mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:21:13 +00:00
Oleksandr Bezdieniezhnykh
763d8b21ad
AZ-962 SHIPPED — Tier-2 Jetson AZ-840 orchestrator test no longer SKIPs at the env-var gate. configs/operator_replay.yaml registers c6/c7/c10/c11 with sane defaults (backbones intentionally empty, see AZ-965); docker-compose.test.jetson.yml exports GPS_DENIED_OPERATOR_CONFIG_PATH=/opt/configs/operator_replay.yaml and bind-mounts ./configs:/opt/configs:ro. ENV_KEY_MAP gains SATELLITE_PROVIDER_URL → c11_tile_manager.satellite_provider_url and SATELLITE_PROVIDER_API_KEY → c11_tile_manager.service_api_key so secrets flow from .env.test and never sit in YAML. README drops the manual export step. 97/97 c11 + config unit tests stay green. Tier-2 re-run (4 failed / 48 passed / 1 skipped / 1 xfailed / 1 xpassed / 2 errors in 84.99s vs baseline 3 skipped — i.e. -2 skipped, +2 errors): AZ-840 orchestrator test moves from SKIP to ERROR with a deeper, real gate — IndexUnavailableError on FaissDescriptorIndex against a fresh c6_tile_cache.root_dir. AZ-964 (3 SP, todo/) filed for FAISS index bootstrap in the AZ-839 C3 fixture. AZ-965 (3 SP, todo/, blocked by AZ-964) filed for NetVLAD ONNX backbone provisioning — the next gate the orchestrator test will hit once FAISS clears. Cycle-4 e2e gate remains NOT GREEN: AZ-840 chain is now AZ-964 → AZ-965 → PASS; 60s smoke chain is AZ-963 → PASS. OKVIS2 deferral directive (2026-05-29) unchanged — still gated behind Derkachi e2e green, still NOT MET. 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.