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[AZ-559] [AZ-389] docs: defer AZ-389 to AZ-559 (C6 mid-flight tile gap)

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AZ-389's task spec assumed the existence of `tile_store.put_mid_flight_
candidate(MidFlightTileCandidate)` (in Excluded: "owned by AZ-303 / E-C6"),
but the current TileStore Protocol has only the four-method baseline
shipped under AZ-303 — there is no put_mid_flight_candidate, no
MidFlightTileCandidate DTO, and no MID_FLIGHT_INGEST TileSource enum value.

Filed AZ-559 as a 5pt task to close the C6 storage gap (Protocol method
+ DTO + enum + persistence + freshness/LRU integration + contract
update). Updated AZ-389 spec to depend on AZ-559 (replacing the stale
AZ-303 dep) with a Status: BLOCKED note. Updated the dependencies
table totals: 151 tasks / 502 complexity points.

This is the same dep-gap pattern surfaced for AZ-401 in batch 61
(missing AZ-400 transport-seam retrofit) — the autodev replay-track
sequence is exposing under-spec deliveries upstream. Tracker remains
the source of truth via the new AZ-559 issue + Blocks link.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-14 20:14:47 +03:00
parent 2c31cc094f
commit 4f10fd230f
3 changed files with 8 additions and 6 deletions
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_docs/02_tasks/todo/AZ-389_c5_orthorectifier_c6.md
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**Name**: C5 internal orthorectifier — produces mid-flight tile candidates for C6
**Description**: Implement the orthorectifier sub-path inside C5: when a frame has converged in the iSAM2 graph (≥1 satellite anchor + visual consistency), apply the camera intrinsics + extrinsics + the C5-known pose to orthorectify the nav-camera frame into a tile-aligned image patch; emit a `MidFlightTileCandidate(tile_id, pixels, quality_metadata, source_pose)` to C6 (via the storage interface AZ-303 `tile_store.put_mid_flight_candidate(...)`). Quality metadata: `inlier_count`, `cov_norm`, `pose_age_ms`. The orthorectifier is C5-internal (per epic spec § Scope: "orthorectifier (lives within C5 as an internal subcomponent)"); it consumes the converged pose + nav frame from a per-frame buffer; it emits at most ONE candidate per frame (gated by quality thresholds: `cov_norm < threshold` AND `inlier_count > floor`). Triggered after a successful `current_estimate()` call when quality conditions hold.
**Complexity**: 3 points
**Dependencies**: AZ-384 (`current_estimate` body + cov norm), AZ-385 (only emit candidates when source_label == SATELLITE_ANCHORED), AZ-303 (`TileStore.put_mid_flight_candidate`), AZ-263, AZ-269, AZ-266, AZ-272 (FDR)
**Dependencies**: AZ-384 (`current_estimate` body + cov norm), AZ-385 (only emit candidates when source_label == SATELLITE_ANCHORED), AZ-559 (`TileStore.put_mid_flight_candidate` Protocol method + `MidFlightTileCandidate` DTO + persistence — AZ-303 shipped under-spec, AZ-559 closes the gap), AZ-263, AZ-269, AZ-266, AZ-272 (FDR)
**Status**: BLOCKED on AZ-559 (storage extension). Dependency-gap surfaced during batch 63 of the autodev replay-track sequence; original spec assumed AZ-303 had delivered the mid-flight tile API but it had not.
**Component**: c5_state (epic AZ-260 / E-C5)
**Tracker**: AZ-389
**Epic**: AZ-260 (E-C5)