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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
3acc7f33dd
AZ-270: composition root with strategy registry, tier-gated lookup, topo-order construction, all-or-nothing teardown, StrategyNotLinkedError payload. AZ-272: orjson-backed FdrRecord serialise/parse with forward-compat for unknown payload + top-level fields and canonical overrun-record shape. AZ-279: pyproj-backed WGS84/ECEF/ENU + OSM slippy-map tile math with WgsConversionError for shape/range/zoom guards. AZ-281: strict EngineFilenameSchema build/parse/matches_host with anchored regex + enum validation; round-trip identity by construction. AZ-283: dtype-preserving (fp16/fp32) single + batch L2 normaliser with zero-norm safety and descriptor_metric() source-of-truth. pyproject.toml pins pyproj>=3.6 and orjson>=3.9 (named-backend deps per the AZ-272 / AZ-279 contracts). New DTOs LatLonAlt + BoundingBox and EngineCacheKey + HostCapabilities land in _types/ to back the helper contracts. 203 unit tests pass (64 new). Review verdict: PASS_WITH_WARNINGS; findings are perf-NFR deferrals + dep amendment + minor docstring polish. 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-tooling, 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.