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Oleksandr Bezdieniezhnykh
f5366bbca1
Real derkachi.tlog covers 3 takeoffs at the same field but the uploaded video covers only the last. Original NCC argmax + AZ-405 head-takeoff fallback both biased toward flight 1, violating the spec's "the last chunk in tlog is relevant" framing. Patch: pre-NCC flight segmenter partitions the IMU energy stream into distinct flights (threshold + gap walk); find_aligned_window restricts NCC search to the last segment; low-confidence fallback uses that segment's start instead of head-takeoff detection. AlignedWindow gains flight_count_detected + selected_flight_index for FDR-visible audit. 7 new unit tests (segmenter shapes + end-to-end multi-flight pipeline + segmented fallback path). 19 AZ-698 tests pass, 113 in the regression slice. Zero new mypy --strict errors. 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.