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azaion/gps-denied-onboard

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Oleksandr Bezdieniezhnykh a61d2d3f4b [AZ-391] C8 inbound: MAVLink + MSP2 decoders + rings + bus + warm-start

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>

2026-05-11 04:28:14 +03:00

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 # Autodev State
 ## Current Step
 flow: greenfield
 step: 7
 name: Implement
 status: in_progress
 sub_step:
   phase: 6
   name: implement-tasks
   detail: "batch 9 of N committed (AZ-391 c8 inbound: MAVLink + MSP2 decoders + rings + bus + warm-start hint)"
 retry_count: 0
 cycle: 1
 tracker: jira