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Oleksandr Bezdieniezhnykh
f25cae4a82
Implement the AC-8.6 (top-K=10 retrieval scale-ratio + scene-change
PARTIAL) and AC-8.2 / AC-NEW-6 (stale aged-tile rejection) blackbox
scenarios.
AZ-423 (FT-P-19, 3pt) helpers + scenario:
- retrieval_evaluator.py — top-K within-distance evaluator (60 stills
vs 100 m budget), scene-change PARTIAL recorder (always emits
PARTIAL on the 2 _gmaps.png pairs), FDR record projectors, CSV
writers.
- tests/positive/test_ft_p_19_sat_reloc_scale.py (6 parametrised
variants).
AZ-427 (FT-N-05, 2pt) helpers + scenario:
- aged_tile_rejection_evaluator.py — Signal A (stale rejection at
load) + Signal B (per-frame downgrade) decision matrix, reuses
ALLOWED_SOURCE_LABELS from estimate_schema.
- tests/negative/test_ft_n_05_stale_tile_rejection.py (12 parametrised
variants: FC × VIO × {7mo/active-conflict, 13mo/rear}).
48 new unit tests cover every helper branch. Both scenarios skip
when sitl_replay_ready is false and fail loudly when fixture records
are missing.
Per-batch review: PASS_WITH_WARNINGS (2 Low — production-dependency
surface, FDR-kind constant duplication).
Cumulative review 82-84: PASS (2 Low carry-over / hygiene candidate).
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.