mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-21 21:51:13 +00:00

Files

T

Oleksandr Bezdieniezhnykh e8caa29da6 [AZ-943] [AZ-951] [AZ-952] Pause AZ-943 on OKVIS2 telemetry gap

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>

2026-05-29 11:48:09 +03:00

324 B

Raw Blame History

Autodev State

Current Step

flow: existing-code step: 10 name: Implement status: in_progress sub_step: phase: 6 name: implement-tasks detail: "batch 5 of N: AZ-897 replay UI web form (pivoted from AZ-943 — paused, blocked on AZ-951+AZ-952 per 2026-05-29 spec-reality gap)" retry_count: 0 cycle: 4 tracker: jira

324 B Raw Blame History

Autodev State

Current Step

324 B

Raw Blame History