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[AZ-223] [AZ-224] [AZ-225] [AZ-227] Add runtime gateways

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Implement the first runtime component boundaries around the shared
contracts so downstream batches can consume typed frame, MAVLink, tile,
and FDR behavior with focused tests and batch evidence.

Co-authored-by: Cursor <cursoragent@cursor.com>
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Oleksandr Bezdieniezhnykh
2026-05-03 18:01:13 +03:00
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_docs/02_tasks/done/AZ-224_mavlink_gcs_gateway.md
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# MAVLink GCS Gateway
**Task**: AZ-224_mavlink_gcs_gateway
**Name**: MAVLink GCS Gateway
**Description**: Subscribe to FC telemetry, emit `GPS_INPUT`, and publish QGC-visible status/failsafe messages.
**Complexity**: 3 points
**Dependencies**: AZ-220_shared_runtime_contracts, AZ-222_runtime_config_errors_telemetry
**Component**: MAVLink And GCS Integration
**Tracker**: AZ-224
**Epic**: AZ-210
## Problem
The runtime needs a strict protocol boundary for ArduPilot Plane telemetry in and GPS-denied estimates/status out.
## Outcome
- FC telemetry is normalized into shared samples.
- `GPS_INPUT` is emitted only from validated position estimates.
- QGC status is rate-limited and safety-relevant.
## Scope
### Included
- Telemetry subscription behavior.
- `GPS_INPUT` field validation and emission result.
- QGC status/failsafe message emission.
### Excluded
- Safety policy and covariance calculation.
- SITL test runner implementation.
## Dependencies
### Document Dependencies
- `_docs/02_document/contracts/shared/runtime_contracts.md`
- `_docs/02_document/contracts/shared/config_errors_telemetry.md`
## Acceptance Criteria
**AC-1: Telemetry sample emitted**
Given a valid FC telemetry stream
When the gateway subscribes
Then normalized telemetry samples are available to consumers.
**AC-2: Invalid GPS_INPUT is rejected**
Given a malformed or unsafe position estimate
When emission is requested
Then no invalid `GPS_INPUT` packet is emitted.
**AC-3: Operator status is rate-limited**
Given repeated mode changes or warnings
When status is emitted
Then QGC-visible messages stay within the configured rate.
## Non-Functional Requirements
**Reliability**
- Connection loss is surfaced to wrapper/FDR.
## Unit Tests
| AC Ref | What to Test | Required Outcome |
|--------|--------------|------------------|
| AC-1 | Telemetry normalization | Shared sample emitted |
| AC-2 | Invalid fix type/accuracy | Emission rejected |
| AC-3 | Status burst | Rate limit enforced |
## Blackbox Tests
| AC Ref | Initial Data/Conditions | What to Test | Expected Behavior | NFR References |
|--------|-------------------------|--------------|-------------------|----------------|
| AC-2 | Plane SITL | `GPS_INPUT` output | Fields match ArduPilot expectations | Reliability |
## Constraints
- v1 emits `GPS_INPUT` only.
- Do not hide MAVLink disconnects or invalid output errors.
## Risks & Mitigation
**Risk 1: ArduPilot parameter mismatch**
- *Risk*: Plane ignores or mishandles emitted estimates.
- *Mitigation*: SITL validation remains a release gate.