mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:31:13 +00:00
Oleksandr Bezdieniezhnykh
b5dd6031d2
AZ-291 — FileFdrWriter: single writer thread draining every registered FdrClient SPSC ring buffer to per-flight segment files; per-segment size rotation; cross-process fcntl.flock filelock on flight_root; ENOSPC degraded mode with rate-capped ERROR logs and one GCS alert. AZ-292 — FlightHeader/FlightFooter dataclasses + open_flight / close_flight lifecycle methods; four per-flight monotonic counters (records_written, records_dropped_overrun, bytes_written, rollover_count) reported by the footer; flight_id mismatch and close-without-open are typed errors. AZ-293 — CapacityCapPolicy (post-rotation hook): walks the flight directory, drops the oldest CLOSED segment when total > cap (default 64 GiB), emits a kind="segment_rollover" record per drop. Never drops the currently-open segment or segment 0 alone; cap_misconfigured path logs ERROR + GCS alert. No config flag disables emission (C13-ST-01). Schema: bumped fdr_record_schema flight_header / flight_footer payload key sets to match the AZ-292 task spec (effective 1.0.0 -> 1.1.0; no prior producer); KNOWN_PAYLOAD_KEYS updated. Added FdrWriterConfig nested in FdrConfig (segment_size_bytes, batch_size, flight_cap_bytes, debug_log_per_record). Tests: 29 new unit tests (8 AC + 1 invariant per task); full suite 323 passed, 2 pre-existing skips, 0 regressions. 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.