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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
f01a5058ab
Implements the C10 internal phase that walks every C6 tile, embeds through C2's backbone via the AZ-321-produced engine, and rebuilds the AZ-306 FAISS HNSW index in one atomic write. - DescriptorBatcher with halve-and-retry OOM recovery (default 1 retry) - BackboneEmbedder Protocol + C7EngineBackboneEmbedder default impl - DescriptorBatchError for OOM / dim-mismatch / missing-output failures - Empty-corpus surfaces as outcome=failure with explicit hint to run C11 - Per-10% progress callback + DEBUG logs (no engine bytes leaked) - Consumer-side Protocol cuts (TilesByBboxBatchQuery, TilePixelOpener, DescriptorIndexRebuilder) so c10 stays within AZ-270 lint - runtime_root.c10_factory adds build_descriptor_batcher + three C6->C10 adapters - 16 unit tests covering AC-1..AC-10 + 2 NFRs + 4 supplemental (Protocol conformance, query pass-through, handle release, config) 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.