gps-denied-onboard

azaion/gps-denied-onboard

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Commit Graph

Author	SHA1	Message	Date
Oleksandr Bezdieniezhnykh	f49d803252	[AZ-597] Batch 77: replay_mode helpers + 13 scenario stub rewires Add `runner/helpers/replay_mode.py` (NullFrameSink, NullFcInboundEmitter, default_frame_period_ms, load_replay_json, resolve_replay_subdir, imu_replay_noop) and rewire all 13 scenarios off their local `_resolve_` / `_drive_` / `_push_*` NotImplementedError stubs. Closes the offline FDR-replay execution path. `grep raise NotImplementedError` under `e2e/tests/` now returns zero matches. +17 unit tests (626 total, up from 608). Unit-test behaviour unchanged (scenarios still skip via b75 sitl_replay_ready gate when E2E_SITL_REPLAY_DIR is unset). Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-17 09:52:05 +03:00
Oleksandr Bezdieniezhnykh	43fdef1aac	[AZ-595] Batch 75: sitl_observer FDR-replay + scenario probe cleanup Implement all 11 `sitl_observer` public surfaces as an offline FDR-replay strategy (reads JSON fixtures under `${E2E_SITL_REPLAY_DIR}` instead of live pymavlink/yamspy). Replace 12 per-scenario `_harness_helpers_implemented` probes with one shared session-scoped `sitl_replay_ready` fixture in `e2e/tests/conftest.py`. Net: -636 LoC of duplicated scenario gating, +17 LoC shared fixture, +38 new unit tests (596 total, up from 558). Includes K=3 cumulative review for batches 73-75 (PASS). Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-17 09:00:55 +03:00
Oleksandr Bezdieniezhnykh	a644debdb7	[AZ-416] [AZ-417] [AZ-419] Test batch 72: FT-P-09 AP/iNav + FT-P-11 cold start - AZ-416 (FT-P-09-AP): fills mavproxy_tlog_reader.iter_messages with pymavlink body (AZ-406 surface kept); adds ap_contract_evaluator covering AC-1 (signing handshake <=5s), AC-2 (GPS_INPUT >=4.5 Hz), AC-3 (EK3_SRC1_POSXY=3), AC-4 (GPS_RAW_INT health >=80%); scenario forces fc_adapter=ardupilot. - AZ-417 (FT-P-09-iNav): msp_frame_observer covering AC-2 (MSP rate) and AC-3 (fix_type/provider/numSat); scenario forces fc_adapter=inav. - AZ-419 (FT-P-11): cold_start_evaluator covering AC-1 (operator manifest origin), AC-2 (FC EKF fallback), AC-3 (no-origin abort), AC-4 (bounded-delta conflict, ADR-010 Principle #11 amended); scenario parametrized on origin_source plus dedicated no-origin abort scenario. - All scenarios skip-gated on upstream frame_source_replay / imu_replay / fdr_reader / sitl_observer extensions. - +67 unit tests; full e2e unit suite: 460 passed. - K=3 cumulative review fired: PASS for batches 70-72. See _docs/03_implementation/batch_72_report.md, _docs/03_implementation/reviews/batch_72_review.md, _docs/03_implementation/cumulative_review_batches_70-72_cycle1_report.md. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-17 07:49:17 +03:00

Author

SHA1

Message

Date

Oleksandr Bezdieniezhnykh

f49d803252

[AZ-597] Batch 77: replay_mode helpers + 13 scenario stub rewires

Add `runner/helpers/replay_mode.py` (NullFrameSink, NullFcInboundEmitter,
default_frame_period_ms, load_replay_json, resolve_replay_subdir,
imu_replay_noop) and rewire all 13 scenarios off their local
`_resolve_*` / `_drive_*` / `_push_*` NotImplementedError stubs.

Closes the offline FDR-replay execution path. `grep raise
NotImplementedError` under `e2e/tests/` now returns zero matches. +17
unit tests (626 total, up from 608). Unit-test behaviour unchanged
(scenarios still skip via b75 sitl_replay_ready gate when
E2E_SITL_REPLAY_DIR is unset).

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

2026-05-17 09:52:05 +03:00

Oleksandr Bezdieniezhnykh

43fdef1aac

[AZ-595] Batch 75: sitl_observer FDR-replay + scenario probe cleanup

Implement all 11 `sitl_observer` public surfaces as an offline
FDR-replay strategy (reads JSON fixtures under `${E2E_SITL_REPLAY_DIR}`
instead of live pymavlink/yamspy). Replace 12 per-scenario
`_harness_helpers_implemented` probes with one shared session-scoped
`sitl_replay_ready` fixture in `e2e/tests/conftest.py`.

Net: -636 LoC of duplicated scenario gating, +17 LoC shared fixture,
+38 new unit tests (596 total, up from 558). Includes K=3 cumulative
review for batches 73-75 (PASS).

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

2026-05-17 09:00:55 +03:00

Oleksandr Bezdieniezhnykh

a644debdb7

[AZ-416] [AZ-417] [AZ-419] Test batch 72: FT-P-09 AP/iNav + FT-P-11 cold start

- AZ-416 (FT-P-09-AP): fills mavproxy_tlog_reader.iter_messages with
  pymavlink body (AZ-406 surface kept); adds ap_contract_evaluator
  covering AC-1 (signing handshake <=5s), AC-2 (GPS_INPUT >=4.5 Hz),
  AC-3 (EK3_SRC1_POSXY=3), AC-4 (GPS_RAW_INT health >=80%); scenario
  forces fc_adapter=ardupilot.
- AZ-417 (FT-P-09-iNav): msp_frame_observer covering AC-2 (MSP rate)
  and AC-3 (fix_type/provider/numSat); scenario forces
  fc_adapter=inav.
- AZ-419 (FT-P-11): cold_start_evaluator covering AC-1 (operator
  manifest origin), AC-2 (FC EKF fallback), AC-3 (no-origin abort),
  AC-4 (bounded-delta conflict, ADR-010 Principle #11 amended);
  scenario parametrized on origin_source plus dedicated no-origin
  abort scenario.
- All scenarios skip-gated on upstream frame_source_replay /
  imu_replay / fdr_reader / sitl_observer extensions.
- +67 unit tests; full e2e unit suite: 460 passed.
- K=3 cumulative review fired: PASS for batches 70-72.

See _docs/03_implementation/batch_72_report.md,
_docs/03_implementation/reviews/batch_72_review.md,
_docs/03_implementation/cumulative_review_batches_70-72_cycle1_report.md.

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

2026-05-17 07:49:17 +03:00

3 Commits