[AZ-841] Remove xfail markers from Derkachi tests — environment segregation via tier2+RUN_REPLAY_E2E

tests/e2e/replay/test_derkachi_1min.py

@@ -7,12 +7,15 @@ E2E pattern the heavy tests are gated by ``RUN_REPLAY_E2E=1``; the
 lightweight AC-4a (mode-agnosticism AST scan) and AC-7 (skip-gate
 self-check) run unconditionally.
 
-Some ACs are SKIPPED with documented reasons until upstream work
-ships:
+Environment segregation:
+
+* **Tier-2 (Jetson)** tests are gated by ``RUN_REPLAY_E2E=1`` +
+  ``@pytest.mark.tier2`` — they SKIP on Mac and only run on Jetson
+  where the satellite-provider + C6 tile cache are available.
+* **Unconditional** tests (AC-4a, AC-4b, AC-7) run everywhere.
+
+Still skipped with documented reasons:
 
-* AC-3 (≤ 100 m for 80 % of ticks) — ``xfail`` until a real Topotek
-  KHP20S30 calibration ships (camera_info.md notes the intrinsics
-  are unknown).
 * AC-4b (encoder byte-equality) — ``skip`` until AZ-558 routes the
   C8 outbound bytes through the ``MavlinkTransport`` seam.
 * AC-8 / AC-9 in spec (operator workflow rehearsal) — ``skip`` until
@@ -58,15 +61,6 @@ _HEAVY_SKIP = pytest.mark.skipif(
 
 @pytest.mark.tier2
 @_HEAVY_SKIP
-@pytest.mark.xfail(
-    reason=(
-        "AZ-963: open-loop ESKF diverges on the Derkachi fixture "
-        "(~10 s, frame ~233, Mahalanobis² > 100). The fixture has no "
-        "reference C6 tile cache → no satellite anchoring (C2/C3/C4). "
-        "Expected physics until AZ-777 lands a reference tile cache."
-    ),
-    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.
 
@@ -153,19 +147,6 @@ def test_ac2_jsonl_schema_match(replay_runner) -> None:
 
 @pytest.mark.tier2
 @_HEAVY_SKIP
-@pytest.mark.xfail(
-    reason=(
-        "AZ-963: open-loop ESKF diverges on the Derkachi fixture "
-        "(~10 s, frame ~233, Mahalanobis² > 100). The fixture has no "
-        "reference C6 tile cache → no satellite anchoring (C2/C3/C4). "
-        "Expected physics until AZ-777 lands a reference tile cache. "
-        "The XPASS observed pre-AZ-963 was a false positive: the test "
-        "did not check returncode, so partial pre-divergence JSONL rows "
-        "happened to match GT by chance. The returncode assertion added "
-        "below now makes the failure honest."
-    ),
-    strict=False,
-)
 def test_ac3_within_100m_80pct_of_ticks(replay_runner, derkachi_replay_inputs) -> None:
     # Act
     result = replay_runner(pace="asap")
@@ -395,15 +376,6 @@ def test_ac4_encoder_byte_equality_via_transport_seam() -> None:
 
 @pytest.mark.tier2
 @_HEAVY_SKIP
-@pytest.mark.xfail(
-    reason=(
-        "AZ-963: open-loop ESKF diverges on the Derkachi fixture "
-        "(~10 s, frame ~233, Mahalanobis² > 100). The fixture has no "
-        "reference C6 tile cache → no satellite anchoring (C2/C3/C4). "
-        "Expected physics until AZ-777 lands a reference tile cache."
-    ),
-    strict=False,
-)
 def test_ac5_determinism_two_runs_diff(replay_runner) -> None:
     # Act
     r1 = replay_runner(pace="asap")
@@ -433,15 +405,6 @@ def test_ac5_determinism_two_runs_diff(replay_runner) -> None:
 
 @pytest.mark.tier2
 @_HEAVY_SKIP
-@pytest.mark.xfail(
-    reason=(
-        "AZ-963: open-loop ESKF diverges on the Derkachi fixture "
-        "(~10 s, frame ~233, Mahalanobis² > 100). The fixture has no "
-        "reference C6 tile cache → no satellite anchoring (C2/C3/C4). "
-        "Expected physics until AZ-777 lands a reference tile cache."
-    ),
-    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
@@ -460,15 +423,6 @@ def test_ac6_pace_realtime_60s_within_5pct(replay_runner) -> None:
 
 @pytest.mark.tier2
 @_HEAVY_SKIP
-@pytest.mark.xfail(
-    reason=(
-        "AZ-963: open-loop ESKF diverges on the Derkachi fixture "
-        "(~10 s, frame ~233, Mahalanobis² > 100). The fixture has no "
-        "reference C6 tile cache → no satellite anchoring (C2/C3/C4). "
-        "Expected physics until AZ-777 lands a reference tile cache."
-    ),
-    strict=False,
-)
 def test_ac6_pace_asap_under_30s(replay_runner) -> None:
     # Act
     result = replay_runner(pace="asap")