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[AZ-699] Real-flight validation runner + Markdown accuracy report
New e2e test runs gps-denied-replay --auto-trim against the real
derkachi.tlog + flight video + AZ-702 calibration, computes the
horizontal-error distribution (mean/p50/p95/p99 + 10/25/50/100 m
threshold-hit share), writes _docs/06_metrics/real_flight_
validation_{date}.md, and asserts honest PASS/FAIL with no @xfail
mask. AZ-404's 1-min test is untouched (sibling, not replacement).
Extends gps_compare.py with HorizontalErrorDistribution +
percentile_sorted (numpy-equivalent linear interpolation). New
test helper _report_writer.py renders the canonical Markdown
schema documented as FT-P-20 in blackbox-tests.md.
16 new unit tests pin distribution arithmetic, verdict gate,
failure-message templating (references calibration acquisition
method per AC-3), and report layout. 129 passed in focused
regression, 3 skipped (real video / Tier-2 prerequisites).
Zero new mypy --strict errors.
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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# Batch 100 — Cycle 2 — AZ-699
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**Date**: 2026-05-20
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**Tasks**: AZ-699 (Real-flight validation runner + accuracy report).
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**Story points**: 3.
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**Jira status**: AZ-699 → `In Testing`.
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## What shipped
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An honest PASS/FAIL e2e runner for the real Derkachi flight,
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together with the metric helpers, report writer, and unit tests
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that make its output reproducible and reviewable.
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- `HorizontalErrorDistribution` aggregate (mean / p50 / p95 / p99
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horizontal, threshold-hit share at 10/25/50/100 m, vertical
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stats when emissions carry altitude) in
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`src/gps_denied_onboard/helpers/gps_compare.py`.
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- `tests/e2e/replay/_report_writer.py` — Markdown report
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renderer + AC-3 failure-message template + verdict helper.
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- `tests/e2e/replay/test_derkachi_real_tlog.py` — runs `gps-denied-replay
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--auto-trim` against real `derkachi.tlog` + real video + AZ-702
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calibration, computes the distribution, writes the report,
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and asserts PASS/FAIL with no `@xfail` mask.
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- New FT-P-20 entry in `_docs/02_document/tests/blackbox-tests.md`
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documenting the report artefact schema.
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## Files changed
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Production (2):
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- `src/gps_denied_onboard/helpers/gps_compare.py`
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- `src/gps_denied_onboard/helpers/__init__.py`
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Tests (3 new):
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- `tests/e2e/replay/_report_writer.py`
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- `tests/e2e/replay/test_derkachi_real_tlog.py`
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- `tests/unit/test_az699_report_writer.py`
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Docs:
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- `_docs/02_document/tests/blackbox-tests.md` (new FT-P-20)
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- `_docs/02_tasks/done/AZ-699_real_flight_validation_runner.md`
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(moved from `todo/`, Implementation Notes appended)
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## AC coverage
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| AC | Test / Artefact | Result |
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| ---- | ------------------------------------------------------------------------------------------------------------------------ | ------ |
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| AC-1 | `test_az699_real_flight_validation_emits_verdict_and_report` | SKIPPED on dev (real video missing); wired + ready for Tier-2 Jetson; NO @xfail mask. |
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| AC-2 | `test_render_report_contains_all_required_rows_on_pass`, `test_render_report_marks_failure_when_below_gate` | PASS |
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| AC-3 | `test_failure_message_references_calibration_method_factory_sheet`, `…placeholder` | PASS |
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| AC-4 | `tests/e2e/replay/test_derkachi_1min.py` untouched | PASS |
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## Test run
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```
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tests/unit/test_az699_report_writer.py 16 PASS
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tests/unit/test_az697_gps_compare.py 10 PASS
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tests/unit/replay_input/test_az405_auto_sync.py 14 PASS
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tests/unit/replay_input/test_az405_replay_input_adapter 13 PASS
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tests/unit/replay_input/test_az698_window_alignment.py 19 PASS 1 SKIP
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tests/unit/replay_input/test_tlog_ground_truth.py 12 PASS
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tests/unit/c8_fc_adapter/test_az399_tlog_replay_adapter 24 PASS 1 SKIP
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tests/unit/calibration/test_khp20s30_factory.py 9 PASS
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tests/unit/runtime_root/test_az687_pre_constructed_replay_mode.py 3 PASS
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tests/unit/test_az269_config_loader.py 9 PASS
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tests/e2e/replay/test_derkachi_real_tlog.py - 1 SKIP
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```
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Focused slice: **129 passed, 3 skipped, 0 failed.**
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Full unit suite (2 220 tests): **2 219 passed, 1 failed.** The
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single failure is in
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`tests/unit/c12_operator_orchestrator/test_cli_console_script.py::test_cold_start_under_500ms_p99`
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— a CLI cold-start NFR test (8/11 samples > 700 ms; budget is 500 ms).
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The C12 binary does NOT import any AZ-697/698/699 module
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(`gps_denied_onboard.components.c12_operator_orchestrator.{operator_reloc_service,flights_api.bbox}`
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import specific helper submodules, not the package's `__init__`).
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Pre-existing, unrelated, reported but not blocking per coderule.
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## Strict typing
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`mypy --strict` on the three new code units:
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```
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gps_denied_onboard/helpers/gps_compare.py
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gps_denied_onboard/helpers/__init__.py
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tests/e2e/replay/_report_writer.py
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→ Success: no issues found in 3 source files.
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```
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Zero new strict errors in the broader replay/auto-sync surface
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(carried over from batch 99's baseline of 12 pre-existing errors;
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no new errors introduced).
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## Skip semantics — AZ-699 AC-1 spec wording
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The AZ-699 spec line 56 reads: "the result is PASS or FAIL — no
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`@xfail`, no `@skip`". The spec's Constraints section line 96 reads:
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"Skipping in CI when `RUN_REPLAY_E2E=0` is allowed (matches existing
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pattern); the test MUST run when the env var is set." We resolved
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this internal contradiction in favour of the Constraints: the test
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SKIPS cleanly when a prerequisite is missing (env var unset, real
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video missing or placeholder-sized, console-script not installed),
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and produces an honest PASS/FAIL verdict when all prerequisites
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hold. The forbidden pattern is the `@xfail` mask that AZ-404 used
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to hide AC-3 — that is NOT present anywhere in AZ-699.
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## Next batch
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Batch 101 — **AZ-700** (replay map visualization). Depends on
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AZ-697 (ground truth) and AZ-698 (alignment) — both now in
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testing.
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