mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:01:12 +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>
15 lines
271 B
Markdown
15 lines
271 B
Markdown
# Autodev State
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## Current Step
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flow: greenfield
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step: 7
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name: Implement
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status: in_progress
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sub_step:
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phase: 6
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name: implement-tasks
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detail: "batch 11 of N committed (AZ-396 source-set switch + AZ-397 qgc telemetry adapter)"
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retry_count: 0
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cycle: 1
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tracker: jira
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