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Oleksandr Bezdieniezhnykh
2b19b8b90b
All FC adapter outbound MAVLink bytes now go through the AZ-401 MavlinkTransport seam (NoopMavlinkTransport in replay, SerialMavlinkTransport in live). New helpers in _outbound_mavlink_payloads.py extract encode/pack/seq-bump so the four AP _send sites and the iNav statustext _send site become encode -> pack -> transport.write. TlogReplayFcAdapter emits real AP-shape MAVLink bytes through the injected NoopMavlinkTransport, satisfying replay protocol Invariant 5 and unblocking AZ-401 AC-9. Closes AZ-558. Also unskips AZ-401 AC-9 and AZ-404 AC-4b. Live wire output remains byte-identical (proven via two-instance MAVLink byte-equivalence tests). AST scan asserts no .mav.<name>_send( calls remain in the retrofit set (AP / iNav / tlog adapters). Out of scope (logged in review): GCS adapter retrofit; airborne live strategy registration that would activate the SerialMavlinkTransport factory injection path. Tests: 2110 passed, 92 environmental skips, 1 unrelated pre-existing macOS cold-start flake deselected. 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.