mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:41:12 +00:00
Oleksandr Bezdieniezhnykh
87fe98858f
Adds find_aligned_window cross-correlation (NCC, per-window unit norm)
between IMU energy and video optical-flow magnitude. Returns
AlignedWindow{tlog_start_ns, tlog_end_ns, offset_ms, confidence,
used_fallback}, with fallback to head-takeoff on low confidence to
preserve AZ-405 behavior. TlogReplayFcAdapter honors tlog_start_ns and
skips pre-window messages. New --auto-trim CLI flag, mutex with
--time-offset-ms. AC-1..AC-4 covered by unit tests; AC-5 skipped (no
real flight_derkachi.mp4 in repo). 106 tests pass in regression slice.
Zero new mypy --strict errors.
Co-authored-by: Cursor <cursoragent@cursor.com>
47 lines
1.6 KiB
Python
47 lines
1.6 KiB
Python
"""``replay_input/`` cross-cutting coordinator (AZ-405 / E-DEMO-REPLAY).
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Layer-4 module per ``_docs/02_document/module-layout.md``. Converges
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``(video, tlog)`` inputs into the standard :class:`FrameSource`,
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:class:`FcAdapter`, and :class:`Clock` surfaces consumed by the
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airborne composition root. Owns the time-alignment concern between
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video frames and tlog IMU/attitude ticks (manual via
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``--time-offset-ms`` or automatic via the AZ-405 IMU-take-off
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detector).
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New under ADR-011 (replay-as-configuration) — replaces the v1.0.0
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design where replay had its own composition root.
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Public surface re-exports the coordinator class, the bundle DTO, the
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auto-sync decision DTO, the auto-sync config DTO, and the coordinator
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error class. The detector functions in :mod:`auto_sync` are NOT
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re-exported here so the public API stays focused on the composition
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root's wiring needs; tests import the detectors via their full module
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path.
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"""
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from gps_denied_onboard.replay_input.errors import ReplayInputAdapterError
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from gps_denied_onboard.replay_input.interface import (
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AlignedWindow,
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AutoSyncConfig,
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AutoSyncDecision,
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ReplayInputBundle,
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)
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from gps_denied_onboard.replay_input.tlog_ground_truth import (
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TlogGpsFix,
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TlogGroundTruth,
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load_tlog_ground_truth,
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)
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from gps_denied_onboard.replay_input.tlog_video_adapter import ReplayInputAdapter
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__all__ = [
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"AlignedWindow",
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"AutoSyncConfig",
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"AutoSyncDecision",
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"ReplayInputAdapter",
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"ReplayInputAdapterError",
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"ReplayInputBundle",
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"TlogGpsFix",
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"TlogGroundTruth",
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"load_tlog_ground_truth",
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]
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