# Batch 81 Report — FT-P-12 + FT-P-13 GCS downsample + command path

**Batch**: 81
**Date**: 2026-05-17
**Context**: Test implementation (greenfield Step 10 — Implement Tests)
**Tasks**: AZ-420 (3 cp) — single scenario task covering FT-P-12 + FT-P-13
**Cycle**: 1
**Verdict**: COMPLETE — PASS_WITH_WARNINGS (self-reviewed; see `reviews/batch_81_review.md`)

## Summary

Implements the GCS-leg blackbox scenarios under epic AZ-262:

* **FT-P-12** — SUT→GCS summary stream cadence (`AC-6.1`). The C8
  `QgcTelemetryAdapter` pairs `GLOBAL_POSITION_INT` + `NAMED_VALUE_FLOAT`
  at the configured `summary_rate_hz`; the test parses the
  `mavproxy-listener`-captured tlog over a 60 s Derkachi replay and
  asserts the observed `GLOBAL_POSITION_INT` rate lands in [1, 2] Hz.
* **FT-P-13** — GCS-originated operator re-loc hint (`AC-6.2`). A
  `STATUSTEXT` carrying `RELOC:<lat>,<lon>,<radius_m>` is injected
  while the SUT is in `dead_reckoned`; the SUT must (a) acknowledge
  via an FDR `c8.gcs.operator_command` record within ≤ 2 s, (b) bias
  its next `anchor_search_region` toward the hint, (c) not reject
  the well-formed hint with a security/auth STATUSTEXT.

### AZ-420 — FT-P-12 + FT-P-13 (3 cp)

* **`e2e/runner/helpers/gcs_telemetry_evaluator.py`** (new, 430 lines):
  pure-logic evaluators sourced from the GCS tlog + FDR archive.
  * `compute_gcs_summary_rate(messages, *, position_msg_type, ...)` →
    `GcsSummaryRateReport(observed_rate_hz, passes, ...)` — AC-6.1.
  * `extract_inbound_hints(messages, *, hint_prefix='RELOC:')` →
    `list[InboundHint]` — tlog→DTO adapter.
  * `parse_reloc_payload(hint_text)` → `(lat_deg, lon_deg, radius_m)`.
  * `correlate_hint_acks(hints, acks)` → `HintAckReport` (AC-2).
    Greedy injection-order pairing; each ack matches at most one hint.
  * `evaluate_search_region_shift(regions, hint_inject_us, lat, lon)` →
    `SearchRegionShiftReport` (AC-3). Compares last pre-hint region
    centre to first post-hint region centre via haversine distance.
  * `haversine_distance_m(lat_a, lon_a, lat_b, lon_b)` — great-circle
    distance, mean Earth radius. Sub-100 km accuracy ≪ 1 m.
  * `detect_hint_rejection(messages, inject_us, *, window_us=2e6)` →
    `HintRejectionReport` (AC-4). Scans STATUSTEXT in the post-inject
    window for `BAD_SIGNATURE` / `UNAUTHORIZED` / `REJECTED` tokens.
  * `collect_messages_to_list(messages)` — convenience for the
    "parse once, run N analyzers" pattern (mirrors
    `ap_contract_evaluator`).

* **`e2e/runner/helpers/sitl_observer.py`** (edited, +25 lines):
  adds `capture_gcs_tlog(host, duration_s) -> Path` mirroring
  `capture_ap_tlog`. Loads the FDR-replay fixture at
  `${E2E_SITL_REPLAY_DIR}/gcs_tlog_<host>.tlog`. Raises `RuntimeError`
  on missing env / missing fixture / non-positive duration.

* **`e2e/tests/positive/test_ft_p_12_gcs_downsample.py`** (new,
  110 lines): full FT-P-12 scenario. Skips when `sitl_replay_ready`
  is False (no SITL fixture). Parametric across
  `(fc_adapter, vio_strategy)` via conftest. `traces_to(AC-6.1,AC-1,AC-5)`.

* **`e2e/tests/positive/test_ft_p_13_gcs_command.py`** (new,
  211 lines): full FT-P-13 scenario. Walks the FDR archive for
  `c8.gcs.operator_command` ack records + `anchor_search_region`
  per-frame records. Skips on missing fixture; fails loudly on
  empty hint list / empty FDR archive so the test cannot silently
  green-light an unimplemented production path.
  `traces_to(AC-6.2,AC-2,AC-3,AC-4,AC-5)`.

* **`e2e/_unit_tests/helpers/test_gcs_telemetry_evaluator.py`** (new,
  39 tests): pure-logic coverage for every evaluator + adapter.
  Boundary cases include 1.0 / 2.0 Hz inclusive, ack-before-hint
  ignored, latency exactly at 2 000 ms, no pre-hint region, equal
  distance non-strict, BAD_SIGNATURE / UNAUTHORIZED / REJECTED
  token detection, malformed `RELOC:` payload raises `ValueError`.

* **`e2e/_unit_tests/helpers/test_sitl_observer.py`** (edited, +4 tests):
  `capture_gcs_tlog` happy path + missing env + missing fixture +
  zero/negative duration. Mirrors the existing `capture_ap_tlog`
  test block.

* **`e2e/_unit_tests/test_directory_layout.py`** (edited): registers
  `runner/helpers/gcs_telemetry_evaluator.py`,
  `tests/positive/test_ft_p_12_gcs_downsample.py`,
  `tests/positive/test_ft_p_13_gcs_command.py`.

## Tests

Full `e2e/_unit_tests/` suite: **746 passed in 147.57 s** (baseline
700 → +46 net). Run via `python -m pytest e2e/_unit_tests/` from
the workspace root. No flakes, no skips outside the pre-existing
intentional skips.

Collection check on the two new scenario tests (`pytest
--collect-only e2e/tests/positive/test_ft_p_12_gcs_downsample.py
e2e/tests/positive/test_ft_p_13_gcs_command.py`): 12 items collected
(2 tests × 6 `(fc_adapter, vio_strategy)` combinations each).
The scenarios skip locally because `E2E_SITL_REPLAY_DIR` is unset —
which is the intended docker-vs-host boundary; they run inside the
docker-compose SITL replay harness.

Per-area test counts (this batch):

| File | Tests added |
|------|-------------|
| `test_gcs_telemetry_evaluator.py` (new) | 39 |
| `test_sitl_observer.py` (edited) | 4 |
| `test_directory_layout.py` (edited) | 3 (path entries) |
| `test_no_sut_imports.py` (no edit; broader walk) | implicit +1 module covered |
| **Total** | **+46** |

## Acceptance Criteria Verification

| AC  | Status | Evidence |
|-----|--------|----------|
| AC-1 — GCS rate ∈ [1, 2] Hz over 60 s window | ✓ | `test_ft_p_12_gcs_downsample` + 10 `compute_gcs_summary_rate` unit tests (boundary, degeneracy, custom bounds) |
| AC-2 — FDR ack ≤ 2 s after inject | ✓ | `test_ft_p_13_gcs_command` + 6 `correlate_hint_acks` unit tests |
| AC-3 — `anchor_search_region` shifts toward hint | ✓ | `test_ft_p_13_gcs_command` + 5 `evaluate_search_region_shift` + 3 `haversine_distance_m` unit tests |
| AC-4 — No security/auth rejection in window | ✓ | `test_ft_p_13_gcs_command` + 7 `detect_hint_rejection` unit tests |
| AC-5 — Parameterised per `(fc_adapter, vio_strategy)` | ✓ | `pytest --collect-only` shows 6 param IDs per scenario |

## Code Review Verdict
PASS_WITH_WARNINGS (no Critical, no High; 2 Low notes — see
`reviews/batch_81_review.md`).

## Auto-Fix Attempts
0 (no auto-fix-eligible findings).

## Stuck Agents
None.

## Notable Decisions

* **`HintAckReport.passes` returns False for empty hints.** The
  scenario test pre-checks `if not hints: pytest.fail(...)` before
  calling `correlate_hint_acks`, so the evaluator never observes
  an empty list in practice. Leaving the conservative semantic in
  place — "no hints" is a misuse of the correlator, not a trivial
  pass — and pushing the explicit failure upstream where the
  contextual error message ("the fixture builder must inject at
  least one operator re-loc hint") is more useful.
* **AC-3's `passes` is non-strict shift.** A region exactly
  equidistant before/after the inject is treated as "not biased"
  (`distance_after_m < distance_before_m` is strict). This matches
  the spec wording "shifts toward the hinted location" — zero
  movement is not a shift. Documented in
  `SearchRegionShiftReport.passes`.
* **Counted `GLOBAL_POSITION_INT` only for AC-6.1, not the
  `NAMED_VALUE_FLOAT` companion.** The QGC adapter pairs them so
  counting both would double-count. The position message is the
  contract-relevant half; the NAMED_VALUE_FLOAT carries the decorative
  horizontal-uncertainty annotation.
* **Tests are shaped to fail loudly when the upstream production
  hooks are missing.** AC-2 requires the C8 adapter to translate an
  inbound STATUSTEXT into an FDR `c8.gcs.operator_command` record;
  AC-3 requires the C2 backbone to emit `anchor_search_region` FDR
  records. Both are deferred work outside AZ-420's scope. The
  scenario tests skip cleanly when no fixture is present
  (`sitl_replay_ready=False`) and fail with a specific error when
  the fixture exists but lacks the expected hint or ack records.
  This is the "tests as gates" pattern called out in the implement
  skill.

## Production Dependencies (forward-look)

FT-P-13 transitively depends on:

* **Inbound STATUSTEXT command parser** in
  `c8_fc_adapter/mavlink_gcs_adapter.py`. Currently the adapter emits
  but does not consume STATUSTEXT. The C12
  `MavlinkOperatorCommandTransport` concrete impl is a Protocol-only
  stub.
* **`anchor_search_region` FDR record** emitted by the C2 backbone
  per nav-camera frame. The FDR schema (AC-NEW-3 family) reserves
  the slot but no producer wires it.

These gaps are surfaced (not silently absorbed) by the scenario
tests when the fixture builder produces a tlog without the
corresponding fixtures. They will be picked up by future production
implementation tasks; AZ-420 owns the test surface only.

## Out of Scope (deferred)

* Spoofed-GPS escalation STATUSTEXT path — owned by FT-N-04 (AZ-426).
* Operator-reloc-request emission negative-path — owned by FT-N-03
  (AZ-425).
* The fixture builder's actual `gcs_tlog_<host>.tlog` synthesis (with
  `RELOC:` injection + corresponding FDR `c8.gcs.operator_command`
  ack + `anchor_search_region` records) — owned by AZ-595.

## Next Batch

Batch 82 candidates from `_docs/02_tasks/todo/` (21 tasks remaining):
AZ-421 (FT-P-14), AZ-422 (FT-P-15), AZ-423 (FT-N-01), AZ-424
(FT-N-02). Topo-order leader is AZ-421. Pick at next `/autodev`
invocation per implement-skill rules (≤ 4 tasks, ≤ 20 cp).
