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[AZ-490] C5 set_takeoff_origin entrypoint + bounded-delta GPS gate

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Add operator warm-start path to C5 StateEstimator Protocol and both
implementations (GtsamIsam2StateEstimator, EskfStateEstimator), plus
the third clause of the AZ-385 spoof-promotion gate.

- StateEstimator Protocol: set_takeoff_origin(origin, sigma_horiz_m,
  sigma_vert_m) -> None.
- iSAM2: PriorFactorPose3 at origin with diagonal sigmas, single
  isam2.update().
- ESKF: zero _nominal_pos, overwrite _P position block with sigma**2.
- SourceLabelStateMachine.process_gps_sample bounded-delta clause:
  WgsConverter.horizontal_distance_m vs smoother estimate; reject
  resets the dwell-time counter so AZ-385 cannot re-promote off bad
  GPS.
- New EstimatorAlreadyStartedError (StateEstimatorConfigError
  subclass) on late call after first add_*.
- C5StateConfig: spoof_promotion_bounded_delta_m=200,
  default_takeoff_origin_sigma_horiz_m=5,
  default_takeoff_origin_sigma_vert_m=10.
- New GpsSample DTO + WgsConverter.horizontal_distance_m helper.
- 4 new FDR kinds (cold_start_origin.{set,unavailable},
  gps_bounded_delta.{accept,reject}) registered in AZ-272 schema.
- 33 new unit tests cover AC-1..AC-15; full repo 750 passed / 2
  skipped (pre-existing CI tooling skips).

Docs synced: protocol contract, C5 component description,
architecture, glossary, system-flows, C10 provisioning description.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-12 02:53:58 +03:00
parent 72a06edab0
commit 8a83166261
23 changed files with 1640 additions and 26 deletions
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_docs/02_document/glossary.md
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@@ -82,7 +82,7 @@ Terms are alphabetical. Each entry: one-line definition + parenthetical source.
**Suite Sat Service** — Synonym for `satellite-provider` used in earlier docs (problem.md, restrictions.md, solution_draft01/02). The actual implementation in the parent suite is the .NET 8 service; "Suite Sat Service" is the role name. (source: `restrictions.md`, parent-suite `satellite-provider/README.md`)
**Takeoff origin** — `LatLonAlt` baked into the C10 Manifest by C12 at build time from `Flight.waypoints[0]`. Consumed at boot by C5 via `set_takeoff_origin(origin, sigma_m)` (AZ-490) as a Bayesian prior on the initial pose — iSAM2 attaches a `PriorFactorPose3`; ESKF seeds the nominal position + position-block covariance. Primary cold-start trust anchor per ADR-010; FC EKF GPS is secondary. (source: ADR-010, AZ-490)
**Takeoff origin** — `LatLonAlt` baked into the C10 Manifest by C12 at build time from `Flight.waypoints[0]`. Consumed at boot by C5 via `set_takeoff_origin(origin, sigma_horiz_m, sigma_vert_m)` (AZ-490) as a Bayesian prior on the initial pose — iSAM2 attaches a `PriorFactorPose3` at `Pose3.Identity()` (origin BECOMES the local-ENU (0,0,0) anchor); ESKF seeds the nominal position to (0,0,0) + position-block covariance to `diag(sigma_horiz_m², sigma_horiz_m², sigma_vert_m²)`. Primary cold-start trust anchor per ADR-010; FC EKF GPS is secondary. (source: ADR-010, AZ-490)
**Tier-1 / Tier-2** — Testing-environment split: Tier-1 = workstation Docker (fast/cheap); Tier-2 = Jetson hardware (AC-bound). Both appear in the deployment plan and CI matrix per finding F6. (source: `_docs/02_document/tests/environment.md`)