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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
c2934b8686
Multi-stage Ubuntu 22.04 e2e-runner image installs gps-denied-onboard (editable) into /opt/venv so the AZ-404 replay tests can subprocess gps-denied-replay against the Derkachi fixture. Image layout mirrors the host repo (/opt/pyproject.toml + /opt/src + /opt/tests bind mount) so Path(__file__).parents[3] resolves to /opt and AC-4's AST scan finds the components dir. Entrypoint now runs `pytest /opt/tests/e2e/` instead of the empty `scenarios/` dir. The bootstrap harness collects 24 tests vs. 0 before. Compose: e2e-runner env mirrors the companion service (FullSystemConfig requirements) plus RUN_REPLAY_E2E=1, BUILD_REPLAY_SINK_JSONL=ON; bind-mounts the Derkachi fixture dir; adds writable fdr-data / tile-data volumes the SUT requires. Reality Gate signal is now real: 17 pass / 5 fail / 1 skip / 1 xfail. The 5 heavy-AC failures share root cause AZ-614 (tlog synth time-base mismatch, surfaced by the now-functional harness). Also archives the replayed leftover entries (csv_reporter -> AZ-601, harness rehab -> AZ-602 epic + 11 child stories). 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.