to plan Phase 1 (ESKF Core)

## Roadmap Summary

| Phase | Name | Status |
|-------|------|--------|
| 1 | ESKF Core | Pending |
| 2 | Visual Odometry Pipeline | Pending |
| 3 | Satellite Matching + GPR | Pending |
| 4 | MAVLink I/O | Pending |
| 5 | End-to-End Pipeline Wiring | Pending |
| 6 | Docker SITL Harness + CI | Pending |
| 7 | Accuracy Validation | Pending |

## Key Files

- `.planning/PROJECT.md` — project context and requirements
- `.planning/REQUIREMENTS.md` — 36 v1 requirements with traceability
- `.planning/ROADMAP.md` — 7-phase execution plan
- `.planning/codebase/` — codebase map (ARCHITECTURE, CONCERNS, STACK, etc.)
- `_docs/01_solution/solution.md` — authoritative architecture spec
- `_docs/00_problem/acceptance_criteria.md` — 43 test scenarios

## Session Notes

- Initialized 2026-04-01
- Brownfield: scaffold exists (~2800 lines), critical algorithms missing (ESKF, MAVLink, real TRT/cuVSLAM)
- cuVSLAM + TRT available only on Jetson; dev/CI uses OpenCV ORB stub + MockInferenceEngine
- Pipeline direction: top-down (API → ESKF → VO → satellite → GPS_INPUT)