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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
1e0be08e8a
AZ-393 ArduPilot outbound: PymavlinkArdupilotAdapter encodes EstimatorOutput to MAVLink2 GPS_INPUT via gps_input_send; emits NAMED_VALUE_FLOAT(name="src_lbl") every frame and STATUSTEXT on source_label transition (1 Hz per-severity cap). Smoothed-output guard (Invariant 6), single-writer thread (Invariant 8), SPD propagation. Shared helper _outbound_provenance.py owns the canonical source-label-to-float table + transition rate-limiter. AZ-394 iNav outbound: Msp2InavAdapter encodes EstimatorOutput to hand-rolled MSP2_SENSOR_GPS (0x1F03, 52-byte LE payload via _msp2_sensor_gps_encoder.py + YAMSPy send_RAW_msg). Secondary unsigned MAVLink channel for STATUSTEXT transitions. open() rejects non-None signing_key (RESTRICT-COMM-2 / Invariant 2); request_source_set_switch raises SourceSetSwitchNotSupportedError (Invariant 9 verified: never calls setup_signing on secondary). AZ-395 AP MAVLink2 signing: ephemeral per-flight 32-byte key from secrets.token_bytes; pymavlink setup_signing handshake at open(); in-place bytearray zeroisation on close(); mid-flight signing-failure detection (ERROR log + WARNING STATUSTEXT + no raise; threshold configurable). Key never logged / persisted / serialised (regex-scanned by AC-4/AC-5). BUILD_DEV_STATIC_KEY=ON enables repeatable static-key dev path; rejected at open() when the build flag is absent. Shared: EstimatorOutput.smoothed (default False) added for the Invariant 6 gate at the C8 boundary; FcConfig extended with dev_static_signing_key + signing_failure_threshold (additive defaults; cross-field validation in __post_init__). Tests: 33 new AC tests (11 + 11 + 11) covering all 30 ACs; full suite 476 passing / 2 skipped / 0 failing (was 443). Contract surfaces unchanged at fc_adapter_protocol v1.0.0 and composition_root v1.2.0. 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-tooling, 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.