mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 06:51:12 +00:00
Oleksandr Bezdieniezhnykh
5c4d129f80
build_pre_constructed now populates c3_lightglue_runtime (LightGlueRuntime) + c3_feature_extractor (FeatureExtractor) on top of AZ-619/620/621. Strategy-specific BUILD_MATCHER_* flag mismatch raises AirborneBootstrapError naming the missing flag and the c3_matcher consumer; the c7 InferenceRuntime built earlier in the bootstrap is reused as the engine source so no double-build at this layer. C3MatcherConfig gains optional lightglue_weights_path: Path | None for the operator's deployment config; production main() (AZ-624) populates it. Real LightGlue inference correctness is verified by AZ-624's Jetson AC-5 run per the AZ-622 Tier-2 Note. Phase tests for AZ-619/620/621 gain an autouse _stub_c3_matcher_builders fixture so additivity assertions remain valid as the bootstrap grows. Code review: PASS_WITH_WARNINGS (3 Low: signature drift from spec, _is_build_flag_on duplication across 3 runtime_root modules, and BuildConfig literal mirrored with per-strategy build configs). All deferred to future hygiene PBIs. 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.