mirror of
https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
02208c577e
Wire 4 stateless / cached helpers into airborne_bootstrap.build_pre_constructed: c282_ransac_filter, c5_imu_preintegrator (cached on calibration path), c5_se3_utils (helpers.se3_utils module as namespace handle), c5_wgs_converter. The original AZ-623 5th deliverable (c5_isam2_graph_handle) hit an unresolvable construction-order conflict between c4_pose (consumes the handle) and c5_state (creates it inside build_state_estimator's tuple return) under the umbrella's "MUST NOT touch any per-component factory signature" constraint. Per AZ-623 spec's escalation gate, scope was split: AZ-625 captures the handle ordering work; AZ-624 dependency edge updated to require both. Tests: tests/unit/runtime_root/test_az623_pre_constructed_phase_e.py adds 7 tests covering AC-623.1..3 (4 new keys + correct types, IMU preintegrator caching, operator-actionable error messages for empty / unreadable / malformed calibration paths). Autouse stubs added to test_az619/620/621/622 so prior phase tests remain isolated from new builders. Quality gates: ruff format clean, ruff lint clean, 24/24 phase tests pass, 247/247 runtime_root + c5_state regression suite passes. Code review verdict PASS_WITH_WARNINGS (3 Low findings; full report in _docs/03_implementation/reviews/batch_94_review.md). Co-authored-by: Cursor <cursoragent@cursor.com>
gps-denied-onboard
Companion onboard system for GPS-denied UAV navigation. Detailed design and architecture documentation lives under _docs/.
Quick links
- Problem statement:
_docs/00_problem/problem.md - Architecture:
_docs/02_document/architecture.md - Module layout (file ownership):
_docs/02_document/module-layout.md - Component docs:
_docs/02_document/components/ - Test specs:
_docs/02_document/tests/ - Deployment:
_docs/02_document/deployment/
Local development
python -m venv .venv && source .venv/bin/activate
pip install -e ".[dev]"
pytest -q tests/unit/
For full Tier-1 integration via Docker, see _docs/02_document/deployment/containerization.md.
Build matrix
Four binaries built from this codebase: airborne, research, operator-orchestrator, replay-cli. CMake BUILD_* flags gate component inclusion per binary — see cmake/build_options.cmake and _docs/02_document/module-layout.md § Build-Time Exclusion Map.