mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 00:11:13 +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>
19 lines
369 B
Markdown
19 lines
369 B
Markdown
# Autodev State
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## Current Step
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flow: greenfield
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step: 7
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name: Implement
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status: in_progress
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sub_step:
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phase: 11
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name: commit
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detail: "Batch 65 (AZ-389) committed; awaiting tracker transition + completeness gate"
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retry_count: 0
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cycle: 1
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tracker: jira
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last_completed_batch: 65
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last_cumulative_review: batches_61-63
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current_batch: 65
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current_batch_tasks: "AZ-389"
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