Item 1 of the deferred Step 13 refresh set per
_docs/02_document/ripple_log_cycle1.md.
architecture.md:
- Components C1: KltRansac is the cycle-1 operational default while
AZ-332/AZ-333 are BLOCKED awaiting Tier-2 prerequisites; ADR-001 /
ADR-002 unchanged (the seam holds; the selection shifted).
- Principle #3: same KltRansac note (cross-link to Components).
- § Technology Stack: OpenCV pin row reflects the cycle-1 relaxation
to >=4.11.0.86,<4.12 with the leftover-file pointer; OKVIS2 + VINS-
Mono rows note BLOCKED with AZ-592 / AZ-593 follow-ups.
- § NFR: Dependency CVE pinning row notes the relaxation and the
CVE-2025-53644 re-validation owed before close.
- § ADR-001: cycle-1 operational note (KltRansac default; AZ-332/333
facade-only; AZ-589/590 closed Won't-Fix).
- § ADR-009: new Cycle-1 implementation subsection covers
_STRATEGY_REGISTRY + register_strategy (AZ-591) and the
pre_constructed kwarg + build_pre_constructed (AZ-618 umbrella;
Phases A-F including AZ-625 / AZ-687).
module-layout.md:
- shared/runtime_root entry: package layout (was single file in the
Plan-era sketch); new public-surface table covering __init__.py,
airborne_bootstrap.py, _replay_branch.py, and the per-component
factory modules; ownership rows extended (AZ-591, AZ-618, AZ-625,
AZ-687).
system-flows.md: intentionally not modified — F2 / F8 narratives are
at the component-flow abstraction level and do not reference
compose_root / pre_constructed mechanics, so they have not drifted.
Items 2-4 of the ripple-log refresh set (C1 description, the other
13 components, 8 helpers, tests/*.md) remain deferred to subsequent
sessions.
State: Step 13 stays in_progress; sub_step advanced to phase 6
(component-doc-updates).
Co-authored-by: Cursor <cursoragent@cursor.com>
Re-design replay mode per user direction: replay is no longer a fourth
Docker image with a reduced component set, but a `config.mode = "replay"`
branch of the single airborne binary. The pre-flight workflow (route in
suite UI -> C12 tile download via real satellite-provider -> C10
manifest+engines build) is identical between live and replay; only three
strategies swap at compose time:
FrameSource: Live <-> Video
FcAdapter: Pymavlink/MSP2 <-> TlogReplay
MavlinkTransport: Serial <-> Noop
The C8 outbound MAVLink encoders run unchanged in both modes; their
bytes hit `NoopMavlinkTransport` in replay and disappear. A new
`JsonlReplaySink` taps C5's `EstimatorOutput` stream so the parent-suite
UI sees per-tick coordinates by tailing `results.jsonl`. MAVLink 2.0
signing key remains mandatory (operator supplies a dummy file).
A new `replay_input/` Layer-4 cross-cutting coordinator owns
`(video, tlog) -> (FrameSource, FcAdapter, Clock)` convergence; the
composition root sees only standard interfaces past `.open()`.
Docs:
- architecture.md: new ADR-011 with full rationale; ADR-002 binary
narrative updated.
- contracts/replay/replay_protocol.md: bumped to v2.0.0; 12 invariants
(notably mode-agnosticism + encoder byte-equality + signing key
mandatory + real C6 cache in replay).
- module-layout.md: Build-Time Exclusion Map dropped from 4 to 3 binary
columns; replay-mode `BUILD_*` flags default ON in airborne;
`shared/replay_input` cross-cutting entry added.
- epics.md: E-DEMO-REPLAY scope reframed; story points 27-32 -> 19-24.
Task respecs:
- AZ-401: shrunk 3 -> 2 pts; `compose_root` mode branch + JSONL sink +
NoopMavlinkTransport wiring; legacy `compose_replay` export deleted.
- AZ-402: console-script wrapper that mutates `config.mode = "replay"`
and dispatches into the shared airborne main; `--mavlink-signing-key`
mandatory.
- AZ-403: CANCELLED. Moved to done/ with banner; Jira transition deferred
via `_docs/_process_leftovers/2026-05-14_az_403_cancellation_pending_tracker.md`.
- AZ-404: AC-4 reworded as mode-agnosticism AST scan + encoder
byte-equality test; new AC-8 operator-workflow rehearsal.
- AZ-405: also owns the `replay_input/` module + `ReplayInputAdapter`.
_dependencies_table.md updated: AZ-401 gains AZ-405 dep; AZ-404 drops
AZ-403 dep; AZ-403 row marked CANCELLED.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-507: codify cross-component import rule. Added
_types/inference_errors.py shim re-exporting EngineBuildError +
CalibrationCacheError from c7_inference; narrowed C10
EngineCompiler's except Exception to the two typed errors so unknown
exceptions propagate (AC-3). Rewrote module-layout.md "Imports from"
sections for 9 components + added Rule 9; appended an
architecture.md ADR-009 note explaining why components must go
through _types/*.
AZ-323: ManifestBuilder + Ed25519ManifestSigner. Canonical JSON via
orjson OPT_SORT_KEYS+OPT_INDENT_2, atomic-write Manifest.json + sha
sidecar + .sig via AZ-280, operator-key fingerprint allowlist gate
(C10-ST-01), ADR-010 takeoff_origin + flight_id baked into Manifest
AND manifest_hash so re-planned routes change the cache identity
(AC-15/AC-16). 20 unit tests cover all 16 ACs.
AZ-324: ManifestVerifierImpl. Fail-closed Steps A-D: Manifest.json
sidecar self-hash, Ed25519 trust-key set, schema parse with
absolute/.. path rejection + takeoff_origin in-bbox check, stream
SHA-256 per artifact with multi-failure accumulation. Operator mode
re-derives tiles_coverage_sha256 from C6; airborne mode trusts the
signed aggregate. 19 unit tests cover all 17 ACs.
Composition root: c10_factory.build_manifest_builder +
build_manifest_verifier + c6_tile_metadata_store_to_tiles_query
adapter (the one place that legitimately imports both C6 and C10
without violating the AZ-270 lint).
Dependency: pinned cryptography>=43.0,<46.0 in pyproject.toml.
Tests: 1300 passed, 80 skipped (env-only), ruff clean for all
AZ-323/324 files.
AZ-306 (FAISS) intentionally deferred to batch 35 — needs C++
pybind11 toolchain not present in this environment.
Co-authored-by: Cursor <cursoragent@cursor.com>
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>
Transitioned the autodev state to phase 21, reflecting the completion of Step 5 and the drafting of Step 6 epics. Revised the architecture documentation to clarify the roles of the Tile Manager and its components, ensuring accurate representation of the system's operational flow. Updated glossary entries for Flight State and Operator to incorporate recent changes and enhance clarity on component interactions and responsibilities.
Modified the autodev state to transition to phase 10, updating the sub-step name and details to reflect the latest architectural review changes. Enhanced the glossary entry for VioStrategy to clarify its functionality, build-time exclusions, and implications for deployment and research binaries, ensuring alignment with recent architectural decisions.
- Modified the Docker Compose configuration to include an input root for replay tests and added an environment variable for enabling SITL.
- Enhanced documentation for various testing processes, including the addition of a Runtime Completeness Decomposition Gate and clarifications on internal module testing requirements.
- Updated the implementation completeness report to reflect the current state and added new test cases for performance and resilience scenarios.
Co-authored-by: Cursor <cursoragent@cursor.com>
Keep VIO package and native bridge paths backend-neutral so BASALT remains an implementation choice rather than a component boundary.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh