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Update autodev state documentation to reflect completion of Plan Step 1, including detailed progress on phases and next steps. Revised phase details to clarify user-level blocking gates and hardware assessment outcomes.

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Oleksandr Bezdieniezhnykh
2026-04-27 06:23:53 +03:00
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# Test Data Management
## Important Caveat — 60-image slice scope (per Phase 1 D2)
The 60 nav-cam JPGs in `_docs/00_problem/input_data/AD000001.jpg … AD000060.jpg` were captured at **400 m AGL** with the **ADTi Surveyor Lite 26S v2 (26 MP, 6252 × 4168, 25 mm, 23.5 mm sensor)** — **not** the deployment camera (ADTi 20MP 20L V1, APS-C, ~5472 × 3648) and **not** the deployment altitude (≤1 km AGL). This corpus is therefore **pipeline-correctness only**:
- It validates that the pipeline (cuVSLAM → VPR → matcher → Component 5 → MAVLink GPS_INPUT) produces the right **shape** of output, in the right **order**, with the right **categorical labels** and **MAVLink schema**.
- It does **NOT** validate the deployment-binding accuracy budgets (AC-1.1 ≥80 %@50 m, AC-1.2 ≥50 %@20 m), the GSD-band assumptions, the matcher resolution sweeps, or the latency budget for the deployed 1 km AGL / 20 MP path.
- Pass numbers from this slice on AC-1.1 / AC-1.2 / AC-2.1 / AC-2.2 / AC-NEW-8 are **functional, not deployment-binding**. The deployment-binding numbers come from the deferred-corpus tier (AerialVL S03, UAV-VisLoc, AerialExtreMatch, internal Mavic, first internal fixed-wing flight).
## Seed Data Sets
| Data Set | Description | Used by Tests | How Loaded | Cleanup |
|----------|-------------|---------------|-----------|---------|
| `nav_cam_60_slice` | 60 JPGs `AD000001.jpg`…`AD000060.jpg`, 6252×4168, captured at 400 m AGL | T1 pipeline-correctness tests (FT-P-01..FT-P-08, FT-N-01..FT-N-04) | volume mount `fixtures-images:/fixtures/images:ro` | volume is read-only — no cleanup |
| `nav_cam_60_slice_coordinates` | `coordinates.csv`: per-frame WGS84 ground truth | All T1 accuracy tests | mount path `/fixtures/images/coordinates.csv` | — |
| `nav_cam_60_slice_imu` *(synthetic, fixture)* | `fixtures/imu_AD0000xx.csv`: 200 Hz IMU traces synthesised by SITL ArduPilot replay of `coordinates.csv` as ground-truth trajectory | T1 cuVSLAM tests; F-T1c IMU-sync-jitter measurement | mount path `/fixtures/imu/` ; `ardupilot-sitl --imu-replay=...` | regenerated per test session |
| `satellite_tiles_AD0000xx_z20` *(placeholder fixture)* | z=20 ortho-tiles for the bbox of `coordinates.csv`, fetched offline by `tile-cache-init` from public ortho service (Esri / Mapbox / Sentinel-2 fallback gated to ≥0.5 m/px) | T1 cross-view matcher / VPR tests | volume `tile-cache:/var/lib/gpsdenied/tiles` | volume rebuilt per test session |
| `satellite_tile_descriptors_z20` | Pre-extracted SuperPoint keypoints + DINOv2-VLAD global descriptors for `satellite_tiles_AD0000xx_z20` | T1 VPR + matcher tests | same volume, sidecar `.descriptors.h5` files | same |
| `aerialvl_s03` *(deferred-corpus)* | AerialVL S03: 70 km of fixed-wing flight at 1 km AGL with synced IMU + GPS truth + nav-cam stream | T2 AC-1.3, AC-NEW-4, AC-NEW-7, AC-NEW-8, AC-NEW-9 | external download script (data team task — Decompose); mount when present | not removed (large, kept across sessions) |
| `uav_visloc` *(deferred-corpus)* | UAV-VisLoc public dataset | T2 matcher / VPR seasonal-robustness regression | external download script | not removed |
| `aerialextrematch` *(deferred-corpus)* | AerialExtreMatch open-review dataset | T2 matcher seasonal-robustness regression | external download script | not removed |
| `2chadcnn_seasons` *(deferred-corpus)* | 2chADCNN season set (cross-season scene-change benchmark) | T2 NF-T*-season-robustness | external download script | not removed |
| `tartanair_v2` *(deferred-corpus)* | TartanAir V2 synthetic scenes | T2 matcher distillation evaluation | external download script | not removed |
| `internal_mavic` *(deferred-corpus)* | Internal Mavic 3 Pro Mini recorded flights (legacy attempt; no IMU per problem.md, used for visual-only checks) | T2 matcher visual-only regression | external `data team` mount | not removed |
| `internal_fixed_wing_first_sortie` *(deferred-field)* | First internal fixed-wing flight with synced IMU + GPS truth | T5 FT-1 / FT-2 / FT-3, AC-1.3 lock | field-test mount | not removed |
| `synthetic_8h_load` *(synthesisable)* | 8-hour synthetic 3 fps nav-frame replay sequence assembled from `nav_cam_60_slice` looped + jittered | NF-T3 thermal soak, NF-T5 FDR rollover (AC-NEW-3), AC-NEW-5 | generated at fixture build time by `fixtures/synth-8h-loader/` | regenerated per session |
| `cold_soak_corpus` *(deferred-hil)* | A short replay loop run at −20 °C ambient | T4 NF-T3 cold-soak, AC-NEW-1 cold | bench HW only | — |
| `hot_soak_corpus` *(deferred-hil)* | Same replay loop run at +50 °C ambient for 8 h | T4 NF-T3 hot-soak, AC-NEW-5 | bench HW only | — |
| `spoofing_scenarios` | Scripted MAVLink GPS_RAW_INT injections: jam-onset, lat/lon offset, sat-count drop, hdop spike | T3 F-T9 / F-T12, AC-NEW-2 | `gps-spoof-injector` config files | regenerated per session |
| `operator_hint_scenarios` | Scripted operator STATUSTEXT messages with approximate `(lat, lon, sigma_xy=500m)` | T3 F-T10, AC-3.4, AC-6.2, results_report row 22 | `qgc-mock` config | regenerated per session |
| `stale_tile_scenarios` | Synthetic-age tiles (1, 5, 7, 11, 13, 18 months old; both active-conflict and stable-rear sectors) | T1 NF-T6, AC-8.2 / AC-NEW-6 | injected into `tile-cache` by `tile-cache-init --inject-stale` | volume rebuilt per session |
| `cache_poisoning_scenarios` | Multi-flight Monte Carlo with synthetic over-confidence injection (EKF covariance deflated by 1.5×–3×) | T2 NF-T4b, AC-NEW-7 | generated by `fixtures/cache-poison-mc/` | regenerated per session |
| `cold_start_replay_50` | 50× cold-boot replay: SUT process killed and restarted with simulated FC pose injection | T1+T4 F-T11, AC-NEW-1 | scripted in `e2e-runner` test | — |
| `disconnected_segments_replay` | Synthetic ≥3 disconnected flight segments stitched from `nav_cam_60_slice` with gaps | T1 F-T8, AC-3.3 | generated at fixture build time | regenerated per session |
| `tile_dedup_replay` | A flight where ground sectors are visited twice — used to verify deduplication (AC-8.4) | T1 F-T2 | generated at fixture build time | regenerated per session |
| `mavlink2_signing_keys` | Test-only per-airframe HMAC-SHA256 signing keys | T1 / T3 F-T9, S-T1, MAVLink2 signing assertions | env var `MAVLINK2_SIGNING_KEY=…` shared SUT + runner + FC | rotated per session |
| `tls_test_certs` | Self-signed CA + SUT cert + client cert (test-only) | T1 S-T1..S-T5 HTTPS auth tests | mount `tls-test-certs:/etc/gpsdenied/tls:ro` | regenerated per session |
## Data Isolation Strategy
- **Container scope**: each test session starts with a clean `sut` container (no cache poisoning between sessions).
- **Volume scope**: `tile-cache` and `fdr` volumes are **rebuilt per test session** (not per test) — within a session, tests that depend on cache state are ordered or use namespaced subdirectories. `fixtures-images`, `fixtures-imu`, `fixtures-expected` are read-only; cannot be polluted.
- **Cross-test contamination**: tests that mutate state (cache writes, FDR writes) declare `pytest.mark.mutates_state` and are run in a serial group. Read-only tests run in parallel within a tier.
- **Identity isolation**: each session generates a fresh `mavlink2_signing_keys` set and JWT signing key — replay across sessions is impossible.
- **Resource isolation**: T4 deferred-hil tests do **not** share a Jetson with any other test; bench scheduler enforces single-tenant access.
## Input Data Mapping
| Input Data File | Source Location | Description | Covers Scenarios |
|-----------------|----------------|-------------|-----------------|
| `AD000001.jpg`…`AD000060.jpg` | `_docs/00_problem/input_data/` | 60 nav-cam JPGs, 6252×4168, 400 m AGL, ADTi 26S v2 | FT-P-01..FT-P-08, FT-N-01..FT-N-04, NF-RES-LIM-01..03 (T1) |
| `coordinates.csv` | `_docs/00_problem/input_data/` | Frame index → WGS84 ground truth | results_report rows 1–4, FT-P-01, FT-P-02, NFT-PERF-01 |
| `data_parameters.md` | `_docs/00_problem/input_data/` | Corpus-shoot params (400 m AGL, 26S v2, 25 mm, 23.5 mm sensor) | All T1 tests — context for pipeline-correctness scope |
| `AD000001_gmaps.png`, `AD000002_gmaps.png` | `_docs/00_problem/input_data/` | Two satellite reference thumbnails (frames 1–2 only) | Smoke-test only; not used as the cross-view reference (placeholder fixture is) |
| `expected_results/results_report.md` | `_docs/00_problem/input_data/` | 46-scenario expected results mapping | All T1 tests + most T2 tests; canonical pass/fail thresholds |
| `expected_results/position_accuracy.csv` | `_docs/00_problem/input_data/` | Per-frame ground truth + thresholds | results_report rows 1–3, FT-P-01, FT-P-02 |
## Expected Results Mapping
The canonical mapping is `_docs/00_problem/input_data/expected_results/results_report.md`. The traceability matrix references that file by row number. The summary table below lists the rows by the test scenario IDs that consume them.
| Test Scenario ID | Input Data | Expected Result | Comparison Method | Tolerance | Expected Result Source |
|-----------------|------------|-----------------|-------------------|-----------|----------------------|
| FT-P-01 | `coordinates.csv` (60 frames) + `nav_cam_60_slice` + `satellite_tiles_AD0000xx_z20` + `nav_cam_60_slice_imu` | ≥80 % within 50 m | `percentage` | ≥80 % | `results_report` row 1; `position_accuracy.csv` |
| FT-P-02 | same | ≥50 % within 20 m | `percentage` | ≥50 % | `results_report` row 2; `position_accuracy.csv` |
| FT-P-03 | same | each frame ≤100 m error | `numeric_tolerance` | ±100 m max per frame | `results_report` row 3 |
| FT-P-04 | same | cumulative VO drift between satellite anchors ≤100 m mono / ≤50 m mono+IMU | `threshold_max` | mono: ≤100 m; mono+IMU: ≤50 m | `results_report` row 4 ; AC-1.3 / AC-NEW-8 |
| FT-P-05 | single frame + IMU | `fix_type=3, horiz_accuracy ∈ [1,50] m, satellites_visible=10` | `exact` (fix_type, sat) + `range` (h_acc) | as stated | `results_report` row 5 |
| FT-P-06 | sequence, no satellite >30 s | `fix_type=3, horiz_accuracy ∈ [20,100]` | `exact` + `range` | as stated | `results_report` row 6 |
| FT-P-07 | sequence, VO lost + no satellite | `fix_type=2, h_acc ≥ 50 m` (growing) | `exact` + `threshold_min` | as stated | `results_report` row 7 |
| FT-P-08 | VO lost + 3 sat failures | `fix_type=0, h_acc=999.0` | `exact` | N/A | `results_report` row 8 |
| FT-P-09 | tier transitions | tier ∈ {HIGH, MEDIUM, LOW, FAILED} per conditions | `exact` | N/A | `results_report` rows 10–13 |
| FT-P-10 | 60 frames | registration rate ≥95 % (T1 functional only) | `percentage` | ≥95 % (functional) | `results_report` row 14 |
| FT-P-11 | 60 frames | MRE < 1.0 px VO frame-to-frame; < 2.5 px cross-domain | `threshold_max` | <1.0 / <2.5 | `results_report` row 15 ; AC-2.2 |
| FT-P-12 | frames 32–43 (turn area) | system continues producing position estimates through turn | `threshold_min` | ≥1 position output / frame | `results_report` row 16 |
| FT-P-13 | 350 m gap synthetic | error ≤100 m after recovery | `threshold_max` | ≤100 m | `results_report` row 17 |
| FT-P-14 | sharp-turn synthetic | satellite re-loc triggers; error ≤50 m within 3 frames | `threshold_max` | ≤50 m | `results_report` row 18 |
| FT-P-15 | VO loss + sat success | `tracking_state == NORMAL` after recovery | `exact` | N/A | `results_report` row 19 |
| FT-P-16 | startup with `GLOBAL_POSITION_INT` | first GPS_INPUT within 30 s of boot, p95 | `threshold_max` | ≤30 s p95 | `results_report` row 23 ; AC-NEW-1 |
| FT-P-17 | startup + first satellite match | error ≤50 m after first match | `threshold_max` | ≤50 m | `results_report` row 24 |
| FT-P-18 | reboot mid-flight | recovery time ≤30 s | `threshold_max` | ≤30 s | `results_report` row 25 ; AC-NEW-1 |
| FT-P-19 | post-reboot first match | error ≤50 m | `threshold_max` | ≤50 m | `results_report` row 26 |
| FT-P-20 | object localize valid request | response with lat/lon within `accuracy_m` of ground truth | `numeric_tolerance` | per response.accuracy_m | `results_report` row 27 |
| FT-P-21 | round-trip GPS→NED→pixel→GPS | error ≤0.1 m | `threshold_max` | ≤0.1 m | `results_report` row 29 |
| FT-P-22 | `GET /health` | 200 + JSON with `status`, `memory_mb`, `gpu_temp_c` | `exact` + `regex` | as stated | `results_report` row 30 |
| FT-P-23 | `POST /sessions` | 200 or 201 + session id | `exact` | status ∈ {200,201} | `results_report` row 31 |
| FT-P-24 | `GET /sessions/{id}/stream` | SSE events at ~1 Hz with schema fields | `regex` + rate | per SSE schema | `results_report` row 32 |
| FT-P-25 | TRT engine load | ≤10 s total | `threshold_max` | ≤10 s | `results_report` row 39 |
| FT-P-26 | mission area definition | 300–1000 MB tile storage | `range` | [300, 1000] MB | `results_report` row 40 |
| FT-P-27 | EKF position ± 3σ | tile mosaic radius ≥500 m | `threshold_min` | ≥500 m | `results_report` row 41 |
| FT-P-28 | tile dedup replay | ≤1 tile per ground sector visited ≥2× | `exact` | per-sector count == 1 | AC-8.4, F-T2 |
| FT-P-29 | post-flight upload | tiles uploaded to candidate pool with `trust_level=candidate` | `exact` | as stated | AC-8.4, F-T3 |
| FT-P-30 | telemetry | NAMED_VALUE_FLOAT at 1 Hz ± 0.2 Hz | `numeric_tolerance` | 1 Hz ± 0.2 Hz | `results_report` row 45 |
| FT-N-01 | corrupted JPG | system continues with `tracking_state == DEGRADED`, no crash | `exact` | tracking_state ∈ {DEGRADED, NORMAL} | derived from AC-3.x |
| FT-N-02 | invalid object localize pixel | HTTP 422 | `exact` | status == 422 | `results_report` row 28 |
| FT-N-03 | unauthenticated `POST /sessions` | HTTP 401 | `exact` | status == 401 | `results_report` row 33 |
| FT-N-04 | tile older than freshness budget | tile rejected or down-confidence; never `satellite_anchored` | `exact` | as stated | AC-8.2, AC-NEW-6 |
| FT-N-05 | tile in 30-day grace zone | confidence linearly decayed | `numeric_tolerance` | per spec curve | AC-NEW-6 |
| FT-N-06 | sharp turn (no overlap, <70°, <200 m) | satellite re-loc within 3 frames | `threshold_max` | ≤50 m within 3 frames | `results_report` row 18 ; AC-3.2 |
| FT-N-07 | VO loss + 3 sat failures | `RELOC_REQ` regex pattern emitted via STATUSTEXT | `regex` | per pattern | `results_report` rows 20, 46 |
| FT-N-08 | re-loc active | `fix_type=0`, IMU prediction continues, sat attempts continue | `exact` | as stated | `results_report` row 21 |
| FT-N-09 | operator hint received | hint used as 500 m seed for VPR; ≤500 m initially, ≤50 m after match | `threshold_max` | as stated | `results_report` row 22 |
| NFT-PERF-01 | single 6252×4168 frame on Orin Nano Super 25 W (T4) | end-to-end latency ≤400 ms p95 | `threshold_max` | ≤400 ms p95 | `results_report` row 34 ; AC-4.1 |
| NFT-PERF-02 | cuVSLAM single frame | ≤20 ms / frame | `threshold_max` | ≤20 ms | `results_report` row 37 |
| NFT-PERF-03 | matcher single pair on Orin Nano Super 25 W | inline ≤200 ms; re-loc fallback ≤2000 ms | `threshold_max` | as stated | `results_report` row 38 |
| NFT-PERF-04 | Orthority per-frame on Orin Nano Super | ≤50 ms / frame | `threshold_max` | ≤50 m frame | F-T14, M-27 |
| NFT-PERF-05 | spoof onset → SUT promotion | ≤3 s p95 | `threshold_max` | ≤3 s p95 | AC-NEW-2 ; F-T12 |
| NFT-PERF-06 | per-frame end-to-end (frame-by-frame, not batched) | inter-frame interval matches camera rate | `numeric_tolerance` | per frame within ±50 ms of camera rate | AC-4.4 |
| NFT-RES-01 | SUT process killed mid-flight | recovery ≤30 s, restart from FC pose | `threshold_max` | ≤30 s | `results_report` row 25 ; AC-5.3, AC-NEW-1 |
| NFT-RES-02 | spoofing onset | promotion ≤3 s | `threshold_max` | ≤3 s | AC-NEW-2 |
| NFT-RES-03 | network partition with FC | failsafe at 3 s no fix | `threshold_max` | ≤3 s | AC-5.2 |
| NFT-RES-04 | EKF3 lane-switch / fix-loss event | source-promotion responds | `exact` | promotion within budget | AC-NEW-2 |
| NFT-SEC-01 | unsigned MAVLink injection | FC rejects | `exact` | acceptance==false | F-T9, S-T1 |
| NFT-SEC-02 | unauthenticated REST | 401 / 403 | `exact` | per endpoint | results_report row 33 |
| NFT-SEC-03 | malformed JWT | 401 | `exact` | status==401 | derived |
| NFT-SEC-04 | TLS downgrade attempt | rejected | `exact` | TLS ≥1.2 only | S-T2 |
| NFT-SEC-05 | tile-cache write attempt by unauthorized API | 403 / no-op | `exact` | as stated | AC-8.5, AC-NEW-7 |
| NFT-RES-LIM-01 | 30-min sustained load (T1+T4) | peak < 8192 MB; growth ≤50 MB / 30 min | `threshold_max` | as stated | results_report row 35 ; AC-4.2 |
| NFT-RES-LIM-02 | 30-min sustained load | SoC junction ≤80 °C | `threshold_max` | ≤80 °C | results_report row 36 |
| NFT-RES-LIM-03 | 8-h sustained 25 W @ +50 °C ambient (T4) | no thermal throttle | `exact` | throttle_event_count == 0 | AC-NEW-5, NF-T3 |
| NFT-RES-LIM-04 | FDR 8-h synthetic load | FDR ≤64 GB; rollover logged; no payload class silently dropped | `threshold_max` + audit | as stated | AC-NEW-3, NF-T5 |
| NFT-RES-LIM-05 | tile cache 400 km² | ≤10 GB persistent | `threshold_max` | ≤10 GB | restrictions §UAV |
## External Dependency Mocks
| External Service | Mock/Stub | How Provided | Behavior |
|-----------------|-----------|-------------|----------|
| Azaion Suite Satellite Service (pre-flight cache sync) | `tile-cache-init` one-shot loader | Docker service that materialises MBTiles + sidecar before SUT starts | Returns the same fixture set every run; deterministic |
| Azaion Suite Satellite Service (post-flight upload) | candidate-pool stub inside `qgc-mock` (or a dedicated `service-stub` container) | HTTP server with `POST /candidates` accepting tile uploads, recording to a file | Records what the SUT sends; never alters the cache used by the next test |
| QGroundControl GCS | `qgc-mock` | Custom MAVLink-only mock | Records STATUSTEXT, NAMED_VALUE_FLOAT, GPS_INPUT, ODOMETRY frames; can inject operator-hint STATUSTEXT |
| ArduPilot autopilot | `ardupilot-sitl` (PR #30080-pinned) | Official ArduPilot SITL container | Replays IMU from fixture; runs EKF3; exposes `RAW_IMU`, `ATTITUDE`, `GLOBAL_POSITION_INT`, `EKF_STATUS_REPORT`, `GPS_RAW_INT` |
| Spoofing GPS adversary | `gps-spoof-injector` | Custom MAVLink injector | Sends crafted `GPS_RAW_INT` with configurable lat/lon offset, sat count, hdop |
| Identity provider (JWT) | in-runner key generator | Test-only HMAC-SHA256 key shared at SUT boot via env var | Mints valid + invalid + expired JWTs |
| External satellite providers (Maxar, Airbus, Planet) | **NOT MOCKED** — out of scope per AC-8.1; SUT does not call them at runtime | — | The SUT must never make outbound HTTP to these hosts; F-T2 / NFT-SEC-04 includes a network-policy assertion |
All mocks are deterministic — same input always produces same output — except the spoof / operator-hint scenarios that explicitly schedule events on a wall-clock so the SUT's timing budgets (AC-NEW-1, AC-NEW-2) are exercised.
## Data Validation Rules
| Data Type | Validation | Invalid Examples | Expected System Behavior |
|-----------|-----------|-----------------|------------------------|
| Nav-cam frame | non-zero size; JPEG / PNG decodable; expected resolution within ±1 % of `data_parameters.md` | 0-byte file, truncated JPEG header, wildly wrong resolution | log error; `tracking_state` transitions to `DEGRADED` if loss >2 frames; never crash |
| IMU sample | rate 200 Hz ± 10 %; timestamps monotonic; covariance present | timestamp regression, rate < 50 Hz, NaN / Inf | drop sample with WARN log; if loss > 0.5 s → cuVSLAM degrade; AC-5.2 path eligible |
| Satellite tile | MBTiles schema valid; descriptors present; `capture_date` within freshness budget for sector | corrupt MBTiles, missing sidecar, beyond-grace freshness | reject with WARN; AC-8.2 / AC-NEW-6 |
| MAVLink GPS_RAW_INT (FC inputs) | well-formed; signing valid (when MAVLink2 signing on) | unsigned frame, malformed length, sysid spoofing | reject; F-T9 + S-T1 cover this |
| HTTPS request body | JSON parse OK; required fields present; pixel coords ∈ frame bounds | missing fields, NaN, out-of-bounds pixel | HTTP 422 |
| JWT | signature valid; not expired; subject is allowed | expired, wrong sig, missing claims | HTTP 401 |
| Tile descriptor | dimension matches index; checksum match | wrong dims, mismatched hash | reject load; cache marks as corrupt; F-T2 |
| Operator hint STATUSTEXT | parseable `RELOC_HINT: lat=… lon=… sigma=…`; numeric ranges sane | malformed, NaN, negative sigma, lat > 90 / lon > 180 | reject hint; emit STATUSTEXT WARN; do not seed VPR |
## Pending Data (Phase 1 D3 — placeholder fixtures)
The following fixtures are **declared by name** in this spec but **not yet present** at the time of writing. Phase 3's HARD GATE will surface them as **`pending data`**, not "remove":
| Fixture | Generator / source | Owner | Phase 3 treatment |
|---------|-------------------|-------|-------------------|
| `fixtures/satellite_tiles_AD0000xx_z20/` | `tile-cache-init` script: fetch z=20 ortho tiles for the bbox of `coordinates.csv` from a public ortho service (Esri / Mapbox / Sentinel-2 ≥ 0.5 m/px); pre-extract SuperPoint + DINOv2-VLAD descriptors | Decompose / impl. team task | `pending data` — not removed; `data_status: deferred-corpus` retained until generator script is committed |
| `fixtures/imu_AD0000xx.csv` | SITL ArduPilot replay of `coordinates.csv` as ground-truth trajectory at 200 Hz | Decompose / impl. team task | `pending data` — not removed; `data_status: deferred-corpus` |
| `aerialvl_s03`, `uav_visloc`, `aerialextrematch`, `2chadcnn_seasons`, `tartanair_v2`, `internal_mavic` | External downloads + curation | data team task (Decompose creates a "dataset acquisition" task) | `data_status: deferred-corpus` |
| `internal_fixed_wing_first_sortie` | Field-test plan | operations team | `data_status: deferred-field` |
| `cold_soak_corpus`, `hot_soak_corpus` | Bench HW + chamber | bench team | `data_status: deferred-hil` |
| `synthetic_8h_load` | `fixtures/synth-8h-loader/` script | impl. team | regenerated per session — synthesisable, no external dependency |
| `cache_poisoning_scenarios` | `fixtures/cache-poison-mc/` script | impl. team | regenerated per session |