mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:31:13 +00:00
Oleksandr Bezdieniezhnykh
e4ecdaf619
AZ-294: MidFlightTileSnapshotSink writes orthorectified tile JPEGs atomically to flight_root/<flight_id>/tiles/<tile_id>.jpg, emits a kind="mid_flight_tile_snapshot" pointer record, and evicts the oldest tile when the per-flight 64 MiB cap is exceeded. Adds optional frame_id to the snapshot payload (fdr_record_schema bump). AZ-295: RecordKindPolicy with two paired gates: - enforce_or_raise (producer-side) raises RawFrameWriteForbiddenError for raw_nav_frame / raw_ai_cam_frame at the call site, defending AC-8.5 / RESTRICT-UAV-4. - gate_for_writer (writer-side) tumbling-window rate-caps failed_tile_thumbnail records at <= 0.1 Hz; over-cap drops are coalesced into kind="overrun" records with the originating producer slug. AZ-296: take_off() composition-root sequence with strict ordering (writer.__init__ -> start -> open_flight -> fc_adapter.__init__ -> fc_adapter.open). On FdrOpenError, logs ERROR record, calls writer.stop(), prints the documented FATAL line to stderr, and sys.exit(EXIT_FDR_OPEN_FAILURE=2). composition_root_protocol bumped to v1.1.0 with the new constants + takeoff-sequence section. 29 new tests; full suite 356 passed / 2 skipped / 0 failures. No new dependencies (stdlib only). 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-tooling, 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.