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Oleksandr Bezdieniezhnykh
8c4be9ace0
The batch 108 fixture built tile_store + descriptor_index from the static operator config (root_dir baked into YAML) but built the AC-3/AC-6 verifier from cache_root/descriptor.index (fresh tmp path). On Tier-2 the descriptor_batcher would write under the YAML root and the verifier would open the tmp path, raising IndexUnavailableError before the fixture could yield a PopulatedC6Cache. Unit tests missed it because every test stubbed descriptor_index_factory. Mutate the c6_tile_cache config block in-memory at fixture entry so root_dir = cache_root and faiss_index_path falls back to <cache_root>/descriptor.index. Production C6 components and the verifier now share one path source. Align tile_store_path with PostgresFilesystemStore's <root_dir>/tiles layout so the integration test's tile_store_path.is_dir() assertion holds. Driver and unit tests are path-agnostic and unaffected. Batch 108b report documents the defect, the fix, and the self-review miss. 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.