Rajant

Control, configure and test the Rajant BreadCrumb mesh integration end to end — live BCAPI status and discovery, connection config, GPS/GNSS-denied positioning output, a conformance test suite, and a read-only BCAPI terminal. The mesh + ranging in the positioning tests are simulated; the solver (XGN/XRPN), discovery, topology and terminal are the real deployed services.

MESH CONTROL & STATUS

UNKNOWNXRIP unreachable

The lab observes the mesh over the BCAPI VIEW (read-only) role. INACTIVE is the honest state with no BreadCrumb hardware/credentials — nothing is fabricated. See the Config card to activate.

CONNECTION CONFIG— XRIP Rajant BCAPI (VIEW role)

To bring a real BreadCrumb online, provision the VIEW-role credential secret and set rajant.enabled=true via helm — no code or image change. The password is mounted as a file, never entered here.

rajant.bcapiEndpoint

<BREADCRUMB_IP>:2300 — reachable BreadCrumb (BCAPI TLS)

rajant.credSecretName

xaitel-xrip-rajant-cred — K8s Secret, key: password

XRIP_RAJANT_BCAPI_CRED_SECRET_REF

/secrets/rajant/password — mounted file (auto)

rajant.tenantId

pilot

rajant.discoveryTimeoutMs

3000 — Sup multicast; else unicast to endpoint

ACTIVATE (operator)

kubectl create secret generic xaitel-xrip-rajant-cred -n xaitel-xpf \
  --from-literal=password='<BCAPI_VIEW_PASSWORD>'

helm upgrade xaitel-xrip charts/xaitel-xrip -n xaitel-xpf --reuse-values \
  --set rajant.enabled=true \
  --set rajant.bcapiEndpoint='<BREADCRUMB_IP>:2300' \
  --set rajant.credSecretName=xaitel-xrip-rajant-cred
kubectl rollout restart deploy/xaitel-xrip -n xaitel-xpf

Full runbook: docs/DEPLOY_RAJANT_ACTIVATION.md(prereqs, verify, rollback, troubleshooting)

Positioning output

RAJANT MESH POSITIONING— XGN/XRPN solver · GPS-denied

Position a platform inside a Rajant BreadCrumb mesh with no GNSS. The mesh discovers ranging references; one BreadCrumb is GPS-georeferenced (pins the local frame to WGS84); the platform solves its position and the relative fix becomes absolute.

BREADCRUMB NODESRANGING QUALITY (1σ)EPOCHS

Georeferenced BreadCrumb present (GPS ground-truth anchor → absolute fix)

The BreadCrumb mesh + ranging are simulated; the multilateration, georeferencing and relative→absolute transition are the real XGN/XRPN engine. Field sub-metre requires precise ranging (UWB / fine RTT) — RSSI alone is coarse.

TEST SCENARIOS

Real XGN/XRPN solver · simulated mesh · asserts state + accuracy budget

Scenario	Expect	State	Horiz err	Budget	Result
Exact ranges (solver fidelity) 7 nodes, georeferenced, zero ranging noise	ABS	—	—	0.1 m	—
UWB / fine RTT (0.10 m) georeferenced mesh, precise ranging → sub-metre	ABS	—	—	1 m	—
Typical RF ranging (0.30 m) georeferenced mesh, moderate ranging noise	ABS	—	—	1.5 m	—
Coarse / RSSI-grade (0.75 m) RSSI-derived ranges → metres, not sub-metre	ABS	—	—	3 m	—
No GPS anchor (relative-only) mesh present, no georeferenced node → stays relative	REL	—	—	—	—
Sparse mesh (4 nodes) minimum anchors for a 3-D fix	ABS	—	—	2 m	—

Field sub-metre needs precise ranging (UWB / 802.11mc-FTM); RSSI alone is coarse — the RSSI scenario is expected to land at metres, not sub-metre.

BREADCRUMB TERMINAL— BCAPI/API test console (read-only)

Rajant BCAPI test console (VIEW, read-only). Type 'help'.

xrip:rajant$

Governed console: only whitelisted VIEW-role reads run (no mesh mutation). With no BreadCrumb connected the commands return XRIP's honest blocked responses.