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

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>

tests/e2e/replay/conftest.py

@@ -136,24 +136,28 @@ def derkachi_replay_inputs(tmp_path_factory: pytest.TempPathFactory) -> Derkachi
         # treats each top-level mapping as a block whose key is a
         # registry slug; nesting the slugs under a `components:`
         # wrapper makes the loader silently drop them (the wrapper
-        # is not a registered slug). See `_docs/_repo` notes on the
-        # ESKF compose-time blocker (AZ-776) for why this matters.
+        # is not a registered slug).
         #
-        # KLT/RANSAC + ESKF is the minimal pair that runs without
-        # native deps (cv2 + numpy only). The CLI currently exits
-        # non-zero at compose time for this configuration: c4_pose
-        # hard-requires an iSAM2 graph handle that ESKF does not
-        # provide (handle=None by design). AZ-776 tracks the fix.
-        # Until AZ-776 lands, every heavy AC test in
-        # `test_derkachi_1min.py` is xfailed with that ticket in
-        # the reason. C2/C3/C4 satellite anchoring additionally
-        # require AZ-777 (Derkachi C6 reference tile cache).
+        # Open-loop ESKF composition profile (AZ-776 / ADR-012):
+        # `c4_pose.enabled = false` strips C4 from the composition
+        # graph so the airborne binary can run the mandatory simple
+        # baseline (KLT/RANSAC VIO + ESKF state estimator) end-to-end
+        # without a C4 anchor. ESKF has no iSAM2 graph for C4 to
+        # anchor against; the `compose_root` validation gate rejects
+        # the off-diagonal pairings (`enabled=False` + `gtsam_isam2`
+        # or `enabled=True` + `eskf`) with a `CompositionError`.
+        # Position drifts open-loop without C2/C3/C4 satellite
+        # re-anchoring — AZ-777 (Derkachi C6 reference tile cache)
+        # is the follow-up that closes the satellite-anchoring half
+        # of the per-frame loop.
         "mode: replay\n"
         "replay:\n"
         "  pace: asap\n"
         "  target_fc_dialect: ardupilot_plane\n"
         "c1_vio:\n"
         "  strategy: klt_ransac\n"
+        "c4_pose:\n"
+        "  enabled: false\n"
         "c5_state:\n"
         "  strategy: eskf\n"
     )

tests/e2e/replay/test_derkachi_1min.py

@@ -58,22 +58,6 @@ _HEAVY_SKIP = pytest.mark.skipif(
 
 @pytest.mark.tier2
 @_HEAVY_SKIP
-@pytest.mark.xfail(
-    reason=(
-        "Blocked by AZ-776: the replay compose root cannot wire "
-        "c5_state=eskf because c4_pose hard-requires an iSAM2 graph "
-        "handle that ESKF does not provide (handle=None by design). "
-        "The CLI exits non-zero at compose time before the per-frame "
-        "loop runs, so this test cannot pass against the current "
-        "runtime. Once AZ-776 ships, an open-loop C1+C5(ESKF) "
-        "composition will allow the CLI to exit 0 and this AC-1 "
-        "test (emit one EstimatorOutput per video frame) can pass. "
-        "Full-pipeline accuracy still requires AZ-777 (Derkachi C6 "
-        "reference tile cache) but AC-1 only needs successful exit, "
-        "not anchor-quality, so AZ-776 alone is sufficient."
-    ),
-    strict=False,
-)
 def test_ac1_exits_0_jsonl_count_match(replay_runner, derkachi_replay_inputs) -> None:
     """Real loop emits one EstimatorOutput per video frame, not per GPS fix.
 
@@ -135,17 +119,6 @@ _ESTIMATOR_OUTPUT_KEYS = frozenset(
 
 @pytest.mark.tier2
 @_HEAVY_SKIP
-@pytest.mark.xfail(
-    reason=(
-        "Blocked by AZ-776 (replay compose root cannot use "
-        "c5_state=eskf). The CLI exits non-zero before any JSONL "
-        "rows are written, so the schema cannot be validated against "
-        "the current runtime. Schema lives in EstimatorOutput and is "
-        "stable; AC-2 can pass as soon as AZ-776 makes the loop "
-        "actually emit rows."
-    ),
-    strict=False,
-)
 def test_ac2_jsonl_schema_match(replay_runner) -> None:
     # Act
     result = replay_runner(pace="asap")
@@ -174,18 +147,13 @@ def test_ac2_jsonl_schema_match(replay_runner) -> None:
 @pytest.mark.xfail(
     reason=(
         "AC-3 requires the C1+C2+C3+C4+C5 satellite-re-anchoring "
-        "pipeline. Two blockers, both tracked: "
-        "(1) AZ-776 — the replay compose root cannot currently wire "
-        "c5_state=eskf at all (c4_pose hard-requires an iSAM2 "
-        "handle ESKF does not provide); the CLI exits non-zero "
-        "before any tick is emitted. "
-        "(2) AZ-777 — once AZ-776 lands, the open-loop C1+C5(ESKF) "
-        "composition will run end-to-end but with NO satellite "
-        "anchoring (no C2/C3/C4) because the Derkachi fixture has "
-        "no reference C6 tile cache. ESKF integrates open-loop, so "
-        "position drifts unbounded over the 8-min flight and the "
-        "≤100m threshold cannot be met by physics. "
-        "AC-3 stays xfail until BOTH AZ-776 and AZ-777 ship."
+        "pipeline. Blocked by AZ-777: with AZ-776 landed, the "
+        "open-loop C1+C5(ESKF) composition now runs end-to-end but "
+        "with NO satellite anchoring (no C2/C3/C4) because the "
+        "Derkachi fixture has no reference C6 tile cache. ESKF "
+        "integrates open-loop, so position drifts unbounded over "
+        "the 8-min flight and the ≤100 m threshold cannot be met "
+        "by physics until the reference tile cache (AZ-777) lands."
     ),
     strict=False,
 )
@@ -410,17 +378,6 @@ def test_ac4_encoder_byte_equality_via_transport_seam() -> None:
 
 @pytest.mark.tier2
 @_HEAVY_SKIP
-@pytest.mark.xfail(
-    reason=(
-        "Blocked by AZ-776: with the compose root failing for "
-        "c5_state=eskf the CLI exits non-zero on both runs, so "
-        "determinism cannot be observed. Once AZ-776 ships, the "
-        "open-loop C1+C5 path is deterministic by construction "
-        "(KLT/RANSAC uses fixed seeds, ESKF is closed-form) and "
-        "AC-5 should pass."
-    ),
-    strict=False,
-)
 def test_ac5_determinism_two_runs_diff(replay_runner) -> None:
     # Act
     r1 = replay_runner(pace="asap")
@@ -450,14 +407,6 @@ def test_ac5_determinism_two_runs_diff(replay_runner) -> None:
 
 @pytest.mark.tier2
 @_HEAVY_SKIP
-@pytest.mark.xfail(
-    reason=(
-        "Blocked by AZ-776: the CLI exits non-zero at compose time, "
-        "so the realtime pacing loop is never reached. Once AZ-776 "
-        "ships, AC-6 realtime can pace the open-loop C1+C5 path."
-    ),
-    strict=False,
-)
 def test_ac6_pace_realtime_60s_within_5pct(replay_runner) -> None:
     # Act — cap to 60 s so a full 490-second flight doesn't pin the test
     # to an 8-minute realtime run; the pacing correctness is validated
@@ -476,15 +425,6 @@ def test_ac6_pace_realtime_60s_within_5pct(replay_runner) -> None:
 
 @pytest.mark.tier2
 @_HEAVY_SKIP
-@pytest.mark.xfail(
-    reason=(
-        "Blocked by AZ-776: the CLI exits non-zero at compose time, "
-        "so the ASAP pacing loop is never reached. Once AZ-776 "
-        "ships, AC-6 ASAP can run the open-loop C1+C5 path "
-        "to completion."
-    ),
-    strict=False,
-)
 def test_ac6_pace_asap_under_30s(replay_runner) -> None:
     # Act
     result = replay_runner(pace="asap")