[AZ-416] [AZ-417] [AZ-419] Test batch 72: FT-P-09 AP/iNav + FT-P-11 cold start

- AZ-416 (FT-P-09-AP): fills mavproxy_tlog_reader.iter_messages with
  pymavlink body (AZ-406 surface kept); adds ap_contract_evaluator
  covering AC-1 (signing handshake <=5s), AC-2 (GPS_INPUT >=4.5 Hz),
  AC-3 (EK3_SRC1_POSXY=3), AC-4 (GPS_RAW_INT health >=80%); scenario
  forces fc_adapter=ardupilot.
- AZ-417 (FT-P-09-iNav): msp_frame_observer covering AC-2 (MSP rate)
  and AC-3 (fix_type/provider/numSat); scenario forces
  fc_adapter=inav.
- AZ-419 (FT-P-11): cold_start_evaluator covering AC-1 (operator
  manifest origin), AC-2 (FC EKF fallback), AC-3 (no-origin abort),
  AC-4 (bounded-delta conflict, ADR-010 Principle #11 amended);
  scenario parametrized on origin_source plus dedicated no-origin
  abort scenario.
- All scenarios skip-gated on upstream frame_source_replay /
  imu_replay / fdr_reader / sitl_observer extensions.
- +67 unit tests; full e2e unit suite: 460 passed.
- K=3 cumulative review fired: PASS for batches 70-72.

See _docs/03_implementation/batch_72_report.md,
_docs/03_implementation/reviews/batch_72_review.md,
_docs/03_implementation/cumulative_review_batches_70-72_cycle1_report.md.

Co-authored-by: Cursor <cursoragent@cursor.com>

e2e/_unit_tests/helpers/test_msp_frame_observer.py

@@ -0,0 +1,212 @@
+"""Unit tests for ``runner.helpers.msp_frame_observer`` (FT-P-09-iNav / AZ-417).
+
+Covers AC-2 (≥4.5 Hz observed for 5 Hz target) and AC-3 (fix_type ≥3,
+provider=MSP, numSat matches emitted value).
+"""
+
+from __future__ import annotations
+
+import pytest
+
+from runner.helpers.msp_frame_observer import (
+    DEFAULT_TARGET_RATE_HZ,
+    MIN_FIX_TYPE,
+    MIN_OBSERVED_RATE_HZ,
+    MSP2_SENSOR_GPS_FUNCTION_ID,
+    REQUIRED_PROVIDER,
+    InavGpsSnapshot,
+    MspFrameSample,
+    compute_rate_hz,
+    count_frames_by_id,
+    evaluate_inav_gps_state,
+)
+
+
+def _frames(rate_hz: float, n: int, function_id: int = MSP2_SENSOR_GPS_FUNCTION_ID) -> list[MspFrameSample]:
+    """Synthetic frame stream at exactly ``rate_hz`` for ``n`` frames."""
+    if rate_hz <= 0:
+        raise ValueError("rate_hz must be > 0")
+    period_ms = int(round(1000.0 / rate_hz))
+    return [
+        MspFrameSample(monotonic_ms=i * period_ms, function_id=function_id)
+        for i in range(n)
+    ]
+
+
+def test_constants_match_spec() -> None:
+    """The AC-2/AC-3 thresholds + IDs must match the spec text."""
+    # Assert
+    assert MSP2_SENSOR_GPS_FUNCTION_ID == 0x1F03
+    assert DEFAULT_TARGET_RATE_HZ == 5.0
+    assert MIN_OBSERVED_RATE_HZ == 4.5
+    assert MIN_FIX_TYPE == 3
+    assert REQUIRED_PROVIDER == "MSP"
+
+
+def test_count_frames_by_id_filters_correctly() -> None:
+    """Mixed-ID stream tallies per function ID."""
+    # Arrange
+    samples = [
+        MspFrameSample(0, MSP2_SENSOR_GPS_FUNCTION_ID),
+        MspFrameSample(100, 0x1F04),
+        MspFrameSample(200, MSP2_SENSOR_GPS_FUNCTION_ID),
+        MspFrameSample(300, MSP2_SENSOR_GPS_FUNCTION_ID),
+    ]
+
+    # Act
+    counts = count_frames_by_id(samples)
+
+    # Assert
+    assert counts[MSP2_SENSOR_GPS_FUNCTION_ID] == 3
+    assert counts[0x1F04] == 1
+
+
+def test_compute_rate_at_target_passes() -> None:
+    """5 Hz over 60 s window passes the ≥4.5 Hz minimum."""
+    # Arrange — 60s at 5Hz = 301 samples (inclusive of t=0 and t=60000).
+    samples = _frames(rate_hz=5.0, n=301)
+
+    # Act
+    report = compute_rate_hz(samples)
+
+    # Assert
+    assert report.frame_count == 301
+    assert report.observed_rate_hz == pytest.approx(5.0, abs=0.01)
+    assert report.passes is True
+
+
+def test_compute_rate_at_boundary_passes() -> None:
+    """Exactly 4.5 Hz passes (boundary is inclusive)."""
+    # Arrange
+    samples = _frames(rate_hz=4.5, n=46)  # 10s @ 4.5Hz
+
+    # Act
+    report = compute_rate_hz(samples)
+
+    # Assert
+    assert report.observed_rate_hz == pytest.approx(4.5, abs=0.05)
+    assert report.passes is True
+
+
+def test_compute_rate_below_minimum_fails() -> None:
+    """3 Hz observed → fails the ≥4.5 Hz minimum."""
+    # Arrange
+    samples = _frames(rate_hz=3.0, n=31)  # 10s @ 3Hz
+
+    # Act
+    report = compute_rate_hz(samples)
+
+    # Assert
+    assert report.observed_rate_hz == pytest.approx(3.0, abs=0.05)
+    assert report.passes is False
+
+
+def test_compute_rate_zero_samples_does_not_pass() -> None:
+    """Empty input → zero count, zero rate, does not pass."""
+    # Act
+    report = compute_rate_hz([])
+
+    # Assert
+    assert report.frame_count == 0
+    assert report.window_ms == 0
+    assert report.observed_rate_hz == 0.0
+    assert report.passes is False
+
+
+def test_compute_rate_single_sample_does_not_pass() -> None:
+    """One sample yields no window → does not pass."""
+    # Arrange
+    samples = [MspFrameSample(0, MSP2_SENSOR_GPS_FUNCTION_ID)]
+
+    # Act
+    report = compute_rate_hz(samples)
+
+    # Assert
+    assert report.frame_count == 1
+    assert report.window_ms == 0
+    assert report.passes is False
+
+
+def test_compute_rate_filters_function_id() -> None:
+    """Frames with a different function_id are ignored in the rate calc."""
+    # Arrange
+    samples = (
+        _frames(rate_hz=5.0, n=51, function_id=MSP2_SENSOR_GPS_FUNCTION_ID)
+        + _frames(rate_hz=10.0, n=101, function_id=0x1F04)
+    )
+
+    # Act
+    report = compute_rate_hz(samples, function_id=MSP2_SENSOR_GPS_FUNCTION_ID)
+
+    # Assert
+    assert report.frame_count == 51
+    assert report.observed_rate_hz == pytest.approx(5.0, abs=0.01)
+
+
+def test_compute_rate_rejects_negative_minimum() -> None:
+    # Act / Assert
+    with pytest.raises(ValueError, match="min_required_hz"):
+        compute_rate_hz([], min_required_hz=-1.0)
+
+
+def test_evaluate_gps_state_passes_at_minimum_fix() -> None:
+    """fix_type=3, provider=MSP, numSat=10 (matches emitted) → AC-3 pass."""
+    # Arrange
+    snapshot = InavGpsSnapshot(fix_type=3, num_sat=10, provider="MSP")
+
+    # Act
+    report = evaluate_inav_gps_state(snapshot, expected_num_sat=10)
+
+    # Assert
+    assert report.fix_type_ok is True
+    assert report.provider_ok is True
+    assert report.num_sat_ok is True
+    assert report.passes is True
+
+
+def test_evaluate_gps_state_fails_on_low_fix_type() -> None:
+    """fix_type=2 < 3 → AC-3 fail."""
+    # Arrange
+    snapshot = InavGpsSnapshot(fix_type=2, num_sat=10, provider="MSP")
+
+    # Act
+    report = evaluate_inav_gps_state(snapshot, expected_num_sat=10)
+
+    # Assert
+    assert report.fix_type_ok is False
+    assert report.passes is False
+
+
+def test_evaluate_gps_state_fails_on_wrong_provider() -> None:
+    """provider != MSP → AC-3 fail (fallback to internal GPS)."""
+    # Arrange
+    snapshot = InavGpsSnapshot(fix_type=3, num_sat=10, provider="INTERNAL")
+
+    # Act
+    report = evaluate_inav_gps_state(snapshot, expected_num_sat=10)
+
+    # Assert
+    assert report.provider_ok is False
+    assert report.passes is False
+
+
+def test_evaluate_gps_state_fails_on_num_sat_mismatch() -> None:
+    """numSat reported by iNav must match the value emitted by SUT."""
+    # Arrange
+    snapshot = InavGpsSnapshot(fix_type=3, num_sat=12, provider="MSP")
+
+    # Act
+    report = evaluate_inav_gps_state(snapshot, expected_num_sat=10)
+
+    # Assert
+    assert report.num_sat_ok is False
+    assert report.passes is False
+
+
+def test_evaluate_gps_state_rejects_negative_expected_num_sat() -> None:
+    # Arrange
+    snapshot = InavGpsSnapshot(fix_type=3, num_sat=10, provider="MSP")
+
+    # Act / Assert
+    with pytest.raises(ValueError, match="expected_num_sat"):
+        evaluate_inav_gps_state(snapshot, expected_num_sat=-1)