Batch 2 of the cycle-1 component-doc sync. For each of C3.5
(AdHoP), C4 (Pose), C5 (State):
- Append "Cycle-1 operational reality" paragraph to § 1
documenting the _STRATEGY_REGISTRY wiring, the
AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS slot, and the
composition-time errors raised on missing seeds.
- Relax the OpenCV pin in § 5 to >=4.11.0.86,<4.12 with a
pointer to the D-CROSS-CVE-1 leftover (C5 adds a new row
for the AZ-389 orthorectifier subsystem's cv2 import).
- Add "Cycle-1 Tier-2 follow-up dependencies" subsection
in § 7 where applicable: C3.5 calls out the airborne
registry's omission of PassthroughRefiner; C5 calls out
the AZ-389 orthorectifier wiring (default OFF) and the
AZ-624 operator-supplied flight metadata that must land
before flipping orthorectifier.enabled=True. C4 has no
parked Tier-2 (only opencv_gtsam is defined).
Also refresh the D-CROSS-CVE-1 leftover replay timestamp
(condition still upstream-gated: gtsam wheels remain
numpy<2) and bump the autodev state's sub_step.detail to
record "batch 2/~5 done (c3_5/c4/c5); 7 components + 8
helpers + tests/ remain".
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.
Oleksandr Bezdieniezhnykh