Extend glossary with storage floors, source of truth, and linkable anchors.
Fix broken links, pose frame drift, rsync/offload wording, and README tone.
Add docs/improvement audit records and live demo links in design journey.
A chronological companion to the ADRs: how the design came together, from
the first mental model and 2D prototype through the three data tiers, the
relative-pose broadcast, the layered WireGuard/SSH trust model, SQL as the
peer contract, offload and replication, and the end-to-end proof of concept.
Each chapter links straight into the relevant source and decision records.
Flagged as the recommended first read in the README.
Add docs/adr/ with a chronological ADR set reconstructed from the project
history (no orchestrator, one storage format, derived-state sync,
SQL-over-SSH contract, WireGuard beneath SSH, IaC boundaries, non-root
image, runtime data paths, bounded lake scans), an index README, and a
template. Distinguish repo-local ADRs from ecosystem-wide ASRs.
Expand AGENTS.md with a decision-records section and a runtime/operations
guide (service URLs, rebuild workflow, CPU budget knobs). Reference the
ADRs from README, CONTRIBUTING, and the affected design docs, and add an
open question for T1 partition pruning.
Explorer and exporter were scanning the full Parquet lake every 1–5s
(~2000 files, 200MB+), driving ~2.2 CPU cores. Limit metrics to the
last N flights, cache DuckDB views and the partition tree, slow live
polls to 2s, and keep drones alive after seal to stop restart churn.
Add node-exporter, scan-duration metrics, and a Swarm Platform Grafana
dashboard for node CPU/memory and scan health.
Document why WireGuard and SSH are complementary layers, add Flux
boundaries for the ground segment, shared var/ data paths in docs/06,
and a contributor guide with the required test-first workflow.
Bench and flight share one query channel, so debugging exercises the
production path daily. Grafana/Prometheus/exporter host ports become
env-overridable for shared hosts.
Record the full reasoning path (GraphQL service, Arrow Flight, raw SSH,
forced-command synthesis) and specify read-only enforcement as five
fail-safe layers: key-per-operation, SELECT-only statement gate,
read-only OS user, engine hardening, resource caps. Promote 'SQL is
the contract' to a top-level design principle.
Monitoring compose profile: dependency-free Prometheus exporter that
scans the Parquet output with DuckDB (rows, detections, pose frames,
battery, RSSI, link distance, bytes on disk), Prometheus scrape config
and a provisioned Grafana dashboard. Demonstrates the observability
doctrine: fleet statistics derived from the data platform itself.
Replace object-store replication with rsync over persistent multiplexed
SSH (ed25519, pinned known_hosts, forced commands as the only remote
API); demote GraphQL to the ground integration standard. Add DuckDB
spatial extension for separation audits, perimeter predicates and
trajectory analysis in the local planar frame.
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