Add operator warm-start path to C5 StateEstimator Protocol and both
implementations (GtsamIsam2StateEstimator, EskfStateEstimator), plus
the third clause of the AZ-385 spoof-promotion gate.
- StateEstimator Protocol: set_takeoff_origin(origin, sigma_horiz_m,
sigma_vert_m) -> None.
- iSAM2: PriorFactorPose3 at origin with diagonal sigmas, single
isam2.update().
- ESKF: zero _nominal_pos, overwrite _P position block with sigma**2.
- SourceLabelStateMachine.process_gps_sample bounded-delta clause:
WgsConverter.horizontal_distance_m vs smoother estimate; reject
resets the dwell-time counter so AZ-385 cannot re-promote off bad
GPS.
- New EstimatorAlreadyStartedError (StateEstimatorConfigError
subclass) on late call after first add_*.
- C5StateConfig: spoof_promotion_bounded_delta_m=200,
default_takeoff_origin_sigma_horiz_m=5,
default_takeoff_origin_sigma_vert_m=10.
- New GpsSample DTO + WgsConverter.horizontal_distance_m helper.
- 4 new FDR kinds (cold_start_origin.{set,unavailable},
gps_bounded_delta.{accept,reject}) registered in AZ-272 schema.
- 33 new unit tests cover AC-1..AC-15; full repo 750 passed / 2
skipped (pre-existing CI tooling skips).
Docs synced: protocol contract, C5 component description,
architecture, glossary, system-flows, C10 provisioning description.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-294: MidFlightTileSnapshotSink writes orthorectified tile JPEGs
atomically to flight_root/<flight_id>/tiles/<tile_id>.jpg, emits a
kind="mid_flight_tile_snapshot" pointer record, and evicts the oldest
tile when the per-flight 64 MiB cap is exceeded. Adds optional
frame_id to the snapshot payload (fdr_record_schema bump).
AZ-295: RecordKindPolicy with two paired gates:
- enforce_or_raise (producer-side) raises RawFrameWriteForbiddenError
for raw_nav_frame / raw_ai_cam_frame at the call site, defending
AC-8.5 / RESTRICT-UAV-4.
- gate_for_writer (writer-side) tumbling-window rate-caps
failed_tile_thumbnail records at <= 0.1 Hz; over-cap drops are
coalesced into kind="overrun" records with the originating
producer slug.
AZ-296: take_off() composition-root sequence with strict ordering
(writer.__init__ -> start -> open_flight -> fc_adapter.__init__ ->
fc_adapter.open). On FdrOpenError, logs ERROR record, calls
writer.stop(), prints the documented FATAL line to stderr, and
sys.exit(EXIT_FDR_OPEN_FAILURE=2). composition_root_protocol bumped
to v1.1.0 with the new constants + takeoff-sequence section.
29 new tests; full suite 356 passed / 2 skipped / 0 failures.
No new dependencies (stdlib only).
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-291 — FileFdrWriter: single writer thread draining every registered
FdrClient SPSC ring buffer to per-flight segment files; per-segment
size rotation; cross-process fcntl.flock filelock on flight_root;
ENOSPC degraded mode with rate-capped ERROR logs and one GCS alert.
AZ-292 — FlightHeader/FlightFooter dataclasses + open_flight /
close_flight lifecycle methods; four per-flight monotonic counters
(records_written, records_dropped_overrun, bytes_written,
rollover_count) reported by the footer; flight_id mismatch and
close-without-open are typed errors.
AZ-293 — CapacityCapPolicy (post-rotation hook): walks the flight
directory, drops the oldest CLOSED segment when total > cap (default
64 GiB), emits a kind="segment_rollover" record per drop. Never drops
the currently-open segment or segment 0 alone; cap_misconfigured path
logs ERROR + GCS alert. No config flag disables emission (C13-ST-01).
Schema: bumped fdr_record_schema flight_header / flight_footer payload
key sets to match the AZ-292 task spec (effective 1.0.0 -> 1.1.0; no
prior producer); KNOWN_PAYLOAD_KEYS updated. Added FdrWriterConfig
nested in FdrConfig (segment_size_bytes, batch_size, flight_cap_bytes,
debug_log_per_record).
Tests: 29 new unit tests (8 AC + 1 invariant per task); full suite
323 passed, 2 pre-existing skips, 0 regressions.
Co-authored-by: Cursor <cursoragent@cursor.com>
Closes out greenfield Step 6 (Decompose) for all 14 components
(C1-C13 + cross-cutting helpers/replay). Covers tasks AZ-266..AZ-446
plus the _dependencies_table.md and component contract documents.
State file updated to greenfield Step 7 (Implement), not_started.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh