 Oleksandr Bezdieniezhnykh
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2d6d44af5d
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[AZ-424] [AZ-425] [AZ-426] Implement negatives set (FT-N-01/03/04)
Adds three pure-logic evaluators + scenarios + unit tests covering the
project's failure-mode robustness ladder (AC-3.1, AC-3.4, AC-3.5,
AC-NEW-8):
* outlier_tolerance_evaluator (AZ-424 / FT-N-01): per-event 50 m drift
bound + 3-frame covariance-monotonic window over the AZ-408 outlier
injector's medium-density manifest.
* outage_request_evaluator (AZ-425 / FT-N-03): detects 3+ consecutive
missing-frame windows; validates OPERATOR_RELOC_REQUEST STATUSTEXT
arrives at 2 s ±500 ms, dead_reckoned label during outage, and no
FC EKF divergence.
* blackout_spoof_evaluator (AZ-426 / FT-N-04): eight-AC ladder across
the 5 s / 15 s / 35 s sub-windows — switch latency, spoof rejection,
monotonic covariance, honest horiz_accuracy, STATUSTEXT 1-2 Hz,
35 s escalation thresholds, and recovery gate.
Each scenario is skip-gated on the AZ-441 / AZ-407 / AZ-416 replay /
SITL / mavproxy helpers; unit tests (14 + 18 + 29 = 61) cover the
AC logic today. Full e2e unit-test suite: 527 passed (+67).
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-17 08:26:16 +03:00 |
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