# Autodev State

## Current Step
flow: greenfield
step: 7
name: Implement
status: in_progress
sub_step:
  phase: 6
  name: implement-tasks
  detail: "batch 19 of N committed (AZ-386 c5 ESKF mandatory simple-baseline: 16-state error-state KF NumPy impl + add_vio relative + add_pose_anchor absolute + Mahalanobis divergence gate AC-9 + source-label SM + AC-5.2 fallback auto-wired + smoothed=False history honesty (Invariant 7 deviation documented) + BUILD_STATE_ESKF flag wiring)"
retry_count: 0
cycle: 1
tracker: jira