mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:31:13 +00:00
Oleksandr Bezdieniezhnykh
fbeeab60b3
Verdict: PASS_WITH_WARNINGS. Per-batch reviews already validated each task's ACs; this cumulative review focuses on cross-batch drift and surfaces 1 Medium + 2 Low maintainability findings: - F1 (Medium): `_iso_ts_from_clock` Clock-injected helper duplicated across 4 files (c2_vpr/net_vlad + ultra_vpr + _faiss_bridge, c12_operator_orchestrator/operator_reloc_service). B46 + B47 carry inline comments anticipating AZ-508 would consolidate this, but AZ-508 (Batch 48) scoped itself narrower (stdlib-only, Excluded the Clock-injected variant). Recommend a 2-point follow-up PBI adding `iso_ts_from_clock(clock)` to helpers/iso_timestamps.py before AZ-339 / AZ-340 / AZ-358 / AZ-389 add more copies. - F2 (Low): `_assert_engine_output_dim` near-duplicated between NetVLAD and UltraVPR. Defer consolidation until 5 c2_vpr strategies are in flight (after AZ-339 / AZ-340). - F3 (Low): Clock-driven helper outputs `+00:00`; canonical FDR `ts` is `Z`. Fold into F1 follow-up PBI. No Critical or High findings; auto-chain to next batch allowed. 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.