gps-denied-onboard/.planning/STATE.md

Project State

Project Reference

See: .planning/PROJECT.md (updated 2026-04-01)

Core value: Flight controller must receive valid MAVLink GPS_INPUT at 5-10Hz with position accuracy ≤50m for 80% of frames — without this, the UAV cannot navigate in GPS-denied airspace. Current focus: Ready to begin Phase 1 (ESKF Core)

Current Phase

Phase: Not started Next action: Run /gsd:plan-phase 1 to plan Phase 1 (ESKF Core)

Roadmap Summary

Phase	Name	Status
1	ESKF Core	Pending
2	Visual Odometry Pipeline	Pending
3	Satellite Matching + GPR	Pending
4	MAVLink I/O	Pending
5	End-to-End Pipeline Wiring	Pending
6	Docker SITL Harness + CI	Pending
7	Accuracy Validation	Pending

Key Files

• .planning/PROJECT.md — project context and requirements
• .planning/REQUIREMENTS.md — 36 v1 requirements with traceability
• .planning/ROADMAP.md — 7-phase execution plan
• .planning/codebase/ — codebase map (ARCHITECTURE, CONCERNS, STACK, etc.)
• _docs/01_solution/solution.md — authoritative architecture spec
• _docs/00_problem/acceptance_criteria.md — 43 test scenarios

Session Notes

• Initialized 2026-04-01
• Brownfield: scaffold exists (~2800 lines), critical algorithms missing (ESKF, MAVLink, real TRT/cuVSLAM)
• cuVSLAM + TRT available only on Jetson; dev/CI uses OpenCV ORB stub + MockInferenceEngine
• Pipeline direction: top-down (API → ESKF → VO → satellite → GPS_INPUT)