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https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:31:13 +00:00
Oleksandr Bezdieniezhnykh
8a9cf88a46
AZ-396: PymavlinkArdupilotAdapter.request_source_set_switch body sends MAV_CMD_SET_EKF_SOURCE_SET, awaits COMMAND_ACK with timeout, enforces Invariant 11 idempotence (1s rate-limit + skip-after-success). Adds runtime_root.SpoofRecoverySink to bridge C5 spoof-promotion-recovered signal to the C8 outbound thread via a bounded dispatch queue. FcConfig gains spoof_recovery_source_set + source_set_switch_timeout_ms. AZ-397: QgcTelemetryAdapter implements GcsAdapter strategy: MAVLink 2.0 to QGC, emit_summary downsamples 5Hz to configurable summary_rate_hz [0.5, 5.0] via integer modulo, emit_status_text mirrors to GCS link, subscribe_operator_commands translates COMMAND_LONG / PARAM_REQUEST_* / REQUEST_DATA_STREAM / MISSION_* / SET_MODE into OperatorCommand DTOs and audits each receipt to FDR. FcKind.GCS_QGC added for PortConfig. Tests: 25 new (12 AZ-396 + 13 AZ-397); full suite 501 passing, 2 skipped. Contracts unchanged (additive FcConfig fields, range relaxation on GcsConfig.summary_rate_hz, additive FcKind enum value). 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-tooling, 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.