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Oleksandr Bezdieniezhnykh
0d65ff4705
Adds two research-only VprStrategy implementations for the IT-12 comparative-study matrix. MegaLocStrategy (D=2048, 322x322) and MixVprStrategy (D=4096, 320x320), both via C7 TensorRT FP16 with their own concrete BackbonePreprocessor. Single-stage global L2 normalisation; retrieval delegated to FaissBridge; FDR records + structured logs identical to UltraVPR. BUILD_VPR_MEGALOC and BUILD_VPR_MIXVPR ON for research/replay-cli only, OFF for airborne and operator-tooling (fail-fast at composition root via existing AZ-336 factory). Uses helpers.iso_ts_from_clock from day 1 — no new timestamp helper duplicates introduced. 36 parametrised AC tests + 25 protocol-conformance + 18 helper regression tests pass; 1690 / 1690 unit tests pass (excluding 1 pre-existing flaky cold-start subprocess test in c12). Verdict: PASS_WITH_WARNINGS — one Medium follow-on (AZ-527 to consolidate 4-way _assert_engine_output_dim) + one Low AC wording drift. 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.