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>
Batch 5a of the cycle-1 doc sync. For each of the four
foundation helpers (imu_preintegrator, se3_utils,
lightglue_runtime, wgs_converter):
- Append "Cycle-1 operational reality" section to the
existing common-helpers/<NN>_*.md, documenting what the
shipped implementation actually exposes vs. the design-
intent sketch (interfaces, exception types, public
constants, AZ-task lineage).
Specific cycle-1 facts captured per helper:
- imu_preintegrator (AZ-276): make_imu_preintegrator
factory, BMI088-class noise defaults, single
ImuPreintegrationError exception, actual return type is
PreintegratedCombinedMeasurements (consumer builds the
CombinedImuFactor), destructive reset_with_bias semantics,
first-sample-not-integrated dt=0 handling.
- se3_utils (AZ-277): SE3 = gtsam.Pose3 re-export,
Se3InvalidMatrixError, strict caller-orthogonalisation
invariant, _DEFAULT_ROT_ATOL=1e-6 and small-angle Taylor
cutoff for exp_map, is_valid_rotation predicate, strict
dtype=float64 everywhere.
- lightglue_runtime (AZ-278 / R14 fix): EngineHandle
Protocol-typed constructor, LightGlueRuntimeError +
LightGlueConcurrentAccessError, non-blocking concurrent-
access guard (raises rather than serialises),
match_batch equal-length precondition, composition-root
single-instance into C2.5 + C3.
- wgs_converter (AZ-279 + AZ-490): WEB_MERCATOR_MAX_LAT_DEG
and MAX_ZOOM constants, WgsConversionError, ECEF arrays
are ndarray(3,) float64, new horizontal_distance_m method
(AZ-490 takeoff-origin bounded-delta gate), slippy-map
tile math hand-rolled to match satellite-provider on-disk
layout.
Two contract files (imu_preintegrator.md and
wgs_converter.md) need follow-up minor revisions to match
shipped surface; queued for the next contracts-folder
sweep, noted inline in each helper's new section.
Also refresh D-CROSS-CVE-1 opencv-pin leftover replay
timestamp (8-min debounce — gtsam upstream state cannot
change in that window).
Bumps _docs/_autodev_state.md sub_step detail.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh