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[AZ-396] [AZ-397] Batch 11: C8 source-set switch + QGC telemetry adapter

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AZ-396: PymavlinkArdupilotAdapter.request_source_set_switch body sends
MAV_CMD_SET_EKF_SOURCE_SET, awaits COMMAND_ACK with timeout, enforces
Invariant 11 idempotence (1s rate-limit + skip-after-success). Adds
runtime_root.SpoofRecoverySink to bridge C5 spoof-promotion-recovered
signal to the C8 outbound thread via a bounded dispatch queue.
FcConfig gains spoof_recovery_source_set + source_set_switch_timeout_ms.

AZ-397: QgcTelemetryAdapter implements GcsAdapter strategy: MAVLink 2.0
to QGC, emit_summary downsamples 5Hz to configurable summary_rate_hz
[0.5, 5.0] via integer modulo, emit_status_text mirrors to GCS link,
subscribe_operator_commands translates COMMAND_LONG / PARAM_REQUEST_*
/ REQUEST_DATA_STREAM / MISSION_* / SET_MODE into OperatorCommand DTOs
and audits each receipt to FDR. FcKind.GCS_QGC added for PortConfig.

Tests: 25 new (12 AZ-396 + 13 AZ-397); full suite 501 passing, 2 skipped.
Contracts unchanged (additive FcConfig fields, range relaxation on
GcsConfig.summary_rate_hz, additive FcKind enum value).

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-11 05:06:56 +03:00
parent 1e0be08e8a
commit 8a9cf88a46
16 changed files with 1608 additions and 12 deletions
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tests/unit/c8_fc_adapter/test_az393_ardupilot_outbound.py
+9 -4
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@@ -297,12 +297,17 @@ def test_ac8_open_without_signing_key_succeeds(conn: _ConnStub, tmp_path) -> Non
# ----------------------------------------------------------------------
# AC-9: source-set switch raises NotImplementedError
# AC-9: source-set switch is wired (AZ-396 replaced AZ-393's placeholder)
#
# AZ-393's original AC-9 asserted `request_source_set_switch()` raises
# `NotImplementedError`; AZ-396 (batch 11) replaced that placeholder
# with the real body. The AZ-396 AC tests cover the new behaviour;
# the AZ-393 surface is now exercised by those tests rather than this
# one. The check left here verifies the method is present and callable.
def test_ac9_source_set_switch_not_implemented(adapter: PymavlinkArdupilotAdapter) -> None:
with pytest.raises(NotImplementedError, match="AZ-396"):
adapter.request_source_set_switch()
def test_ac9_source_set_switch_method_callable(adapter: PymavlinkArdupilotAdapter) -> None:
assert callable(adapter.request_source_set_switch)
# ----------------------------------------------------------------------