gps-denied-onboard/_docs/_autopilot_state.md

Autopilot State

Current Step

flow: greenfield step: 3 name: Plan status: in_progress sub_step: 1 — Blackbox Tests (test-spec skill), Phase 2 complete, Phase 3 next retry_count: 0

Completed Steps

Step	Name	Completed	Key Outcome
1	Problem	2026-03-25 (detected)	Problem, restrictions, acceptance criteria, and input data defined
2	Research	2026-03-25 (detected)	8 research rounds, 6 solution drafts, tech_stack.md, security_analysis.md

Key Decisions

• Research Decision: Proceed to planning with current draft (6 drafts, 8 rounds sufficient)
• GPS-denied visual navigation system for UAV onboard Jetson Orin Nano Super
• Core algorithms: cuVSLAM, LiteSAM/XFeat, ESKF sensor fusion
• TRT engine migration for AI inference
• Latest draft (06) at TRL ~2.5-3; hardware/algorithms well-researched, system integration under-specified
• solution_draft06.md renamed to solution.md as finalized solution
• Test environment: dual-mode (Docker SITL for CI + Jetson hardware for nightly/pre-deploy)
• IMU data: ArduPilot SITL flies waypoint mission from coordinates.csv, generates 200Hz IMU via MAVLink
• Test coverage: 43 scenarios, 93% AC+restriction coverage (39/42)

Last Session

date: 2026-03-25 ended_at: Step 3 Plan — SubStep 1 Blackbox Tests (test-spec Phase 2 complete) reason: user paused — context break before Phase 3 notes: Test-spec Phase 1 (input data analysis) and Phase 2 (test scenario specification) complete. 8 artifacts written to _docs/02_document/tests/. Expected results created at _docs/00_problem/input_data/expected_results/. Phase 3 (test data validation gate) is next — scan all test scenarios, verify each has concrete test data + quantifiable expected result, ask user to provide missing items or remove tests, final coverage check ≥70%. Then Phase 4 (test runner scripts).

Retry Log

Attempt	Step	Name	SubStep	Failure Reason	Timestamp

Blockers

• none