mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:41:12 +00:00
Oleksandr Bezdieniezhnykh
a61d2d3f4b
Adds the C8 inbound producer side: - TelemetryRing[T]: bounded drop-oldest ring; first-overflow INFO log + monotonic dropped_count. - SubscriptionBus + SubscriptionHandle: synchronous fan-out, lock- released-before-callback to avoid deadlock; subscriber crash caught + DEBUG-logged so one bad subscriber cannot kill the decode loop. - PymavlinkInboundDecoder: pymavlink-based AP decoder for RAW_IMU, SCALED_IMU2, ATTITUDE, GPS_RAW_INT, GPS2_RAW, HEARTBEAT, STATUSTEXT. Out-of-order drop (Invariant 7) per-kind WARN. STATUSTEXT spoofing sentinel promotes subsequent GPS to GpsStatus.SPOOFED within 5 s. AC-5.1 warm-start hint cached on first 3D+ fix; embedded into every FlightStateSignal. - Msp2InavInboundDecoder: YAMSPy-based iNav polling decoder for IMU / attitude / GPS / flight-state. signed=False always (RESTRICT-COMM-2); GpsStatus.SPOOFED is unreachable on iNav. Adds yamspy>=0.3.3 + pyserial>=3.5 to pyproject.toml. Tests: 443 pass / 2 skip / 0 fail (+33 in batch 9). Contract: no drift on fc_adapter_protocol.md v1.0.0; this batch implements the inbound producer side without changing signatures. 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.