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Restore docs/adr to main; add check_adrs.py CI gate so existing ADR-*.md files cannot be modified — supersede with a new numbered ADR instead.
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1.3 KiB
ADR-0003: Sync derived state only; raw telemetry stays local
Status
Accepted (2026-07-08)
Context
Each drone produces high-rate sensor telemetry and on-board video detections — far more than the mesh can carry. But peers only need enough to coordinate flight: where everyone is, where they are heading, what was detected. Pushing raw feeds across the air would saturate the radio and drain batteries for data nobody reads in flight.
Decision
Only derived state crosses the air — position, attitude, detections — as small pub/sub broadcasts (~5 Hz). Raw telemetry stays on local NVMe until the drone lands, then travels to the warehouse during offload (ADR-0002). The design is event-driven: new derived data triggers downstream action through hooks; nothing polls asking "anything new yet?".
Consequences
- Air bandwidth scales with the number of peers and the broadcast rate, not with sensor resolution.
- The warehouse is the only place with the full picture; in-flight decisions use the local window plus peer broadcasts.
- Broadcast staleness per peer becomes a first-class health signal
(
../07-observability.md). - What syncs and what does not is specified in
../04-swarm-sync.md.