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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
5adf3dd04f
Re-design replay mode per user direction: replay is no longer a fourth Docker image with a reduced component set, but a `config.mode = "replay"` branch of the single airborne binary. The pre-flight workflow (route in suite UI -> C12 tile download via real satellite-provider -> C10 manifest+engines build) is identical between live and replay; only three strategies swap at compose time: FrameSource: Live <-> Video FcAdapter: Pymavlink/MSP2 <-> TlogReplay MavlinkTransport: Serial <-> Noop The C8 outbound MAVLink encoders run unchanged in both modes; their bytes hit `NoopMavlinkTransport` in replay and disappear. A new `JsonlReplaySink` taps C5's `EstimatorOutput` stream so the parent-suite UI sees per-tick coordinates by tailing `results.jsonl`. MAVLink 2.0 signing key remains mandatory (operator supplies a dummy file). A new `replay_input/` Layer-4 cross-cutting coordinator owns `(video, tlog) -> (FrameSource, FcAdapter, Clock)` convergence; the composition root sees only standard interfaces past `.open()`. Docs: - architecture.md: new ADR-011 with full rationale; ADR-002 binary narrative updated. - contracts/replay/replay_protocol.md: bumped to v2.0.0; 12 invariants (notably mode-agnosticism + encoder byte-equality + signing key mandatory + real C6 cache in replay). - module-layout.md: Build-Time Exclusion Map dropped from 4 to 3 binary columns; replay-mode `BUILD_*` flags default ON in airborne; `shared/replay_input` cross-cutting entry added. - epics.md: E-DEMO-REPLAY scope reframed; story points 27-32 -> 19-24. Task respecs: - AZ-401: shrunk 3 -> 2 pts; `compose_root` mode branch + JSONL sink + NoopMavlinkTransport wiring; legacy `compose_replay` export deleted. - AZ-402: console-script wrapper that mutates `config.mode = "replay"` and dispatches into the shared airborne main; `--mavlink-signing-key` mandatory. - AZ-403: CANCELLED. Moved to done/ with banner; Jira transition deferred via `_docs/_process_leftovers/2026-05-14_az_403_cancellation_pending_tracker.md`. - AZ-404: AC-4 reworded as mode-agnosticism AST scan + encoder byte-equality test; new AC-8 operator-workflow rehearsal. - AZ-405: also owns the `replay_input/` module + `ReplayInputAdapter`. _dependencies_table.md updated: AZ-401 gains AZ-405 dep; AZ-404 drops AZ-403 dep; AZ-403 row marked CANCELLED. 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.