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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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tests/e2e/replay/conftest.py
+15 -11
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@@ -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"
)