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Oleksandr Bezdieniezhnykh
bb744d9078
FT-P-12: parse mavproxy-listener tlog over a 60 s Derkachi replay and assert SUT->GCS GLOBAL_POSITION_INT cadence lands in [1, 2] Hz (AC-6.1). FT-P-13: inject `RELOC:<lat>,<lon>,<radius_m>` STATUSTEXT while the SUT is in dead_reckoned; verify FDR `c8.gcs.operator_command` ack <=2s, `anchor_search_region` centre shifts toward the hint, and no BAD_SIGNATURE / UNAUTHORIZED / REJECTED STATUSTEXT lands in the post-inject window (AC-6.2). Adds runner.helpers.gcs_telemetry_evaluator (rate, hint-ack correlation, haversine search-region shift, rejection scan) and sitl_observer.capture_gcs_tlog (parity surface to capture_ap_tlog). Pure-logic coverage: 39 new unit tests; full e2e/_unit_tests/ suite 746 passing (was 700). Scenarios skip locally on missing SITL replay fixture; production hooks (inbound STATUSTEXT parser, anchor_search_region FDR emitter) tracked outside this task. See _docs/03_implementation/batch_81_report.md + reviews/batch_81_review.md. 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.