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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/_autodev_state.md
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@@ -6,9 +6,9 @@ step: 10
name: Implement
status: in_progress
sub_step:
phase: 0
name: awaiting-invocation
detail: "cycle 3 implement: AZ-776 first (no deps), then AZ-777 (depends on AZ-776)"
phase: 7
name: batch-loop
detail: "batch 103 cycle3: AZ-776 implemented, awaiting commit + transition; AZ-777 next"
retry_count: 0
cycle: 3
tracker: jira