mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 06:51:12 +00:00
Oleksandr Bezdieniezhnykh
21a7784682
- gtsam_isam2_estimator: shim for gtsam>=4.3a0 aarch64 pre-release where IncrementalFixedLagSmoother/FixedLagSmootherKeyTimestampMap moved from gtsam_unstable to gtsam - inference_factory: eager import of c7_inference package so register_component_block runs before config.components is read - docker-compose.test.jetson.yml: remove companion and operator-orchestrator (not needed by replay CLI tests and crash in test env due to AZ-618 live-mode deps); add db-migrate and tile-init setup-profile services for Alembic migrations and FAISS fixture provisioning; update e2e-runner depends_on to db only - scripts/mk_test_faiss_fixture.py: generate minimal HNSW32 FAISS descriptor index into the tile-data volume for the test harness 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.