[AZ-698] Multi-flight tlog handling: segment first, pick last flight

Real derkachi.tlog covers 3 takeoffs at the same field but the
uploaded video covers only the last. Original NCC argmax + AZ-405
head-takeoff fallback both biased toward flight 1, violating the
spec's "the last chunk in tlog is relevant" framing.

Patch: pre-NCC flight segmenter partitions the IMU energy stream
into distinct flights (threshold + gap walk); find_aligned_window
restricts NCC search to the last segment; low-confidence fallback
uses that segment's start instead of head-takeoff detection.
AlignedWindow gains flight_count_detected + selected_flight_index
for FDR-visible audit.

7 new unit tests (segmenter shapes + end-to-end multi-flight
pipeline + segmented fallback path). 19 AZ-698 tests pass, 113
in the regression slice. Zero new mypy --strict errors.

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

_docs/02_tasks/done/AZ-698_tlog_trim_midflight_alignment.md

@@ -164,3 +164,49 @@ Tests:
 ### Algorithm note
 
 Implementation uses **normalised cross-correlation with per-window unit-norm** (each `len(flow_arr)`-sized slice of the tlog energy stream is zero-meaned + unit-normed before the dot product with the unit-normed flow stream). This makes the peak confidence scale-invariant — a 10 s motion burst inside a 300 s tlog produces a peak ≥ 0.95, where the original FFT-style correlation with full-length normalisation produced ≤ 0.3 and tripped the low-confidence fallback. Cost is O(N·M); with the 10 Hz subsample and a typical 300 s tlog × 10 s flow window, that's ~3 000 inner products — well below the NFR perf budget.
+
+### Follow-up: multi-flight tlog handling (post-batch-99 review)
+
+User reported that real `derkachi.tlog` contains **three takeoffs at the same field**, but the uploaded video covers only the **last** one. The original AZ-698 implementation was vulnerable in two places:
+
+1. NCC `argmax` returns the **first** index of the maximum — if all three flights produce comparable correlation peaks, the result would lock onto flight 1.
+2. The low-confidence fallback called `detect_tlog_takeoff` on the whole tlog, which is the AZ-405 head-takeoff detector — also locks onto flight 1.
+
+Both contradicted the spec line 22: *"the last chunk in tlog is relevant"*.
+
+Resolution: added a pre-NCC flight segmenter and made the aligner explicitly select the last flight before running NCC. The fallback also now uses the last segment's start instead of head-takeoff detection.
+
+#### New module surface
+
+- `_segment_flights_from_imu_energy(samples, *, motion_threshold, min_flight_duration_ns, max_internal_gap_ns) -> list[(start_ns, end_ns)]` — partitions the IMU energy stream into distinct flights. A flight is a contiguous span where energy stayed above threshold, with sub-threshold runs (cruise lulls) shorter than `max_internal_gap_ns`. Reused logic note: `_find_sustained_event` (AZ-405) returns only the FIRST qualifying window by design; partitioning all flights needs the fresh one-pass walk.
+
+#### New config knobs (`AutoSyncConfig` + `ReplayAutoSyncConfig`)
+
+| Knob | Default | Meaning |
+|------|---------|---------|
+| `alignment_segment_motion_threshold_g` | `0.10` | Min IMU energy (`|a| − 1g`, g-units) for a sample to count as in-flight. 0.10 captures cruise oscillation while ignoring stationary sensor noise (~ 0.02). |
+| `alignment_segment_min_flight_duration_seconds` | `30.0` | Discards short ground-startup blips. |
+| `alignment_segment_max_internal_gap_seconds` | `30.0` | Sub-threshold gaps shorter than this stay inside a flight. |
+
+#### New observability fields (`AlignedWindow`)
+
+- `flight_count_detected: int` — how many distinct flights the segmenter found. `1` for a clean single-flight tlog. `> 1` means multi-flight; the aligner always selected the last one.
+- `selected_flight_index: int` — zero-based; always `flight_count_detected - 1` when segmentation fired, else `-1` (segmenter found nothing — fall through to whole-tlog NCC, preserving pre-segmentation behaviour for degenerate inputs).
+
+Surfaced via the `replay.auto_trim.resolved` / `replay.auto_trim.fallback_to_takeoff` log records' `kv` dict so the operator can audit segment selection from the FDR.
+
+#### New tests
+
+| Test | Asserts |
+|------|---------|
+| `test_segmenter_one_flight_returns_single_span` | Single-flight tlog → 1 segment, correct bounds |
+| `test_segmenter_three_flights_returns_three_spans_in_order` | 3-flight tlog → 3 segments in chronological order |
+| `test_segmenter_drops_ground_blip_below_min_duration` | < 30 s motion is filtered out |
+| `test_segmenter_keeps_brief_cruise_lull_inside_flight` | 3 s mid-flight lull does NOT split a flight |
+| `test_find_aligned_window_picks_last_flight_for_multi_flight_tlog` | Full `find_aligned_window` pipeline on a 3-flight tlog → resulting window is inside flight 3, not flight 1 or 2 |
+| `test_align_via_cross_correlation_locks_onto_burst_inside_last_segment` | NCC path locks correctly on a pre-restricted-to-last-flight energy stream |
+| `test_find_aligned_window_uses_only_segment_for_segmented_tlog_fallback` | Low-confidence fallback uses segment start (last flight), NOT head-takeoff (flight 1) |
+
+All 19 AZ-698 tests pass, 1 expected skip (AC-5 real-video smoke). 113 tests pass in the broader regression slice — no regressions.
+
+Backward-compat verified: AC-1 / AC-2 / AC-3 / AC-4 tests exercise `_align_via_cross_correlation` directly and continue to pass; the segmentation gate only fires through `find_aligned_window`'s public entry point.

_docs/03_implementation/batch_99_cycle2_report.md

@@ -98,6 +98,33 @@ opt-in via constructor kwarg so the `--skip-auto-sync` path is untouched.
 The normalised-cross-correlation switch is documented in the spec's
 "Implementation Notes" appendix as the algorithmic decision of record.
 
+## Follow-up commit: multi-flight handling
+
+User-reported gap during the AZ-698 "In Testing" phase: real
+`derkachi.tlog` contains **three takeoffs**; the video covers only
+the last. The original AZ-698 happy path (`np.argmax`) and fallback
+(`detect_tlog_takeoff` on head) were both biased toward flight 1.
+
+Patched in a follow-up commit on top of batch 99:
+
+- New `_segment_flights_from_imu_energy` helper partitions the IMU
+  energy stream into distinct flights using a motion-threshold +
+  gap-tolerance walk.
+- `find_aligned_window` now restricts NCC search to the **last**
+  detected segment.
+- Low-confidence fallback uses the last segment's start instead of
+  re-running head-takeoff detection on the whole tlog.
+- `AlignedWindow` gains `flight_count_detected` + `selected_flight_index`
+  for observability; both are surfaced in the `replay.auto_trim.resolved` /
+  `…fallback_to_takeoff` log records.
+- New unit tests: segmenter happy paths (1-flight, 3-flight),
+  ground-blip rejection, cruise-lull preservation; integration test
+  proving `find_aligned_window` on a 3-flight tlog picks flight 3.
+
+Test totals after follow-up: **113 passed, 2 skipped, 0 failed.**
+Zero new mypy --strict errors (12 errors in scope, all pre-existing
+and unchanged).
+
 ## Next batch
 
 Batch 100 — **AZ-699** (real-flight validation runner). Depends on

src/gps_denied_onboard/config/loader.py

@@ -198,6 +198,9 @@ _REPLAY_AUTO_SYNC_TYPES: Final[dict[str, type]] = {
     "alignment_resample_hz": float,
     "alignment_video_scan_seconds": float,
     "alignment_low_confidence_threshold": float,
+    "alignment_segment_motion_threshold_g": float,
+    "alignment_segment_min_flight_duration_seconds": float,
+    "alignment_segment_max_internal_gap_seconds": float,
 }
 
 

src/gps_denied_onboard/config/schema.py

@@ -323,6 +323,9 @@ class ReplayAutoSyncConfig:
     alignment_resample_hz: float = 10.0
     alignment_video_scan_seconds: float = 30.0
     alignment_low_confidence_threshold: float = 0.60
+    alignment_segment_motion_threshold_g: float = 0.10
+    alignment_segment_min_flight_duration_seconds: float = 30.0
+    alignment_segment_max_internal_gap_seconds: float = 30.0
 
 
 @dataclass(frozen=True)

src/gps_denied_onboard/replay_input/auto_sync.py

@@ -727,15 +727,53 @@ def find_aligned_window(
     if not video_path.is_file():
         raise ReplayInputAdapterError(f"video file not found: {video_path}")
 
-    tlog_energy = _load_tlog_imu_energy_stream(
+    tlog_energy_full = _load_tlog_imu_energy_stream(
         tlog_path,
         max_messages=config.prescan_max_messages * 10,
         source_factory=tlog_source_factory,
     )
+    if len(tlog_energy_full) < 2:
+        raise ReplayInputAdapterError(
+            f"tlog yielded {len(tlog_energy_full)} IMU sample(s); "
+            "need ≥ 2 for cross-correlation alignment"
+        )
+
+    # Multi-flight handling: a tlog may cover several takeoffs at the
+    # same field (engine starts between sorties); the uploaded video
+    # only covers ONE of them, conventionally the LAST. Segment the
+    # tlog first and restrict NCC to the last detected flight so the
+    # peak cannot lock onto an earlier sortie.
+    flight_segments = _segment_flights_from_imu_energy(
+        tlog_energy_full,
+        motion_threshold=config.alignment_segment_motion_threshold_g,
+        min_flight_duration_ns=int(
+            config.alignment_segment_min_flight_duration_seconds * 1_000_000_000
+        ),
+        max_internal_gap_ns=int(
+            config.alignment_segment_max_internal_gap_seconds * 1_000_000_000
+        ),
+    )
+    if flight_segments:
+        seg_start_ns, seg_end_ns = flight_segments[-1]
+        tlog_energy = tuple(
+            (ts, e) for ts, e in tlog_energy_full
+            if seg_start_ns <= ts <= seg_end_ns
+        )
+        flight_count_detected = len(flight_segments)
+        selected_flight_index = len(flight_segments) - 1
+    else:
+        # No clear flight pattern detected (degenerate tlog: very
+        # short, all-quiet, or thresholds badly tuned). Fall through
+        # to whole-tlog NCC so we keep the AZ-405-equivalent
+        # behavior; surface this via flight_count_detected=0.
+        tlog_energy = tlog_energy_full
+        flight_count_detected = 0
+        selected_flight_index = -1
+
     if len(tlog_energy) < 2:
         raise ReplayInputAdapterError(
-            f"tlog yielded {len(tlog_energy)} IMU sample(s); "
+            f"selected flight segment yielded {len(tlog_energy)} IMU "
-            "need ≥ 2 for cross-correlation alignment"
+            "sample(s); need ≥ 2 for cross-correlation alignment"
         )
 
     if video_frames_factory is None:
@@ -765,6 +803,8 @@ def find_aligned_window(
         target_fc_dialect=target_fc_dialect,
         tlog_path=tlog_path,
         tlog_source_factory=tlog_source_factory,
+        flight_count_detected=flight_count_detected,
+        selected_flight_index=selected_flight_index,
     )
 
 
@@ -776,6 +816,8 @@ def _align_via_cross_correlation(
     target_fc_dialect: FcKind,
     tlog_path: Path,
     tlog_source_factory: Callable[[str], Any] | None,
+    flight_count_detected: int = 0,
+    selected_flight_index: int = -1,
 ) -> AlignedWindow:
     """Pure compute kernel: turn pre-loaded streams into an :class:`AlignedWindow`.
 
@@ -844,6 +886,8 @@ def _align_via_cross_correlation(
             video_origin_ns=video_origin_ns,
             video_flow_duration_ns=video_duration_ns,
             confidence=confidence,
+            flight_count_detected=flight_count_detected,
+            selected_flight_index=selected_flight_index,
         )
 
     # Absolute tlog timeline value where video t=0 aligns. The
@@ -862,6 +906,8 @@ def _align_via_cross_correlation(
         offset_ms=offset_ms,
         confidence=confidence,
         fallback_used=False,
+        flight_count_detected=flight_count_detected,
+        selected_flight_index=selected_flight_index,
     )
 
 
@@ -883,16 +929,37 @@ def _fallback_to_head_takeoff(
     video_origin_ns: int,
     video_flow_duration_ns: int,
     confidence: float,
+    flight_count_detected: int = 0,
+    selected_flight_index: int = -1,
 ) -> AlignedWindow:
-    """Low-confidence path: use AZ-405 head-takeoff detector.
+    """Low-confidence fallback path.
 
-    Returns an :class:`AlignedWindow` whose ``offset_ms`` and
+    Two modes:
-    ``tlog_start_ns`` come from the takeoff onset; ``fallback_used``
+
-    is ``True`` so callers + FDR audit can record the divergence.
+    * **Segmented tlog** (``flight_count_detected > 0``): the
-    The reported ``confidence`` is the original (sub-threshold)
+      pre-NCC segmenter already chose the LAST flight. We use
-    cross-correlation peak — it is informational only when the
+      ``tlog_energy[0][0]`` — the start of that segment — as the
-    fallback path is taken.
+      ``tlog_start_ns`` rather than re-running the AZ-405
+      head-takeoff detector (which would lock onto FLIGHT 1's
+      takeoff on a multi-flight tlog and silently throw away the
+      segmenter's correct answer). This is the AZ-698-after-user-
+      feedback contract: "if 1 flight take it, if multiple take
+      the last" applies to the fallback path too.
+
+    * **Un-segmented tlog** (``flight_count_detected == 0``): no
+      flight pattern fired in the segmenter (degenerate / very
+      short tlog). Fall back to the AZ-405 head-takeoff detector
+      as before — this preserves the single-flight behavior that
+      existed before AZ-698's segmentation stage.
+
+    ``fallback_used`` is ``True`` in either case so callers + FDR
+    audit can record the divergence. The reported ``confidence`` is
+    the original (sub-threshold) cross-correlation peak — it is
+    informational only when the fallback path is taken.
     """
+    if flight_count_detected > 0 and tlog_energy:
+        tlog_start_ns = tlog_energy[0][0]
+    else:
         takeoff = detect_tlog_takeoff(
             tlog_path,
             target_fc_dialect,
@@ -913,6 +980,8 @@ def _fallback_to_head_takeoff(
         offset_ms=offset_ms,
         confidence=confidence,
         fallback_used=True,
+        flight_count_detected=flight_count_detected,
+        selected_flight_index=selected_flight_index,
     )
 
 
@@ -969,6 +1038,60 @@ def _zero_mean_normalise(
     return result
 
 
+def _segment_flights_from_imu_energy(
+    samples: tuple[tuple[int, float], ...],
+    *,
+    motion_threshold: float,
+    min_flight_duration_ns: int,
+    max_internal_gap_ns: int,
+) -> list[tuple[int, int]]:
+    """Partition an IMU energy stream into distinct flight segments.
+
+    A flight is a contiguous span where energy stayed ``>=`` the
+    threshold, with no sub-threshold run longer than
+    ``max_internal_gap_ns`` (cruise lulls don't split a flight).
+    Spans shorter than ``min_flight_duration_ns`` are discarded as
+    ground-startup noise. Returns ``(start_ns, end_ns)`` per flight,
+    in chronological order.
+
+    AZ-698 / AZ-697 user constraint: a single tlog often spans
+    multiple takeoffs at the same field, but the uploaded video only
+    covers the **last** one. The aligner uses this segmenter to find
+    every flight, then restricts NCC search to the last segment so
+    the trim is unambiguous. ``_find_sustained_event`` (AZ-405)
+    returns only the FIRST qualifying window by design; partitioning
+    all flights needs this fresh one-pass walk.
+    """
+    if not samples:
+        return []
+    segments: list[tuple[int, int]] = []
+    in_flight = False
+    flight_start_ns = 0
+    last_above_ns = 0
+    last_below_ns: int | None = None
+    for ts, energy in samples:
+        if energy >= motion_threshold:
+            if not in_flight:
+                in_flight = True
+                flight_start_ns = ts
+            last_above_ns = ts
+            last_below_ns = None
+        else:
+            if in_flight:
+                if last_below_ns is None:
+                    last_below_ns = ts
+                if (ts - last_below_ns) >= max_internal_gap_ns:
+                    if (
+                        last_above_ns - flight_start_ns
+                    ) >= min_flight_duration_ns:
+                        segments.append((flight_start_ns, last_above_ns))
+                    in_flight = False
+                    last_below_ns = None
+    if in_flight and (last_above_ns - flight_start_ns) >= min_flight_duration_ns:
+        segments.append((flight_start_ns, last_above_ns))
+    return segments
+
+
 def _load_tlog_imu_energy_stream(
     tlog_path: Path,
     *,

src/gps_denied_onboard/replay_input/interface.py

@@ -91,6 +91,21 @@ class AutoSyncConfig:
             confidence below which :func:`find_aligned_window` falls
             back to the head-takeoff detector (AZ-405 path).
             Default 0.60.
+        alignment_segment_motion_threshold_g: Minimum IMU energy
+            (``|a| - 1g`` in g-units) for a sample to count as
+            "in-flight" during segmentation. A 3-flight tlog has 3
+            spans where this threshold is exceeded with gaps below
+            ``alignment_segment_max_internal_gap_seconds``. Default
+            0.10 — captures cruise oscillation while ignoring
+            stationary sensor noise (~ 0.02 g).
+        alignment_segment_min_flight_duration_seconds: Minimum span
+            length (in seconds) for a candidate segment to be
+            classified as a flight. Discards short ground-startup
+            blips. Default 30.
+        alignment_segment_max_internal_gap_seconds: Sub-threshold
+            spans shorter than this stay inside a flight (cruise
+            lulls don't split a flight); spans equal-or-longer end
+            the current flight. Default 30.
     """
 
     takeoff_accel_threshold_g: float = 0.5
@@ -105,6 +120,9 @@ class AutoSyncConfig:
     alignment_resample_hz: float = 10.0
     alignment_video_scan_seconds: float = 30.0
     alignment_low_confidence_threshold: float = 0.60
+    alignment_segment_motion_threshold_g: float = 0.10
+    alignment_segment_min_flight_duration_seconds: float = 30.0
+    alignment_segment_max_internal_gap_seconds: float = 30.0
 
 
 @dataclass(frozen=True, slots=True)
@@ -163,6 +181,18 @@ class AlignedWindow:
         fallback_used: ``True`` when cross-correlation confidence
             dropped below the threshold and the result was built
             from the head-takeoff detector instead.
+        flight_count_detected: Number of distinct flight segments the
+            pre-NCC segmenter found in the tlog. ``1`` for a clean
+            single-flight tlog. ``> 1`` means the tlog covers
+            multiple flights — the aligner always selects the
+            **last** one (per AZ-698 spec line 23: "the last chunk
+            in tlog is relevant").
+        selected_flight_index: Zero-based index of the segment the
+            aligner restricted NCC to. Always
+            ``flight_count_detected - 1`` when ``flight_count_detected
+            > 0``; ``-1`` when segmentation returned no candidate and
+            the aligner fell through to whole-tlog NCC (single-flight
+            edge case where the segmenter's thresholds didn't fire).
     """
 
     tlog_start_ns: int
@@ -170,6 +200,8 @@ class AlignedWindow:
     offset_ms: int
     confidence: float
     fallback_used: bool
+    flight_count_detected: int = 0
+    selected_flight_index: int = -1
 
 
 @dataclass(frozen=True, slots=True)

src/gps_denied_onboard/replay_input/tlog_video_adapter.py

@@ -476,10 +476,14 @@ class ReplayInputAdapter:
             "offset_ms": window.offset_ms,
             "confidence": window.confidence,
             "fallback_used": window.fallback_used,
+            "flight_count_detected": window.flight_count_detected,
+            "selected_flight_index": window.selected_flight_index,
         }
         msg = (
             f"{kind}: tlog_start_ns={window.tlog_start_ns} "
             f"offset_ms={window.offset_ms} confidence={window.confidence:.3f} "
+            f"flights_detected={window.flight_count_detected} "
+            f"selected_flight={window.selected_flight_index}"
         )
         if window.fallback_used:
             self._log.warning(msg, extra={"kind": kind, "kv": kv})

src/gps_denied_onboard/runtime_root/_replay_branch.py

@@ -271,6 +271,15 @@ def _build_auto_sync_config(config: Config) -> AutoSyncConfig:
         alignment_resample_hz=block.alignment_resample_hz,
         alignment_video_scan_seconds=block.alignment_video_scan_seconds,
         alignment_low_confidence_threshold=block.alignment_low_confidence_threshold,
+        alignment_segment_motion_threshold_g=(
+            block.alignment_segment_motion_threshold_g
+        ),
+        alignment_segment_min_flight_duration_seconds=(
+            block.alignment_segment_min_flight_duration_seconds
+        ),
+        alignment_segment_max_internal_gap_seconds=(
+            block.alignment_segment_max_internal_gap_seconds
+        ),
     )
 
 

tests/unit/replay_input/test_az698_window_alignment.py

@@ -35,8 +35,10 @@ from gps_denied_onboard.components.c8_fc_adapter.tlog_replay_adapter import (
 from gps_denied_onboard.replay_input.auto_sync import (
     _align_via_cross_correlation,
     _resample_uniform,
+    _segment_flights_from_imu_energy,
     compute_offset,
     detect_video_motion_onset,
+    find_aligned_window,
     validate_offset_or_fail,
 )
 from gps_denied_onboard.replay_input.errors import ReplayInputAdapterError
@@ -110,6 +112,31 @@ def _build_double_burst_stream(
     return tuple(out)
 
 
+def _build_multi_flight_stream(
+    *,
+    flights: tuple[tuple[float, float], ...],
+    end_s: float,
+    hz: float,
+    in_flight_amplitude: float = 0.3,
+    ground_amplitude: float = 0.02,
+) -> tuple[tuple[int, float], ...]:
+    """Build a multi-flight IMU energy stream.
+
+    ``flights`` is a tuple of ``(start_s, end_s)`` per flight. Between
+    flights the energy is ``ground_amplitude``; inside each flight it
+    is ``in_flight_amplitude``. Used by the multi-flight segmentation
+    tests to mimic a real "3 takeoffs at the same field" tlog.
+    """
+    out: list[tuple[int, float]] = []
+    period_s = 1.0 / hz
+    t = 0.0
+    while t < end_s:
+        in_flight = any(s <= t < e for s, e in flights)
+        out.append((_ns(t), in_flight_amplitude if in_flight else ground_amplitude))
+        t += period_s
+    return tuple(out)
+
+
 # ---------------------------------------------------------------------
 # AC-1: takeoff-aligned regression — find_aligned_window must produce
 # the same offset (within ± 50 ms) as the AZ-405 compute_offset path
@@ -614,3 +641,295 @@ def test_autosync_decision_offset_is_within_ac9_window_for_baseline() -> None:
     # Assert
     assert decision.offset_ms == 2_000
     assert decision.combined_confidence == pytest.approx(0.85, abs=1e-6)
+
+
+# ---------------------------------------------------------------------
+# Multi-flight tlog handling (user constraint: "if 1 flight take it, if
+# multiple take the last"). The pre-NCC segmenter is the gatekeeper.
+
+
+def test_segmenter_one_flight_returns_single_span() -> None:
+    # Arrange: 120 s tlog with a single flight from t=10..100 s.
+    samples = _build_multi_flight_stream(
+        flights=((10.0, 100.0),),
+        end_s=120.0,
+        hz=10.0,
+    )
+
+    # Act
+    segments = _segment_flights_from_imu_energy(
+        samples,
+        motion_threshold=0.1,
+        min_flight_duration_ns=_ns(30.0),
+        max_internal_gap_ns=_ns(5.0),
+    )
+
+    # Assert
+    assert len(segments) == 1
+    seg_start_ns, seg_end_ns = segments[0]
+    assert abs(seg_start_ns - _ns(10.0)) <= _ns(0.2)
+    assert abs(seg_end_ns - _ns(100.0)) <= _ns(0.2)
+
+
+def test_segmenter_three_flights_returns_three_spans_in_order() -> None:
+    # Arrange: 360 s tlog with three takeoffs (60 s flights with 30 s
+    # ground gaps between them) — mimics the Derkachi scenario the
+    # user flagged: one tlog, three sorties, video covers only the
+    # last one.
+    flights_def = ((10.0, 70.0), (100.0, 160.0), (190.0, 250.0))
+    samples = _build_multi_flight_stream(
+        flights=flights_def,
+        end_s=300.0,
+        hz=10.0,
+    )
+
+    # Act
+    segments = _segment_flights_from_imu_energy(
+        samples,
+        motion_threshold=0.1,
+        min_flight_duration_ns=_ns(30.0),
+        max_internal_gap_ns=_ns(5.0),
+    )
+
+    # Assert
+    assert len(segments) == 3
+    for (actual_start, actual_end), (want_start, want_end) in zip(
+        segments, flights_def
+    ):
+        assert abs(actual_start - _ns(want_start)) <= _ns(0.2)
+        assert abs(actual_end - _ns(want_end)) <= _ns(0.2)
+
+
+def test_segmenter_drops_ground_blip_below_min_duration() -> None:
+    # Arrange: a 5 s ground manoeuvre (engine test) followed by a
+    # real 60 s flight. With min_flight_duration_ns=30 s the blip
+    # must be discarded, leaving only the real flight.
+    samples = _build_multi_flight_stream(
+        flights=((5.0, 10.0), (50.0, 110.0)),
+        end_s=120.0,
+        hz=10.0,
+    )
+
+    # Act
+    segments = _segment_flights_from_imu_energy(
+        samples,
+        motion_threshold=0.1,
+        min_flight_duration_ns=_ns(30.0),
+        max_internal_gap_ns=_ns(5.0),
+    )
+
+    # Assert
+    assert len(segments) == 1
+    seg_start_ns, _seg_end_ns = segments[0]
+    assert abs(seg_start_ns - _ns(50.0)) <= _ns(0.2)
+
+
+def test_segmenter_keeps_brief_cruise_lull_inside_flight() -> None:
+    # Arrange: one flight with a 3 s cruise lull mid-way. The lull is
+    # below max_internal_gap_ns=5 s, so the segmenter must keep the
+    # whole flight as a single segment.
+    samples = _build_multi_flight_stream(
+        flights=((10.0, 45.0), (48.0, 100.0)),
+        end_s=120.0,
+        hz=10.0,
+    )
+
+    # Act
+    segments = _segment_flights_from_imu_energy(
+        samples,
+        motion_threshold=0.1,
+        min_flight_duration_ns=_ns(30.0),
+        max_internal_gap_ns=_ns(5.0),
+    )
+
+    # Assert
+    assert len(segments) == 1
+    seg_start_ns, seg_end_ns = segments[0]
+    assert abs(seg_start_ns - _ns(10.0)) <= _ns(0.2)
+    assert abs(seg_end_ns - _ns(100.0)) <= _ns(0.2)
+
+
+def test_find_aligned_window_picks_last_flight_for_multi_flight_tlog(
+    tmp_path: Path,
+) -> None:
+    # Arrange: a 300 s tlog with three sorties (10..70, 100..160,
+    # 190..250 s). The video covers only the LAST sortie — flow
+    # samples at video-clock 0..30 s with a motion burst at
+    # video t=5 s that, on the tlog timeline, corresponds to
+    # tlog t=200 s (5 s into flight 3 which starts at 190 s).
+    flights_def = ((10.0, 70.0), (100.0, 160.0), (190.0, 250.0))
+    tlog_energy = _build_multi_flight_stream(
+        flights=flights_def,
+        end_s=260.0,
+        hz=10.0,
+    )
+    flow_samples = _build_motion_burst_stream(
+        start_s=0.0,
+        end_s=30.0,
+        hz=10.0,
+        burst_at_s=5.0,
+        burst_amplitude=2.0,
+        burst_duration_s=3.0,
+        baseline_amplitude=0.05,
+    )
+    config = AutoSyncConfig(
+        alignment_segment_min_flight_duration_seconds=30.0,
+        alignment_segment_max_internal_gap_seconds=5.0,
+    )
+
+    # Inject the pre-loaded IMU energy by monkey-patching the loader
+    # used inside find_aligned_window; the function reads a tlog via
+    # pymavlink, but for the unit-level invariant we want to assert
+    # the segment selection — not the binary parser.
+    import gps_denied_onboard.replay_input.auto_sync as auto_sync_mod
+
+    fake_tlog = tmp_path / "multi_flight.tlog"
+    fake_tlog.write_bytes(b"\x00")
+    fake_video = tmp_path / "video.mp4"
+    fake_video.write_bytes(b"\x00")
+
+    def _fake_loader(
+        path: Path,
+        *,
+        max_messages: int,
+        source_factory: Any,
+    ) -> tuple[tuple[int, float], ...]:
+        return tlog_energy
+
+    def _fake_frames(
+        path: Path, scan_seconds: float,
+    ) -> "list[tuple[int, Any]]":
+        import numpy as np
+
+        rng = np.random.default_rng(42)
+        frames: list[tuple[int, Any]] = []
+        prev_offset = np.zeros((16, 16, 3), dtype=np.int16)
+        for ts_ns, mag in flow_samples:
+            # 3-channel BGR (cvtColor BGR→GRAY needs ≥ 3 channels).
+            # During a burst we shift pixels — that motion is what
+            # Farneback flow magnitudes pick up.
+            base = rng.integers(0, 30, size=(16, 16, 3), dtype=np.int16)
+            shift_px = int(mag * 4)
+            if shift_px > 0:
+                base = np.roll(base, shift=shift_px, axis=0)
+            frame = np.clip(base + prev_offset, 0, 255).astype(np.uint8)
+            frames.append((ts_ns, frame))
+            prev_offset = np.zeros_like(prev_offset)
+        return frames
+
+    monkeypatch = pytest.MonkeyPatch()
+    try:
+        monkeypatch.setattr(
+            auto_sync_mod, "_load_tlog_imu_energy_stream", _fake_loader
+        )
+
+        # Act
+        window = find_aligned_window(
+            fake_tlog,
+            fake_video,
+            config,
+            target_fc_dialect=FcKind.ARDUPILOT_PLANE,
+            video_frames_factory=_fake_frames,
+        )
+    finally:
+        monkeypatch.undo()
+
+    # Assert: the aligner MUST select FLIGHT 3 (190..250 s), NOT
+    # flight 1 (10..70 s). Whether NCC locks on or the fallback
+    # path fires, the resulting window must lie inside flight 3 —
+    # that's the user-visible contract ("take the last flight").
+    flight3_start_ns, flight3_end_ns = (_ns(190.0), _ns(250.0))
+    assert window.flight_count_detected == 3
+    assert window.selected_flight_index == 2
+    assert flight3_start_ns <= window.tlog_start_ns <= flight3_end_ns
+    # Sanity: did NOT lock onto flight 1 or 2.
+    assert window.tlog_start_ns > _ns(160.0)
+
+
+def test_align_via_cross_correlation_locks_onto_burst_inside_last_segment() -> None:
+    # Arrange: pre-segmented tlog energy restricted to flight 3
+    # (mimicking what find_aligned_window passes after segmentation),
+    # plus a flow stream whose burst pattern matches a specific
+    # offset inside that segment. This directly exercises the NCC
+    # path with the inputs the post-segmentation aligner sees.
+    last_segment_tlog = _build_motion_burst_stream(
+        start_s=190.0,
+        end_s=250.0,
+        hz=10.0,
+        burst_at_s=210.0,
+        burst_amplitude=1.5,
+        burst_duration_s=5.0,
+        baseline_amplitude=0.05,
+    )
+    flow_samples = _build_motion_burst_stream(
+        start_s=0.0,
+        end_s=30.0,
+        hz=10.0,
+        burst_at_s=10.0,
+        burst_amplitude=2.0,
+        burst_duration_s=5.0,
+        baseline_amplitude=0.05,
+    )
+    config = AutoSyncConfig()
+
+    # Act
+    window = _align_via_cross_correlation(
+        tlog_energy=last_segment_tlog,
+        flow_samples=flow_samples,
+        config=config,
+        target_fc_dialect=FcKind.ARDUPILOT_PLANE,
+        tlog_path=Path("/nonexistent.tlog"),
+        tlog_source_factory=None,
+        flight_count_detected=3,
+        selected_flight_index=2,
+    )
+
+    # Assert: NCC must lock on (high confidence, no fallback). The
+    # tlog_start_ns must be the start of the matched 30 s window —
+    # video burst at video_t=10 s lines up with tlog_t=210 s ⇒
+    # tlog_start_ns ≈ 200 s (210 s − 10 s).
+    assert not window.fallback_used
+    assert window.confidence > 0.6
+    assert window.flight_count_detected == 3
+    assert window.selected_flight_index == 2
+    assert abs(window.tlog_start_ns - _ns(200.0)) <= _ns(0.2)
+
+
+def test_find_aligned_window_uses_only_segment_for_segmented_tlog_fallback(
+    tmp_path: Path,
+) -> None:
+    # Arrange: a 3-flight tlog where the video flow is flat (no
+    # structure for NCC to lock onto). NCC must produce confidence
+    # ~ 0; the fallback path must use the LAST segment start, NOT
+    # the head-takeoff detector (which would lock onto flight 1).
+    flights_def = ((10.0, 70.0), (100.0, 160.0), (190.0, 250.0))
+    tlog_energy = _build_multi_flight_stream(
+        flights=flights_def,
+        end_s=260.0,
+        hz=10.0,
+    )
+    flat_flow = tuple((_ns(t / 10.0), 0.5) for t in range(0, 50))
+    config = AutoSyncConfig()
+
+    # Act
+    window = _align_via_cross_correlation(
+        tlog_energy=tuple(
+            (ts, e) for ts, e in tlog_energy
+            if _ns(190.0) <= ts <= _ns(250.0)
+        ),
+        flow_samples=flat_flow,
+        config=config,
+        target_fc_dialect=FcKind.ARDUPILOT_PLANE,
+        tlog_path=tmp_path / "x.tlog",
+        tlog_source_factory=None,
+        flight_count_detected=3,
+        selected_flight_index=2,
+    )
+
+    # Assert
+    assert window.fallback_used is True
+    assert window.flight_count_detected == 3
+    assert window.selected_flight_index == 2
+    # The fallback must use flight 3's start, not flight 1's takeoff.
+    assert window.tlog_start_ns >= _ns(190.0)
+    assert window.tlog_start_ns <= _ns(250.0)