[AZ-432] [AZ-433] [AZ-434] [AZ-435] Add NFT-RES-01..04 resilience scenarios

Batch 86: 4 NFT-RES blackbox scenarios + 4 helper evaluators + 74 unit
tests + directory-layout registration.

* AZ-432 NFT-RES-01: 30 s IMU-only fallback drift bound (AC-3.5 + AC-NEW-7);
  two sub-cases (no_imu ≤100m, good_imu_combined_factor ≤50m).
* AZ-433 NFT-RES-02: companion mid-flight reboot (AC-5.2 + AC-5.3); resume
  ≤30s + first-emission accuracy ≤100m.
* AZ-434 NFT-RES-03: 100-iteration Monte Carlo envelope (AC-NEW-4);
  iteration-count + master-seed determinism + envelope ratio ≥0.95.
  Canonical-param by default; E2E_NFT_RES_03_FULL_MATRIX=1 unlocks matrix.
* AZ-435 NFT-RES-04: 35s blackout+spoof escalation ladder (AC-NEW-8);
  AC-1 (cov-2d→fix-degrade ≤500ms) + AC-2 (failsafe→999+STATUSTEXT
  ≤500ms) + AC-ORDER (strict ordering).

Verdict: PASS_WITH_WARNINGS (0 Critical, 0 High, 0 Medium, 5 Low).
F5 documents intentional threshold duplication with blackout_spoof
evaluator (prevents contract drift between FT-N-04 and NFT-RES-04).

Co-authored-by: Cursor <cursoragent@cursor.com>

_docs/03_implementation/reviews/batch_86_review.md

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+# Code Review Report — Batch 86
+
+**Batch**: 86 (AZ-432 + AZ-433 + AZ-434 + AZ-435 — Resilience NFTs)
+**Date**: 2026-05-17
+**Verdict**: PASS_WITH_WARNINGS
+
+## Findings
+
+| # | Severity | Category | File:Line | Title |
+|---|----------|----------|-----------|-------|
+| 1 | Low | Maintainability | `e2e/runner/helpers/{imu_fallback_drift,companion_reboot,monte_carlo_envelope,escalation_ladder}_evaluator.py` | `write_csv_evidence` duplication continues — now 8 evaluators (carry-over of batch-85 F4) |
+| 2 | Low | Spec-Gap (surfacing) | `e2e/tests/resilience/test_nft_res_01_imu_only_fallback.py` | Sub-case (a) "no IMU" needs SUT-side disable-IMU config OR empty IMU stream; production dep on AZ-595 |
+| 3 | Low | Spec-Gap (surfacing) | `e2e/tests/resilience/test_nft_res_02_companion_reboot.py` | Process-restart observation requires runner-side health probe; AZ-444 owns Tier-2, Tier-1 needs docker-compose healthcheck wiring |
+| 4 | Low | Maintainability | `e2e/tests/resilience/test_nft_res_0{1,2,3,4}_*.py` | `_resolve_fixture_path` duplicated across 4 new scenarios (matches NFT-PERF pattern) |
+| 5 | Low | Maintainability (intentional) | `e2e/runner/helpers/escalation_ladder_evaluator.py` | Thresholds (`COV_2D_THRESHOLD_M`, `COV_FAILSAFE_THRESHOLD_M`, etc.) deliberately re-defined locally rather than imported from `blackout_spoof_evaluator` |
+
+### Finding Details
+
+**F1: `write_csv_evidence` duplication continues** (Low / Maintainability — carry-over)
+- Location: `imu_fallback_drift_evaluator.py`, `companion_reboot_evaluator.py`, `monte_carlo_envelope_evaluator.py`, `escalation_ladder_evaluator.py`
+- Description: Batch-85 surfaced this on 4 evaluators (F4); batch 86 adds 4 more. The pattern is: open file, write header row, write data row(s), close. All 8 evaluators implement it independently.
+- Suggestion: Continued hygiene PBI — extract a `_emit_csv(path, header, rows)` helper. Not blocking; will be surfaced again in the cumulative review of batches 85-87.
+- Task: AZ-432 / AZ-433 / AZ-434 / AZ-435
+
+**F2: Sub-case (a) "no IMU" needs SUT-side disable-IMU path** (Low / Spec-Gap — surfacing)
+- Location: `e2e/tests/resilience/test_nft_res_01_imu_only_fallback.py`
+- Description: AZ-432 sub-case (a) requires the SUT to run with IMU input disabled. The task spec calls out two options: (i) SUT config flag `E2E_NFT_RES_01_DISABLE_IMU=1` (or equivalent) propagated to the SUT, or (ii) empty IMU stream from the FC inbound proxy. Neither path is wired in production code today; the fixture builder (AZ-595) is responsible for setting up the variant that produces the captured no-IMU estimates.
+- Suggestion: Track as production dependency for AZ-595 — the SITL replay builder must emit a `no_imu` sub-case capture using one of those two strategies and label it accordingly in the fixture JSON.
+- Task: AZ-432
+
+**F3: Process-restart observation needs runner-side wiring** (Low / Spec-Gap — surfacing)
+- Location: `e2e/tests/resilience/test_nft_res_02_companion_reboot.py`
+- Description: AZ-433 AC-1 (process restarts within ≤5 s) requires the runner to observe the moment the SUT process is back up. On Tier-2, AZ-444 owns the systemd watchdog observation. On Tier-1, the equivalent docker-compose `healthcheck` transition (`unhealthy → healthy`) is not yet captured into the fixture JSON. The scenario tolerates `process_restarted_monotonic_ms = null` (AC-1 fails loud), but the *positive* path requires the harness.
+- Suggestion: Track as production dependency for AZ-444 (Tier-2) + AZ-595 (Tier-1 docker-compose healthcheck capture).
+- Task: AZ-433
+
+**F4: `_resolve_fixture_path` duplicated across scenarios** (Low / Maintainability)
+- Location: `test_nft_res_0{1,2,3,4}_*.py`
+- Description: Each scenario re-implements the env-var-or-default fixture path resolver (`E2E_NFT_RES_NN_FIXTURE` → absolute or relative to `E2E_SITL_REPLAY_DIR`). The NFT-PERF batch (85) introduced the same pattern across 4 scenarios. Now 8 scenarios duplicate it.
+- Suggestion: Future hygiene PBI — extract a `runner.helpers.fixture_resolver.resolve(env_var, default_name)` utility. Not blocking; isolation per scenario keeps each test self-contained today.
+- Task: AZ-432 / AZ-433 / AZ-434 / AZ-435
+
+**F5: Thresholds intentionally re-defined locally** (Low / Maintainability — intentional)
+- Location: `e2e/runner/helpers/escalation_ladder_evaluator.py:25-40`
+- Description: `COV_2D_THRESHOLD_M = 100.0`, `COV_FAILSAFE_THRESHOLD_M = 500.0`, `DURATION_FAILSAFE_S = 30.0`, `FIX_TYPE_2D = 2`, `HORIZ_ACCURACY_FAILSAFE = 999.0`, `STATUSTEXT_FAILSAFE = "VISUAL_BLACKOUT_FAILSAFE"`, `ESCALATION_LATENCY_MS = 500` are also defined in `blackout_spoof_evaluator.py` under the same numeric values. The duplication is **intentional** — NFT-RES-04 and FT-N-04 must continue to fail loud if either evaluator's contract drifts away from the other. A shared constants module would silently propagate one team's edit into both AC suites.
+- Suggestion: NONE. Documented in `escalation_ladder_evaluator.py` module docstring. If a future cumulative review proposes to "DRY" these, reject and re-cite this finding.
+- Task: AZ-435
+
+## Phase Notes
+
+### Phase 1 — Context
+
+All 4 task specs read; ACs walked through against helpers + scenarios. Architecture-compliance file (`module-layout.md` § blackbox_tests) re-read to confirm `e2e/**` ownership envelope.
+
+### Phase 2 — Spec Compliance
+
+| Task | AC | Evidence |
+|------|----|----------|
+| AZ-432 | AC-1 30 s window | `imu_fallback_drift_evaluator.BlackoutWindow.window_in_spec` + scenario AC-1 assert |
+| AZ-432 | AC-2 no-IMU drift ≤ 100 m | `evaluate_subcase(... SUBCASE_NO_IMU).passes` + 2 unit tests + scenario AC-2 assert |
+| AZ-432 | AC-3 good-IMU drift ≤ 50 m | `evaluate_subcase(... SUBCASE_GOOD_IMU).passes` + 2 unit tests + scenario AC-3 assert |
+| AZ-432 | AC-4 parameterization | 6 collected variants per scenario |
+| AZ-433 | AC-1 restart trigger ≤ 5 s | `companion_reboot_evaluator.passes_restart_trigger` + 4 unit tests + scenario AC-1 assert |
+| AZ-433 | AC-2 resume time ≤ 30 s | `passes_resume_time` + 4 unit tests + scenario AC-2 assert |
+| AZ-433 | AC-3 accuracy ≤ 100 m | `passes_first_emission_accuracy` + 5 unit tests + scenario AC-3 assert |
+| AZ-433 | AC-4 parameterization | 6 collected variants |
+| AZ-434 | AC-1 N ≥ 100 | `monte_carlo_envelope_evaluator.passes_iteration_count` + 3 unit tests + scenario AC-1 assert |
+| AZ-434 | AC-2 determinism | `determinism_fingerprint` + 4 unit tests + scenario dual-evaluate AC-2 assert |
+| AZ-434 | AC-3 envelope ≥ 95 % | `passes_envelope` + 6 unit tests + scenario AC-3 assert |
+| AZ-434 | AC-4 parameterization | Canonical-only by default; `E2E_NFT_RES_03_FULL_MATRIX=1` unlocks full 6 variants |
+| AZ-435 | AC-1 100 m → fix-degrade ≤ 500 ms | `escalation_ladder_evaluator.fix_degrade.passes` + 4 unit tests + scenario AC-1 assert |
+| AZ-435 | AC-2 500 m/30 s → 999+STATUSTEXT ≤ 500 ms | `failsafe.passes` + 6 unit tests + scenario AC-2 assert |
+| AZ-435 | AC-ORDER cov-2d strictly precedes failsafe | `ordering.passes` + 3 unit tests + scenario AC-ORDER assert |
+| AZ-435 | AC-3 parameterization | 6 collected variants |
+
+All ACs PASS.
+
+### Phase 3 — Code Quality
+
+- SRP: each evaluator owns one resilience concern (drift / restart / envelope / ladder). Scenarios are thin adapters.
+- Error handling: explicit `ValueError` on bad helper input (negative latency, unknown sub-case); `pytest.fail()` on bad fixture shape; no bare `except`.
+- Naming: clear (`SubCaseReport`, `RestartEvidence`, `IterationOutcome`, `EscalationLadderReport`); follows project conventions.
+- Complexity: longest function is `escalation_ladder_evaluator.evaluate` (~60 lines), all sequential helper calls — acceptable.
+- DRY: F1 + F4 + F5 noted above.
+- Test quality: every helper public function has ≥3 unit tests covering happy path, boundary, failure; total 74 new unit tests (16 + 19 + 15 + 24).
+
+### Phase 4 — Security Quick-Scan
+
+- No SQL, no `subprocess(shell=True)`, no `eval/exec`, no hardcoded secrets, no insecure deserialization (JSON loads only with explicit shape validation).
+- Pass.
+
+### Phase 5 — Performance Scan
+
+- All evaluators are O(n) single-pass sweeps over their inputs.
+- No nested loops, no N+1 patterns, no blocking I/O in hot paths.
+- Pass.
+
+### Phase 6 — Cross-Task Consistency
+
+- All 4 helpers share `geo.distance_m` (consistent with batch-85 + earlier pattern).
+- All 4 scenarios use the same skip pattern (`sitl_replay_ready` → `pytest.skip`; missing fixture → `pytest.fail`).
+- All 4 scenarios use `nfr_recorder.record_metric` with `ac_id` kwarg consistently.
+- F5 documents the one intentional duplication (escalation-ladder thresholds vs blackout-spoof thresholds).
+
+### Phase 7 — Architecture Compliance
+
+- All new files under `e2e/**` per `module-layout.md` § blackbox_tests `Owns` glob.
+- No imports from `src/gps_denied_onboard/**` (verified — only `runner.helpers.geo`, `runner.helpers.sitl_observer`, `pyproj`, stdlib).
+- No new cyclic dependencies. New evaluators are leaves of the import DAG.
+- No new infrastructure libraries.
+
+## Auto-Fix Gate
+
+0 Critical, 0 High, 0 Medium, 5 Low. All Low findings are either intentional, surfacing, or future hygiene. No auto-fix attempts triggered; no escalation.
+
+## Verdict
+
+**PASS_WITH_WARNINGS**.