mirror of
https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
e8caa29da6
AZ-943 implementation attempt confirmed the C++ binding cannot satisfy AC-4 without upstream OKVIS2 patches. The spec's "approach (a) in-binding subclass workaround" is structurally impossible: - ThreadedSlam::estimator_ is `private` (not `protected`) - ViSlamBackend has no public covariance / counts / parallax / MRE accessor in the v2 upstream headers - TrackingState carries only id / isKeyframe / TrackingQuality enum / recognisedPlace / isFullGraphOptimising / currentKeyframeId — none of the five tracking-stats fields the binding needs Filed the spec-documented "approach (b)" fallback as two sibling tickets, both linked Jira-side as `is blocked by` against AZ-943: - AZ-951 (3 SP): upstream patch — expose 6x6 pose covariance accessor (+ ADR-XXX for the AZ-332 Plan-phase pin deviation) - AZ-952 (3 SP): upstream patch — expose tracking-stats accessor (feature counts + parallax + MRE) AZ-943 transitioned In Progress -> To Do in Jira, full audit comment attached. Local AZ-943 spec moved todo/ -> backlog/ with PAUSED preamble; original AC list preserved for the post-unblock turn. Per user 2026-05-29 confirmation: cycle-4 Derkachi demo target stays KLT/RANSAC (tests/e2e/replay/conftest.py line 159 c1_vio: strategy: klt_ransac), so AZ-951 + AZ-952 + AZ-943 chain is correctly deferred. Pivoting next batch to AZ-897 (replay UI form). Touches: _docs/02_tasks/_dependencies_table.md (preamble + table rows for AZ-943 paused / AZ-951 / AZ-952 added; totals bumped to 142 product + 41 blackbox-test = 183, 448 product + 133 blackbox = 581), _docs/_autodev_state.md (sub_step pivot to AZ-897). 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.