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Oleksandr Bezdieniezhnykh
8de2716500
ADR-012: add c4_pose.enabled (default True) and enforce the (c4_pose.enabled, c5_state.strategy) 2x2 pairing matrix at compose time. When enabled=false, compose_root removes c4_pose from the selection map and build_pre_constructed omits c5_isam2_graph_handle. Replay protocol Invariant 13 owns the gate. Tier-2 conftest YAML writes the open-loop profile; un-xfails AC-1/2/5 and both AC-6 variants in Derkachi (AC-3 stays xfailed for AZ-777). 319/319 runtime_root + c4_pose + c5_state tests green. 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.