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Oleksandr Bezdieniezhnykh
fa3742d582
Opens E-DEMO-REPLAY (AZ-265): the two C8 strategies that let the upcoming compose_replay (AZ-401) and gps-denied-replay CLI (AZ-402) run the production C1-C5 pipeline against a recorded (.tlog, video) pair without touching live FC I/O. AZ-400 lands the contract ReplaySink Protocol (emit + close per replay_protocol.md v1.0.0) and JsonlReplaySink: orjson-serialised JSONL, fsync-on-close, build-flag gated (BUILD_REPLAY_SINK_JSONL), double-close idempotent, FDR mirror on open/close. The drifted AZ-390 stub in interface.py is removed; the canonical Protocol now lives in replay_sink.py per module-layout.md and is re-exported via __init__.py. AZ-390 conformance test widened. AZ-399 lands TlogReplayFcAdapter: full FcAdapter Protocol surface, build-flag gated (BUILD_TLOG_REPLAY_ADAPTER), pymavlink stream-parse with bounded pre-scan + fail-fast on missing required messages (R-DEMO-3), dedicated decode thread feeding the existing AZ-391 SubscriptionBus. Outbound surface raises FcEmitError per Invariant 5; request_source_set_switch raises SourceSetSwitchNotSupportedError. Pacing honours Invariant 6 via Clock.sleep_until_ns. time_offset_ms shifts every emitted received_at per Invariant 8. Non-monotonic timestamps raise FcOpenError. Test coverage: 188 c8_fc_adapter tests pass; 1 skipped (AZ-399 AC-1 500 MB tlog RSS bound, deferred to AZ-404 e2e behind RUN_REPLAY_E2E). Code review: PASS_WITH_WARNINGS — 1 Medium (mapping logic duplicates AZ-391 live decoder; intentional today, four behavioural deltas documented), 2 Low. 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.