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Oleksandr Bezdieniezhnykh
098aabac0c
After every successful current_estimate(), emit one c5.state.smoothed_history FDR record per newly-smoothed past keyframe from IncrementalFixedLagSmoother. AC-4.5 (revised): the smoothed stream goes ONLY to FDR; the C8 outbound forward-time stream is unaffected. Idempotency via _smoothed_fdr_watermark_s (smoother-native float seconds); the same pose key is never emitted twice. Hook is best-effort — internal failures log warnings but do not raise, so a smoother divergence cannot contaminate the forward-time path. Cross-task invariants documented: - AC-3 ESKF no-op — AZ-386 installs an inert hook on the ESKF. - AC-4 No C8 leak — enforced at the C8 boundary by AZ-261. 8 new unit tests against AC-1/2/5/6 + robustness (no-FDR-client, marginals failure). Full suite: 640 passed, 2 skipped. Co-authored-by: Cursor <cursoragent@cursor.com>
399 B
399 B
Autodev State
Current Step
flow: greenfield step: 7 name: Implement status: in_progress sub_step: phase: 6 name: implement-tasks detail: "batch 18 of N committed (AZ-387 c5 smoothed-history \u2192 FDR side-channel: per-keyframe FDR emission + timestamp watermark idempotency + AC-4.5 onboard-only path + AC-3/AC-4 cross-task invariants documented)" retry_count: 0 cycle: 1 tracker: jira