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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.
34 lines
1.3 KiB
Markdown
34 lines
1.3 KiB
Markdown
# ADR-0003: Sync derived state only; raw telemetry stays local
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## Status
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Accepted (2026-07-08)
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## Context
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Each drone produces high-rate sensor telemetry and on-board video detections —
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far more than the mesh can carry. But peers only need enough to coordinate
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flight: where everyone is, where they are heading, what was detected. Pushing
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raw feeds across the air would saturate the radio and drain batteries for data
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nobody reads in flight.
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## Decision
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Only **derived state** crosses the air — position, attitude, detections — as
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small pub/sub broadcasts (~5 Hz). **Raw telemetry stays on local NVMe** until
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the drone lands, then travels to the warehouse during offload
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([ADR-0002](ADR-0002-one-storage-format.md)). The design is **event-driven**:
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new derived data triggers downstream action through hooks; nothing polls asking
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"anything new yet?".
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## Consequences
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- Air bandwidth scales with the number of peers and the broadcast rate, not
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with sensor resolution.
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- The [source of truth](../00-glossary.md#source-of-truth) is the only place with the full picture; in-flight decisions use
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the local window plus peer broadcasts.
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- Broadcast staleness per peer becomes a first-class health signal
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([`../07-observability.md`](../07-observability.md)).
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- What syncs and what does not is specified in
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[`../04-swarm-sync.md`](../04-swarm-sync.md).
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