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https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 06:51:12 +00:00
Oleksandr Bezdieniezhnykh
8abfb020fe
Adds airborne_bootstrap.build_pre_constructed(config) returning a dict with the two foundational keys: a per-binary shared FdrClient under "c13_fdr" (via make_fdr_client with the new AIRBORNE_MAIN_PRODUCER_ID constant) and a fresh WallClock under "clock". Phases B..F (AZ-620..AZ-624) extend this function additively without breaking the AZ-619 contract. The c13_fdr instance is identity-stable across calls (per the make_fdr_client per-producer cache) so callers can call build_pre_constructed twice and get the same FdrClient back - AC-619.2. Replay-mode override is unchanged: compose_root merges replay_components over pre_constructed so the WallClock here is replaced by TlogDerivedClock in replay binaries (existing contract documented in compose_root's docstring). Tests: 5 new unit tests under tests/unit/runtime_root/ test_az619_pre_constructed_phase_a.py, all passing. AZ-591 not regressed (12/12 in the combined run). Spec moved to _docs/02_tasks/done/. 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.