 Oleksandr Bezdieniezhnykh
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362e93c626
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[AZ-390] [AZ-392] C8 FC/GCS adapter foundation + covariance projector
Adds the C8 foundation:
- FcAdapter / GcsAdapter / ReplaySink Protocols + contract DTOs in
_types/fc.py (PortConfig, FcKind, FlightState, GpsStatus, Severity,
TelemetryKind, FcTelemetryFrame, FlightStateSignal, GpsHealth,
OperatorCommand, Subscription, Imu/Attitude samples).
- Disjoint FcAdapterError / GcsAdapterError trees with
SourceSetSwitchNotSupportedError <: SourceSetSwitchError per AC-9.
- FcConfig + GcsConfig cross-cutting Config blocks with config-load
validation (unknown strategy rejected at __post_init__).
- runtime_root/fc_factory.py: build_fc_adapter / build_gcs_adapter
with BUILD_FC_*/BUILD_GCS_* flag gating + INFO log on load +
single-writer outbound-thread binding.
- CovarianceProjector (helper, AZ-392): 6x6 -> 3x3 -> 2x2 ->
sqrt(lambda_max) reduction; AP returns float m, iNav returns int mm
with uint16 clamp + WARN + FDR record. Non-SPD / NaN / wrong-shape
raise FcEmitError and emit an FDR ERROR record carrying frame_id.
Contracts:
- composition_root_protocol.md 1.1.0 -> 1.2.0 (added fc/gcs blocks +
build_fc_adapter / build_gcs_adapter + outbound-thread binding).
- fc_adapter_protocol.md unchanged (this batch implements v1.0.0).
Tests: 410 pass / 2 skip / 0 fail (+53 new tests in batch 8).
AZ-391 (inbound subscription) deferred to batch 9 — pulls YAMSPy as
a new external dependency (iNav MSP2 decode).
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-11 04:17:59 +03:00 |
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