mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 19:51:12 +00:00
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>
17 lines
248 B
Markdown
17 lines
248 B
Markdown
# Autodev State
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## Current Step
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flow: greenfield
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step: 7
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name: Implement
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status: in_progress
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sub_step:
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phase: 7
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name: batch-loop
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detail: ""
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retry_count: 0
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cycle: 1
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tracker: jira
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last_completed_batch: 53
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last_cumulative_review: batches_49-51
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