# Batch 72 Report — Test Implementation (cycle 1, batch 6 of test phase)

**Batch**: 72
**Date**: 2026-05-16
**Context**: Test implementation (greenfield Step 10 — Implement Tests)
**Tasks**: AZ-416 (5pt), AZ-417 (3pt), AZ-419 (3pt) — 11 cp / 3 tasks
**Cycle**: 1
**Verdict**: COMPLETE — PASS (self-reviewed + K=3 cumulative reviewed; see
`reviews/batch_72_review.md` and `cumulative_review_batches_70-72_cycle1_report.md`)

## Summary

FC contract conformance + cold-start init — the three remaining
scenarios that consume mavproxy / signing / cold-boot fixtures already
built in batches 67-68. Same pattern as prior batches:

* Pure-logic helper under `e2e/runner/helpers/` (everything the
  scenario can express without docker-bound SITL access).
* Scenario file(s) under `e2e/tests/positive/`, parameterized across
  conftest fixtures, skip-gated on upstream replay / SITL observer
  / FDR helpers (auto-activates when AZ-441 + AZ-407 leftovers land).
* Helper-driven unit test file under `e2e/_unit_tests/helpers/`.

### AZ-416 — FT-P-09-AP ArduPilot signing + GPS_INPUT contract (5pt)

* **`runner/helpers/mavproxy_tlog_reader.py`** — AZ-416 fills in the
  pymavlink-backed `iter_messages` body that AZ-406 reserved. Uses
  `mavutil.mavlink_connection(str(tlog_path))` with `recv_match` to
  iterate frames; exposes `TlogMessage(timestamp_us, msg_type, signed,
  fields)`. The `signed` flag uses `msg.get_signed()` with a
  defensive `AttributeError` fallback. The function is FAIL-FAST on
  missing files (raises FileNotFoundError); pymavlink's BAD_DATA
  frames are skipped silently per the standard idiom.
* **`runner/helpers/ap_contract_evaluator.py`** — four analysers:
  - `observe_signing_handshake` (AC-1): first signed frame within
    `HANDSHAKE_BUDGET_S = 5.0` s AND no `BAD_SIGNATURE` STATUSTEXT
    within that window.
  - `compute_gps_input_rate` (AC-2): GPS_INPUT cadence ≥4.5 Hz
    (constant `GPS_INPUT_MIN_RATE_HZ`).
  - `validate_ek3_src1_posxy` (AC-3): the AP EKF source-set parameter
    must equal `EK3_SRC1_POSXY_REQUIRED = 3` (GPS).
  - `evaluate_gps_raw_int_health` (AC-4): GPS_RAW_INT
    `fix_type ≥ 3 AND eph ≤ 200` for ≥80 % of the window.
  - `collect_messages_to_list` — explicit single-pass-iterator
    materialisation so multiple analysers can share the tlog.
* **`tests/positive/test_ft_p_09_ap_signing.py`** — scenario forces
  `fc_adapter=ardupilot` (skips other adapters), parameterised per
  `vio_strategy`. Records `signing_handshake_s`,
  `gps_input_rate_hz`, `ek3_src1_posxy`, `gps_raw_int_healthy_fraction`
  NFR metrics with AC IDs.
* **22 unit tests** in `test_ap_contract_evaluator.py` + **6** in
  `test_mavproxy_tlog_reader.py`.

### AZ-417 — FT-P-09-iNav MSP2_SENSOR_GPS contract (3pt)

* **`runner/helpers/msp_frame_observer.py`** — pure logic for AC-2
  (`compute_rate_hz` with `MSP2_SENSOR_GPS_FUNCTION_ID = 0x1F03` +
  `MIN_OBSERVED_RATE_HZ = 4.5`) and AC-3 (`evaluate_inav_gps_state`
  with `MIN_FIX_TYPE = 3` and `REQUIRED_PROVIDER = "MSP"`).
* **`tests/positive/test_ft_p_09_inav.py`** — scenario forces
  `fc_adapter=inav` (skips other adapters), parameterised per
  `vio_strategy`. Probes TCP handshake via
  `sitl_observer.observe_inav_tcp_handshake` (gated), captures MSP
  frames via `collect_inav_msp_frames` (gated), queries iNav GPS
  state via `query_inav_gps_state` (gated).
* **14 unit tests** in `test_msp_frame_observer.py`.

### AZ-419 — FT-P-11 cold-start init (3pt)

* **`runner/helpers/cold_start_evaluator.py`** — covers ADR-010's
  primary + secondary + bounded-delta paths plus AC-3 no-origin
  abort:
  - `write_manifest` / `read_manifest` — test-fixture builder for the
    C10 Manifest's `flight.takeoff_origin` (the test fabricates one
    instead of fetching from C12 because the SUT consumes a Manifest
    file path, not a service URL).
  - `read_cold_boot_fixture` — parse the AZ-408 fixture JSON into a
    typed `ColdBootSnapshot` (converts `lat_e7 / lon_e7 / alt_mm` →
    decimal degrees + meters).
  - `evaluate_first_estimate` (AC-1/2/4): distance vs expected origin
    + source_label rule for bounded-delta + FDR record audit.
  - `evaluate_no_origin_path` (AC-3): SUT must produce NO outbound
    estimate AND FDR must record `c5.cold_start_origin.unavailable`.
  - Constants for accuracy budget (50 m), bounded-delta trigger
    (200 m), forbidden first-label (`satellite_anchored`), and the
    three FDR record types.
* **`tests/positive/test_ft_p_11_cold_start_init.py`** — two scenario
  functions:
  - `test_ft_p_11_cold_start_origin_variants` — parametrized on
    `origin_source ∈ {operator_manifest, fc_ekf,
    bounded_delta_conflict}`; one fixture / one assertion path per
    variant.
  - `test_ft_p_11_cold_start_no_origin_aborts` — AC-3 dedicated
    scenario.
  Both rely on `sitl_observer.prepare_sitl_cold_boot` +
  `prepare_sitl_no_gps` (gated until AZ-407 leftovers land).
* **19 unit tests** in `test_cold_start_evaluator.py`.

## Tests

* **Full e2e unit suite**: 460 passed in 134.35 s (was 393 at end of
  batch 71 → +67 net new tests this batch).
* **Pre-existing**: macOS-only `/e2e-results` plugin issue in
  scenario invocation outside Docker. Unit suite unaffected.

## Files Touched

**New helpers:**
* `e2e/runner/helpers/msp_frame_observer.py`
* `e2e/runner/helpers/ap_contract_evaluator.py`
* `e2e/runner/helpers/cold_start_evaluator.py`

**Modified helper:**
* `e2e/runner/helpers/mavproxy_tlog_reader.py` — AZ-416 fills the
  pymavlink-backed `iter_messages` body that AZ-406 reserved
  (NotImplementedError → real iterator). Surface unchanged.

**New unit tests:**
* `e2e/_unit_tests/helpers/test_mavproxy_tlog_reader.py` (6 tests)
* `e2e/_unit_tests/helpers/test_ap_contract_evaluator.py` (22 tests)
* `e2e/_unit_tests/helpers/test_msp_frame_observer.py` (14 tests)
* `e2e/_unit_tests/helpers/test_cold_start_evaluator.py` (19 tests)

**New scenarios:**
* `e2e/tests/positive/test_ft_p_09_ap_signing.py`
* `e2e/tests/positive/test_ft_p_09_inav.py`
* `e2e/tests/positive/test_ft_p_11_cold_start_init.py`

**Updated:**
* `e2e/_unit_tests/test_directory_layout.py` — added 6 new paths.

**Archived:**
* `_docs/02_tasks/todo/AZ-416_*.md` → `done/`
* `_docs/02_tasks/todo/AZ-417_*.md` → `done/`
* `_docs/02_tasks/todo/AZ-419_*.md` → `done/`

## Cumulative Review Trigger

K=3 FIRED at end of batch 72 (last cumulative covered batches 67-69;
since then 70 + 71 + 72 = 3 batches). Report written:
`_docs/03_implementation/cumulative_review_batches_70-72_cycle1_report.md`.
Verdict: PASS. Next cumulative trigger: end of batch 75.