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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/system-flows.md
+4 -4
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@@ -235,7 +235,7 @@ sequenceDiagram
FC-->>Companion: first telemetry frame
Note over Companion,Pipeline: Cold-start ladder (ADR-010, AZ-490). Operator-origin from Manifest is primary; FC EKF GPS is secondary
alt Manifest carries takeoff_origin (AZ-490 primary path)
Companion->>Pipeline: C5.set_takeoff_origin(manifest.takeoff_origin, sigma_m) BEFORE any add_vio / add_fc_imu
Companion->>Pipeline: C5.set_takeoff_origin(manifest.takeoff_origin, sigma_horiz_m, sigma_vert_m) BEFORE any add_vio / add_fc_imu
else Manifest has no takeoff_origin AND FC EKF GPS is valid (AZ-419 secondary path)
Companion->>FC: query FC EKF last valid GPS + IMU-extrapolated pose (AC-5.1)
FC-->>Companion: warm-start pose
@@ -267,9 +267,9 @@ flowchart TD
SignOk -->|no| RefuseTakeoff
SignOk -->|yes| OriginGate
InavOpen --> OriginGate{Manifest carries takeoff_origin?}
OriginGate -->|yes ADR-010 AZ-490 primary| OperatorOrigin[C5.set_takeoff_origin manifest.takeoff_origin sigma_m]
OriginGate -->|yes ADR-010 AZ-490 primary| OperatorOrigin[C5.set_takeoff_origin manifest.takeoff_origin sigma_horiz_m sigma_vert_m]
OriginGate -->|no| FcEkfGate{FC EKF reports valid non-spoofed GPS?}
FcEkfGate -->|yes AZ-419 secondary| FcOrigin[C5.set_takeoff_origin fc_gps_origin fc_gps_sigma]
FcEkfGate -->|yes AZ-419 secondary| FcOrigin[C5.set_takeoff_origin fc_gps_origin fc_gps_sigma_horiz fc_gps_sigma_vert]
FcEkfGate -->|no| NoOrigin[Stay INITIALIZING and apply FT-P-11 takeoff-abort policy]
OperatorOrigin --> WarmPipeline
FcOrigin --> WarmPipeline
@@ -290,7 +290,7 @@ flowchart TD
| 4 | Companion | C7 / TensorRT | `.engine` deserialize | TensorRT IRuntime |
| 5 | Companion | FC (AP) | signing seed + handshake | MAVLink 2.0 signing |
| 6 | FC | Companion | warm-start pose + IMU/attitude/GPS health | MAVLink (AP) / MSP2 + MAVLink outbound (iNav) |
| 7 | Companion | C5 `StateEstimator` (AZ-490) | `set_takeoff_origin(origin, sigma_m)` with origin = `manifest.takeoff_origin` (primary) OR FC-EKF GPS (secondary) | in-process Protocol method |
| 7 | Companion | C5 `StateEstimator` (AZ-490) | `set_takeoff_origin(origin, sigma_horiz_m, sigma_vert_m)` with origin = `manifest.takeoff_origin` (primary) OR FC-EKF GPS (secondary) | in-process Protocol method |
| 8 | Companion | C13 FDR | startup record (config snapshot, signing key rotation event, content-hash digests, chosen cold-start origin source) | FDR record |
### Error scenarios