gps-denied-onboard/_docs/02_document/diagrams/component_overview.md

Component Overview Diagram

flowchart LR
    camera[01 Camera Ingest And Calibration]
    vio[02 BASALT VIO Adapter]
    wrapper[03 Safety And Anchor Wrapper]
    retrieval[04 Satellite Retrieval]
    verify[05 Anchor Verification]
    cache[06 Cache And Tile Lifecycle]
    mav[07 MAVLink And GCS Integration]
    fdr[08 FDR And Observability]
    tests[09 Validation Harness]

    navCam[[Nav Camera]] --> camera
    fc[[ArduPilot Plane FC]] --> mav
    satSvc[[Satellite Service]] --> cache
    datasets[[Replay/Public Datasets]] --> tests

    camera --> vio
    mav --> vio
    vio --> wrapper
    wrapper --> retrieval
    retrieval --> verify
    cache --> retrieval
    cache --> verify
    verify --> wrapper
    wrapper --> mav
    wrapper --> cache
    camera --> cache

    camera --> fdr
    vio --> fdr
    wrapper --> fdr
    retrieval --> fdr
    verify --> fdr
    cache --> fdr
    mav --> fdr

    tests --> camera
    tests --> mav
    tests --> cache
    mav --> qgc[[QGroundControl]]
    mav --> fc
    cache --> satSvc