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Oleksandr Bezdieniezhnykh
6be207cef3
Replaces the tlog two-clock replay surface with a single-clock path driven by the Derkachi-schema CSV. --imu is the new required CLI arg; --tlog stays as a deprecated alias (warned + ignored when --imu set) until AZ-895 deletes it. * csv_ground_truth.py parses the 15-column schema, fails fast at startup on every documented schema fault (AC-5). * CsvReplayFcAdapter slots into ReplayInputBundle.fc_adapter alongside the tlog sibling; mirrors Invariant-5 outbound wiring; inbound bus is intentionally a no-op since the loop reads CSV directly. * _run_replay_loop branches on imu_csv_path, stamps VioOutput.emitted_at_ns from the CSV-derived frame_end_ns (AC-4), closing the AZ-848 two-clock surface for the new path. * AZ-896 ships the operator-facing format spec at _docs/02_document/contracts/replay/csv_replay_format.md plus a 20-row example CSV (AC-3 regression-locked). Tests: 11 + 12 new unit tests, plus updates to AZ-401 import-boundary and AZ-402 CLI suites. Full unit suite 2,327 passed / 86 skipped. 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.