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Oleksandr Bezdieniezhnykh
4fdf1968af
Batch 5a of the cycle-1 doc sync. For each of the four foundation helpers (imu_preintegrator, se3_utils, lightglue_runtime, wgs_converter): - Append "Cycle-1 operational reality" section to the existing common-helpers/<NN>_*.md, documenting what the shipped implementation actually exposes vs. the design- intent sketch (interfaces, exception types, public constants, AZ-task lineage). Specific cycle-1 facts captured per helper: - imu_preintegrator (AZ-276): make_imu_preintegrator factory, BMI088-class noise defaults, single ImuPreintegrationError exception, actual return type is PreintegratedCombinedMeasurements (consumer builds the CombinedImuFactor), destructive reset_with_bias semantics, first-sample-not-integrated dt=0 handling. - se3_utils (AZ-277): SE3 = gtsam.Pose3 re-export, Se3InvalidMatrixError, strict caller-orthogonalisation invariant, _DEFAULT_ROT_ATOL=1e-6 and small-angle Taylor cutoff for exp_map, is_valid_rotation predicate, strict dtype=float64 everywhere. - lightglue_runtime (AZ-278 / R14 fix): EngineHandle Protocol-typed constructor, LightGlueRuntimeError + LightGlueConcurrentAccessError, non-blocking concurrent- access guard (raises rather than serialises), match_batch equal-length precondition, composition-root single-instance into C2.5 + C3. - wgs_converter (AZ-279 + AZ-490): WEB_MERCATOR_MAX_LAT_DEG and MAX_ZOOM constants, WgsConversionError, ECEF arrays are ndarray(3,) float64, new horizontal_distance_m method (AZ-490 takeoff-origin bounded-delta gate), slippy-map tile math hand-rolled to match satellite-provider on-disk layout. Two contract files (imu_preintegrator.md and wgs_converter.md) need follow-up minor revisions to match shipped surface; queued for the next contracts-folder sweep, noted inline in each helper's new section. Also refresh D-CROSS-CVE-1 opencv-pin leftover replay timestamp (8-min debounce — gtsam upstream state cannot change in that window). Bumps _docs/_autodev_state.md sub_step detail. 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.