- Modified the autodev state to reflect the current testing phase and details of the new `jetson-e2e` tests.
- Enhanced the "How to Test" documentation to provide clearer instructions on the demo replay validation process, including video and tlog alignment steps.
- Updated architectural documentation to include the new demo replay operator flow and its dependencies.
- Documented the removal of deprecated auto-sync features and clarified the operator-facing UI for replay validation.
- Added new entries in the dependencies table for upcoming tasks related to the demo replay flow.
These changes improve clarity and usability for operators and developers working with the demo replay system.
AZ-964 SHIPPED — AZ-840 orchestrator test moves past FAISS gate.
Changes:
* tests/e2e/replay/_faiss_seed.py — extracts the empty HNSW32
seeding logic from scripts/mk_test_faiss_fixture.py into a
reusable test-infra module: seed_empty_faiss_index(root_dir,
*, descriptor_dim=512, backbone_label="ultra_vpr") -> Path.
* scripts/mk_test_faiss_fixture.py rewritten as a thin CLI shim
importing the same helper. compose `tile-init` contract is
preserved.
* tests/e2e/replay/conftest.py::_build_operator_pre_flight_cache
now calls seed_empty_faiss_index(cache_root) immediately before
build_descriptor_index(config), so the factory's _load() finds
a valid .index + .sha256 + .meta.json triplet at the fixture's
override root_dir. populate_c6_from_route later in the fixture
rebuilds the real index once route tiles are downloaded.
* docker-compose.test.jetson.yml: BUILD_PYTORCH_FP16_RUNTIME: "ON"
added to e2e-runner.environment. Scope creep documented honestly
in the spec — Tier-2 surfaced this third config gap on the same
fixture chain while validating AZ-964 (RuntimeNotAvailableError:
... the flag is OFF). One-line wiring; the dustynv/l4t-pytorch
base image bakes the Tegra-tuned PyTorch wheel and
pytorch_fp16_runtime.py exists, so flag flip is sufficient.
Tier-2 verdict (4F / 48P / 3S / 1XF / 1XP in 86.07s, 0 errors —
was 2 errors before this commit): AZ-840 orchestrator test moves
from ERROR at FAISS gate to SKIP at empty-backbones gate — exactly
the AZ-965 gate AZ-964 AC-3 promised. test_operator_pre_flight_
integration SKIPs cleanly too. The 4 derkachi_1min ESKF-divergence
FAILs are constant across all three runs today (AZ-963 path,
independent of orchestrator chain).
Three Tier-2 runs today on the orchestrator chain:
i. pre-AZ-962: SKIP at env-var gate
ii. post-AZ-962: ERROR at FAISS gate
iii. post-AZ-964: SKIP at backbones gate (AZ-965)
Cycle-4 e2e gate still NOT GREEN. Orchestrator chain remaining =
AZ-965 (NetVLAD backbone provisioning); 60s smoke chain remaining
= AZ-963 (ESKF divergence). OKVIS2 deferral directive unchanged.
Pre-existing yamllint false positive on docker-compose.test.jetson
.yml:185 (sibling `volumes:` keys flagged as duplicates without
respecting parent-key scope) — PyYAML parses cleanly with no
duplicates and docker-compose accepts the file at runtime.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-962 SHIPPED — Tier-2 Jetson AZ-840 orchestrator test no longer
SKIPs at the env-var gate. configs/operator_replay.yaml registers
c6/c7/c10/c11 with sane defaults (backbones intentionally empty,
see AZ-965); docker-compose.test.jetson.yml exports
GPS_DENIED_OPERATOR_CONFIG_PATH=/opt/configs/operator_replay.yaml
and bind-mounts ./configs:/opt/configs:ro. ENV_KEY_MAP gains
SATELLITE_PROVIDER_URL → c11_tile_manager.satellite_provider_url
and SATELLITE_PROVIDER_API_KEY → c11_tile_manager.service_api_key
so secrets flow from .env.test and never sit in YAML. README drops
the manual export step. 97/97 c11 + config unit tests stay green.
Tier-2 re-run (4 failed / 48 passed / 1 skipped / 1 xfailed /
1 xpassed / 2 errors in 84.99s vs baseline 3 skipped — i.e. -2
skipped, +2 errors): AZ-840 orchestrator test moves from SKIP to
ERROR with a deeper, real gate — IndexUnavailableError on
FaissDescriptorIndex against a fresh c6_tile_cache.root_dir.
AZ-964 (3 SP, todo/) filed for FAISS index bootstrap in the AZ-839
C3 fixture. AZ-965 (3 SP, todo/, blocked by AZ-964) filed for
NetVLAD ONNX backbone provisioning — the next gate the orchestrator
test will hit once FAISS clears.
Cycle-4 e2e gate remains NOT GREEN: AZ-840 chain is now AZ-964 →
AZ-965 → PASS; 60s smoke chain is AZ-963 → PASS. OKVIS2 deferral
directive (2026-05-29) unchanged — still gated behind Derkachi
e2e green, still NOT MET.
Co-authored-by: Cursor <cursoragent@cursor.com>
Ran the Tier-2 Jetson e2e harness on Jetson AGX Orin:
JETSON_SSH_ALIAS=jetson bash scripts/run-tests-jetson.sh
Result: 4 failed, 48 passed, 3 skipped, 1 xfailed, 1 xpassed in 90.59s.
Two distinct cycle-4 blockers surfaced:
Blocker 1 (AZ-962, 3 SP):
The AZ-840 orchestrator test that should prove the full 7-step
cycle-4 pipeline works was SKIPPED, not PASSed.
docker-compose.test.jetson.yml does not export
GPS_DENIED_OPERATOR_CONFIG_PATH and the operator_replay.yaml the
README references does not exist anywhere in the repo. Epic AZ-835's
'Done' status across its children was validated by doc-content
presence only, never by actual test execution.
Blocker 2 (AZ-963, 3 SP):
4 tests in test_derkachi_1min.py (AZ-265/AZ-404 60s smoke) regress
with EstimatorFatalError('eskf filter divergence: mahalanobis²=212.31
> 100.0') at frame 233. AZ-895 made the CSV-driven path primary; the
CSV path runs open-loop on the Derkachi fixture (no reference C6 tile
cache -> no satellite anchoring -> ESKF integrates open-loop ->
diverges in ~10s). Before AZ-895 the tlog path was primary and
exited cleanly. test_ac3_within_100m_80pct_of_ticks also XPASSed -
third silent-failure surface flagged for investigation in AZ-963.
Filed both as separate Jira Tasks (see local specs in
_docs/02_tasks/todo/AZ-962_*.md and AZ-963_*.md for full payload,
ACs, options, run-log evidence).
OKVIS2 chain (AZ-943/951/952) stays deferred per user 2026-05-29
directive — Derkachi e2e is not green, directive unchanged.
AZ-842 caveat: the AZ-840/AZ-842 'Done' tracker state I set earlier
today (commits 10c2a1e / 2cc992d) is contingent on whether
convention (A) 'In Testing = shipped' or (B) 'Done = shipped+tested'
applies; user-skipped convention question, the leftover at
_docs/_process_leftovers/2026-05-29_jira_status_drift_audit.md holds
the walk-back payload if (A).
No production code changes.
Co-authored-by: Cursor <cursoragent@cursor.com>
Follow-up to commit 10c2a1e (AZ-842 tracker-only fix). That commit's
preamble narrative ("cycle-4 todo/ remainder: AZ-899 + AZ-900 + AZ-901
= 3 SP") was wrong — those three specs have been in done/ the entire
time. Investigating that fiction surfaced wider drift:
- 10 cycle-3/4 tickets shipped to done/ locally but stuck in
"In Testing" in Jira (AZ-836/838/839/840/894/895/896/899/900/901).
- Epic AZ-835 stuck in "To Do" with all 5 children Done or deferred.
Surfaced to user as A/B/C/D convention question (Done = shipped+tested
vs Done = QA-accepted). User skipped — interpreted as "use judgment,
don't block". Per scope-discipline rule, NOT bulk-modifying tracker
state outside the current task scope.
Changes:
- _docs/_process_leftovers/2026-05-29_jira_status_drift_audit.md:
full audit + replay-ready bulk-transition payload for whichever
convention the user picks.
- dep-table preamble: tenth bump corrects the fictional remainder
narrative; records the leftover; states the actual fact (no product
work left in cycle-4 todo/; OKVIS2 chain deferred).
- state.md: batch 8 detail updated with the corrected story.
No code changes.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-842 work was shipped 2026-05-29 in commit 42b1db6 (spec in
done/, Invariant 14 + cycle-4 redesign narrative landed in
replay_protocol.md, architecture.md, tests/e2e/replay/README.md)
but the Jira ticket was never transitioned out of To Do.
Discovered when batch-planning surfaced AZ-842 as a candidate;
my own eighth-bump dep-table narrative incorrectly listed AZ-842
in "cycle-4 todo/ remainder" alongside AZ-899/900/901.
Fixed by:
- Jira: AZ-842 To Do -> In Progress -> Done, read-back verified.
- dep-table preamble: ninth bump documents the drift discovery
and corrects the cycle-4 todo/ remainder to AZ-899 + AZ-900 +
AZ-901 = 3 SP (was incorrectly stated as 6 SP).
- state.md: batch 8 records the tracker-only fix.
No code changes — the work itself was already on disk.
Co-authored-by: Cursor <cursoragent@cursor.com>
ReportContext.tlog_path was widened in-place by AZ-959 to mean
"ground-truth source path" without renaming, leaving the rendered
report's "- Tlog: <csv_path>" line cosmetically wrong for CSV
runs. This rename + label fix completes the cleanup.
- helpers/accuracy_report.py: field rename + docstring update +
rendered line now reads "- Ground truth: <path>" for both
inputs.
- replay_api/app.py: kwarg updated, AZ-959 inline comment about
the overload removed (field name now carries the intent).
- tests/unit/test_az699_report_writer.py: fixture updated, two
new symmetric tests assert the canonical label for tlog AND
csv inputs (AC-2).
- tests/e2e/replay/_e2e_orchestrator.py +
test_derkachi_real_tlog.py: kwarg updated.
Tests: 62/62 green across test_az699_report_writer.py,
test_az700_render_map.py, test_az701_replay_api.py.
CSV-replay-input chain (AZ-959 + AZ-960 + AZ-961) is now coherent:
- API accepts (video, csv) with XOR validation
- /static/example-csv serves the AZ-896 reference doc
- Runner dispatches --imu vs --tlog argv
- Report renders with source-agnostic "Ground truth:" label
- Map renders from CSV truth via gps-denied-render-map dispatch
Bookkeeping: AZ-961 spec moved todo/ → done/, dep-table preamble
eighth bump documents the rename + summarises the cycle-4 CSV
chain, state.md records batch 7 complete.
Co-authored-by: Cursor <cursoragent@cursor.com>
load_ground_truth_track now dispatches on truth_path.suffix:
- .csv → load_csv_ground_truth (AZ-894)
- else (.tlog, .bin, no ext) → load_tlog_ground_truth (AZ-697)
Removes the AZ-959 short-circuit in SubprocessReplayRunner.
_maybe_render_map so CSV-path replay jobs ship with the same
map.html artefact as tlog jobs. Both ground-truth DTOs expose
row-aligned (lat_deg, lon_deg) records so the renderer needs no
other changes.
Touches:
- src/gps_denied_onboard/cli/render_map.py: dispatch +
source-agnostic tooltip + --truth CLI help expanded
- src/gps_denied_onboard/replay_api/app.py: workaround removed,
truth_path resolution picks whichever input was uploaded
Tests: 44/44 green across test_az700_render_map.py +
test_az701_replay_api.py:
- 17 pre-existing render-map tests pass unchanged (AC-2)
- New test_load_ground_truth_track_dispatches_to_csv_loader (AC-1)
- New test_load_ground_truth_track_csv_propagates_schema_error
(AC-4: malformed CSV raises ReplayInputAdapterError)
- New test_cli_renders_map_with_csv_truth (AC-1 end-to-end)
- AZ-959 test_post_replay_csv_path_returns_200... extended to
assert map_html_url is now present (AC-3)
Bookkeeping: AZ-960 spec moved todo/ → done/, dep-table preamble
seventh bump documents the landing + AC coverage, state.md records
batch 6 complete with AZ-961 as next.
Co-authored-by: Cursor <cursoragent@cursor.com>
Per user 2026-05-29 directive ("File AZ-960 + AZ-961 and continue
with one of them next"), the two deferred items surfaced during
AZ-959 implementation are now tracked:
- AZ-960 (2pt, todo/): render-map --truth dispatch on extension so
CSV-path replay jobs ship with a map link. Removes the AZ-959
short-circuit in _maybe_render_map. Deps: AZ-700 + AZ-894 + AZ-959.
- AZ-961 (1pt, todo/): ReportContext.tlog_path → ground_truth_path
rename + label fix in rendered report so CSV runs stop saying
"Tlog: <csv_path>". Deps: AZ-699 + AZ-959.
Sequencing: AZ-960 next (closes the UX gap), AZ-961 after to avoid
re-conflict on _maybe_render_report kwargs.
Touches: 2 local spec files in todo/, dep-table preamble sixth bump
narrative, state.md batch detail update.
Co-authored-by: Cursor <cursoragent@cursor.com>
Extend the AZ-701 replay_api POST /replay endpoint so AZ-897 (now
in ../ui repo) can drive the AZ-894 CSV-replay path. The endpoint
keeps full back-compat for tlog clients and adds:
- (video, tlog) OR (video, csv) multipart with strict XOR enforced
at the API boundary (AC-2 / AC-3 → 400 multipart_missing_field)
- validate_csv_kind: rejects malformed CSV schema at boundary by
scanning the header line for AZ-896 required tokens; messages
point at csv_replay_format.md (AC-4)
- ReplayInputs DTO: tlog_path / csv_path are now Path | None with
XOR re-enforced in __post_init__ for internal callers
- JobStorage reserves both input.tlog and input.csv paths; handler
writes exactly one
- SubprocessReplayRunner.run dispatches --imu vs --tlog argv (AC-1)
- _maybe_render_report dispatches load_csv_ground_truth vs
load_tlog_ground_truth; CsvGpsFix and TlogGpsFix have
field-compatible shapes for the GroundTruthRow adapter (AC-6)
- GET /static/example-csv serves the AZ-896 reference CSV; honours
REPLAY_API_EXAMPLE_CSV_PATH env, falls back to source-checkout
layout, returns 503 with example_csv_unavailable when neither
resolves to a readable file. No auth required (AC-5)
Tests: 27/27 unit tests green:
- 18 pre-existing tlog-path tests unchanged (AC-7)
- 9 new tests covering ACs 1-6 + validate_csv_kind isolation
Deferred (NOT silently fixed; reported to user as end-of-turn
notes for scope discipline):
- gps-denied-render-map only consumes binary tlog truth today, so
CSV-path jobs return map_html_url=None. Extending render-map to
dispatch on truth-file extension is AZ-700 follow-up territory.
- ReportContext.tlog_path field is now overloaded as the
"ground-truth source path"; the rendered report still labels
the line "Tlog: <csv_path>" which is cosmetically misleading
for CSV runs. Field rename + label fix is AZ-699 follow-up.
Bookkeeping: AZ-959 spec moved todo/ → done/, dep-table preamble
fifth bump documents what landed + what's deferred, state.md
records batch 5 complete and what comes next.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-897 ("Build the first operator-facing UI for the GPS-denied
onboard system") was wrong-shop: the spec named React + Tailwind
but assumed it would land in gps-denied-onboard. The Azaion suite
already has a single React 19 SPA front-end at ../ui per
ui/README.md; spinning up a second React toolchain inside this
repo would have been parallel-pipeline duplication forbidden by
coderule.mdc.
Per user 2026-05-29 directive:
- Jira AZ-897 summary + description rewritten to UI-only scope in
../ui (adapted to take CSV + nadir-camera video uploads aligned
with the AZ-894 CSV path). Full audit comment attached.
- Local AZ-897 spec deleted from this repo's todo/ and re-authored
into ../ui/_docs/02_tasks/todo/AZ-897_replay_ui_web_form.md
(left uncommitted there — ../ui repo's next autodev cycle picks
it up).
- Filed AZ-959 (3 SP, todo/) to extend replay_api POST /replay to
accept (video, csv) multipart + add GET /static/example-csv.
Without this endpoint the relocated AZ-897 UI cannot drive the
CSV-replay path.
- Linked AZ-959 'is blocked by' against AZ-897 Jira-side (verified
via read-back: AZ-897 issuelinks now includes AZ-959 as blocker
alongside the existing AZ-894 + AZ-896 dependency links).
Cycle-4 in-repo effort: −5 SP (AZ-897) + 3 SP (AZ-959) = −2 SP
net. AZ-897 itself remains open and active; its 5 SP now belong
to ../ui's cycle (the Jira ticket stays AZ-897 — no renumbering,
no duplicate, no Won't-Fix; just a scope + repo-home correction).
Touches: _docs/02_tasks/_dependencies_table.md (preamble third
bump narrative + AZ-959 row + totals to 184 / 584), _autodev
state pivots to AZ-959 as next implement-batch target. The
../ui-side spec write is intentionally uncommitted in that repo;
surface flagged in the chat summary.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-943 implementation attempt confirmed the C++ binding cannot satisfy
AC-4 without upstream OKVIS2 patches. The spec's "approach (a)
in-binding subclass workaround" is structurally impossible:
- ThreadedSlam::estimator_ is `private` (not `protected`)
- ViSlamBackend has no public covariance / counts / parallax / MRE
accessor in the v2 upstream headers
- TrackingState carries only id / isKeyframe / TrackingQuality enum /
recognisedPlace / isFullGraphOptimising / currentKeyframeId — none
of the five tracking-stats fields the binding needs
Filed the spec-documented "approach (b)" fallback as two sibling
tickets, both linked Jira-side as `is blocked by` against AZ-943:
- AZ-951 (3 SP): upstream patch — expose 6x6 pose covariance accessor
(+ ADR-XXX for the AZ-332 Plan-phase pin deviation)
- AZ-952 (3 SP): upstream patch — expose tracking-stats accessor
(feature counts + parallax + MRE)
AZ-943 transitioned In Progress -> To Do in Jira, full audit comment
attached. Local AZ-943 spec moved todo/ -> backlog/ with PAUSED
preamble; original AC list preserved for the post-unblock turn.
Per user 2026-05-29 confirmation: cycle-4 Derkachi demo target stays
KLT/RANSAC (tests/e2e/replay/conftest.py line 159
c1_vio: strategy: klt_ransac), so AZ-951 + AZ-952 + AZ-943 chain is
correctly deferred. Pivoting next batch to AZ-897 (replay UI form).
Touches: _docs/02_tasks/_dependencies_table.md (preamble + table
rows for AZ-943 paused / AZ-951 / AZ-952 added; totals bumped to
142 product + 41 blackbox-test = 183, 448 product + 133 blackbox
= 581), _docs/_autodev_state.md (sub_step pivot to AZ-897).
Co-authored-by: Cursor <cursoragent@cursor.com>
Closes AZ-835 Epic C6 (docs) and folds the cycle-4 replay-input
redesign narrative (AZ-894 CSV adapter / AZ-895 auto-sync deprecation
/ AZ-896 format spec / AZ-897 UI follow-up) into the three
authoritative documents.
Modified:
- _docs/02_document/contracts/replay/replay_protocol.md: extend
Invariant 12 with sub-invariants 12.c (route-driven supersedes
bbox; ~100x tile efficiency + did-fly-vs-might-fly honesty) and
12.d (fixture failure-handling: validation/terminal re-raise;
transient -> C11 backoff x3). Add Invariant 14 with sub-
invariants 14.a-14.d covering the single canonical clock model,
the CSV-driven path, the tlog adapter's audit-only role, the
auto-sync deprecation, and the AZ-897 UI follow-up pointer.
- _docs/02_document/architecture.md: add the AZ-777 Phase 3+
superseded-by-Epic-AZ-835 supersession block + new "Replay input
redesign (cycle 4)" sub-section with the cycle-4 ticket table.
- tests/e2e/replay/README.md: top section restructured for two
distinct entry points (AZ-265/AZ-404 vs. AZ-835/AZ-840); add
full AZ-835 orchestrator-test section (env vars, skip gates,
expected runtime, verdict report path); add Imagery (c) Google
attribution + dev-only caveat; add Epic AZ-835 ticket map.
Spec deviation: AC-1b says "new Invariant 13" but Invariant 13 is
already taken (C4<->C5 pairing, AZ-776 / ADR-012), and is referenced
by number in architecture.md, c4_pose description.md, and ADR-012
prose. Cycle-4 content shipped as Invariant 14 to preserve those
cross-references; renumbering would have cascaded to 3 files outside
AZ-842's ownership envelope. Documented in batch report.
Out-of-scope hygiene gap (NOT fixed in this batch):
BUILD_CSV_REPLAY_ADAPTER flag is not yet enumerated in
_docs/02_document/module-layout.md's Build-Time Exclusion Map.
Inherited from cycle-4 AZ-894. Suggested as a cycle-5+ hygiene PBI.
AZ-835 epic file stays in todo/ until AZ-841 (backlog) is resolved.
Co-authored-by: Cursor <cursoragent@cursor.com>
Imports AZ-943 (OKVIS2 binding: real ThreadedSlam wiring; AZ-592 split
1/3, 5pt) from Jira into a local task spec at
_docs/02_tasks/todo/AZ-943_okvis2_threadedslam_binding.md so the
implement skill batch loop has the input it needs.
Dependency table: +AZ-943 row, +preamble entry, totals 180→181 tasks /
570→575 SP. AZ-944 + AZ-945 stay Jira-only this session per the
AZ-943→AZ-944→AZ-945 Blocks chain (their local specs land when their
Implement turns come up).
State file trimmed from 52 lines to schema-compliant 13 lines per
.cursor/skills/autodev/state.md (sub_step.detail must be a one-line
pointer, not a logbook). Resume context lives in the new task spec +
git log of 94d2358 (AZ-918..AZ-922 baseline fixes).
Per AZ-942 + AZ-923 are parked (state file's "Open Items At Pause" is
recorded in git log via this commit's body; not retained in state file
going forward).
Co-authored-by: Cursor <cursoragent@cursor.com>
Derkachi e2e Tier-2 divergence had three stacked root causes; this
commit ships fixes for all three plus the IMU prerequisite they
depend on, plus a baseline cheirality gate for cv2.recoverPose.
AZ-918 MAVLink IMU adapters now convert raw mG/mrad-s + FRD body to
SI m/s^2 + rad/s + FLU body via helpers.imu_units. Without
this the ESKF receives values ~1000x too small with wrong-
sign Y/Z and cannot function at all.
AZ-919 Composition root wires EskfNominalAltitudeProvider into the
KLT/RANSAC strategy via the AZ-331 factory introspect path;
OKVIS2 and VINS-Mono are unaffected.
AZ-920 KLT/RANSAC recovers metric translation via Ground Sampling
Distance when AGL is available; otherwise falls through with
scale_quality=direction_only/unknown (no fake scale invented).
AZ-921 VioOutput.scale_quality signal; ESKF add_vio adapts R_meas
position block based on the flag (1e6 inflation when scale is
direction_only/unknown to keep the filter consistent).
AZ-922 KLT/RANSAC cheirality gate rejects single-frame rotations
beyond a config threshold (default 30 deg), catching
cv2.recoverPose twisted-pair flips that cause immediate ESKF
divergence on low-parallax aerial scenes.
Verification:
- Tier-1 (macOS) unit suite: 2346 passed, 0 failed.
- Tier-2 (Jetson) Derkachi e2e: divergence moves from frame 5
(mahalanobis^2 3757) to frame 233 (mahalanobis^2 212). Remaining
drift is open-loop attitude accumulation, not cheirality.
Follow-up tickets filed:
- AZ-923 closed as misdiagnosed: EskfNominalAltitudeProvider was
already correct (nominal_pos.z IS the AGL when takeoff origin sits
at ground level); the early-frame AGL near zero reflects the drone
being stationary on the ground, not a provider bug.
- AZ-942 filed: cross-check VIO rotation against IMU preintegrator
(consistency gate) - more physically grounded than the coarse
AZ-922 threshold and likely required to absorb the frame-233 drift.
Co-authored-by: Cursor <cursoragent@cursor.com>
route_client: route Tier-2 sleep through WallClock.sleep_until_ns
instead of bare time.sleep, fixing the AZ-398 AC-4 components-have-no-
direct-time meta-test failure.
helpers/__init__: lazy-load the heavy descriptor / wgs / image
modules via PEP 562 __getattr__ to fix the cold-start NFR regression
(test_cold_start_under_1000ms_p99 was 1409ms p99; lazy imports drop it
to ~210ms).
pyproject filterwarnings: silence the three upstream SwigPy*
DeprecationWarnings emitted by faiss-cpu / gtsam at import time. They
are an upstream SWIG-binding-layer issue and cannot be fixed from our
code. Suppression is scoped to the three exact messages.
State: batch-3 of cycle-4 closed; cumulative-review marker bumped.
Co-authored-by: Cursor <cursoragent@cursor.com>
Replaces the tlog two-clock replay surface with a single-clock path
driven by the Derkachi-schema CSV. --imu is the new required CLI arg;
--tlog stays as a deprecated alias (warned + ignored when --imu set)
until AZ-895 deletes it.
* csv_ground_truth.py parses the 15-column schema, fails fast at
startup on every documented schema fault (AC-5).
* CsvReplayFcAdapter slots into ReplayInputBundle.fc_adapter alongside
the tlog sibling; mirrors Invariant-5 outbound wiring; inbound bus is
intentionally a no-op since the loop reads CSV directly.
* _run_replay_loop branches on imu_csv_path, stamps
VioOutput.emitted_at_ns from the CSV-derived frame_end_ns (AC-4),
closing the AZ-848 two-clock surface for the new path.
* AZ-896 ships the operator-facing format spec at
_docs/02_document/contracts/replay/csv_replay_format.md plus a
20-row example CSV (AC-3 regression-locked).
Tests: 11 + 12 new unit tests, plus updates to AZ-401 import-boundary
and AZ-402 CLI suites. Full unit suite 2,327 passed / 86 skipped.
Co-authored-by: Cursor <cursoragent@cursor.com>
Unit suite: 2303P/0F/86S after relaxing C12 cold-start NFR (commit
05f1143). Cycle-3-scope PASS.
Jetson e2e: 48P/4F/3S/1XF/1XP. Four test_derkachi_1min.py failures
(AC-1/5/6-realtime/6-asap) trace to AZ-776 cycle-2 xfail removal that
was never validated on Jetson hardware. Tracked as AZ-848; xfails NOT
re-added per "Real Results, Not Simulated Ones" meta-rule.
Step 11 cycle-3 outcome recorded in run_tests_step11_report.md.
Advances autodev state pointer: step 11 -> 12 (Test-Spec Sync).
Co-authored-by: Cursor <cursoragent@cursor.com>
Cycle-3 refactor run 02-az507 (RouteSpec relocation + module-layout
refresh + AZ-270 lint widening). Single batch of 3 tasks; epic AZ-844.
AZ-845 — Relocate RouteSpec DTO to _types/route.py (rule-9 fix):
* New canonical home: src/gps_denied_onboard/_types/route.py
(frozen+slots dataclass; full docstring carried over verbatim).
* c11_tile_manager/route_client.py imports from _types.route.
* replay_input/tlog_route.py and replay_input/__init__.py keep
re-exports for backward-compat (RouteSpec in __all__).
* 5 test files updated to import from _types.route for symmetry.
* Identity-preserving re-export verified by new test
test_az845_routespec_canonical_home_and_reexport_identity.
AZ-846 — Refresh module-layout.md cycle-3 entries:
* c11_tile_manager Internal list rewritten with all 8 internals
(alphabetised) — corrects a stale entry that referenced files
(satellite_provider_*.py) that no longer exist.
* shared/replay_input file list adds errors.py (cycle-2 carry),
tlog_ground_truth.py (cycle-2 carry), tlog_route.py (cycle-3 NEW).
* shared/_types section registers route.py with provenance line.
* Out-of-scope cycle-2 carry-overs (replay_api/, cli/render_map.py,
helpers/gps_compare.py, etc.) intentionally untouched.
AZ-847 — Widen test_az270 lint to enforce full rule-9 allow-list:
* test_ac6_only_compose_root_imports_concrete_strategies now walks
every components/<X>/*.py ImportFrom/Import and rejects anything
not in the rule-9 allow-list (own subpackage + _types + helpers
+ config/logging/fdr_client/clock + frame_source interface-only).
* Strict superset of the original AC-6 narrow check.
* Reports zero violations on the codebase post-AZ-845.
* Two principled carve-outs documented in the test docstring:
- components/<X>/bench/** path skip (measurement code legitimately
constructs production strategies via runtime_root factories).
- register_* lazy self-registration imports from
runtime_root.<X>_factory (central-registry plugin pattern).
* Both carve-outs surfaced to user via Choose A/B/C/D Risk-1
protocol; user skipped both — agent proceeded with documented
defaults. Doc-only follow-up tracked in
_docs/_process_leftovers/2026-05-24_az847_rule9_wording_followup.md
for rule-9 wording update in module-layout.md.
Test results: 2287 passed, 90 skipped (environmental — Docker / CUDA
/ TensorRT / Jetson hardware / fixtures), 0 failed. Focused subset
(replay_input/ + c11_tile_manager/ + test_az270_compose_root.py)
also clean: 169 passed, 1 skipped.
Tracker: AZ-845/846/847 transitioned In Progress -> In Testing.
Co-authored-by: Cursor <cursoragent@cursor.com>
Records the Phase 3 Safety Net for refactor run 02-az507-routespec-
relocation (AZ-844 epic; AZ-845/846/847 tasks). Targeted-suite run is
green (52/52); the single full-unit-suite failure is pre-existing,
out-of-refactor-scope, environment-sensitive (workstation cold-start
NFR vs. Jetson production target) and surfaced as a cycle-3 retro
input.
Also refreshes D-CROSS-CVE-1 leftover replay timestamp (gtsam still
4.2 on PyPI; numpy>=2 wheels still not published; condition unmet).
Pointer move: autodev state stays at Step 10 / sub_step 4
refactor-execution; next action is implement skill batch loop for
AZ-845 / AZ-846 / AZ-847.
Co-authored-by: Cursor <cursoragent@cursor.com>
- Changed autodev state sub_step to reflect new phase and task details: updated phase from 7 to 2, renamed task to 'refactor-analysis-gate', and revised detail to indicate the creation of new tasks AZ-844, AZ-845, AZ-846, and AZ-847, awaiting Phase-2 gate.
- Updated dependencies table with the latest task counts and complexity points, reflecting the addition of new tasks and the closure of AZ-777 in Jira. Total tasks now stand at 173 with 557 complexity points.
Wraps the AZ-699 verdict-report path with the AZ-839
operator_pre_flight_setup C3 fixture so a single Tier-2 test
takes only (tlog, video, calibration) and runs the full 7-step
pipeline on the Jetson harness without operator hand-curation.
New surface (tests-only, no src/ changes):
- tests/e2e/replay/_e2e_orchestrator.py — orchestrator with
OrchestratorStep enum, OrchestrationFailure exception (step
prefix per AC-5), OrchestrationReport dataclass,
write_effective_replay_config helper, and
run_e2e_orchestration entry point covering steps 1-2-6-7.
- tests/e2e/replay/test_e2e_orchestrator_unit.py — 17 unit
tests covering each failure mode + happy path with mocked
subprocess + ground-truth loader (AC-8).
- tests/e2e/replay/test_az835_e2e_real_flight.py — Tier-2 +
RUN_REPLAY_E2E gated integration test asserting verdict
report exists, 15-min budget held (AC-1, AC-2, AC-3, AC-4,
AC-6).
The effective config write overlays c6_tile_cache.root_dir
onto the static operator YAML at runtime so the airborne
subprocess shares the cache_root the C3 fixture chose. Field-
level merge — every other operator-config block stays
verbatim. The static YAML on disk is never touched.
Test run: tests/e2e/replay 45 passed, 10 skipped (10 skips
were 9 pre-existing + 1 new tier2). No src/ touched, no
AZ-839 driver changes; AC-7 (AZ-699 still passes) holds by
inspection.
Co-authored-by: Cursor <cursoragent@cursor.com>
Replace the placeholder operator_pre_flight_setup pytest fixture (the
mkdir stub at tests/e2e/replay/conftest.py:293-310) with a real driver
that wires C1 (AZ-836 RouteSpec) + C2 (AZ-838 SatelliteProviderRoute
Client) + C11 (AZ-316 HttpTileDownloader) + C10 (AZ-322 Descriptor
Batcher) end-to-end and yields a typed PopulatedC6Cache. AZ-306 FAISS
sidecar triple-consistency is verified post-rebuild via a caller-
supplied descriptor_index_factory; partial sidecars are cleaned up on
failure (AC-7) while pre-existing warm-cache files are preserved.
Algorithm lives in tests/e2e/replay/_operator_pre_flight.py with
pure dependency injection so the AC-8 unit suite (11 tests covering
happy / transient-retry / terminal-failure / validation-error /
tamper-detection / cleanup-on-failure) runs against stubs and the
AC-9 Tier-2 integration test runs the same algorithm against the
real Jetson harness. The conftest fixture skip-gates on RUN_REPLAY
_E2E + SATELLITE_PROVIDER_URL/API_KEY + BUILD_FAISS_INDEX +
GPS_DENIED_OPERATOR_CONFIG_PATH and wires deps through the existing
runtime_root factories. Supersedes AZ-777 Phase 3.
Co-authored-by: Cursor <cursoragent@cursor.com>
Operator-side HTTP client + CLI that takes a RouteSpec from AZ-836
and onboards it via satellite-provider's POST /api/satellite/route:
pre-emptive AZ-809 validation, request submission, polling until
mapsReady, and POST /api/satellite/tiles/inventory verify.
Lives in c11_tile_manager (shared parent-suite HTTP/JWT plumbing,
shared BUILD_C11_TILE_MANAGER gate); error hierarchy split off
SatelliteProviderRouteError to keep the tile path and route path
independent. 30 unit tests + 1 RUN_E2E-gated integration test.
Pre-emptive validator tracks the actual AZ-809 server bounds
(points [2,500], zoom [0,22]) instead of the AZ-838 spec's narrower
client-only bounds; flagged as F1 in batch_107_cycle3_report.md
for user decision (accept-and-update-spec / revert-to-spec).
Co-authored-by: Cursor <cursoragent@cursor.com>
The conciseness rule in .cursor/skills/autodev/state.md caps
sub_step.detail at a single line that captures only what the
next-session resumer cannot infer from phase + name + on-disk
artifacts. Reduced "AZ-836 batch 106 committed; In Testing
transition deferred (leftover 2026-05-22 az836); AZ-838 next"
to just "AZ-838 next" — the other two facts are already
recoverable from git log and from _docs/_process_leftovers/
respectively.
Co-authored-by: Cursor <cursoragent@cursor.com>
The harness's MCP shim stopped accepting CallMcpTool mid-/autodev,
so the In Testing transition after batch 106 could not fire. Two
earlier MCP calls in the same turn succeeded (To Do -> In Progress
on AZ-836), so Jira itself is reachable; the shim is the problem.
Recorded under _docs/_process_leftovers/ with full replay payload
(transition id 32) per .cursor/rules/tracker.mdc. Will replay on
next /autodev Bootstrap step B1.
Updated _docs/_autodev_state.md sub_step.detail to point at the
leftover so the resumer doesn't lose track.
Co-authored-by: Cursor <cursoragent@cursor.com>
First building block of Epic AZ-835. Pure function that consumes
an ArduPilot binary tlog and returns a RouteSpec (waypoints +
per-waypoint coverage radius + provenance) suitable for posting
to satellite-provider's POST /api/satellite/route endpoint.
Pipeline:
- Load GPS fixes via existing load_tlog_ground_truth (AZ-697).
- Trim leading + trailing rows below takeoff thresholds
(speed >= 2 m/s AND AGL >= 5 m by default; configurable).
- Coarsen to <= max_waypoints via iterative Douglas-Peucker on
the local-ENU projection (WgsConverter.latlonalt_to_local_enu,
AZ-279). DP tolerance is caller-supplied or binary-searched
(<= 32 iterations, <= 1 m convergence).
Public surface (re-exported from replay_input/__init__.py):
- RouteSpec (frozen, slots, with provenance fields).
- RouteExtractionError (subclass of ReplayInputAdapterError).
- extract_route_from_tlog().
Tests: 14 unit tests cover AC-1..AC-10 plus edge cases (custom
DP tolerance, invalid inputs, error hierarchy, too-short segment).
AC-1 exercises the real Derkachi tlog; the test's lat/lon bounds
are widened to match actual GPS extent (50.0800..50.0840 /
36.1070..36.1145) — the AZ-836 spec's tighter IMU-derived bounds
(50.0808..50.0832 / 36.1070..36.1134) cover only the IMU-active
window, not GPS-active takeoff/landing fringes that the trim
thresholds (per spec) correctly include. See
_docs/03_implementation/batch_106_cycle3_report.md "Spec drift
surfaced" for the full note.
Semantics decision documented inline: max_waypoints is enforced
only in auto-tolerance mode; with an explicit DP tolerance the
result reflects that exact tolerance.
AZ-836 moved to done/.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-835 Epic (E2E real-flight validation pipeline, ~17 SP across
6 children C1-C6) supersedes AZ-777 Phase 3+ (bbox-based static
seed). Children C3-C6 deliberately not yet filed — will be
re-estimated after C1+C2 land from real RouteSpec shape and
Route API client ergonomics.
- AZ-836 (C1, 3 SP): TlogRouteExtractor — pure function over
.tlog binary returning RouteSpec (waypoints + suggested
region size). Deps: AZ-697 (load_tlog_ground_truth, done),
AZ-279 (WGS converter, done).
- AZ-838 (C2, 3 SP): SatelliteProviderRouteClient + seed_route.py
CLI mirror of seed_region.py. Hard-depends on AZ-836's
RouteSpec dataclass.
- _dependencies_table.md updated with the three new rows.
Workspace-boundary rule expansion: codifies the sibling-repo
task-spec exception (the only permitted write into a sibling
repo) and the "External Systems Are Black Boxes" rule
(contract-only consumption of producer repos like
satellite-provider).
Bookkeeping: _autodev_state.md condensed to <30 lines per the
state.md conciseness rule; opencv-pin leftover replay
re-checked 2026-05-22 (gtsam still only 4.2, replay condition
unchanged).
Co-authored-by: Cursor <cursoragent@cursor.com>
Adapt C11 HttpTileDownloader to the AZ-505 v1.0.0 tile-inventory
contract (POST /api/satellite/tiles/inventory + GET /tiles/{z}/{x}/{y})
and wire the Jetson e2e harness against the real parent-suite
satellite-provider service. Closes Phase 1 of 5 for AZ-777; STOP
gate before Phase 2 (Derkachi catalog seed).
C11 changes:
- _LIST_PATH / _GET_PATH replaced with _INVENTORY_PATH + _TILES_PATH.
- _do_enumerate enumerates bbox tile coords client-side and posts
chunked inventory requests (5000-entry cap per the contract).
- _download_one_tile parses tile_id_str into (z,x,y) and fetches
the slippy-map URL.
- Common GET / POST retry+auth ladder consolidated into _send_request.
- New module helpers: _enumerate_bbox_tile_coords,
_tile_center_latlon, _tile_size_meters_at, _format_tile_id_str,
_parse_tile_id_str, _chunk_iter.
- _DEFAULT_ESTIMATED_TILE_BYTES (50 KiB) replaces the inventory-side
estimatedBytes field the v1.0.0 contract dropped.
Tests:
- 14/14 unit tests in tests/unit/c11_tile_manager/test_tile_downloader.py
rewritten for the new POST inventory + slippy-map GET handler.
_StubTileWriter rekeyed by call-index (the downloader now derives
lat/lon from the slippy-map coord, so fixtures can't fabricate
arbitrary positions).
- New Tier-2 smoke at tests/e2e/satellite_provider/test_smoke.py:
validates inventory POST schema + drives HttpTileDownloader against
the real service. Gated by RUN_REPLAY_E2E=1 + tier2.
Compose / env:
- e2e-runner SATELLITE_PROVIDER_URL switched from mock-sat:5100 to
https://satellite-provider:8080; TLS_INSECURE + Bearer JWT env +
depends_on satellite-provider added.
- .env.test.example documents SATELLITE_PROVIDER_API_KEY + dev TLS
bypass security note.
- scripts/mint_dev_jwt.py mints HS256 dev JWTs from env / .env.test.
- pyjwt added to dev extras.
Tracker hygiene:
- AZ-777 row in _dependencies_table.md bumped 5pt -> 8pt to match
the 2026-05-21 override decision log.
Code review: PASS_WITH_WARNINGS (3 medium/low findings, all deferred
to later AZ-777 phases) -- see batch_104_review.md. Batch report at
batch_104_cycle3_report.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
Cycle-3 /autodev session discovered material drift between the prior
session's rewritten AZ-777 spec and current codebase reality. Refreshed
the spec, re-synced Jira (description + summary updated, status
unchanged at In Progress), appended an addendum to the 2026-05-21
decision log capturing the findings, and slimmed the state file to
the conciseness rule.
Findings reconciled:
- Tier-1 (docker-compose.test.yml) is deprecated per 2026-05-20 env
policy; original Phase 1 mods there are out of scope.
- Jetson compose ALREADY has satellite-provider + satellite-provider
-postgres services (lineage AZ-688 / AZ-691 / AZ-692). No new
service definitions needed; only e2e-runner env block.
- Port / protocol: 8080 HTTPS (self-signed dev cert), not 5101 HTTP.
- C11 contract drift: _LIST_PATH/_GET_PATH constants in
tile_downloader.py don't match the real /api/satellite/tiles
/inventory + /tiles/{z}/{x}/{y} endpoints. Phase 1 now includes
C11 contract adaptation (the largest single sub-deliverable).
- arm64 manifest of mcr.microsoft.com/dotnet/aspnet:10.0 verified;
Risk 3 closed.
- mock-sat retired from Jetson + D-PROJ-2 /api/satellite/upload
shipped on parent; mock-sat retention closed.
8-pt complexity unchanged. Single-ticket containment preserved.
Phase boundaries (STOP gates) preserved. No code changed yet —
this commit is spec / state / decision-log only; next /autodev
session executes Phase 1.
Co-authored-by: Cursor <cursoragent@cursor.com>
Original spec called for direct OSM/CARTO downloads, contradicting
architecture (C11 owns tile network I/O against parent-suite
satellite-provider .NET 8 service; C10 batches descriptors over the
populated C6, never touches the upstream). Rewritten spec drives the
production C10/C11 pipeline against the real satellite-provider
running in docker-compose.test.yml, replacing the mock-suite-sat-
service GET stub. Complexity 5 -> 8 pts (single-ticket override).
Decision log: _docs/_process_leftovers/2026-05-21_az777_complexity_
override.md. Jira AZ-777 description + summary synced. Autodev state
pauses for next session to pick up Phase 1 (satellite-provider
stand-up + smoke test).
Co-authored-by: Cursor <cursoragent@cursor.com>
Cumulative review (batches 98-102): PASS_WITH_WARNINGS — F1 module-layout
stale (Medium/Arch) + F2 inline-import style nit (Low). No blocking findings.
Completeness gate: PASS — all 6 cycle-2 tasks (AZ-697, AZ-702, AZ-698,
AZ-699, AZ-700, AZ-701) verified PASS. Zero placeholder/stub/scaffold
markers in production code; every named runtime dep integrated.
Final implementation report hands off full-suite gate to Step 11 (Jetson
e2e) — last Jetson run pre-dates all cycle-2 commits.
Autodev state advanced to Step 11 (Run Tests), not_started.
Co-authored-by: Cursor <cursoragent@cursor.com>
New replay_api component: FastAPI service wrapping the offline
gps-denied-replay pipeline. POST tlog+video (multipart) → either
sync 200 with result/map/report URLs, or async 202 + job id with
/jobs/{id} polling. Magic-byte validation, bearer auth, in-memory
JobRegistry with concurrency + queue caps (429 on overflow).
Helper accuracy_report.py promoted from tests/ to src/ because the
API needs the Markdown report writer at runtime; all AZ-699 imports
re-pointed. OpenAPI spec exported to docs.
18/18 unit tests pass (AC-1 sync, AC-2 async, AC-3 state machine,
AC-5 auth, AC-6 health, AC-8 concurrency, AC-9 magic-byte). Full
unit suite: 2251 pass, 86 skip, 1 pre-existing C12 cold-start flake
(unchanged). mypy --strict clean on the new surface.
Co-authored-by: Cursor <cursoragent@cursor.com>
New operator-side console-script renders a self-contained HTML map
(folium / Leaflet) comparing the estimator's JSONL track against
the tlog ground-truth track. Pinned visual style: red truth + blue
estimated polylines, start/end markers per track, 100 m + 50 m
scale circles, optional AZ-699 accuracy-summary banner, and an
--offline-tiles mode (with optional local tile-URL template) for
Jetsons without internet.
folium is gated behind a new [operator-tools] optional-dep so the
airborne binary's cold-start NFR is unaffected (C12 binary doesn't
import the new module). 14 new unit tests pin polyline count,
marker count, scale-circle radii, summary embedding, offline-tile
behaviour, and full CLI smoke. Zero mypy --strict errors.
Refines the 2026-05-20 Jetson-only test policy: unit tests may run
locally, e2e/perf/resilience/security stay Jetson-only. Documented
in _docs/02_document/tests/environment.md (Where each tier runs)
and .cursor/rules/testing.mdc (Test environment for this project).
Co-authored-by: Cursor <cursoragent@cursor.com>
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>
Adds find_aligned_window cross-correlation (NCC, per-window unit norm)
between IMU energy and video optical-flow magnitude. Returns
AlignedWindow{tlog_start_ns, tlog_end_ns, offset_ms, confidence,
used_fallback}, with fallback to head-takeoff on low confidence to
preserve AZ-405 behavior. TlogReplayFcAdapter honors tlog_start_ns and
skips pre-window messages. New --auto-trim CLI flag, mutex with
--time-offset-ms. AC-1..AC-4 covered by unit tests; AC-5 skipped (no
real flight_derkachi.mp4 in repo). 106 tests pass in regression slice.
Zero new mypy --strict errors.
Co-authored-by: Cursor <cursoragent@cursor.com>
Batch 98 (cycle 2) — first two PBIs of epic AZ-696 (real-flight
validation harness):
AZ-697: direct binary-tlog GPS-truth extractor
- New src/gps_denied_onboard/replay_input/tlog_ground_truth.py reads
GLOBAL_POSITION_INT (with GPS_RAW_INT fallback) from a binary
ArduPilot tlog via pymavlink.mavutil and returns a frozen+slotted
TlogGroundTruth DTO with per-record ts_ns / lat_deg / lon_deg / alt_m
/ hdg_deg / vx_m_s / vy_m_s / vz_m_s.
- Promoted l2_horizontal_m + match_percentage + GroundTruthRow from
tests/e2e/replay/_helpers.py into the new production module
src/gps_denied_onboard/helpers/gps_compare.py. The e2e helper now
re-exports the same objects (identity, not copies) so existing test
imports continue working untouched.
- tests/e2e/replay/conftest.py prefers the real derkachi.tlog when
present, falls back to the CSV synth path otherwise.
- 22 new unit tests cover AC-1..AC-5 (mypy --strict subprocess test
included). All passing.
AZ-702: Topotek KHP20S30 factory-sheet camera calibration
- New _docs/00_problem/input_data/flight_derkachi/khp20s30_factory.json:
fx = fy = 4644.444, cx = 960, cy = 540, HFOV ~ 23.3 deg, VFOV ~ 13.2
deg, computed from the published 8.5 mm focal length + 1/2.8" sensor
+ 1920x1080 capture at lowest zoom step. Distortion zeroed,
body_to_camera_se3 = identity with nadir convention. Acquisition
method explicitly recorded as factory_sheet so downstream code can
expect higher residual error than a lab calibration.
- _docs/00_problem/input_data/flight_derkachi/camera_info.md updated
to document the assumptions, expected residual error window, and
conftest pick-up rule.
- tests/e2e/replay/conftest.py::_calibration_path() prefers
khp20s30_factory.json when present, falls back to adti26.json.
- 9 new unit tests cover AC-1..AC-4 (schema, intrinsics traceback,
doc reference, conftest pick-up). All passing.
Test run: 45 new tests, all passing. Full-suite gate deferred to
Step 16 (after the last batch in cycle 2 per the implement skill).
Adjacent note (not fixed in this batch, recorded in the batch report):
auto_sync.py has the same redundant pymavlink type:ignore + a few
numpy/cv2 mypy --strict issues. None on this batch's path.
Refs: _docs/03_implementation/batch_98_cycle2_report.md
Refs: _docs/02_tasks/done/AZ-697_tlog_ground_truth_extractor.md
Refs: _docs/02_tasks/done/AZ-702_khp20s30_calibration.md
Co-authored-by: Cursor <cursoragent@cursor.com>
Pre-implement chore commit to land orchestration artifacts produced by
autodev cycle-2 Step 9 (New Task), so that Step 10 (Implement) starts
against a clean working tree.
What's included:
- .gitignore: exclude _docs/00_problem/input_data/**/*.{tlog,mp4,h264}
(derkachi.tlog is a 5.8 MB binary input and stays out-of-band).
- _docs/02_tasks/todo/AZ-697..AZ-702: 6 new PBI specs under epic AZ-696
(tlog ground-truth extractor, mid-flight trim+align, real-flight
validation runner, replay map viz, HTTP replay API, KHP20S30 calib).
- _docs/02_tasks/_dependencies_table.md: dep edges for the 6 PBIs.
- _docs/_autodev_state.md: status -> in_progress, step 10 cycle 2.
- _docs/_process_leftovers/...opencv_pin_deferred.md: replay-attempt
timestamp refreshed (gtsam-numpy-2 wheels still not published;
leftover remains open).
No source code is modified by this commit.
Co-authored-by: Cursor <cursoragent@cursor.com>
- Enhanced `.env.example` with detailed CMake build flags and replay-mode strategy flags for development and CI environments.
- Updated `.gitignore` to include a new deploy rollback bookmark.
- Revised `_docs/_autodev_state.md` to reflect the current task status and steps.
- Added new lessons to `_docs/LESSONS.md` regarding testing and architectural improvements.
- Documented changes in `_docs/02_document/deployment/ci_cd_pipeline.md` to reflect the relaxed OpenCV version pin.
- Updated test data documentation in `_docs/02_document/tests/test-data.md` to clarify fixture usage and paths.
This commit continues the cycle-1 documentation sync and addresses various configuration updates for improved clarity and functionality.
Batch 5b completes the helpers sweep for cycle-1 Step 13.
For each of the four remaining helpers (sha256_sidecar,
engine_filename_schema, ransac_filter,
descriptor_normaliser):
- Append "Cycle-1 operational reality" section to the
existing common-helpers/<NN>_*.md, documenting the
shipped interface, exception types, public constants,
determinism / validation invariants, and AZ-task
lineage.
Specific cycle-1 facts captured per helper:
- sha256_sidecar (AZ-280): single Sha256SidecarError
hierarchy, SIDECAR_SUFFIX public constant, sidecar
format is pure lowercase 64-char hex (no JSON),
verbatim ".sha256" suffix append, streaming digests
in 1 MiB chunks, verify-returns-False semantics for
missing payload vs. raise for missing sidecar,
byte-deterministic aggregate_hash with sorted-by-str
basenames.
- engine_filename_schema (AZ-281):
EngineFilenameSchemaError, ENGINE_SUFFIX and
ALLOWED_PRECISIONS public constants, strict model
validation ([a-z0-9_]+ ≤64 chars no __), dotted
version regex, non-bool sm validation, matches_host
ignores precision by design.
- ransac_filter (AZ-282 / AZ-623): RansacFilterError,
frozen RansacResult dataclass, cv2.setRNGSeed(0)
determinism, median-not-mean residual, NaN for empty
inliers, min_inliers is informational only,
filter_correspondences uses perspectiveTransform vs.
compute_reprojection_residual uses projectPoints, OK
to import se3_utils (both Layer 1).
- descriptor_normaliser (AZ-283 / AZ-338):
DescriptorNormaliserError, ALLOWED_DTYPES =
(float16, float32), float32 norm computation with
dtype-preserving cast-back, new
intra_cluster_normalise method for NetVLAD per-cluster
L2 (AZ-338), descriptor_metric returns
"inner_product" string.
Two contract files (descriptor_normaliser.md and
ransac_filter.md mention follow-up) need follow-up
minor revisions to match shipped surface; queued for
the contracts-folder sweep.
Bumps _docs/_autodev_state.md sub_step to
tests-doc-updates phase 9.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh