mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 11:51:12 +00:00
Oleksandr Bezdieniezhnykh
2b19b8b90b
All FC adapter outbound MAVLink bytes now go through the AZ-401 MavlinkTransport seam (NoopMavlinkTransport in replay, SerialMavlinkTransport in live). New helpers in _outbound_mavlink_payloads.py extract encode/pack/seq-bump so the four AP _send sites and the iNav statustext _send site become encode -> pack -> transport.write. TlogReplayFcAdapter emits real AP-shape MAVLink bytes through the injected NoopMavlinkTransport, satisfying replay protocol Invariant 5 and unblocking AZ-401 AC-9. Closes AZ-558. Also unskips AZ-401 AC-9 and AZ-404 AC-4b. Live wire output remains byte-identical (proven via two-instance MAVLink byte-equivalence tests). AST scan asserts no .mav.<name>_send( calls remain in the retrofit set (AP / iNav / tlog adapters). Out of scope (logged in review): GCS adapter retrofit; airborne live strategy registration that would activate the SerialMavlinkTransport factory injection path. Tests: 2110 passed, 92 environmental skips, 1 unrelated pre-existing macOS cold-start flake deselected. Co-authored-by: Cursor <cursoragent@cursor.com>