mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:41:12 +00:00
Oleksandr Bezdieniezhnykh
beed43724f
- Add StateEstimator Protocol (6 methods, @runtime_checkable) + DTOs (EstimatorOutput, EstimatorHealth, IsamState, PoseSourceLabel, Quat) in _types/state.py per state_estimator_protocol.md v1.0.0. - Add C5 error hierarchy (StateEstimatorError + 3 subclasses) and C5StateConfig (strategy, keyframe_window, spoof gates, no_estimate_fallback_s) with __post_init__ validation. - Add ISam2GraphHandle Protocol + ISam2GraphHandleImpl skeleton (all 4 methods raise NotImplementedError naming AZ-382 as owner). - Add build_state_estimator factory + bind_state_ingest_thread for single-writer enforcement; ADR-002 build-flag gating (BUILD_STATE_<variant>); INFO log on success. - Strict reshape of legacy EstimatorOutput / EstimatorHealth across all 6 C8 production files (_outbound_provenance, _covariance_projector, pymavlink_ardupilot_adapter, msp2_inav_adapter, mavlink_gcs_adapter, interface) + 6 C8 test files (UUID frame_id, LatLonAlt position_wgs84, Quat orientation, PoseSourceLabel enum source_label). Remove ad-hoc DTOs from _types/pose.py and from C4's public __init__ (EstimatorOutput is a C5 concept, not a C4 one). - 20 AZ-381 AC tests (10 ACs + 4 config range + NFR + conformance). - Full suite: 521 passed, 2 skipped (+20 vs Batch 11). - Contracts: state_estimator_protocol.md v1.0.0 -> active; composition_root_protocol.md v1.2.0 -> v1.3.0 (additive state block + factory + ingest-thread binding). - Impl report: _docs/03_implementation/batch_12_cycle1_report.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-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.