[AZ-409] [AZ-412] [AZ-413] Batch 70: FT-P-01/04/05/06 scenarios

AZ-409 (3pt) — FT-P-01 still-image frame-center accuracy:
- accuracy_evaluator.py: GT loader + Vincenty error + AC-2/AC-3 pass-counts
- test_ft_p_01_still_image_accuracy.py: scenario gated on frame_source_replay
  + sitl_observer NotImplementedError; AC-4 timeout discipline

AZ-412 (3pt) — FT-P-04 Derkachi f2f registration >=95% on normal segments:
- registration_classifier.py: accel-derived attitude + overlap heuristic
  + success ratio with AC-3 sharp-turn exclusion
- test_ft_p_04_derkachi_f2f_registration.py: scenario gated on
  frame_source_replay + imu_replay + fdr_reader

AZ-413 (3pt) — FT-P-05 + FT-P-06 cross-domain MRE budgets:
- mre_evaluator.py: per-image budget (strict <2.5px) + 95th-percentile
  via numpy linear interp + combined report
- test_ft_p_05_sat_anchor.py: cross-domain scenario, reuses
  accuracy_evaluator for geodesic join
- test_ft_p_06_mre_budgets.py: pure piggyback on FT-P-04 + FT-P-05 CSV
  evidence; skips when either upstream CSV missing

Tests: 325 unit tests pass (+77 vs batch 69).
Reports: batch_70_report.md, batch_70_review.md (PASS).
Co-authored-by: Cursor <cursoragent@cursor.com>

_docs/03_implementation/batch_70_report.md

@@ -0,0 +1,209 @@
+# Batch 70 Report — Test Implementation (cycle 1, batch 4 of test phase)
+
+**Batch**: 70
+**Date**: 2026-05-16
+**Context**: Test implementation (greenfield Step 10 — Implement Tests)
+**Tasks**: AZ-409 (3pt), AZ-412 (3pt), AZ-413 (3pt) — 9 cp / 3 tasks
+**Cycle**: 1
+**Verdict**: COMPLETE — PASS (self-reviewed; see `reviews/batch_70_review.md`)
+
+## Summary
+
+Three pure-positive scenarios on the same Derkachi + still-image fixtures
+that AZ-407 / AZ-408 set up. Each follows the now-established
+batch-69 pattern:
+
+* A pure-logic helper module under `e2e/runner/helpers/` (everything the
+  scenario needs except docker-bound replay + observation).
+* A scenario file under `e2e/tests/positive/` parameterized across
+  `(fc_adapter, vio_strategy)` and skip-gated on upstream helper
+  `NotImplementedError` (auto-activates when the harness lands).
+* A unit-test file under `e2e/_unit_tests/helpers/` that drives the
+  helper directly with synthetic + real-fixture data.
+
+### AZ-409 — FT-P-01 still-image frame-center accuracy (3pt)
+
+* **`runner/helpers/accuracy_evaluator.py`** — `load_gt_coordinates`
+  parses `_docs/00_problem/input_data/coordinates.csv`; `evaluate`
+  joins by `image_id`, computes Vincenty geodesic distance via
+  `geo.distance_m`, and produces per-image + aggregate reports. The
+  three thresholds are exposed as module constants
+  (`PASS_COUNT_50M_REQUIRED=48`, `PASS_COUNT_20M_REQUIRED=30`,
+  `TOTAL_IMAGES_REQUIRED=60`) so a future spec change has exactly one
+  place to flip. `AggregateReport.overall_pass` is the boolean the
+  scenario asserts.
+* **`tests/positive/test_ft_p_01_still_image_accuracy.py`** — pytest
+  scenario, gated on `frame_source_replay.replay_image_directory` +
+  `sitl_observer.get_observer`. Pushes one image at a time with a 5 s
+  per-image timeout; timeouts are recorded as `(inf, inf)` and propagate
+  to `pass_50m=false`, `pass_20m=false`, `error_m=inf` per AC-4.
+* **20 unit tests** in `test_accuracy_evaluator.py`.
+
+### AZ-412 — FT-P-04 Derkachi frame-to-frame registration ≥95 % (3pt)
+
+* **`runner/helpers/registration_classifier.py`** — derives bank +
+  pitch from SCALED_IMU2 accelerometer (spec-mandated; AC-1 prohibits
+  internal SUT attitude). The classifier expands each 10 Hz IMU row
+  into 3 video-frame indices (30 fps / 10 Hz = 3), classifies each
+  frame as normal iff bank/pitch ∈ ±10° AND inferred prior-frame
+  overlap ≥40 %, then exposes a `compute_success_ratio(classifications,
+  registration_success_by_frame)` that returns a typed `SuccessReport`
+  with `excluded_by_{attitude,overlap,missing_metric}` counts so AC-3
+  diagnostics survive in the run report.
+* **Inferred-overlap heuristic** — translation = horizontal velocity ×
+  (1/30 s); overlap = `1 - translation / ground_footprint_m` clamped to
+  [0, 1]; default ground footprint = 147 m (derived from the camera_info.md
+  ~141 m altitude × 55° HFOV). The heuristic is explicitly an upper bound;
+  the docstring records the assumption so a future calibration change has
+  the tunable in one place.
+* **`tests/positive/test_ft_p_04_derkachi_f2f_registration.py`** —
+  gated on `frame_source_replay`, `imu_replay`, `fdr_reader`. Reads
+  per-frame `registration_success` from `frame_metric` FDR records;
+  emits `ft-p-04-{fc_adapter}-{vio_strategy}.csv`; asserts AC-2.
+* **26 unit tests** in `test_registration_classifier.py` (including
+  attitude round-trips for ±30° roll/pitch, the reproducibility check
+  on the real first 100 IMU rows, and the boundary ratio cases).
+
+### AZ-413 — FT-P-05 + FT-P-06 cross-domain MRE budgets (3pt)
+
+* **`runner/helpers/mre_evaluator.py`** — three independent reports:
+  `PerImageBudgetReport` (FT-P-05 AC-2: every MRE < 2.5 px, strict <),
+  `P95Report` (single-domain p95 < budget), `CombinedP95Report` (FT-P-06
+  AC-4: both domains pass). The 95th percentile uses
+  `numpy.percentile(..., method='linear')` — exactly what the spec
+  mandates. `load_frame_to_frame_csv` raises `ValueError` if the
+  FT-P-04 CSV lacks an `mre_px` column (forces the failure to surface
+  at the SUT-contract layer rather than silently passing).
+* **`tests/positive/test_ft_p_05_sat_anchor.py`** — gated scenario that
+  pushes the 60 images, joins MRE with GT-error via
+  `accuracy_evaluator.evaluate`, emits `ft-p-05.csv`, asserts AC-2 + AC-3.
+* **`tests/positive/test_ft_p_06_mre_budgets.py`** — pure piggyback that
+  reads `ft-p-04-*.csv` + `ft-p-05-*.csv` from the same run and asserts
+  AC-4. Skips (does NOT fail) if either upstream CSV is missing — that
+  failure mode is the FT-P-04 / FT-P-05 scenario's responsibility.
+* **22 unit tests** in `test_mre_evaluator.py`.
+
+## Files added / modified
+
+### Added (9)
+
+AZ-409:
+* `e2e/runner/helpers/accuracy_evaluator.py`
+* `e2e/tests/positive/test_ft_p_01_still_image_accuracy.py`
+* `e2e/_unit_tests/helpers/test_accuracy_evaluator.py`
+
+AZ-412:
+* `e2e/runner/helpers/registration_classifier.py`
+* `e2e/tests/positive/test_ft_p_04_derkachi_f2f_registration.py`
+* `e2e/_unit_tests/helpers/test_registration_classifier.py`
+
+AZ-413:
+* `e2e/runner/helpers/mre_evaluator.py`
+* `e2e/tests/positive/test_ft_p_05_sat_anchor.py`
+* `e2e/tests/positive/test_ft_p_06_mre_budgets.py`
+* `e2e/_unit_tests/helpers/test_mre_evaluator.py`
+
+### Modified (2)
+
+* `e2e/_unit_tests/test_directory_layout.py` — added 3 helper paths and
+  4 scenario paths (the FT-P-01/04/05/06 scenarios; FT-P-02 + FT-P-03/14
+  were added in batch 69).
+* `_docs/_autodev_state.md` — batch 70 pointer.
+
+## Spec / module-layout drift notes
+
+* **AZ-409 AC-5 says "four times" (the 4-variant matrix);** the conftest
+  currently parameterises `(fc_adapter, vio_strategy)` as 2 × 3 = 6
+  variants (`vins_mono` was added in AZ-406 alongside `okvis2` and
+  `klt_ransac`). AC-5 reads "the conftest's `(fc_adapter, vio_strategy)`
+  parameterization" first, with the 4-variant list as an example — so
+  the conftest is authoritative. No code change needed; flagged here so
+  the audit trail sees the discrepancy.
+* **AZ-412 / AZ-413 same observation** — both ACs say "per
+  parameterization" without pinning a count; the conftest's 6-variant
+  matrix is what runs.
+* **AZ-412 attitude convention** — the helper docstring records the
+  Z-down + accel-decomposition assumption explicitly (the SCALED_IMU2
+  wire format doesn't ship attitude). Roll/pitch ±30° round-trips are
+  tested to confirm the decomposition.
+* **AZ-412 ground footprint** — default 147 m is derived from
+  `camera_info.md` (~141 m alt, ~55° HFOV). Recorded as a module
+  constant + classifier kwarg so a future re-calibration touches one
+  place.
+* **AZ-413 strict `<` boundary** — AC-2 says "MRE < 2.5 px"; the helper
+  uses `<` (not `≤`), and the unit test
+  `test_evaluate_per_image_budget_single_fail_fails_overall` proves a
+  2.5 px reading FAILS. Removes the boundary ambiguity.
+
+## Test Results
+
+### Focused tests (Step 6.4)
+
+`pytest e2e/_unit_tests/` — **325 passed in 172.07s** (was 248 at end
+of batch 69; +77 new tests across this batch).
+
+Breakdown of new tests:
+
+* AZ-409 — 20 tests
+* AZ-412 — 26 tests
+* AZ-413 — 22 tests
+* AZ-409/412/413 directory_layout entries — 9 new parametrize cases
+
+Scenario collection: 6 scenario files × parametrize matrix yields 42
+collected items in `e2e/tests/positive/` (all 4 new scenario files plus
+the 2 from batch 69). Every scenario file remains correctly skip-gated;
+no premature activation.
+
+### No full-project pytest run
+
+Per the implement skill's Test-Run Cadence, Step 16 owns the only
+full-project suite invocation; batches run focused tests only.
+
+## AC Test Coverage
+
+See `reviews/batch_70_review.md` for the per-AC traceability table. In
+summary: every unit-testable AC is covered; every runtime-only AC
+(end-to-end harness loop) is documented as gated and auto-activating
+when the upstream helpers land.
+
+## Code Review Verdict
+
+Self-reviewed — PASS. See `reviews/batch_70_review.md` for the full
+sweep (no Critical / High / Medium / Low findings).
+
+## Auto-Fix Attempts
+
+0. No code-review failures — auto-fix gate was not entered.
+
+## Stuck Agents
+
+None.
+
+## Deferred follow-ups
+
+Unchanged from batch 69 (same list, same owners):
+
+* `runner.helpers.frame_source_replay.FrameSourceReplayer.{replay_video,
+  replay_image_directory}` — owned by AZ-441.
+* `runner.helpers.fdr_reader.iter_records` — owned by AZ-441.
+* `runner.helpers.imu_replay.ImuReplayer.replay` — owned by AZ-407
+  per scaffold docstring (not landed yet).
+* `runner.helpers.sitl_observer.get_observer` — owned by AZ-416 / AZ-417.
+* `runner.helpers.mavproxy_tlog_reader.iter_messages` — owned by AZ-416.
+
+This batch did not introduce any new debt.
+
+## Next Batch
+
+Batch 71 candidate set (all are 3pt scenario tasks unblocked by this
+batch's helpers + existing AZ-407 fixtures):
+
+* AZ-414 (FT-P-07 + FT-N-02 — sharp-turn behaviour)
+* AZ-415 (FT-P-08 — multi-segment relocalisation)
+* AZ-418 (FT-P-10 — smoothing lookback) — 3pt
+
+Likely composition: ~9 cp across 3 tasks, same shape as batches 69–70.
+
+The next milestone after batches 71–72 will be the K=3 cumulative
+review covering batches 70, 71, 72 (the current `last_cumulative_review`
+is `batches_67-69`).

_docs/03_implementation/reviews/batch_70_review.md

@@ -0,0 +1,131 @@
+# Code Review Report
+
+**Batch**: 70 — AZ-409, AZ-412, AZ-413
+**Date**: 2026-05-16
+**Verdict**: PASS
+
+## Findings
+
+(none)
+
+## Findings Sweep
+
+### Phase 1 — Context Loading
+
+Loaded specs `AZ-409_ft_p_01_still_image_accuracy.md`,
+`AZ-412_ft_p_04_derkachi_f2f_registration.md`,
+`AZ-413_ft_p_05_06_sat_anchor_mre.md`,
+`_docs/00_problem/input_data/expected_results/results_report.md`
+(authoritative Pass/Fail Rules), plus the existing `geo.py`,
+`anchor_pair_detector.py`, `estimate_schema.py` helpers for pattern
+re-use.
+
+### Phase 2 — Spec Compliance
+
+**AZ-409 (FT-P-01)**
+
+| AC | Test | Status |
+|----|------|--------|
+| AC-1 (per-image distance computed) | `test_evaluate_all_pass_yields_overall_pass`, `test_evaluate_full_timeout_run_produces_zero_pass_counts` | Covered |
+| AC-2 (≥48/60 within 50 m) | `test_evaluate_boundary_threshold_holds`, `test_evaluate_below_50m_threshold_fails_overall` | Covered |
+| AC-3 (≥30/60 within 20 m) | `test_evaluate_boundary_threshold_holds`, `test_evaluate_below_20m_threshold_fails_overall` | Covered |
+| AC-4 (timeout discipline) | `test_compute_per_image_timeout_sets_inf_and_false_flags`, `test_evaluate_missing_estimate_recorded_as_timeout` | Covered |
+| AC-5 (parametrization 6 variants) | Verified via `pytest --collect-only` — 6 variants collected | Covered |
+| Runtime push-to-SITL end-to-end | gated by `_harness_helpers_implemented` on `frame_source_replay` + `sitl_observer` | NOT COVERED (harness-loop, same pattern as batch 69 AZ-410/AZ-411) |
+
+**AZ-412 (FT-P-04)**
+
+| AC | Test | Status |
+|----|------|--------|
+| AC-1 (classification reproducibility) | `test_classify_frames_is_reproducible_ac1` (uses real Derkachi data_imu.csv first 100 rows) | Covered |
+| AC-2 (success ratio ≥ 0.95) | `test_compute_success_ratio_perfect_run_passes`, `test_compute_success_ratio_at_95_pct_passes`, `test_compute_success_ratio_below_95_pct_fails` | Covered |
+| AC-3 (sharp-turn frames excluded from denominator) | `test_classify_frames_excludes_sharp_roll`, `test_compute_success_ratio_excludes_sharp_turn_from_denominator_ac3`, `test_compute_success_ratio_handles_missing_metric_separately` | Covered |
+| AC-4 (parametrization 6 variants) | Verified via `pytest --collect-only` | Covered |
+| Runtime full Derkachi replay | gated by `_harness_helpers_implemented` on `frame_source_replay`, `imu_replay`, `fdr_reader` | NOT COVERED (harness-loop) |
+
+**AZ-413 (FT-P-05 + FT-P-06)**
+
+| AC | Test | Status |
+|----|------|--------|
+| AC-1 (per-image MRE captured) | `test_evaluate_per_image_budget_all_pass` (covers the captured-list path); `test_write_cross_domain_csv_round_trip` (CSV column shape) | Covered |
+| AC-2 (cross-domain MRE < 2.5 px, all 60) | `test_evaluate_per_image_budget_single_fail_fails_overall`, `test_evaluate_per_image_budget_above_boundary_fails` (strict < 2.5 boundary explicitly tested) | Covered |
+| AC-3 (accuracy alongside MRE) | Delegated to `accuracy_evaluator` (already covered by AZ-409 tests); FT-P-05 scenario wires both via `evaluate()` | Covered by reuse |
+| AC-4 (95th-percentile budgets) | `test_evaluate_p95_uses_numpy_linear_interpolation`, `test_evaluate_combined_p95_both_pass`, `test_evaluate_combined_p95_fails_when_frame_to_frame_fails`, `test_evaluate_combined_p95_fails_when_cross_domain_fails` | Covered |
+| AC-5 (parametrization 6 variants per scenario file) | Verified via `pytest --collect-only` — 12 items between FT-P-05 (6) + FT-P-06 (6) | Covered |
+| Runtime push-to-SITL end-to-end | gated by `_harness_helpers_implemented` on `frame_source_replay`, `sitl_observer`, `fdr_reader` | NOT COVERED (harness-loop) |
+
+No Spec-Gap findings.
+
+### Phase 3 — Code Quality
+
+- **SRP** respected per task:
+  - `accuracy_evaluator` owns geodesic distance + pass-count rules only.
+  - `registration_classifier` owns attitude derivation + overlap heuristic + success ratio only.
+  - `mre_evaluator` owns per-image budget + p95 budget only.
+- **Error handling** consistent: every loader raises `FileNotFoundError` on missing input and `ValueError` on header/column drift (matches the AZ-410 / AZ-411 helper pattern).
+- **Naming**: dataclass + function names follow the project's snake_case / CamelCase convention.
+- **Complexity**: longest function is `classify_frames` at ~50 lines (linear pipeline). All others under 30.
+- **Tests assert behaviour**, not just "no exception": geodesic round-trips against real distances, boundary conditions (exactly 48/60, exactly 0.95 ratio, exactly 2.5 px) are explicitly tested.
+- **Spec drift guard**: each helper has a `test_constants_match_spec` test that fails if the public constants drift from the AC text (catches a renamer that touches code but forgets the spec).
+- **Boundary strictness**: AC-2 of FT-P-05 says "MRE < 2.5 px"; the helper uses strict `<` and the test `test_evaluate_per_image_budget_single_fail_fails_overall` proves a 2.5 px reading FAILS. This is the kind of boundary the spec would otherwise be ambiguous on.
+
+### Phase 4 — Security
+
+No SQL, no subprocess, no credentials. CSV loaders validate header columns explicitly; numeric coercion via `float()` / `int()` raises on garbage input.
+
+### Phase 5 — Performance
+
+- All three helpers operate on per-flight-sized data (60 images, ≤14700 frames, ≤4900 IMU rows). Pure-Python loops are fine.
+- `mre_evaluator.evaluate_p95` uses `numpy.percentile` (vectorised).
+- No new I/O patterns beyond CSV read/write.
+
+### Phase 6 — Cross-Task Consistency
+
+- **API stability**: the three new helpers share the same shape pattern as AZ-410's `anchor_pair_detector` and AZ-411's `estimate_schema` — typed `@dataclass(frozen=True)` records, a `load_…` reader, an `evaluate(…)` / `compute_…` core, a `write_csv_evidence` emitter. The FT-P-05 scenario reuses `accuracy_evaluator.evaluate()` (AZ-409) to compute per-image error_m → demonstrates the cross-task consistency in action.
+- **No duplicate symbols across batches**: each helper module owns disjoint public names; the only shared dependency is `runner.helpers.geo.distance_m`.
+- **Scenario-file skip pattern**: all 4 new scenario files (`test_ft_p_01_*`, `test_ft_p_04_*`, `test_ft_p_05_*`, `test_ft_p_06_*`) reuse the `_harness_helpers_implemented` gate pattern from batch 69. Consistent.
+- **Within-batch dep (AZ-413 → AZ-412)**: FT-P-06 reads FT-P-04's CSV (the f2f MRE column). The mre_evaluator's `load_frame_to_frame_csv` explicitly validates that the `mre_px` column is present; if absent (FT-P-04 evidence not yet carrying MRE), FT-P-06 fails with a clear message pointing at the SUT contract (AC-NEW-3 FDR schema). This is the safest failure mode for an inter-task dep.
+
+### Phase 7 — Architecture Compliance
+
+1. **Layer direction**: every new file under `e2e/**`. The `test_no_sut_imports.py` invariant (passes after the run) confirms zero `gps_denied_onboard` imports across all 14 new files.
+2. **Public API respect**: only public names imported across modules (`runner.helpers.{geo,accuracy_evaluator,mre_evaluator}` etc.). No leading-underscore cross-module imports.
+3. **No new cyclic dependencies**: import graph:
+   - `accuracy_evaluator` → `geo`
+   - `registration_classifier` → (none)
+   - `mre_evaluator` → (numpy + stdlib)
+   - `tests.positive.test_ft_p_01_*` → `accuracy_evaluator`
+   - `tests.positive.test_ft_p_04_*` → `registration_classifier`
+   - `tests.positive.test_ft_p_05_*` → `accuracy_evaluator` + `mre_evaluator`
+   - `tests.positive.test_ft_p_06_*` → `mre_evaluator`
+   Linear DAG.
+4. **Duplicate symbols across components**: none.
+5. **Cross-cutting concerns**: pytest plugin registration unchanged from batch 69 (the new helpers don't need a plugin — they're called from scenario test bodies).
+
+No Architecture findings.
+
+Baseline delta section omitted (no `architecture_compliance_baseline.md` for this project).
+
+## AC Test Coverage Summary
+
+| Task | ACs Covered (unit) | NOT COVERED (harness-loop) | Test File |
+|------|---------------------|----------------------------|-----------|
+| AZ-409 | 1, 2, 3, 4, 5 | Runtime push-to-SITL end-to-end | `test_accuracy_evaluator.py` (20 tests) |
+| AZ-412 | 1, 2, 3, 4 | Runtime full Derkachi replay | `test_registration_classifier.py` (26 tests) |
+| AZ-413 | 1, 2, 3, 4, 5 | Runtime push-to-SITL end-to-end | `test_mre_evaluator.py` (22 tests) |
+
+## Verdict: PASS
+
+No Critical, High, Medium, or Low findings. Unit-test layer is complete
+and consistent across the three tasks; runtime end-to-end paths are
+correctly gated and documented as hardware-loop ACs pending the upstream
+`frame_source_replay` / `sitl_observer` / `fdr_reader` / `imu_replay`
+helpers landing.
+
+## Auto-Fix Attempts: 0
+
+No failures — auto-fix gate not entered.
+
+## Stuck Agents: 0
+
+None.

_docs/_autodev_state.md

@@ -12,7 +12,7 @@ sub_step:
 retry_count: 0
 cycle: 1
 tracker: jira
-last_completed_batch: 69
+last_completed_batch: 70
 last_cumulative_review: batches_67-69
 last_step_outcomes:
   step_8: "Code is testable — no changes needed (testability_assessment.md committed; no list-of-changes, no source edits)"