mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:31:13 +00:00
Oleksandr Bezdieniezhnykh
48ea1e2fc2
Implements the production-default ReRankStrategy: K=10 → N=3 by single-pair LightGlue inlier count, with strict drop-and-continue (INV-8) on per-candidate TileFetch / backbone / zero-inlier failures and RerankAllCandidatesFailedError on zero survivors. Composition root injects the shared LightGlueRuntime + Clock + the new FeatureExtractor helper (an L1 placeholder OpenCvOrbExtractor that unblocks AZ-343 and future C3 strategies — task scope expansion). Architectural notes: - Cross-component imports stay banned; tile_store types as `object` and the C6 TileCacheError family is duck-typed by class module prefix (same workaround AZ-348 adopted for c7_inference; proper fix is to relocate TileCacheError to _types/ in a follow-up). - Clock injection follows the replay contract (AZ-398 Invariant 2); reranked_at is sourced from clock.monotonic_ns(). - AZ-342 factory grew `feature_extractor` + `clock` + `fdr_client` parameters; existing AZ-342 conformance tests updated. Tests: 19 new AC-1..AC-12 + mixed-failure scenarios in test_inlier_count_reranker.py; existing AZ-342 suite (26) still green. Full repo sweep 1093 passed / 2 skipped (cmake/actionlint not on PATH). 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.