mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 15:51:13 +00:00
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>
15 lines
399 B
Markdown
15 lines
399 B
Markdown
# 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
|