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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
a9c8d60087
Carryover from batch 35/36/37 report sections. The on-by-default value in cmake/build_options.cmake never matched any actual pipeline: every kind in .github/workflows/ci.yml (deployment + research) explicitly passes -DBUILD_OKVIS2=OFF, and the wrapper at cpp/okvis2/CMakeLists.txt documents that bundled OKVIS2 deps (DBoW2/brisk/ceres/opengv) are NOT pulled into the clone — Linux CI installs them via apt instead. macOS dev hosts have neither the nested submodules nor the apt-installed Eigen/Ceres/Brisk and would fail at OpenGV's find_package(Eigen) step. Flipping the default to OFF aligns with the documented intent in cpp/okvis2/CMakeLists.txt (\"macOS dev builds default BUILD_OKVIS2=OFF; unit tests use a fake pybind11 binding fixture\") and is no-op on every CI matrix that already explicitly opted out. Tier-1/Tier-2 builds that want the native compile must continue to opt in via -DBUILD_OKVIS2=ON plus the apt-deps install step (which AZ-332's tier2 follow-up wires end-to-end). Verified: tests/unit/test_ac1_scaffold_layout.py::test_cmake_files_configure now passes on a macOS dev host without any system C++ deps. 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.