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Oleksandr Bezdieniezhnykh
88f6ae6dce
Shared retrieve_topk plumbing for every concrete C2 VprStrategy:
- FaissBridge centralises the c6 search_topk → VprResult pipeline,
the defended-in-depth INV-4 check (exactly k, distance-ascending),
the WARN-threshold check on distances[0], optional per-frame DEBUG
log, and one `vpr.retrieve_topk` FDR record per call with latency
measurement.
- DescriptorIndexCut Protocol — consumer-side structural cut of c6
DescriptorIndex.search_topk (AZ-507); keeps c2_vpr c6-import-free.
- C2VprConfig gains warn_top1_threshold + debug_per_frame_distances
knobs with validators.
- KNOWN_PAYLOAD_KEYS registers vpr.retrieve_topk for the FDR record
schema with payload {frame_id, backbone_label, top10_distances,
latency_us}; companion fixture added to the AZ-272 roundtrip suite.
- 22 unit tests cover AC-1..AC-11 + NFR-perf microbench (p95 ≤ 0.5 ms)
+ constructor and retrieve-argument validation.
Verdict: PASS_WITH_WARNINGS (2 Low findings — duplicated ISO-ts
helper across c2/c5/c11/c12, captured in AZ-508 hygiene PBI;
spec-listed but unused `normaliser` parameter dropped — INV-3 makes
the embedding L2-normalised at the strategy's `embed_query`).
Tests: 1565 passed / 80 skipped (was 1543; +22 new tests).
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.