Visual Homing Codex

Experimental GPS-denied visual return system for Raspberry Pi Zero 2W class hardware.

This repository keeps the previous implementation as a reference baseline and builds a new C++ flight core from a clean architecture.

Layout

• reference/ - imported baseline project, kept for comparison and reuse.
• core/ - new deterministic C++ core.
• docs/ - architecture notes, roadmap, test strategy.
• notes/ - informal research notes and ideas.
• scripts/memory.ps1 - helper for project memory entries and session startup prompt.

Direction

The new core is not intended to be a long-range metric SLAM system. The target is coarse visual return:

1. Record a compact visual route signature.
2. Match current camera frames against route progress.
3. Produce bounded course corrections for ArduPilot.
4. Keep all realtime stages measurable, bounded, and replay-testable.

Python and web components may remain useful for tooling, monitoring, and offline experiments. Flight-critical logic should live in the C++ core.

Project Memory

The repository is the source of truth for long-term project context.

Use the helper script from the repository root:

.\scripts\memory.ps1 startup
.\scripts\memory.ps1 decision "Decision title" "Decision body"
.\scripts\memory.ps1 session "Session title" "Progress summary"
.\scripts\memory.ps1 memory "Context title" "Stable project context"
.\scripts\memory.ps1 note "Research title" "Idea or research note"

Estimate the size of the standard startup context pack:

.\scripts\context-status.ps1
.\scripts\context-status.ps1 -MaxTokens 128000

This is not a live Codex context meter. It estimates the token size of the project memory files plus git log -3, which is the context pack normally read at the start of a session.

Rules:

• Technical project decisions go to docs/DECISIONS.md.
• Current progress goes to docs/SESSION_LOG.md.
• Stable project context goes to docs/PROJECT_MEMORY.md.
• Ideas and research go to notes/.
• Code changes are captured in detailed git commits.