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Oleksandr Bezdieniezhnykh
bd41956164
Mid-flight fixtures (Derkachi) and stationary-still scenarios (FT-P-01) have no take-off spike for the IMU detector and produce false-positive video motion onsets, so the AC-9 frame-window validator rejects every plausible offset. Add an operator-acknowledged opt-out: a new ReplayConfig.skip_auto_sync_validation flag that suppresses validation, paired with a hard requirement that time_offset_ms also be set (silent-zero guard at both schema and adapter layers). Wired through schema -> CLI (--skip-auto-sync) -> composition root -> ReplayInputAdapter; Derkachi e2e fixture now passes time_offset_ms=0 + skip_auto_sync=True by default since the synth tlog and the video share the same t=0 anchor by construction. 5 new unit tests: * schema gate rejects skip=True without manual offset * schema gate accepts the legal pair * default field value is False (default-construction safety) * adapter constructor mirrors the schema gate * adapter open() bypasses validate_offset_or_fail when flag is set All 38 unit tests in test_az401 + test_az405 pass on Mac. 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.