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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
3b7265757b
Production-default DescriptorIndex strategy backed by the faiss-cpu PyPI wheel (>=1.7,<2.0). Implements the AZ-303 Protocol surface end to end: HNSW32 + IndexIDMap2 search, atomic three-file rebuild (.index + .sha256 sidecar + .meta.json), triple-consistency load check, mmap-backed reads with IO_FLAG_MMAP|IO_FLAG_READ_ONLY, optional warm-up query at construction, FAISS RuntimeError rewrap to IndexUnavailableError / IndexBuildError, and FaissDescriptorIndex.from_config classmethod wired into runtime_root.storage_factory. The original spec required a custom pybind11 wrapper over a vendored FAISS HEAD; the user opted for the upstream faiss-cpu wheel after research fact #92 confirmed ARM64 wheel availability for Jetson and the existing pyproject.toml already pinned faiss-cpu. cpp/faiss_index/ placeholder removed; BUILD_FAISS_INDEX flag retained as a runtime/factory gate (no native target). Spec rewritten end-to-end and archived to _docs/02_tasks/done/. C6TileCacheConfig extended with faiss_index_path and faiss_warmup_query_path fields. tests/conftest.py sets KMP_DUPLICATE_LIB_OK=TRUE to remediate the macOS faiss/torch libomp duplicate-load abort during pytest (no-op on CI Linux). 21 new tests cover AC-1..12 + 2 NFRs + from_config smoke; AZ-303 protocol-conformance fake updated with from_config classmethod. Tests: 124/124 c6_tile_cache pass; 1334 project-wide pass; 1 pre-existing OKVIS2 submodule failure unrelated. Doc sync: module-layout.md, components/08_c6_tile_cache/description.md §5, batch_35_cycle1_report.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-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.