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Oleksandr Bezdieniezhnykh
c3639a5d1c
Wire register_airborne_strategies + build_pre_constructed + compose_root(config, pre_constructed=...) into runtime_root.main(). The existing exception block now catches AirborneBootstrapError distinctly before the broader (ConfigurationError, StrategyNotLinkedError, RuntimeError) clause so the operator-facing "airborne_bootstrap:" prefix carried by every bootstrap error reaches stderr cleanly with EXIT_GENERIC_FAILURE rather than getting absorbed into a generic backtrace. This closes the AZ-618 umbrella: AZ-619..AZ-623 + AZ-625 had built each pre_constructed key; this batch lands the integration that the production main() actually invokes them. Both the live gps-denied-onboard and replay gps-denied-replay binaries dispatch through this main() per ADR-011, so both reach takeoff with pre_constructed populated end-to-end. Tests: tests/unit/runtime_root/test_az618_pre_constructed.py adds 6 tests covering AC-618-1..AC-618-4 + AZ-624 local handler-ordering regression guard. The strategy factories are stubbed at the airborne_bootstrap module boundary so the test exercises the integration seam without standing up gtsam / FAISS / TensorRT / PyTorch / OpenCV at unit-test scope. AC-618-5 (Jetson tier-2 e2e) is BLOCKED on operator-supplied hardware evidence: scripts/run-tests-jetson.sh tests/e2e/replay/test_derkachi_1min.py must run on Jetson Orin Nano (JetPack 6.2.2+b24) and the terminal log path + JetPack version + run timestamp captured per _docs/02_document/tests/tier2-jetson-testing.md. Quality gates: ruff format clean, ruff lint clean, 6/6 new umbrella tests pass, 261/261 runtime_root + c5_state regression suite passes, 25/25 test_az401_compose_root_replay regression passes, full Tier-1 unit suite 2150/2151 passes (1 unrelated pre-existing failure: c12_operator_orchestrator subprocess cold-start NFR fails on Mac dev host's Python startup ~700 ms; not regressed by AZ-624). Code review verdict PASS (1 Low finding; full report in _docs/03_implementation/reviews/batch_96_review.md). Archives AZ-624 task spec + AZ-618 umbrella reference to done/. 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.