azaion/gps-denied-onboard

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Oleksandr Bezdieniezhnykh 7e15868d39 Revise acceptance criteria and restrictions documentation to clarify recent updates and specifications. Key changes include enhanced definitions for position accuracy, image processing quality, and operational parameters, as well as updates to camera specifications and validation requirements. This revision aims to improve clarity and ensure alignment with project goals.

2026-05-01 16:24:46 +03:00

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Time Sync Helper

Purpose

Shared timestamp validation and alignment utilities for frame, IMU, telemetry, FDR, and replay data.

Responsibilities

Monotonic timestamp checks.
Frame-to-IMU window selection.
Clock-domain conversion metadata.
Replay ordering validation.
Gap and jitter metrics.

Non-Responsibilities

No VIO state estimation.
No MAVLink parsing beyond normalized timestamp fields.
No recovery policy; callers decide whether to degrade or reject.

Consumers

Component	Usage
Camera ingest/calibration	Frame ordering and timestamp metadata
BASALT VIO adapter	IMU/frame synchronization
MAVLink/GCS integration	Telemetry timestamp normalization
FDR/observability	Segment ordering
Validation harness	Fixture validation