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Oleksandr Bezdieniezhnykh 64542d32fc Update autodev state, architecture documentation, and glossary terms

Transitioned the autodev state to phase 21, reflecting the completion of Step 5 and the drafting of Step 6 epics. Revised the architecture documentation to clarify the roles of the Tile Manager and its components, ensuring accurate representation of the system's operational flow. Updated glossary entries for Flight State and Operator to incorporate recent changes and enhance clarity on component interactions and responsibilities.

2026-05-10 00:21:34 +03:00

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Common Helper — `WgsConverter`

Purpose

WGS84 ↔ local tangent-plane (ENU/NED) ↔ tile pixel-coordinate conversions. Required by every component that interacts with geographic positions — from C4's pose estimation, through C5's state graph, through C6's tile-bounding-box queries, through C8's per-FC encoding, through C10's bbox provisioning, through C12's operator UX.

Used By

C4 — Pose Estimation.
C5 — State Estimator.
C6 — Tile Cache + Spatial Index (bbox queries).
C8 — FC Adapter (per-FC encoding of LatLonAlt → MAVLink/MSP2).
C10 — Pre-flight Cache Provisioning (bbox → tile-id list).
C12 — Operator Pre-flight Tooling (operator-entered bbox).

Interface (sketch)

class WgsConverter:
    @staticmethod
    def latlonalt_to_ecef(p: LatLonAlt) -> Vector3
    @staticmethod
    def ecef_to_latlonalt(p: Vector3) -> LatLonAlt
    @staticmethod
    def latlonalt_to_local_enu(origin: LatLonAlt, p: LatLonAlt) -> Vector3
    @staticmethod
    def local_enu_to_latlonalt(origin: LatLonAlt, p_enu: Vector3) -> LatLonAlt
    @staticmethod
    def latlon_to_tile_xy(zoom: int, lat: float, lon: float) -> tuple[int, int]
    @staticmethod
    def tile_xy_to_latlon_bounds(zoom: int, x: int, y: int) -> BoundingBox

Implementation Notes

Stateless; pure functions.
Backed by pyproj for the geodesy primitives; tile_xy math uses the standard slippy-map convention (matches satellite-provider's on-disk layout).
All conversions use WGS84 ellipsoid; no datum-shift complexity.

Caveats

The static-only design satisfies the coderule.mdc constraint ("only use static methods for pure self-contained computations"). If a future deployment needs alternative datum support, switch to an instance-based factory then.
Tile-coordinate math is zoom-level-sensitive; callers MUST pass the right zoom level for the tile in question (typically zoomLevel from TileMetadata).

1.9 KiB Raw Blame History

Common Helper — WgsConverter