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Oleksandr Bezdieniezhnykh
f12789ebf0
Replace 3-way byte-equivalent orchestration-spine duplication across okvis2.py / vins_mono.py / klt_ransac.py with a single c1-internal helper at components/c1_vio/_facade_spine.py. Closes cumulative review batches 52-54 Finding F1. No behaviour change — all existing AZ-332 / AZ-333 / AZ-334 AC tests pass unmodified (114 c1_vio tests green, 237 with adjacent regression suite). The helper exposes 5 stateless free functions (now_iso, bias_norm, se3_from_4x4, frame_ts_ns, frame_image) and a FacadeSpine mixin class providing _classify_state / _tick_lost / _emit_transition. Concrete strategies inherit the mixin and set spine-required instance attributes in __init__. Mirrors the AZ-527 precedent for c2_vpr-side _assert_engine_output_dim consolidation. New test file test_az528_facade_spine.py covers AC-1..AC-8 with 19 tests, including an AST regression guard that prevents future re-introduction of the consolidated free functions in any strategy module, plus a Risk-1 static check that every strategy's __init__ assigns every spine-required attribute. Archive AZ-528 task spec to done/, bump autodev state to batch 56. 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.