gps-denied-onboard

azaion/gps-denied-onboard

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Commit Graph

Author	SHA1	Message	Date
Oleksandr Bezdieniezhnykh	6554d568f1	[AZ-596] Batch 76: fc_proxy_runtime driver (FDR-replay mode) Add `runner/helpers/fc_proxy_runtime.py` wrapping the existing `BlackoutSpoofProxy` (AZ-406) with a scenario-facing `drive_fc_proxy` entry point. FDR-replay mode only: loads `schedule.json`, optionally activates the proxy against a caller clock for alignment verification, and writes a `proxy_drive_report.json` audit record into `${E2E_SITL_REPLAY_DIR}` for downstream evaluators. Replaces the local `_drive_fc_proxy` stub in FT-N-04. Adds 3 @property accessors on `BlackoutSpoofProxy` so the wrapper does not reach into private attributes. +11 unit tests (608 total, up from 596). Live-mode router wiring remains out of scope (future ticket). Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-17 09:08:48 +03:00
Oleksandr Bezdieniezhnykh	43fdef1aac	[AZ-595] Batch 75: sitl_observer FDR-replay + scenario probe cleanup Implement all 11 `sitl_observer` public surfaces as an offline FDR-replay strategy (reads JSON fixtures under `${E2E_SITL_REPLAY_DIR}` instead of live pymavlink/yamspy). Replace 12 per-scenario `_harness_helpers_implemented` probes with one shared session-scoped `sitl_replay_ready` fixture in `e2e/tests/conftest.py`. Net: -636 LoC of duplicated scenario gating, +17 LoC shared fixture, +38 new unit tests (596 total, up from 558). Includes K=3 cumulative review for batches 73-75 (PASS). Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-17 09:00:55 +03:00
Oleksandr Bezdieniezhnykh	2d6d44af5d	[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>	2026-05-17 08:26:16 +03:00

Author

SHA1

Message

Date

Oleksandr Bezdieniezhnykh

6554d568f1

[AZ-596] Batch 76: fc_proxy_runtime driver (FDR-replay mode)

Add `runner/helpers/fc_proxy_runtime.py` wrapping the existing
`BlackoutSpoofProxy` (AZ-406) with a scenario-facing `drive_fc_proxy`
entry point. FDR-replay mode only: loads `schedule.json`, optionally
activates the proxy against a caller clock for alignment verification,
and writes a `proxy_drive_report.json` audit record into
`${E2E_SITL_REPLAY_DIR}` for downstream evaluators.

Replaces the local `_drive_fc_proxy` stub in FT-N-04. Adds 3
@property accessors on `BlackoutSpoofProxy` so the wrapper does not
reach into private attributes. +11 unit tests (608 total, up from
596). Live-mode router wiring remains out of scope (future ticket).

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-17 09:08:48 +03:00

Oleksandr Bezdieniezhnykh

43fdef1aac

[AZ-595] Batch 75: sitl_observer FDR-replay + scenario probe cleanup

Implement all 11 `sitl_observer` public surfaces as an offline
FDR-replay strategy (reads JSON fixtures under `${E2E_SITL_REPLAY_DIR}`
instead of live pymavlink/yamspy). Replace 12 per-scenario
`_harness_helpers_implemented` probes with one shared session-scoped
`sitl_replay_ready` fixture in `e2e/tests/conftest.py`.

Net: -636 LoC of duplicated scenario gating, +17 LoC shared fixture,
+38 new unit tests (596 total, up from 558). Includes K=3 cumulative
review for batches 73-75 (PASS).

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-17 09:00:55 +03:00

Oleksandr Bezdieniezhnykh

2d6d44af5d

[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>

2026-05-17 08:26:16 +03:00

3 Commits