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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
1ca9a59b0b
Item 1 of the deferred Step 13 refresh set per _docs/02_document/ripple_log_cycle1.md. architecture.md: - Components C1: KltRansac is the cycle-1 operational default while AZ-332/AZ-333 are BLOCKED awaiting Tier-2 prerequisites; ADR-001 / ADR-002 unchanged (the seam holds; the selection shifted). - Principle #3: same KltRansac note (cross-link to Components). - § Technology Stack: OpenCV pin row reflects the cycle-1 relaxation to >=4.11.0.86,<4.12 with the leftover-file pointer; OKVIS2 + VINS- Mono rows note BLOCKED with AZ-592 / AZ-593 follow-ups. - § NFR: Dependency CVE pinning row notes the relaxation and the CVE-2025-53644 re-validation owed before close. - § ADR-001: cycle-1 operational note (KltRansac default; AZ-332/333 facade-only; AZ-589/590 closed Won't-Fix). - § ADR-009: new Cycle-1 implementation subsection covers _STRATEGY_REGISTRY + register_strategy (AZ-591) and the pre_constructed kwarg + build_pre_constructed (AZ-618 umbrella; Phases A-F including AZ-625 / AZ-687). module-layout.md: - shared/runtime_root entry: package layout (was single file in the Plan-era sketch); new public-surface table covering __init__.py, airborne_bootstrap.py, _replay_branch.py, and the per-component factory modules; ownership rows extended (AZ-591, AZ-618, AZ-625, AZ-687). system-flows.md: intentionally not modified — F2 / F8 narratives are at the component-flow abstraction level and do not reference compose_root / pre_constructed mechanics, so they have not drifted. Items 2-4 of the ripple-log refresh set (C1 description, the other 13 components, 8 helpers, tests/*.md) remain deferred to subsequent sessions. State: Step 13 stays in_progress; sub_step advanced to phase 6 (component-doc-updates). 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.