Decisions
Every architecture decision record (ADR) of the stack, by repo.
cortex
Section titled “cortex”synapse
Section titled “synapse”| Decision | Status | Date |
|---|---|---|
| ADR 0001 — Third-party license compatibility | Accepted (amended 2026-11-01: third-party data and published facts) | 2026-10-31 |
| ADR 0002 — No GPL code; port only from permissive sources | Accepted | 2026-10-31 |
reflex
Section titled “reflex”| Decision | Status | Date |
|---|---|---|
| ADR 0001 — Third-party license compatibility | Accepted (amended 2026-11-01: third-party data and published facts) | 2026-10-31 |
| ADR 0002 — No GPL code; clean-room implementation from papers | Accepted | 2026-10-31 |
anatomy
Section titled “anatomy”| Decision | Status | Date |
|---|---|---|
| ADR 0001: a mission-neutral core with mobility and sensing profiles, and a multi-node layer | Accepted | 2026-10-28 |
| ADR 0002: third-party license compatibility | Accepted (amended 2026-11-01: third-party data and published facts) | 2026-10-31 |
| ADR 0003: no GPL code; clean-room implementation from papers | Accepted | 2026-10-31 |
| ADR 0004: missions compose operators over domains in a dependence graph, not slots | Accepted | 2026-11-01 |
| ADR 0005: an application tier over the checked graph, developed on graph patterns | Accepted | 2026-11-05 |
racing-drone
Section titled “racing-drone”| Decision | Status | Date |
|---|---|---|
| ADR 0001: racing drones are baselines composed into fixed slots | Proposed | 2026-10-23 |
| ADR 0002: MPC on the companion, INDI + rate loop on the flight controller | Proposed | 2026-10-23 |
| ADR 0003: MPCC is the primary racing controller; learned policies are a comparison baseline | Proposed | 2026-10-23 |
| ADR 0004: hybrid estimation with VIO, gate PnP, and a drag-aware model | Proposed | 2026-10-23 |
| ADR 0005: layered detect-and-avoid: MPC constraints plus an independent CBF safety filter | Proposed | 2026-10-23 |
| ADR 0006: the hot path runs in one process; Zenoh carries everything else | Proposed | 2026-10-23 |
| ADR 0007: outdoor obstacle avoidance lives in the platform and its own mission repo, not in racing-drone | Proposed | 2026-10-28 |
| ADR 0008: the mission framework moves to anatomy, generic over the mission’s task | Proposed | 2026-10-28 |
| ADR 0009: third-party license compatibility | Accepted (amended 2026-11-01: published facts) | 2026-10-31 |
| ADR 0010: no GPL code; clean-room implementation from papers | Accepted | 2026-10-31 |
scout-drone
Section titled “scout-drone”| Decision | Status | Date |
|---|---|---|
| ADR 0001: third-party license compatibility | Accepted (amended 2026-11-01: published facts) | 2026-10-31 |
| ADR 0002: no GPL code; clean-room implementation from papers | Accepted | 2026-10-31 |