 Oleksandr Bezdieniezhnykh
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beed43724f
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[AZ-381] C5 StateEstimator protocol + factory + C8 DTO reshape
- Add StateEstimator Protocol (6 methods, @runtime_checkable) + DTOs
(EstimatorOutput, EstimatorHealth, IsamState, PoseSourceLabel, Quat)
in _types/state.py per state_estimator_protocol.md v1.0.0.
- Add C5 error hierarchy (StateEstimatorError + 3 subclasses) and
C5StateConfig (strategy, keyframe_window, spoof gates,
no_estimate_fallback_s) with __post_init__ validation.
- Add ISam2GraphHandle Protocol + ISam2GraphHandleImpl skeleton (all
4 methods raise NotImplementedError naming AZ-382 as owner).
- Add build_state_estimator factory + bind_state_ingest_thread for
single-writer enforcement; ADR-002 build-flag gating
(BUILD_STATE_<variant>); INFO log on success.
- Strict reshape of legacy EstimatorOutput / EstimatorHealth across
all 6 C8 production files (_outbound_provenance,
_covariance_projector, pymavlink_ardupilot_adapter,
msp2_inav_adapter, mavlink_gcs_adapter, interface) + 6 C8 test
files (UUID frame_id, LatLonAlt position_wgs84, Quat orientation,
PoseSourceLabel enum source_label). Remove ad-hoc DTOs from
_types/pose.py and from C4's public __init__ (EstimatorOutput is a
C5 concept, not a C4 one).
- 20 AZ-381 AC tests (10 ACs + 4 config range + NFR + conformance).
- Full suite: 521 passed, 2 skipped (+20 vs Batch 11).
- Contracts: state_estimator_protocol.md v1.0.0 -> active;
composition_root_protocol.md v1.2.0 -> v1.3.0 (additive state
block + factory + ingest-thread binding).
- Impl report: _docs/03_implementation/batch_12_cycle1_report.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-11 05:35:20 +03:00 |
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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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