azaion/gps-denied-onboard
1
0
Fork 0
mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-22 12:41:13 +00:00
Code Issues Packages Projects Releases Wiki Activity

[AZ-388] C5 AC-5.2 no-estimate fallback detector + signal emission

Browse Source 
Implements Invariant 9 / AC-5.2: when current_estimate cannot return a
fresh output for >= state.no_estimate_fallback_s (default 3.0 s), emit
ONE engagement signal (FDR kind=c5.state.no_estimate_fallback_engaged
+ GCS STATUSTEXT severity CRITICAL); on recovery, ONE recovery signal
(FDR kind=c5.state.no_estimate_fallback_recovered + STATUSTEXT NOTICE).
Rate-limited via single _in_fallback latch (AC-2: 30 s sustained
no-estimate still emits exactly one engagement).

New FallbackWatcher class owns the state machine; estimator wires it
through constructor + current_estimate entry/success hooks. Public
check_fallback_state(now_ns) watchdog (NFR p99 <= 5 us) + subscribe
APIs let C8 outbound react without coupling C5 to a concrete GCS
adapter at construction. Severity enum extended with CRITICAL=2 and
NOTICE=5 to match MAVLink MAV_SEVERITY.

18 new unit tests across all 8 ACs, deterministic synthetic clock,
integration tests patch monotonic_ns through GtsamIsam2StateEstimator
to drive AC-7 iSAM2 leg (ESKF leg deferred to AZ-386).

Full suite: 607 passed, 2 skipped.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-11 06:53:22 +03:00
parent b3ad94c155
commit 31a300f8a2
7 changed files with 826 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
_docs/_autodev_state.md
+1 -1
View File
@@ -8,7 +8,7 @@ status: in_progress
sub_step:
phase: 6
name: implement-tasks
detail: "batch 15 of N committed (AZ-384 c5 marginals + current_estimate/smoothed_history/health_snapshot + SPD invariant + ENU\u2192WGS84 + IsamState lifecycle + cov_norm_growing_for_s)"
detail: "batch 16 of N committed (AZ-388 c5 ac-5.2 fallback: FallbackWatcher + threshold/rate-limit + FDR engagement/recovery + GCS STATUSTEXT severities + watchdog API + subscriber pattern for C8)"
retry_count: 0
cycle: 1
tracker: jira