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Oleksandr Bezdieniezhnykh
6a5954bdae
VinsMonoStrategy: Python facade conforming to AZ-331 Protocol; mirrors the AZ-332 OKVIS2 facade so the AZ-331 factory + IT-12 comparative harness can treat both as drop-in substitutable. Native binding is a pybind11 skeleton compiled behind BUILD_VINS_MONO=ON (default OFF for airborne / operator-tooling / replay-cli per module-layout.md Build-Time Exclusion Map). Real vins_estimator wiring is the Tier-2 follow-up. VinsMonoConfig added to c1_vio/config.py with sliding-window / feature-tracker / marginalisation / opt-iteration knobs plus __post_init__ validation; exported through the package __init__. cpp/vins_mono/CMakeLists.txt replaces the AZ-263 placeholder with full pybind11 wiring: Risk-1 mitigation forces VINS_MONO_USE_ROS=OFF; Risk-2 mitigation links Eigen from the same cpp/_third_party/eigen pin as OKVIS2; Risk-3 mitigation enforces BUILD_VINS_MONO=OFF in deployment binaries via the gate at the top of the file. Tests: 17 new in test_vins_mono_strategy.py (15 pass + 2 tier2 skip); fake_vins_mono_binding fixture added to conftest.py mirroring the fake_okvis2_binding pattern; test_protocol_conformance updated to drop vins_mono from _STRATEGIES_WITHOUT_PY_MODULE so the existing parametrised factory tests route through the new strategy. Focused c1_vio suite: 72 passed, 4 skipped. Full suite: 1788 passed, 1 unrelated pre-existing flake (c12 cold-start perf, env-bound). 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.