mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 07:01:14 +00:00
Oleksandr Bezdieniezhnykh
4f0d8bdcd9
route_client: route Tier-2 sleep through WallClock.sleep_until_ns instead of bare time.sleep, fixing the AZ-398 AC-4 components-have-no- direct-time meta-test failure. helpers/__init__: lazy-load the heavy descriptor / wgs / image modules via PEP 562 __getattr__ to fix the cold-start NFR regression (test_cold_start_under_1000ms_p99 was 1409ms p99; lazy imports drop it to ~210ms). pyproject filterwarnings: silence the three upstream SwigPy* DeprecationWarnings emitted by faiss-cpu / gtsam at import time. They are an upstream SWIG-binding-layer issue and cannot be fixed from our code. Suppression is scoped to the three exact messages. State: batch-3 of cycle-4 closed; cumulative-review marker bumped. 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-orchestrator, 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.