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[AZ-243] Sync native VIO test docs

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Co-authored-by: Cursor <cursoragent@cursor.com>
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Oleksandr Bezdieniezhnykh
2026-05-07 01:04:01 +03:00
parent 2425f8e6fd
commit a8e7199f30
8 changed files with 40 additions and 13 deletions
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_docs/02_document/contracts/shared/runtime_contracts.md
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@@ -2,7 +2,7 @@
**Component**: shared/contracts
**Producer task**: AZ-220 — AZ-220_shared_runtime_contracts.md
**Consumer tasks**: AZ-223, AZ-224, AZ-225, AZ-226, AZ-227, AZ-228, AZ-229, AZ-230, AZ-231, AZ-232
**Consumer tasks**: AZ-223, AZ-224, AZ-225, AZ-226, AZ-227, AZ-228, AZ-229, AZ-230, AZ-231, AZ-232, AZ-243
**Version**: 1.0.0
**Status**: draft
**Last Updated**: 2026-05-03
@@ -18,6 +18,7 @@ Defines the shared runtime DTO/event contract surface that component implementat
| `FramePacket` | frame ID, timestamp, image reference, calibration ID, occlusion, quality, normalization hint | camera, VIO, Satellite Service, Anchor Verification, Tile Manager, FDR |
| `TelemetrySample` | timestamp, IMU, attitude, altitude, airspeed, GPS health | MAVLink, VIO, safety wrapper, FDR |
| `VioStatePacket` | timestamp, relative pose, velocity, bias, tracking quality, covariance hint | VIO, safety wrapper, FDR |
| `VioProcessingResult` | optional VIO state, health report, latency, error envelope | VIO, safety wrapper, FDR |
| `PositionEstimate` | WGS84 coordinates, covariance, source label, fix type, horizontal accuracy, anchor age | safety wrapper, MAVLink, Tile Manager, FDR |
| `VprCandidate` | chunk ID, tile ID, score, footprint, freshness status | Satellite Service, Anchor Verification, FDR |
| `AnchorDecision` | candidate ID, acceptance result, estimated pose, inliers, MRE, rejection reason | Anchor Verification, safety wrapper, FDR |