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[AZ-387] C5 smoothed-history → FDR side-channel

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After every successful current_estimate(), emit one
c5.state.smoothed_history FDR record per newly-smoothed past
keyframe from IncrementalFixedLagSmoother. AC-4.5 (revised): the
smoothed stream goes ONLY to FDR; the C8 outbound forward-time
stream is unaffected.

Idempotency via _smoothed_fdr_watermark_s (smoother-native float
seconds); the same pose key is never emitted twice. Hook is
best-effort — internal failures log warnings but do not raise, so
a smoother divergence cannot contaminate the forward-time path.

Cross-task invariants documented:
- AC-3 ESKF no-op — AZ-386 installs an inert hook on the ESKF.
- AC-4 No C8 leak — enforced at the C8 boundary by AZ-261.

8 new unit tests against AC-1/2/5/6 + robustness (no-FDR-client,
marginals failure). Full suite: 640 passed, 2 skipped.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-11 07:13:44 +03:00
parent 7cbd17ee83
commit 098aabac0c
5 changed files with 479 additions and 1 deletions
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@@ -8,7 +8,7 @@ status: in_progress
sub_step:
phase: 6
name: implement-tasks
detail: "batch 17 of N committed (AZ-385 c5 source-label state machine + spoof-promotion gate: dwell + visual-consistency conditions + unsilenceable FDR/STATUSTEXT reject path + estimator wire-up via notify_gps_health/subscribe_spoof_rejection)"
detail: "batch 18 of N committed (AZ-387 c5 smoothed-history \u2192 FDR side-channel: per-keyframe FDR emission + timestamp watermark idempotency + AC-4.5 onboard-only path + AC-3/AC-4 cross-task invariants documented)"
retry_count: 0
cycle: 1
tracker: jira