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https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:41:12 +00:00
Oleksandr Bezdieniezhnykh
48281db9e9
F1 (High/Architecture) from cumulative review of batches 01-22: `ISam2GraphHandleImpl` did not satisfy C4's `ISam2GraphHandle` Protocol stub (AZ-355) because it lacked `get_pose_key`. `pose_factory`'s isinstance gate would have raised at composition. Two Protocols (C4 minimal consumer cut, C5 richer producer surface) are intentional per AZ-355 Risk 1 — the impl just needed to expose the canonical name. Delegates to estimator.key_for_frame. Added cross-component conformance test asserting the C5 impl satisfies both Protocols, so future drift trips a unit test. F2 (Medium/Maintainability): added justifying comments at four `except: pass` sites in runtime_root, c8_fc_adapter (ap + inav), and c13_fdr writer. No behavioral change. Updated cumulative review report verdict from FAIL to PASS and recorded a post-mortem on the initial misframing (treated the dual-Protocol design as duplication on first read). Autodev state: batch 22 done, cumulative-review PASS, ready for batch 23. 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.