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Oleksandr Bezdieniezhnykh
92ba7997a9
Ran the Tier-2 Jetson e2e harness on Jetson AGX Orin:
JETSON_SSH_ALIAS=jetson bash scripts/run-tests-jetson.sh
Result: 4 failed, 48 passed, 3 skipped, 1 xfailed, 1 xpassed in 90.59s.
Two distinct cycle-4 blockers surfaced:
Blocker 1 (AZ-962, 3 SP):
The AZ-840 orchestrator test that should prove the full 7-step
cycle-4 pipeline works was SKIPPED, not PASSed.
docker-compose.test.jetson.yml does not export
GPS_DENIED_OPERATOR_CONFIG_PATH and the operator_replay.yaml the
README references does not exist anywhere in the repo. Epic AZ-835's
'Done' status across its children was validated by doc-content
presence only, never by actual test execution.
Blocker 2 (AZ-963, 3 SP):
4 tests in test_derkachi_1min.py (AZ-265/AZ-404 60s smoke) regress
with EstimatorFatalError('eskf filter divergence: mahalanobis²=212.31
> 100.0') at frame 233. AZ-895 made the CSV-driven path primary; the
CSV path runs open-loop on the Derkachi fixture (no reference C6 tile
cache -> no satellite anchoring -> ESKF integrates open-loop ->
diverges in ~10s). Before AZ-895 the tlog path was primary and
exited cleanly. test_ac3_within_100m_80pct_of_ticks also XPASSed -
third silent-failure surface flagged for investigation in AZ-963.
Filed both as separate Jira Tasks (see local specs in
_docs/02_tasks/todo/AZ-962_*.md and AZ-963_*.md for full payload,
ACs, options, run-log evidence).
OKVIS2 chain (AZ-943/951/952) stays deferred per user 2026-05-29
directive — Derkachi e2e is not green, directive unchanged.
AZ-842 caveat: the AZ-840/AZ-842 'Done' tracker state I set earlier
today (commits 10c2a1e / 2cc992d) is contingent on whether
convention (A) 'In Testing = shipped' or (B) 'Done = shipped+tested'
applies; user-skipped convention question, the leftover at
_docs/_process_leftovers/2026-05-29_jira_status_drift_audit.md holds
the walk-back payload if (A).
No production code changes.
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.