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[AZ-390] [AZ-392] C8 FC/GCS adapter foundation + covariance projector

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Adds the C8 foundation:
- FcAdapter / GcsAdapter / ReplaySink Protocols + contract DTOs in
  _types/fc.py (PortConfig, FcKind, FlightState, GpsStatus, Severity,
  TelemetryKind, FcTelemetryFrame, FlightStateSignal, GpsHealth,
  OperatorCommand, Subscription, Imu/Attitude samples).
- Disjoint FcAdapterError / GcsAdapterError trees with
  SourceSetSwitchNotSupportedError <: SourceSetSwitchError per AC-9.
- FcConfig + GcsConfig cross-cutting Config blocks with config-load
  validation (unknown strategy rejected at __post_init__).
- runtime_root/fc_factory.py: build_fc_adapter / build_gcs_adapter
  with BUILD_FC_*/BUILD_GCS_* flag gating + INFO log on load +
  single-writer outbound-thread binding.
- CovarianceProjector (helper, AZ-392): 6x6 -> 3x3 -> 2x2 ->
  sqrt(lambda_max) reduction; AP returns float m, iNav returns int mm
  with uint16 clamp + WARN + FDR record. Non-SPD / NaN / wrong-shape
  raise FcEmitError and emit an FDR ERROR record carrying frame_id.

Contracts:
- composition_root_protocol.md 1.1.0 -> 1.2.0 (added fc/gcs blocks +
  build_fc_adapter / build_gcs_adapter + outbound-thread binding).
- fc_adapter_protocol.md unchanged (this batch implements v1.0.0).

Tests: 410 pass / 2 skip / 0 fail (+53 new tests in batch 8).

AZ-391 (inbound subscription) deferred to batch 9 — pulls YAMSPy as
a new external dependency (iNav MSP2 decode).

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-11 04:17:59 +03:00
parent e4ecdaf619
commit 362e93c626
22 changed files with 1909 additions and 59 deletions
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_docs/02_document/contracts/shared_config/composition_root_protocol.md
+2 -1
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@@ -3,7 +3,7 @@
**Component**: shared_config (cross-cutting concern owned by E-CC-CONF / AZ-246)
**Producer tasks**: AZ-269 (config loader + outer Config) and AZ-270 (compose_root + compose_operator + StrategyNotLinkedError)
**Consumer tasks**: every component task that takes a config block; `runtime_root.py` and `operator_tool/__main__.py` (the two composition-root entrypoints)
**Version**: 1.1.0
**Version**: 1.2.0
**Status**: draft
**Last Updated**: 2026-05-11
@@ -119,3 +119,4 @@ change (AC-NEW-3 / RESTRICT-UAV-4).
|---------|------|--------|--------|
| 1.0.0 | 2026-05-10 | Initial contract derived from E-CC-CONF epic (AZ-246) | autodev decompose Step 2 |
| 1.1.0 | 2026-05-11 | Add takeoff sequence section + `EXIT_FDR_OPEN_FAILURE` (AZ-296) | autodev batch 7 |
| 1.2.0 | 2026-05-11 | Add cross-cutting `fc` (`FcConfig`) and `gcs` (`GcsConfig`) blocks + `build_fc_adapter` / `build_gcs_adapter` factories + outbound-thread single-writer binding (AZ-390) | autodev batch 8 |