mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-23 06:16:38 +00:00
Yuzviak
42 lines
1.5 KiB
Markdown
42 lines
1.5 KiB
Markdown
# Project State
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## Project Reference
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See: .planning/PROJECT.md (updated 2026-04-01)
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**Core value:** Flight controller must receive valid MAVLink GPS_INPUT at 5-10Hz with position accuracy ≤50m for 80% of frames — without this, the UAV cannot navigate in GPS-denied airspace.
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**Current focus:** Ready to begin Phase 1 (ESKF Core)
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## Current Phase
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**Phase:** Not started
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**Next action:** Run `/gsd:plan-phase 1` to plan Phase 1 (ESKF Core)
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## Roadmap Summary
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| Phase | Name | Status |
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|-------|------|--------|
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| 1 | ESKF Core | Pending |
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| 2 | Visual Odometry Pipeline | Pending |
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| 3 | Satellite Matching + GPR | Pending |
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| 4 | MAVLink I/O | Pending |
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| 5 | End-to-End Pipeline Wiring | Pending |
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| 6 | Docker SITL Harness + CI | Pending |
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| 7 | Accuracy Validation | Pending |
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## Key Files
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- `.planning/PROJECT.md` — project context and requirements
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- `.planning/REQUIREMENTS.md` — 36 v1 requirements with traceability
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- `.planning/ROADMAP.md` — 7-phase execution plan
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- `.planning/codebase/` — codebase map (ARCHITECTURE, CONCERNS, STACK, etc.)
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- `_docs/01_solution/solution.md` — authoritative architecture spec
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- `_docs/00_problem/acceptance_criteria.md` — 43 test scenarios
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## Session Notes
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- Initialized 2026-04-01
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- Brownfield: scaffold exists (~2800 lines), critical algorithms missing (ESKF, MAVLink, real TRT/cuVSLAM)
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- cuVSLAM + TRT available only on Jetson; dev/CI uses OpenCV ORB stub + MockInferenceEngine
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- Pipeline direction: top-down (API → ESKF → VO → satellite → GPS_INPUT)
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