# Batch Report

**Batch**: 9
**Tasks**: AZ-232_safety_anchor_state_machine
**Date**: 2026-05-03

## Task Results

| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-232_safety_anchor_state_machine | Done | 4 files | Pass | 4/4 ACs covered | None |

## AC Test Coverage: All covered

| AC Ref | Coverage |
|--------|----------|
| AZ-232 AC-1 | `test_vio_state_updates_position_estimate_with_honest_covariance` verifies VIO updates emit source-labelled estimates with honest covariance. |
| AZ-232 AC-2 | `test_accepted_anchor_corrects_state_and_records_evidence` verifies accepted anchors promote `satellite_anchored` state and record evidence. |
| AZ-232 AC-3 | `test_blackout_degrades_then_reaches_no_fix_with_monotonic_covariance` verifies monotonic covariance growth and no-fix semantics. |
| AZ-232 AC-4 | `test_tile_write_eligibility_requires_trusted_low_covariance_pose` verifies conservative tile-write eligibility. |

## Code Review Verdict: PASS

Review report: `_docs/03_implementation/reviews/batch_09_review.md`

## Auto-Fix Attempts: 0

## Stuck Agents: None

## Verification

- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 49 tests.

## Next Batch: All tasks complete