---
gsd_state_version: 1.0
milestone: v2.0
milestone_name: Stage 2 — Hexagonal architecture + try02 idea integration + real-flight fixture
status: phase_1_complete
last_updated: "2026-05-11T00:00:00Z"
last_activity: 2026-05-11 — Phase 1 complete; 01-08 composition root + YAML config shipped; 216/216 tests green
progress:
  total_phases: 6
  completed_phases: 1
  total_plans: 8
  completed_plans: 8
  percent: 100
---

# Project State

## Project Reference

See: .planning/PROJECT.md (updated 2026-05-10)

**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:** Stage 2 / Phase 1 — Hexagonal Refactor & Composition Root

## Current Phase

**Phase:** 1 — Hexagonal Refactor & Composition Root (COMPLETE)
**Next phase:** Phase 2 — Acceptance Criteria + Test Taxonomy + Observability Spine

## Roadmap Summary

### Stage 1 (v1.0 — archived under `.planning/archive/v1.0/`)

Treated as MVP starting capital, not active backlog. ESKF + cuVSLAM/ORB VO + GPR + MAVLink + 195 passing tests + 8 SITL skipped. Refactoring is allowed and expected.

### Stage 2 (v2.0 — current iteration, Phases 1–6)

| Phase | Name | Status |
|-------|------|--------|
| 1 | Hexagonal Refactor & Composition Root | **Complete** (8/8 plans, 216 tests green) |
| 2 | Acceptance Criteria + Test Taxonomy + Observability Spine | Pending |
| 3 | Safety Anchor State Machine & Geometry-Gated Verifier | Pending |
| 4 | Conditional Multi-Scale VPR + Flight Data Recorder | Pending |
| 5 | MAVLink Source-Aware Output & Spoofing/Blackout Handling | Pending |
| 6 | Real-Flight Fixture (Azaion 10.05.2026) + CLI + Per-Env Docker | Pending |

## Key Files

- `.planning/PROJECT.md` — Stage 2 project context
- `.planning/REQUIREMENTS.md` — 52 Stage 2 requirements with traceability
- `.planning/ROADMAP.md` — Stage 2 roadmap, 6 phases
- `.planning/archive/v1.0/` — Stage 1 historical record (PROJECT/REQUIREMENTS/ROADMAP/phases)
- `.planning/codebase/` — codebase map (ARCHITECTURE, CONCERNS, STACK, etc.)
- `_docs/01_solution/solution.md` — authoritative architecture spec
- `_docs/00_problem/acceptance_criteria.md` — to be rewritten with formal AC-1.x (Phase 2)

## Session Notes

- 2026-04-01 — Project initialized; Stage 1 brownfield scaffold (~2800 lines)
- Stage 1 complete — 195 passing + 8 SITL skipped tests, all 7 phases shipped, archived to `.planning/archive/v1.0/`
- 2026-05-10 — Stage 2 opened as independent iteration with own phase numbering (1–6); 52 requirements drafted
- 2026-05-10 — Stage 2 ROADMAP.md created; 100% requirement coverage; traceability populated in REQUIREMENTS.md
- Stage 2 strategy: refactor stage1 working code to hexagonal layout, re-implement try02 concepts (NOT layout details), formalize AC, add Azaion real-flight fixture
- Code from stage1 is MVP — refactoring is allowed and expected; no regression in 195 stage1 tests is the floor
- 2026-05-11 — Phase 1 complete: Plans 01-01 through 01-08 executed; 216/216 tests passing; ARCH-01..07 all satisfied

## Stage 2 Phase Dependency Order

```
Phase 1 (ARCH refactor — Protocol surfaces stabilize first)
   ↓
Phase 2 (AC + TEST taxonomy + structlog spine)
   ↓
Phase 3 (SAFE state machine + VERIFY anchor gates)
   ↓
Phase 4 (Conditional VPR + FDR — needs trigger semantics from SAFE)
   ↓
Phase 5 (MAVOUT — source labels + spoofing + blackout — needs SAFE labels + FDR audit)
   ↓
Phase 6 (FIXTURE — Azaion real-flight + CLI + per-env Docker — exercises everything end-to-end)
```

## Current Position

Phase: 1 — Hexagonal Refactor & Composition Root
Plan: 08 (COMPLETE — final plan of phase)
Status: Phase 1 complete — all 8 plans executed, 216/216 tests green, ARCH-01..07 satisfied
Last activity: 2026-05-11 — Plan 01-08 complete; build_pipeline factory + RuntimeConfig + YAML config shipped

## Key Decisions (Phase 1)

- ARCH-01: components/{vio,satellite_matcher,gpr,mavlink_io,anchor_verifier,safety_state,flight_recorder,coordinate_transforms}/ created with protocol.py + impls
- ARCH-02: hot_types migration deferred to Phase 2 (Pydantic retained for 216-test stability)
- ARCH-03: pipeline/composition.py build_pipeline(env) as explicit DI root
- ARCH-04: core/ math files retained as single files (eskf, factor_graph, coordinates, chunk_manager, recovery, rotation)
- ARCH-05: typing.Protocol throughout; orchestrator.py has zero concrete adapter imports
- ARCH-06: config/{jetson,x86_dev,ci,sitl}.yaml + RuntimeConfig.env + YamlConfigSettingsSource
- ARCH-07: 216 passed / 8 skipped / 0 failed (baseline was 216+8 skipped)