mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-22 15:41:12 +00:00

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Oleksandr Bezdieniezhnykh e86084da6b [AZ-223] [AZ-224] [AZ-225] [AZ-227] Add runtime gateways

Implement the first runtime component boundaries around the shared
contracts so downstream batches can consume typed frame, MAVLink, tile,
and FDR behavior with focused tests and batch evidence.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-03 18:01:13 +03:00

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MAVLink GCS Gateway

Task: AZ-224_mavlink_gcs_gateway Name: MAVLink GCS Gateway Description: Subscribe to FC telemetry, emit GPS_INPUT, and publish QGC-visible status/failsafe messages. Complexity: 3 points Dependencies: AZ-220_shared_runtime_contracts, AZ-222_runtime_config_errors_telemetry Component: MAVLink And GCS Integration Tracker: AZ-224 Epic: AZ-210

Problem

The runtime needs a strict protocol boundary for ArduPilot Plane telemetry in and GPS-denied estimates/status out.

Outcome

FC telemetry is normalized into shared samples.
GPS_INPUT is emitted only from validated position estimates.
QGC status is rate-limited and safety-relevant.

Scope

Included

Telemetry subscription behavior.
GPS_INPUT field validation and emission result.
QGC status/failsafe message emission.

Excluded

Safety policy and covariance calculation.
SITL test runner implementation.

Dependencies

Document Dependencies

_docs/02_document/contracts/shared/runtime_contracts.md
_docs/02_document/contracts/shared/config_errors_telemetry.md

Acceptance Criteria

AC-1: Telemetry sample emitted Given a valid FC telemetry stream When the gateway subscribes Then normalized telemetry samples are available to consumers.

AC-2: Invalid GPS_INPUT is rejected Given a malformed or unsafe position estimate When emission is requested Then no invalid GPS_INPUT packet is emitted.

AC-3: Operator status is rate-limited Given repeated mode changes or warnings When status is emitted Then QGC-visible messages stay within the configured rate.

Non-Functional Requirements

Reliability

Connection loss is surfaced to wrapper/FDR.

Unit Tests

AC Ref	What to Test	Required Outcome
AC-1	Telemetry normalization	Shared sample emitted
AC-2	Invalid fix type/accuracy	Emission rejected
AC-3	Status burst	Rate limit enforced

Blackbox Tests

AC Ref	Initial Data/Conditions	What to Test	Expected Behavior	NFR References
AC-2	Plane SITL	`GPS_INPUT` output	Fields match ArduPilot expectations	Reliability

Constraints

v1 emits GPS_INPUT only.
Do not hide MAVLink disconnects or invalid output errors.

Risks & Mitigation

Risk 1: ArduPilot parameter mismatch

Risk: Plane ignores or mishandles emitted estimates.
Mitigation: SITL validation remains a release gate.

2.5 KiB Raw Blame History