 Oleksandr Bezdieniezhnykh
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8a9cf88a46
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[AZ-396] [AZ-397] Batch 11: C8 source-set switch + QGC telemetry adapter
AZ-396: PymavlinkArdupilotAdapter.request_source_set_switch body sends
MAV_CMD_SET_EKF_SOURCE_SET, awaits COMMAND_ACK with timeout, enforces
Invariant 11 idempotence (1s rate-limit + skip-after-success). Adds
runtime_root.SpoofRecoverySink to bridge C5 spoof-promotion-recovered
signal to the C8 outbound thread via a bounded dispatch queue.
FcConfig gains spoof_recovery_source_set + source_set_switch_timeout_ms.
AZ-397: QgcTelemetryAdapter implements GcsAdapter strategy: MAVLink 2.0
to QGC, emit_summary downsamples 5Hz to configurable summary_rate_hz
[0.5, 5.0] via integer modulo, emit_status_text mirrors to GCS link,
subscribe_operator_commands translates COMMAND_LONG / PARAM_REQUEST_*
/ REQUEST_DATA_STREAM / MISSION_* / SET_MODE into OperatorCommand DTOs
and audits each receipt to FDR. FcKind.GCS_QGC added for PortConfig.
Tests: 25 new (12 AZ-396 + 13 AZ-397); full suite 501 passing, 2 skipped.
Contracts unchanged (additive FcConfig fields, range relaxation on
GcsConfig.summary_rate_hz, additive FcKind enum value).
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-11 05:06:56 +03:00 |
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