mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:11:12 +00:00
Oleksandr Bezdieniezhnykh
c5ffc14fe9
Adds an opt-in C5-internal orthorectifier (`_orthorectifier.py`) that emits at most one tile-aligned JPEG candidate per nav frame to the C6 `TileStore.write_tile` API. Quality gates fire before any OpenCV work: covariance Frobenius, inlier floor, source-label (`SATELLITE_ANCHORED` only), and once-per-frame rate limit. Cross-component import rule (AZ-507) is preserved: c5_state never imports c6_tile_cache. `runtime_root.state_factory` carries a new `_C6MidFlightIngestAdapter` that builds the canonical `TileMetadata` (`ONBOARD_INGEST` / `FRESH` / `PENDING`), hashes the JPEG, and translates `FreshnessRejectionError` to a `None` return so the orthorectifier silently swallows freshness rejection per AC-NEW-3. Wiring is opt-in via `C5StateConfig.orthorectifier.enabled`; existing tests/binaries default to disabled and are unaffected. Both `GtsamIsam2StateEstimator` and `EskfStateEstimator` participate through new `attach_orthorectifier` / `set_latest_nav_frame` extension methods (Protocol surface unchanged). Tests: 22 new unit tests cover AC-1..AC-9 plus inlier-floor gate plus the composition-root adapter. 216/216 c5_state and 38/38 runtime-root + compose tests pass. 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.