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Oleksandr Bezdieniezhnykh
2b8ef52f66
Wire the airborne bootstrap to seed pre_constructed['c5_isam2_graph_handle'] so c4_pose's compose-time lookup is satisfied (c4_pose runs before c5_state in topological order; the iSAM2 graph handle is built INSIDE the C5 estimator's constructor and so must be produced eagerly at bootstrap time). build_pre_constructed now invokes a new internal _build_c5_state_estimator_pair helper that calls state_factory.build_state_estimator once, captures the (estimator, handle) tuple, and seeds two slots: 'c5_isam2_graph_handle' for C4's lookup, and an internal '_c5_prebuilt_estimator' look-aside key for the C5 wrapper's short-circuit. _c5_state_wrapper checks the look-aside key first and returns the prebuilt instance as-is — the SAME object the handle was extracted from, so c4_pose._isam2_handle and c5_state._isam2_handle reference ONE object across the C4 / C5 seam (AC-625.3 cross-seam identity invariant). C5_STATE_BUILD_FLAGS mirrors state_factory._STATE_BUILD_FLAGS so the bootstrap can name the gating BUILD_STATE_* flag in operator errors before the lower level StateEstimatorConfigError fires (AC-625.2). When the factory itself rejects the configuration with the flag ON, the error wraps into AirborneBootstrapError with __cause__ preserved (matches AZ-621 / AZ-622 patterns). Constraints respected per AZ-618 umbrella: no per-component factory signature changed; additive on top of AZ-619..AZ-623; no edits under state_factory, pose_factory, or c5_state internals. Tests: tests/unit/runtime_root/test_az625_c5_isam2_graph_handle_ordering.py adds 8 tests covering AC-625.1..3 (presence + Protocol conformance, internal key invariant, BUILD-flag-OFF error, unknown-strategy error, factory error wrapping, cross-seam identity, wrapper short-circuit, wrapper fallback). Autouse stubs added to test_az619/620/621/622/623 so prior phase tests stay isolated from the new builder. Quality gates: ruff format clean, ruff lint clean, 32/32 phase tests pass, 255/255 runtime_root + c5_state regression suite passes. Code review verdict PASS (2 Low findings; full report in _docs/03_implementation/reviews/batch_95_review.md). 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.