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Oleksandr Bezdieniezhnykh
e114bfd9b8
The Derkachi auto-sync coordinator compares absolute tlog timestamps (from pymavlink's 8-byte record header) against absolute video timestamps (CAP_PROP_POS_MSEC, which starts at 0). Anchoring the synthetic tlog at 1_700_000_000_000_000 us (2023-11-14) produced a ~53-year offset (offset_ms=1699999995666) that always tripped the AC-9 frame-window match validator at 0% match. Setting the base to 0 puts the tlog on the same axis as the video (and matches the CSV's `Time` column, which is seconds since row 0 per `_docs/00_problem/input_data/flight_derkachi/README.md`: "the video and telemetry align at exactly three video frames per telemetry row"). Verified on Colima with GPS_DENIED_TIER=2: the offset reported by the auto-sync coordinator drops from 1699999995666 ms to -4334 ms. The remaining 4.3 s offset is NOT a synth issue — it's the tlog take-off detector (no signal in the steady-cruise CSV → defaults to samples.accel[0][0] == 0) vs the video motion-onset detector (which fires on a scenery-contrast false positive at ~4.3 s). The synth cannot fabricate a take-off spike at the right time without knowing the video motion-onset moment a priori, and the README confirms the fixture is mid-flight footage with no take-off in either signal. Resolving the remaining 4.3 s mismatch requires SUT-side work to honor the documented "manual offset bypasses auto-sync" contract — that's the scope of AZ-611. Filed as a known limitation in the commit message; AC-1..AC-6 still red until AZ-611 lands. 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.