# Batch 71 Report — Test Implementation (cycle 1, batch 5 of test phase)

**Batch**: 71
**Date**: 2026-05-16
**Context**: Test implementation (greenfield Step 10 — Implement Tests)
**Tasks**: AZ-414 (3pt), AZ-415 (3pt), AZ-418 (3pt) — 9 cp / 3 tasks
**Cycle**: 1
**Verdict**: COMPLETE — PASS (self-reviewed; see `reviews/batch_71_review.md`)

## Summary

Three scenarios covering sharp-turn recovery (positive + negative twin),
multi-segment relocalisation, and GTSAM smoothing-loop look-back. Same
pattern as batches 69 + 70:

* Pure-logic helper under `e2e/runner/helpers/` for everything the
  scenario can express without docker-bound replay + FDR ingestion.
* Scenario file(s) under `e2e/tests/{positive,negative}/`,
  parameterized across `(fc_adapter, vio_strategy)`, skip-gated on
  upstream `frame_source_replay` / `imu_replay` / `fdr_reader` stubs
  (auto-activates when AZ-441 + AZ-407 leftovers land).
* Helper-driven unit test file under `e2e/_unit_tests/helpers/`.

### AZ-414 — FT-P-07 + FT-N-02 sharp-turn recovery + failure twin (3pt)

* **`runner/helpers/sharp_turn_detector.py`** — `load_zgyro_samples`
  reads `SCALED_IMU2.zgyro` (millidegree/s) from `data_imu.csv`;
  `get_threshold_mdps` reads the AC-3.2 threshold from env var
  `AC32_SHARP_TURN_GYRO_Z_MDPS` (default 30,000 mdps) per spec note;
  `detect_turn_segments` finds contiguous runs of ≥3 samples above
  threshold (using `|zgyro|` so left + right turns both qualify);
  `synthesize_overlay_segment` provides the AC-1 fallback when the
  natural fixture has no qualifying turn; `detect_or_synthesize` is the
  scenario-facing helper that picks natural-first; `evaluate_ft_n_02`
  computes AC-2 (label ∈ {visual_propagated, dead_reckoned}) + AC-3
  (cov non-decreasing); `evaluate_ft_p_07` computes AC-4 (recovery
  lag ≤ 3 frames safety-budget = 1100 ms), AC-5 (drift ≤ 200 m), AC-6
  (heading delta ≤ 70°). `write_csv_evidence` emits a combined CSV
  with `synthetic_overlay` column so the fallback fact is recorded per
  AC-1.
* **`tests/positive/test_ft_p_07_sharp_turn_recovery.py`** — asserts
  AC-4 + AC-5 + AC-6 per segment; records NFR metrics with AC IDs;
  records `synthetic_overlay` flag.
* **`tests/negative/test_ft_n_02_sharp_turn_failure.py`** — asserts
  AC-2 + AC-3 per segment; uses the same detector + frame-collection
  logic.
* **30 unit tests** in `test_sharp_turn_detector.py`.

### AZ-415 — FT-P-08 multi-segment relocalisation (3pt)

* **`runner/helpers/multi_segment_evaluator.py`** — `load_schedule`
  reads the AZ-408 multi-segment schedule (blackout window times +
  recovery anchors); `evaluate_window` checks AC-2 (label =
  dead_reckoned inside window), AC-3 (recovery to satellite_anchored
  ≤ 10 s after window end), AC-4 (no centre jump > 200 m at recovery);
  `evaluate` aggregates over all blackout windows; constants
  `MAX_RECOVERY_LAG_MS = 10_000` and `MAX_JUMP_M = 200.0` expose the
  thresholds.
* **`tests/positive/test_ft_p_08_multi_segment_reloc.py`** — drives
  `multi-segment-derkachi` injector fixture, replays via stub-gated
  helpers, evaluates per window.
* **16 unit tests** in `test_multi_segment_evaluator.py`.

### AZ-418 — FT-P-10 GTSAM smoothing-loop look-back accuracy (3pt)

* **`runner/helpers/smoothing_evaluator.py`** — `pair_records` groups
  FDR `keyframe_pose` records by `keyframe_id` and rejects duplicate
  `pose_kind` values (raw + smoothed must be exactly one each per
  keyframe per AC-1); `resolve_gt_at` picks the nearest-in-time
  Derkachi GLOBAL_POSITION_INT pose (10 Hz cadence → ≤50 ms slop
  acceptable for the metre-scale improvement deltas this AC
  measures); `evaluate` produces per-keyframe + aggregate report with
  `improvement_rate` (AC-2 threshold = 0.80) and `mean_improvement_m`
  (AC-3 threshold = 5 m). The module docstring explicitly preserves
  Mode B Fact #107 — this is an INTERNAL improvement metric, NOT
  FC-side retroactive correction.
* **`tests/positive/test_ft_p_10_smoothing_lookback.py`** — pairs +
  evaluates + asserts AC-2 + AC-3 per (fc_adapter, vio_strategy).
* **15 unit tests** in `test_smoothing_evaluator.py`.

## Tests

* **Full e2e unit suite**: 393 passed in 126.64 s (was 325 at end of
  batch 70 → +68 net new tests this batch).
* **Pre-existing**: macOS-only `/e2e-results` plugin issue in scenario
  invocation outside Docker. Unit suite unaffected. Tracked under
  runner reporting — out of batch scope.

## Files Touched

**New helpers:**
* `e2e/runner/helpers/sharp_turn_detector.py`
* `e2e/runner/helpers/smoothing_evaluator.py`
* `e2e/runner/helpers/multi_segment_evaluator.py`

**New unit tests:**
* `e2e/_unit_tests/helpers/test_sharp_turn_detector.py` (30 tests)
* `e2e/_unit_tests/helpers/test_smoothing_evaluator.py` (15 tests)
* `e2e/_unit_tests/helpers/test_multi_segment_evaluator.py` (16 tests)

**New scenarios:**
* `e2e/tests/positive/test_ft_p_07_sharp_turn_recovery.py`
* `e2e/tests/positive/test_ft_p_08_multi_segment_reloc.py`
* `e2e/tests/positive/test_ft_p_10_smoothing_lookback.py`
* `e2e/tests/negative/test_ft_n_02_sharp_turn_failure.py`

**Updated:**
* `e2e/_unit_tests/test_directory_layout.py` — added 7 new paths.

**Archived:**
* `_docs/02_tasks/todo/AZ-414_*.md` → `done/`
* `_docs/02_tasks/todo/AZ-415_*.md` → `done/`
* `_docs/02_tasks/todo/AZ-418_*.md` → `done/`

## Cumulative Review Trigger

K=3. Last cumulative covered batches 67-69. Since then: 70 + 71 = 2
batches. **Cumulative does NOT fire this batch.** Next cumulative
trigger: end of batch 72.