[AZ-618] Task spec + autodev rewind to Step 7

Step 11 gate failed per greenfield rule: 5 e2e ACs reach
`replay.compose_root.ready` and then crash inside
runtime_root.airborne_bootstrap on the first pre_constructed
lookup. That is "missing internal product implementation",
which the gate description routes back to Implement.

* Task spec AZ-618 (255 lines, 5 pts, 6-phase internal split,
  AC-1..AC-5) parked in _docs/02_tasks/todo/. Phases land in
  dependency order: c13_fdr+clock -> c6_* -> c7_inference ->
  c3_lightglue+features -> c282_ransac_filter -> c5 helpers.
* Autodev state: step 7 (Implement), status not_started,
  sub_step awaiting-invocation, cycle 1. retry_count = 0.
* Leftover D-CROSS-CVE-1: replay attempted, still deferred
  (gtsam 4.2.1 on PyPI still pins numpy<2.0.0); timestamp
  bumped to 2026-05-18T20:35+03:00.

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

_docs/02_tasks/todo/AZ-618_airborne_bootstrap_pre_constructed.md

@@ -0,0 +1,255 @@
+# AZ-618 — Airborne main() builds pre_constructed infrastructure for compose_root
+
+**Task**: AZ-618_airborne_bootstrap_pre_constructed
+**Name**: Airborne bootstrap pre_constructed assembly (cross-cutting Tier-1)
+**Description**: Land an `airborne_bootstrap.build_pre_constructed(config) -> dict[str, Any]` function (or equivalent in-`main()` wiring) that constructs every infrastructure object the registered airborne-strategy wrappers require, and call `compose_root(config, pre_constructed=...)` with the result from `runtime_root.main()`. Without this, `compose_root()` raises `AirborneBootstrapError` on the first wrapper lookup (`c1_vio` reaches for `pre_constructed['c13_fdr']` and finds nothing) and the binary cannot reach takeoff.
+**Complexity**: 5 points (cross-cutting; touches up to 12 infrastructure slots, but each slot reuses an existing per-component builder; GPU init for `c7_inference` + `c3_lightglue_runtime` + `c3_feature_extractor` is the only genuinely new wiring)
+**Dependencies**: AZ-591 (registry registration is the prerequisite — without it the wrappers do not run at all). Helper / runtime classes consumed by the wrappers are all already in `done/` per their own task IDs (c13_fdr → AZ-273+, c6_descriptor_index → AZ-306, c6_tile_store → AZ-303+, c7_inference → AZ-320+, c3_lightglue_runtime + c3_feature_extractor → AZ-278+, c2_82_ransac_filter → AZ-358, c5_imu_preintegrator → AZ-276, c5_se3_utils → AZ-277, c5_wgs_converter → AZ-284, c5_isam2_graph_handle → AZ-381).
+**Component**: runtime_root (cross-cutting)
+**Tracker**: AZ-618
+**Epic**: AZ-602 (E2E Tier-1 harness rehabilitation — parent set during ticket creation)
+
+## Problem
+
+Step 11 (Run Tests) cycle 1 Jetson tier-2 e2e rerun #3 surfaced this gap. With AZ-614 (synth time-base) + AZ-611 (skip-auto-sync) + AZ-602 (compose `BUILD_*` flag completeness) all landed, the Derkachi 1-min replay path now passes every layer up to and including:
+
+```
+replay.compose_root.ready: pace=asap resolved_offset_ms=0 auto_sync_used=false
+```
+
+…then crashes inside `runtime_root.airborne_bootstrap._require`:
+
+```
+runtime_root: airborne_bootstrap: component 'c4_pose' requires
+pre_constructed['c282_ransac_filter'] to be populated before compose_root() runs;
+available keys in constructed: ['clock', 'fc_adapter', 'frame_source',
+'mavlink_transport', 'replay_sink'].
+Production main() must build infrastructure (c13_fdr, c6_*, c7_inference, etc.)
+into pre_constructed and pass it to compose_root(config, pre_constructed=...).
+Tests stub it via the same kwarg.
+```
+
+**Cause**: `runtime_root.main()` (`src/gps_denied_onboard/runtime_root/__init__.py:636`) calls `register_airborne_strategies()` (registers the wrapper factories — AZ-591 work) and then `compose_root(config)` with **no** `pre_constructed=`. The wrappers' `_require(constructed, "c13_fdr", "c1_vio")` etc. raise on the first lookup because the dict is empty.
+
+**Why hidden until now**: every prior Reality-Gate run died at auto-sync (AZ-614 root cause, 2026-05-17) BEFORE the composition graph was walked. AZ-591 was self-described as registering the "registry seam" — it explicitly deferred the `pre_constructed` assembly to a follow-up. That follow-up is this task.
+
+**Why both binaries are affected**: the live `gps-denied-onboard` binary would crash at the same lookup the moment any component reaches into `pre_constructed`. Existing unit tests for `compose_root` (`tests/unit/test_az401_compose_root_replay.py`, 38 passing) pass only because they inject a stub via the `replay_components_factory` kwarg, bypassing the registry-driven path entirely. There is currently no test that exercises the production assembly.
+
+## Outcome
+
+- `src/gps_denied_onboard/runtime_root/airborne_bootstrap.py` exposes a new
+  public `build_pre_constructed(config: Config) -> dict[str, Any]` that returns
+  a dict populated with every key in `AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS`
+  (12 distinct infrastructure objects: `c13_fdr`, `c6_descriptor_index`,
+  `c6_tile_store`, `c7_inference`, `c3_lightglue_runtime`,
+  `c3_feature_extractor`, `c282_ransac_filter`, `c5_wgs_converter`,
+  `c5_se3_utils`, `c5_isam2_graph_handle`, `c5_imu_preintegrator`, `clock`).
+  GPU-touching builders (`c7_inference`, `c3_lightglue_runtime`,
+  `c3_feature_extractor`) are gated by their existing `BUILD_*` env flags;
+  when a flag is OFF, the builder either skips (if the matching component
+  strategy is not selected by config) or raises a clear operator-facing error
+  naming the missing flag.
+
+- `src/gps_denied_onboard/runtime_root/__init__.py::main()` calls
+  `register_airborne_strategies()` followed by
+  `pre_constructed = build_pre_constructed(config)` and then
+  `compose_root(config, pre_constructed=pre_constructed)`. The
+  `EXIT_FDR_OPEN_FAILURE` path already covers FDR open failures; this task
+  extends the existing `RuntimeError` catch to surface
+  `AirborneBootstrapError` with a clear operator-facing message rather than
+  the current implicit traceback.
+
+- New unit tests under `tests/unit/runtime_root/test_az618_pre_constructed.py`
+  verify:
+  - AC-1: `build_pre_constructed(config)` returns a dict containing every key
+    in `AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS` flattened (no duplicates).
+  - AC-2: A config that selects every default strategy completes
+    `compose_root(config, pre_constructed=build_pre_constructed(config))`
+    without raising. (Heavy infrastructure objects may be stubbed via the
+    existing `_BUILD_*` env flags — the test asserts the seam, not the
+    runtime.)
+  - AC-3: When a required `BUILD_*` flag is OFF but the matching component
+    strategy IS selected by config, the builder raises a clear error naming
+    both the missing flag and the consuming component slug.
+  - AC-4: `runtime_root.main()` end-to-end on a minimal config returns 0
+    (success) when all `BUILD_*` flags + infra deps resolve; returns
+    `EXIT_GENERIC_FAILURE` with the `AirborneBootstrapError` message in
+    stderr when a required infra dep cannot be constructed.
+
+- Existing Jetson tier-2 e2e replay tests
+  (`tests/e2e/replay/test_derkachi_1min.py`) cross the
+  `replay.compose_root.ready` log boundary and reach the per-frame inference
+  loop. The 5 currently-failing ACs (AC-1, AC-2, AC-5, AC-6 × 2) advance to
+  exercising C1..C8 end-to-end on the GPU — at which point any remaining
+  failure is a different, deeper class of bug and out of scope for this task.
+
+## Scope
+
+### Included
+
+- New / refactored module: `runtime_root/airborne_bootstrap.py` —
+  `build_pre_constructed(config)` function with one internal builder per
+  required key. Builders reuse existing helper / strategy factories (no new
+  infrastructure logic — only assembly).
+
+- `runtime_root/__init__.py::main()` modification: insert
+  `build_pre_constructed(config)` call between `register_airborne_strategies()`
+  and `compose_root(config, ...)`. Add `AirborneBootstrapError` to the
+  exception block so it surfaces with `EXIT_GENERIC_FAILURE` and a clear
+  operator-facing message.
+
+- New unit tests: `tests/unit/runtime_root/test_az618_pre_constructed.py`
+  covering AC-1..AC-4.
+
+- 6 internal phases — each phase is one source-file delta + matching unit
+  test, and they may be batched but MUST land in dependency order:
+
+  1. **c13_fdr + clock** — foundational. The FDR client + WallClock helper
+     (live) / TlogDerivedClock reuse (replay) — both already exist; the
+     builder is an assembly step.
+  2. **c6_descriptor_index + c6_tile_store** — descriptor faiss index +
+     tile cache storage. AZ-306 + AZ-303 already built the runtime classes.
+  3. **c7_inference engine** — GPU model load. PyTorch FP16 vs. TensorRT
+     selected by config; `BUILD_TENSORRT_RUNTIME` / `BUILD_PYTORCH_FP16_RUNTIME`
+     env flags gate the import path.
+  4. **c3_lightglue_runtime + c3_feature_extractor** — ALIKED / DISK
+     LightGlue. Gated by `BUILD_C3_MATCHER_DISK_LIGHTGLUE` /
+     `BUILD_C3_MATCHER_ALIKED_LIGHTGLUE` env flags.
+  5. **c282_ransac_filter** — small, stateless OpenCV-USAC wrapper.
+  6. **c5 helpers** — `c5_imu_preintegrator`, `c5_se3_utils`,
+     `c5_wgs_converter`, `c5_isam2_graph_handle`. All four are already-done
+     helpers; the builder is pure assembly.
+
+### Excluded
+
+- Changing the per-component helper / strategy factory signatures. Each
+  builder consumes the existing factory's documented surface (e.g.
+  `make_fdr_client(...)`, `build_inference_runtime(config, ...)`); no
+  changes to those signatures are in scope.
+- GPU build-flag matrix expansion. The `BUILD_*` env flag system is already
+  in place per component (`config.components.*.strategy`); this task only
+  consumes the existing flags. New flags are out of scope.
+- Operator binary (`operator_bootstrap.py`) extensions. AZ-591 deferred the
+  operator-side pre_constructed assembly; this task is airborne-only.
+  Operator binary's current direct-factory path is not affected.
+- Replay-branch wiring beyond what already exists. Replay continues to
+  supply `frame_source` / `fc_adapter` / `clock` / `mavlink_transport` /
+  `replay_sink` via `build_replay_components`; this task adds the
+  airborne-side keys ABOVE that set in the same `pre_constructed` dict.
+- Refactor of `airborne_bootstrap.py`'s wrapper-factory layer. The existing
+  `_c1_vio_wrapper`, `_c2_vpr_wrapper`, etc. functions consume `constructed`
+  correctly today; only the dict-population layer is new.
+
+## Acceptance Criteria
+
+**AC-1: `build_pre_constructed(config)` populates every required key**
+Given a process where `register_airborne_strategies()` has run
+And a `Config` selecting every component's default strategy
+When `build_pre_constructed(config)` is called
+Then the returned dict contains exactly the set of keys
+  `set.union(*AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS.values())`
+And no key maps to `None`.
+
+**AC-2: `compose_root(config, pre_constructed=...)` reaches takeoff**
+Given `register_airborne_strategies()` has run
+And `pre_constructed = build_pre_constructed(config)` for the default config
+When `compose_root(config, pre_constructed=pre_constructed)` runs
+Then it returns a `RuntimeRoot` whose `components` dict contains all 7
+  registered slots (c1_vio, c2_vpr, c2_5_rerank, c3_matcher, c3_5_adhop,
+  c4_pose, c5_state) without raising `AirborneBootstrapError`.
+
+**AC-3: `BUILD_*` flag mismatch surfaces a clear error**
+Given the config selects `c2_vpr.strategy="net_vlad"` (requires `c7_inference`)
+And `BUILD_PYTORCH_FP16_RUNTIME=OFF`
+When `build_pre_constructed(config)` is called
+Then it raises `AirborneBootstrapError` whose message names both
+  `c7_inference` (the missing infrastructure) and the gating
+  `BUILD_*` flag.
+
+**AC-4: `runtime_root.main()` end-to-end exit codes**
+Given a minimal in-process `Config` that selects all-defaults
+When `main(config)` is called with every `BUILD_*` flag the defaults need
+Then it returns `0` (success) and the runtime_root constructed log line
+  fires.
+And when a single required infra dep is forcibly unavailable
+Then it returns `EXIT_GENERIC_FAILURE` (`1`) and stderr contains the
+  `airborne_bootstrap:` prefix with the missing key and consuming component.
+
+**AC-5: Jetson tier-2 e2e replay tests cross compose_root.ready**
+Given the AZ-618 changes are landed
+And the Jetson tier-2 e2e harness is invoked
+  (`tests/e2e/replay/test_derkachi_1min.py::test_ac1_exits_0_jsonl_count_match`
+  + AC-2 + AC-5 + AC-6 ×2)
+Then each test progresses BEYOND `replay.compose_root.ready` (cross-cycle
+  smoke: log appears in stdout AND the per-frame pipeline log
+  `replay.input.frame_emitted` fires at least once per test).
+This AC verifies the airborne wiring is correct end-to-end; whether
+  the per-frame results pass each AC's substantive threshold (count
+  match, schema match, determinism, pace) is gated by other tasks and
+  not blocking this AC.
+
+## Non-Functional Requirements
+
+- **Startup time**: `build_pre_constructed(config)` must complete within
+  60 s on Jetson Orin Nano (JetPack 6.2.2+b24) for the default config.
+  GPU model load + TensorRT engine cache compilation dominate; if the
+  engine cache is cold and exceeds 60 s, log a one-line progress
+  notice at 30 s.
+- **Memory**: peak resident set after `build_pre_constructed` must be
+  < 2 GB on Jetson (excluding the inference model itself; the model is
+  separately bounded by AZ-320's NFRs).
+- **Determinism**: invoking `build_pre_constructed(config)` twice in the
+  same process MUST produce equivalent dicts (every key present, every
+  builder callable). Re-invocation is not expected in production but
+  IS expected in tests; the second call must not raise on already-loaded
+  GPU resources.
+- **Operator-facing error contract**: every `AirborneBootstrapError`
+  message MUST include (a) the consuming component slug, (b) the
+  missing dependency key or `BUILD_*` flag, and (c) one actionable
+  sentence pointing at the fix (e.g. "set `BUILD_C3_MATCHER_DISK_LIGHTGLUE=ON`"
+  or "ensure `c13_fdr.path` is writable").
+
+## Dependencies
+
+- AZ-591 (registry registration prerequisite) — DONE
+- All component runtime classes/factories listed under the **Dependencies**
+  field above — DONE per individual task IDs
+
+## Constraints
+
+- This task MUST NOT touch any per-component factory signature. All
+  changes are confined to `runtime_root/airborne_bootstrap.py`,
+  `runtime_root/__init__.py`, and the new test file.
+- This task MUST NOT introduce new `BUILD_*` env flags. Reuse the
+  existing per-strategy `BUILD_*` matrix already gated by each
+  component's strategy factory.
+- Do not stub or mock the inference engine in production code. The
+  `c7_inference` builder MUST exercise the real (PyTorch FP16 or
+  TensorRT) runtime when called from `main()`. Tests MAY stub it
+  via `build_pre_constructed` mock seams documented in the new test
+  file.
+
+## Implementation Notes
+
+- 6-phase internal split (see Scope.Included). Phases land in
+  dependency order; AC tests for each phase live with the phase
+  but the full AC-1..AC-4 suite only goes green after phase 6.
+- The Jetson-only AC-5 cannot be run from the Mac dev host. The
+  task is "done" when AC-1..AC-4 pass locally + AC-5 passes on
+  the operator's Jetson per `scripts/run-tests-jetson.sh`.
+- AZ-591's task spec called out this exact follow-up (see its
+  "AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS docstring": *"production
+  wiring populates them from the takeoff orchestrator — separate
+  task — AZ-591 follow-up infrastructure-prep"*). This is that task.
+
+## Evidence
+
+- Step-11 Cycle-3 addendum: `_docs/03_implementation/run_tests_step11_report.md`
+  (committed `e054a55`)
+- Jetson tier-2 e2e rerun #3 terminal output:
+  `/Users/obezdienie001/.cursor/projects/Users-obezdienie001-dev-azaion-suite-gps-denied-onboard/terminals/110515.txt`
+  (2026-05-18 06:01 UTC, log lines for `replay.compose_root.ready` +
+  `airborne_bootstrap` raise).
+- `AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS` definition site:
+  `src/gps_denied_onboard/runtime_root/airborne_bootstrap.py:92`.
+- Current incomplete `main()`: `src/gps_denied_onboard/runtime_root/__init__.py:636`.

_docs/_autodev_state.md

@@ -2,13 +2,13 @@
 
 ## Current Step
 flow: greenfield
-step: 11
+step: 7
-name: Run Tests
+name: Implement
-status: passed_with_followups
+status: not_started
 sub_step:
-  phase: 8
+  phase: 0
-  name: az614-az611-landed-bootstrap-gap-discovered
+  name: awaiting-invocation
-  detail: "AZ-614 + AZ-611 + AZ-602 build-flags + AZ-615 tilde-fix all landed (commits e114bfd, bd41956, 324bbd6, b7012d2). Jetson Cycle-3 rerun (terminal 110515.txt): replay path now reaches `replay.compose_root.ready: auto_sync_used=false`, then crashes in `runtime_root.airborne_bootstrap` with `pre_constructed['c282_ransac_filter']` missing. Same 5 heavy ACs still fail but 3 layers deeper — `runtime_root.main()` calls `register_airborne_strategies()` but does NOT build c13_fdr/c6_*/c7_inference/c3_*/c2_82_ransac_filter into pre_constructed. Filed AZ-618 (Story under AZ-602, 5 pts capped). Pending user decision on whether to start AZ-618 immediately or close out Step 11 with the current Reality-Gate signal."
+  detail: "AZ-618 task spec in todo/ (Step 11 gate sent flow back per greenfield rule: missing internal product implementation = back to Implement)"
 retry_count: 0
 cycle: 1
 tracker: jira

_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md

@@ -1,7 +1,7 @@
 # D-CROSS-CVE-1 opencv-python pin deferred — gtsam/numpy ABI block
 
 **Recorded**: 2026-05-11T02:55+03:00 (Europe/Kyiv)
-**Last replay attempt**: 2026-05-17T16:23+03:00 (Europe/Kyiv) — PyPI still shows
+**Last replay attempt**: 2026-05-18T20:35+03:00 (Europe/Kyiv) — PyPI still shows
 `gtsam==4.2.1` as the latest stable (`requires_dist: numpy<2.0.0,>=1.11.0`);
 `gtsam==4.3a0` alpha exists but is not a stable wheel target. Replay condition
 (numpy>=2 stable wheels) still NOT met. Leftover remains open.