Architecture decision records
Format follows cortex docs/adr/template.md: Status / Date / Related, Context, Decision, Consequences, and a closing Current state line.
| ADR | Decision | Status |
|---|---|---|
| 0001 | Racing drones are baselines composed into fixed slots | Proposed |
| 0002 | MPC on the companion, INDI + rate loop and every failsafe on the FC | Proposed |
| 0003 | MPCC primary; a learned policy as a comparison baseline | Proposed |
| 0004 | Hybrid VIO + gate PnP + drag-aware model estimation | Proposed |
| 0005 | Layered DAA: MPC constraints plus an independent CBF filter | Proposed |
| 0006 | Hot path in one process; Zenoh off the hot path | Proposed |
| 0007 | Outdoor obstacle avoidance in the platform repos and its own mission repo; the framework lifted out before a second mission uses it | Proposed |
| 0008 | The mission framework moves to anatomy, generic over the mission’s task; split in place first, then move, then scout-drone | Proposed |
| 0009 | Third-party license compatibility (MIT; permissive dependencies only) | Accepted (amended) |
| 0010 | No GPL code for any purpose; clean-room from papers | Accepted |