mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:41:12 +00:00
Oleksandr Bezdieniezhnykh
8e71f6c002
AZ-266: schema-compliant JSON logging entrypoint, level normalisation, handler-topology guard, format-error fallback (log_record_schema v1.0.0). AZ-269: env > YAML > defaults config loader, frozen Config dataclass, missing-var fail-fast with pointer to .env.example, component-block registry. AZ-277: GTSAM-backed SE3Utils (matrix<->SE3 + exp/log/adjoint) with strict orthogonality, dtype, and bottom-row contract enforcement. AZ-280: atomicwrites-backed write_atomic + independent verify + order-deterministic aggregate_hash; sidecar format strictness. pyproject.toml pins gtsam>=4.2,<5.0 and atomicwrites>=1.4,<2.0 (named-backend deps per the AZ-277 / AZ-280 contracts). 139 unit tests pass (44 new). Review verdict: PASS_WITH_WARNINGS; findings are perf-NFR + journald deferrals, no blocking issues. 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.