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[AZ-776] Open-loop ESKF composition profile via c4_pose.enabled

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ADR-012: add c4_pose.enabled (default True) and enforce the
(c4_pose.enabled, c5_state.strategy) 2x2 pairing matrix at compose
time. When enabled=false, compose_root removes c4_pose from the
selection map and build_pre_constructed omits c5_isam2_graph_handle.
Replay protocol Invariant 13 owns the gate. Tier-2 conftest YAML
writes the open-loop profile; un-xfails AC-1/2/5 and both AC-6
variants in Derkachi (AC-3 stays xfailed for AZ-777). 319/319
runtime_root + c4_pose + c5_state tests green.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-21 13:40:01 +03:00
parent 6044a33197
commit 8de2716500
10 changed files with 687 additions and 83 deletions
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_docs/02_document/components/06_c4_pose/description.md
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**Cycle-1 operational reality**: the airborne binary wires C4 through `_STRATEGY_REGISTRY` + `register_airborne_strategies()` (AZ-591) with a single strategy slot (`opencv_gtsam` — `C4PoseConfig.KNOWN_POSE_STRATEGIES = {"opencv_gtsam"}`). Constructor injection flows through the `pre_constructed` dict passed to `compose_root(config, pre_constructed=...)` (AZ-618 umbrella → AZ-623 c5 helpers phase + AZ-625 eager iSAM2 handle phase). The `c4_pose` slot lists `("c282_ransac_filter", "c5_wgs_converter", "c5_se3_utils", "c5_isam2_graph_handle")` in `AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS`; `c13_fdr` and `clock` are optional. The `c5_isam2_graph_handle` slot is the **shared GTSAM substrate seam** — `build_pre_constructed` eagerly invokes `build_state_estimator` once (AZ-625 / Phase E.5) so the (`StateEstimator`, `ISam2GraphHandle`) tuple is constructed BEFORE either the C4 or C5 wrapper runs (C4 runs first in topo order via `_C4_POSE_DEPENDS_ON = ("c1_vio", "c3_matcher")`, then C5 short-circuits on the prebuilt estimator via the internal `_c5_prebuilt_estimator` key). The cross-seam identity invariant (`c4_pose._isam2_handle is c5_state._isam2_handle`) is verified by AC-625.3. Missing required keys raise `AirborneBootstrapError` at composition time, naming the consumer and missing key.
**Enabled flag (AZ-776 / ADR-012)**: `C4PoseConfig.enabled: bool = True` is the user-facing switch that controls C4's participation in the composition graph. Default ON preserves the ADR-003 steady-state airborne path. Setting `c4_pose.enabled = false` in YAML removes C4 from the component selection map at compose time — the wrapper never runs, the consumer never sees an iSAM2 handle, and `build_pre_constructed` omits `c5_isam2_graph_handle` from the `pre_constructed` dict. The flag exists to support the open-loop ESKF composition profile (the AZ-265 replay Tier-2 smoke baseline) where C5 runs as the `eskf` strategy with no factor graph for C4 to anchor against. `compose_root` enforces the 2×2 pairing matrix between `c4_pose.enabled` and `c5_state.strategy` at compose time and rejects the off-diagonal cells (`enabled=False` + `gtsam_isam2`, `enabled=True` + `eskf`) with a `CompositionError`. See ADR-012 (architecture.md) and Invariant 13 in `_docs/02_document/contracts/replay/replay_protocol.md`.
**Upstream dependencies**:
- C3.5 → `MatchResult` (refined or passthrough).
- C5 StateEstimator — supplies the GTSAM iSAM2 handle so C4 can add its factor in-graph (architecture principle: shared substrate per ADR-003).