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Oleksandr Bezdieniezhnykh 1d18e25cf4 [AZ-959] replay_api: POST /replay (video,csv) + /static/example-csv 
Extend the AZ-701 replay_api POST /replay endpoint so AZ-897 (now
in ../ui repo) can drive the AZ-894 CSV-replay path. The endpoint
keeps full back-compat for tlog clients and adds:

- (video, tlog) OR (video, csv) multipart with strict XOR enforced
  at the API boundary (AC-2 / AC-3 → 400 multipart_missing_field)
- validate_csv_kind: rejects malformed CSV schema at boundary by
  scanning the header line for AZ-896 required tokens; messages
  point at csv_replay_format.md (AC-4)
- ReplayInputs DTO: tlog_path / csv_path are now Path | None with
  XOR re-enforced in __post_init__ for internal callers
- JobStorage reserves both input.tlog and input.csv paths; handler
  writes exactly one
- SubprocessReplayRunner.run dispatches --imu vs --tlog argv (AC-1)
- _maybe_render_report dispatches load_csv_ground_truth vs
  load_tlog_ground_truth; CsvGpsFix and TlogGpsFix have
  field-compatible shapes for the GroundTruthRow adapter (AC-6)
- GET /static/example-csv serves the AZ-896 reference CSV; honours
  REPLAY_API_EXAMPLE_CSV_PATH env, falls back to source-checkout
  layout, returns 503 with example_csv_unavailable when neither
  resolves to a readable file. No auth required (AC-5)

Tests: 27/27 unit tests green:
- 18 pre-existing tlog-path tests unchanged (AC-7)
- 9 new tests covering ACs 1-6 + validate_csv_kind isolation

Deferred (NOT silently fixed; reported to user as end-of-turn
notes for scope discipline):

- gps-denied-render-map only consumes binary tlog truth today, so
  CSV-path jobs return map_html_url=None. Extending render-map to
  dispatch on truth-file extension is AZ-700 follow-up territory.
- ReportContext.tlog_path field is now overloaded as the
  "ground-truth source path"; the rendered report still labels
  the line "Tlog: <csv_path>" which is cosmetically misleading
  for CSV runs. Field rename + label fix is AZ-699 follow-up.

Bookkeeping: AZ-959 spec moved todo/ → done/, dep-table preamble
fifth bump documents what landed + what's deferred, state.md
records batch 5 complete and what comes next.

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-05-29 12:45:25 +03:00

75 KiB
Raw Blame History

Dependencies Table

Date: 2026-05-29 (cycle-4 Step 10 Implement — AZ-959 LANDED (replay_api POST /replay CSV-path extension): handler now accepts (video, tlog) OR (video, csv) multipart with XOR validation; validate_csv_kind rejects malformed schemas at the API boundary referencing csv_replay_format.md; SubprocessReplayRunner.run dispatches --imu vs --tlog; _maybe_render_report dispatches GT loader via load_csv_ground_truth / load_tlog_ground_truth; ReplayInputs DTO carries tlog_path: Path | None + csv_path: Path | None with XOR __post_init__; JobStorage reserves both tlog_path and csv_path; new GET /static/example-csv endpoint serves the AZ-896 reference CSV via REPLAY_API_EXAMPLE_CSV_PATH env or source-checkout fallback. 27/27 unit tests green (18 pre-existing tlog tests pass unchanged per AC-7 + 9 new tests covering ACs 1-6 + 2 validate_csv_kind unit cases). Deferred items (NOT silently fixed, surfaced to user as end-of-turn notes): (a) gps-denied-render-map only consumes binary tlog truth → CSV-path jobs return map_html_url=None (deferred to AZ-700 follow-up); (b) ReportContext.tlog_path field is now overloaded as "ground-truth source path"; rendered report's Tlog: <csv_path> line is cosmetically misleading for CSV runs (deferred to AZ-699 follow-up). AZ-959 moved todo/ → done/. Cycle-4 active-scope SP delta: −3 SP (3 → 0). Earlier same-day — OKVIS2 chain (AZ-943 + AZ-951 + AZ-952) moved backlog/ → todo/ per user 2026-05-29 directive: "I have a feeling that it needed to be implemented after full e2e derkachi flight test would be finished successfully. So maybe put it back to todo?" Reasoning accepted: OKVIS2 is the planned NEXT phase after the cycle-4 Derkachi demo lands, not a cycle-5+ deferral. The 2026-05-27 production-default pivot directive remains in force; today's earlier "deferred to cycle-5+" framing was over-correction after the AZ-943 spec-reality gap. AZ-943 keeps its PAUSED preamble (still HARD-BLOCKED on AZ-951 + AZ-952; cannot be worked on until both blockers land). AZ-951 + AZ-952 are themselves NOT blocked — they ship the upstream patches that unblock AZ-943. Implementation sequence remains: finish the cycle-4 demo (AZ-959 backend extension + the existing CSV-replay path) → AZ-951 (covariance + ADR) → AZ-952 (tracking-stats) → AZ-943 (binding wiring) → AZ-944 (CI BUILD_OKVIS2=ON) → AZ-945 (Jetson Tier-2 --vio-strategy okvis2). Current implement-batch target stays AZ-959. Earlier same-day — AZ-897 relocated to ../ui repo: original framing was wrong-shop. The Azaion suite already has a single React 19 SPA front-end at ../ui per ui/README.md; spinning up a second React toolchain in gps-denied-onboard would have been parallel-pipeline duplication forbidden by coderule.mdc. Per user 2026-05-29 directive, AZ-897 description + summary rewritten to UI-only scope in ../ui (adapted to take CSV + nadir-camera video uploads aligned with the AZ-894 CSV path); local AZ-897 spec deleted from gps-denied-onboard/_docs/02_tasks/todo/ and re-authored into ../ui/_docs/02_tasks/todo/AZ-897_replay_ui_web_form.md (no commit in ../ui — left for that repo's autodev next cycle). Backend dependency filed as AZ-959 (3pt, todo/, c1 replay_api extension to accept (video, csv) multipart + GET /static/example-csv endpoint; deps AZ-701 + AZ-894 + AZ-896; no epic) — extends the AZ-701 POST /replay to dispatch on --imu vs --tlog based on which upload field was present, with XOR validation. AZ-897 Jira linked is blocked by AZ-959. Cycle-4 in-repo effort: −5 SP (AZ-897) + 3 SP (AZ-959) = −2 SP net. Pivoting next implement batch to AZ-959. Earlier same-day — AZ-943 implementation attempt paused mid-batch on spec-reality gap: OKVIS2 v2 public API does NOT expose 6×6 pose covariance, feature counts, mean parallax, or MRE; the AZ-943 spec's "approach (a) in-binding subclass workaround" is structurally impossible because ThreadedSlam::estimator_ is private and ViSlamBackend has no public telemetry accessor. The spec-documented "approach (b) upstream patch" fallback filed as AZ-951 (3pt, backlog/, OKVIS2 v2 upstream patch: expose 6×6 pose covariance accessor + ADR for pin deviation; deps AZ-332 + AZ-592; epic AZ-254) + AZ-952 (3pt, backlog/, OKVIS2 v2 upstream patch: expose tracking-stats accessor — feature counts + parallax + MRE; deps AZ-332 + AZ-592 + AZ-951 SOFT; epic AZ-254). Both linked Jira-side as is blocked by against AZ-943; AZ-943 transitioned In Progress → To Do with full audit comment. AZ-943 moved todo/ → backlog/ with PAUSED preamble preserving original AC list for audit. Per user 2026-05-29 confirmation, cycle-4 Derkachi demo target stays KLT/RANSAC (per tests/e2e/replay/conftest.py line 159 c1_vio: strategy: klt_ransac); OKVIS2 chain (AZ-943 → AZ-944 → AZ-945 + AZ-951/952 blockers) deferred to cycle-5+ alongside AZ-945's Tier-2 --vio-strategy okvis2 Jetson variant. Pivot to AZ-897 (replay UI web form). Earlier this session: OKVIS2 production-default pivot per user 2026-05-27 directive: AZ-592 placeholder split into 3 properly-sized sub-tickets per PBI rule, all three filed Jira-side then; local-spec import for AZ-943 happens this session before implement batch starts. AZ-943 (5pt, NOW backlog/ with PAUSED preamble, c1_vio, OKVIS2 binding wiring; replaces AZ-332 skeleton; deps AZ-332 + AZ-592 + AZ-951 + AZ-952 (blockers); epic AZ-254). Sibling tickets remain Jira-only this session: AZ-944 (3pt, Linux CI build env + DBoW2 small_voc + Tier-1 EuRoC smoke; Blocks chain AZ-943→AZ-944) and AZ-945 (3pt, Jetson L4T + Tier-2 Derkachi --vio-strategy okvis2 e2e; Blocks chain AZ-944→AZ-945). Local specs for AZ-944 + AZ-945 will be authored when their Implement turns come up. Earlier 2026-05-26 (cycle-4 Step 10 Implement — AZ-895 batch 3 user complexity decision: chose Option A "minimum deprecation" path. Filed AZ-908 (3pt, backlog/, replay: hard removal of deprecated auto-sync surface — AZ-895 follow-up; deps AZ-895 HARD + AZ-842 HARD; no epic) to track the cycle-5+ physical removal that AZ-895's minimum-path explicitly defers. AZ-895 ships the no-op stubs + CLI deprecation warnings; AZ-908 will delete the stub files, drop the DTOs from replay_input/interface.py, remove the deprecated CLI flags, and drop the auto_sync config block. No SP change to cycle-4 totals (AZ-908 is cycle-5+ backlog, not cycle-4 active scope). Earlier same-day at Step 9 New Task — scope adjustments: (a) AZ-841 (1pt, un-xfail AZ-777 Tier-2 tests) moved from todo/ to backlog/ due to hard conflict with AZ-895 AC-4 (test_derkachi_real_tlog.py stays @xfail in cycle 4 because AZ-848 is backlogged) + partial overlap with AZ-894 AC-3 (CSV-path adapter covers the test_derkachi_1min.py un-xfail target); Jira comment added to AZ-841 documenting the deferral. (b) AZ-842 (2pt → 3pt, +1 SP rescope) — dropped AZ-841 soft dependency, expanded replay_protocol.md scope to add new Invariant 13 covering single-canonical-clock model + cycle-4 CSV-driven replay narrative (AZ-894 + AZ-895 + AZ-896), plus architecture.md replay-input section updates. New deps: AZ-894 HARD + AZ-895 HARD + AZ-896 SOFT. (c) +AZ-899 (1pt, product, todo/, land architecture_compliance_baseline.md — cycle-3 retro Top-3 #3 third try; deps None; no epic). (d) +AZ-900 (1pt, product, todo/, autodev cycle-N+1 Step-9 retro-existence gate — cycle-3 retro Top-3 #2 + 2026-05-26 LESSONS process entry; deps None; no epic). (e) +AZ-901 (1pt, product, todo/, fix EVIDENCE_OUT default path in e2e/runner/conftest.py:56 — closes 2026-05-26 leftover; deps None; no epic). Cycle-4 active scope: 6 product tickets in todo/ totaling 17 SP = AZ-842 (3, docs) + AZ-894 (3, CSV adapter) + AZ-895 (2, auto-sync deprecation) + AZ-896 (1, format docs) + AZ-897 (5, replay UI) + AZ-899 (1) + AZ-900 (1) + AZ-901 (1). Dependency order: AZ-894 blocks AZ-895 + AZ-842 + AZ-897; AZ-896 blocks AZ-897 + AZ-842. AZ-899/AZ-900/AZ-901 standalone (no internal blockers). AZ-848 (5) + AZ-883 (2) + AZ-908 (3) remain in backlog/ (cycle-3 retro Top-3 #1 + AZ-895 follow-up deferred to cycle-5+; CSV-bypass strategy supersedes their fixes for the demo path). Earlier 2026-05-23 (cycle-3 Step 10 Implement, refactor run 02-az507-routespec-relocation — added AZ-844 (Epic, run dir _docs/04_refactoring/02-az507-routespec-relocation/) + AZ-845 (C01, 2pt relocate RouteSpec from replay_input/tlog_route.py to _types/route.py, deps None, epic AZ-844) + AZ-846 (C02, 2pt refresh module-layout.md cycle-3 entries — c11 + replay_input + _types/route, deps AZ-845, epic AZ-844) + AZ-847 (C03, 2pt widen test_az270_compose_root lint to enforce full rule-9 allow-list, deps AZ-845, epic AZ-844). Resolves cycle-3 cumulative review FAIL verdict (F1 High Architecture, F2 Medium Architecture, F3 Medium Maintainability) per _docs/03_implementation/cumulative_review_batches_104-109_cycle3_report.md. Jira "Blocks" links recorded: AZ-845 → AZ-846, AZ-845 → AZ-847. Earlier same-day at start of Step 10 Implement — Epic AZ-835 decomposed into 4 leaf tasks + AZ-777 closed: AZ-839 (C3, 5pt operator_pre_flight_setup real fixture, deps AZ-836+AZ-838+AZ-777Phase1+AZ-322+AZ-316+AZ-306, epic AZ-835), AZ-840 (C4, 3pt e2e orchestrator test (tlog,video,calibration), deps AZ-839+AZ-836+AZ-838+AZ-699+AZ-405+AZ-702+AZ-696, epic AZ-835), AZ-841 (C5, 1pt un-xfail AZ-777 AC-4+AC-5, deps AZ-839+AZ-840, epic AZ-835), AZ-842 (C6, 2pt docs — replay_protocol.md Invariant 12 + architecture.md + orchestrator README, soft dep AZ-841, epic AZ-835). AZ-777 transitioned to Done in Jira: Phases 1+2 shipped (batch 104 + between batches 104 and 106); Phases 3-5 superseded by Epic AZ-835 children per 2026-05-22 user directive. AZ-777 spec moved to done/. Earlier 2026-05-21 (cycle-3 Step 9 New Task — added AZ-776 (3pt open-loop ESKF composition profile via c4_pose.enabled flag, no deps, epic AZ-602) + AZ-777 (5pt Derkachi C6 reference tile cache + FAISS descriptor index from OSM/CARTO basemap, depends on AZ-776, epic AZ-602). Both unblock the 7 currently-@xfail-masked Derkachi e2e tests on Jetson; AZ-776 unblocks 5 (AC-1, AC-2, AC-5, AC-6 realtime, AC-6 asap), AZ-777 unblocks the remaining 2 (AC-3 + AZ-699 real-flight verdict). Earlier 2026-05-19 (refreshed late-morning after 11:27 Jetson Tier-2 e2e run for AZ-618 — surfaced a NEW gap: replay-mode Config lacks c6_tile_cache block, so build_pre_constructed → _build_c6_descriptor_index → _c6_config raises KeyError for AC-1/2/5/6. Follow-up filed as AZ-687 (2pt) under E-AZ-602 with guard at the bootstrap layer (NOT silent fallback in _c6_config). Earlier same-day mid-day after AZ-618 split: per the spec author's own Sizing-note recommendation + user-rule cap on PBI complexity, AZ-618 was split into 6 subtasks AZ-619..AZ-624 in Jira (subtasks of AZ-618; epic AZ-602 stays grandparent). AZ-618 retained at 0pt as the umbrella tracker; aggregate actionable work is 16pt across the subtasks (vs. AZ-618's original 5pt filing — author's "likely a true 8" caveat was understated due to c5_isam2_graph_handle ordering + GPU builder unknowns). Earlier same-day refresh at start of Step-7 rewind for AZ-618 — Step-11 Jetson tier-2 e2e gate identified missing internal product implementation: runtime_root.main() does not build the airborne pre_constructed infrastructure dict before compose_root(); AZ-618 = 5pt cross-cutting follow-up to AZ-591, lives under E-AZ-602; all 12 dep tasks are in done/. Earlier 2026-05-16 (cycle-1 completeness-gate post-mortem): AZ-589 + AZ-590 closed Won't Fix — were wrong abstraction (OKVIS v1 ThreadedKFVio API doesn't exist in OKVIS2 upstream; VINS-Mono cpp/vins_mono/upstream/ submodule never existed; the actual production gap is the empty central _STRATEGY_REGISTRY affecting EVERY component with a strategy-selecting config field, not just c1_vio); replaced by AZ-591 (cross-cutting compose_root per-binary bootstrap, todo/, 5pt) + AZ-592 (AZ-332 Tier-2 validation bundle, backlog/, 5pt placeholder) + AZ-593 (AZ-333 Tier-2 validation bundle, backlog/, 5pt placeholder); AZ-332 + AZ-333 re-classified in gate report from FAIL to BLOCKED-on-Tier-2 per the original tasks' Implementation Notes deferral handles; earlier same-day after end of cycle-1 gate: AZ-589 + AZ-590 created (now closed); earlier same-day after end of Batch 64: AZ-558 implementation closed — MavlinkTransport seam now routes every C8 outbound MAVLink byte; AZ-401 AC-9 + AZ-404 AC-4b unskipped together; encoder helpers extracted to _outbound_mavlink_payloads.py; live-mode compose_root injection deferred to whichever future batch registers AP/iNav strategies in an airborne binary; earlier 2026-05-14: refreshed at start of Batch 63: AZ-559 closed Won't Fix — gap was illusory; TileSource.ONBOARD_INGEST + TileMetadata.quality_metadata + write_tile's FreshnessRejectionError already cover the AZ-389 mid-flight ingest semantic without any new API; AZ-389 dep restored to AZ-303; earlier same-day after Batch 61: AZ-558 follow-up added — routes C8 outbound encoder bytes through MavlinkTransport seam; closes AZ-401 AC-9 deferred during batch 61 due to encoder-side routing not being in the AZ-401 task envelope; earlier same-day after cumulative review batches 52-54: AZ-528 hygiene PBI added for c1_vio strategy facade orchestration-spine 3-way duplication (Medium); earlier same-day after Batch 53: AZ-333 VINS-Mono landed — first c1_vio strategy after the AZ-332 OKVIS2 production-default; consolidation hygiene for the strategy-facade duplication deferred to a post-AZ-334 PBI; earlier same-day after Batch 51: AZ-527 hygiene PBI added from cumulative review batches 49-51 F1; 2026-05-13: AZ-526 hygiene PBI added from cumulative review batches 46-48 F1+F3; same-day refresh after Batch 44 SRP refactor: AZ-317 superseded; AZ-329 + AZ-330 specs rewritten; AZ-523 + AZ-524 audit-trail tickets added; E-C12 epic renamed Operator Pre-flight Tooling → Operator Pre-flight Orchestrator; earlier same-day refresh: AZ-507 + AZ-508 hygiene PBIs from cumulative review batches 31-33; 2026-05-11: AZ-489 + AZ-490 ADR-010 operator-origin path) Total Tasks: 184 (143 product + 41 blackbox-test) — 2026-05-29 cycle-4 Step 10 third bump (AZ-897 relocation + AZ-959 filing): +AZ-959 (1 product task, todo/, 3pt). AZ-897 was never in this table's row count (pre-existing gap — the cycle-4 AZ-89x specs land in todo/ but were not back-filled into the table rows; not fixing that here, out of scope). Prior same-day 2026-05-29 second bump (AZ-943 paused, dependency PBIs filed): 183 (142 product + 41 blackbox-test) — +AZ-951 + AZ-952 (2 product tasks, both backlog/, 3pt each). AZ-943 (5pt) moved todo/ → backlog/ (no count change). Prior same-day 2026-05-29 bump (OKVIS2 binding session start): 181 (140 product + 41 blackbox-test) → 182 (141 product) — +AZ-943 (1 product task, originally todo/, 5pt). AZ-944 + AZ-945 remain Jira-only at the time of this update (sibling tickets, local specs deferred to their own Implement turns); their Total-Tasks impact will be reconciled when their specs land. Prior 2026-05-26 cycle-4 Step 10 bump (AZ-895 batch 3 follow-up): 180 (139 product + 41 blackbox-test) — +AZ-908 (1 product task, backlog/, 3pt). Prior 2026-05-26 cycle-4 Step 9 bump: +AZ-899 + AZ-900 + AZ-901 (3 product tasks). AZ-841 moved todo/ → backlog/ (no count change; backlog tickets are still in the table). Prior 2026-05-23 refactor-run bump: 176 (135 product + 41 blackbox-test) — +AZ-844 (Epic, 0pt umbrella for refactor run 02) + AZ-845 + AZ-846 + AZ-847 (3 product tasks). Prior 2026-05-23 bump (Epic AZ-835 decomposition): 173 (132 product + 41 blackbox-test) = +AZ-835 (Epic) + AZ-836 (C1) + AZ-837 (test-stack hardening, not this Epic) + AZ-838 (C2) added 2026-05-22→2026-05-23 prior to that update; +AZ-839 (C3) + AZ-840 (C4) + AZ-841 (C5) + AZ-842 (C6) added in that update. AZ-777 stays in the table (now closed in Jira; spec at done/AZ-777_derkachi_c6_reference_fixture.md retains 8pt credit for Phases 1+2 shipped). Earlier counts: 165 (124 product + 41 blackbox-test) — AZ-317 retained in the table marked SUPERSEDED for audit; AZ-523 (C11 gate removal) + AZ-524 (C12 rename) added as 2 closed audit-trail tasks; AZ-526 = 2pt clock-helper hygiene; AZ-527 = 2pt c2 engine-dim helper hygiene; AZ-528 = 3pt c1_vio facade-spine hygiene; AZ-558 = 3pt MavlinkTransport routing follow-up; AZ-559 closed Won't Fix; AZ-589 + AZ-590 closed Won't Fix (kept in table as 0pt audit-trail rows); AZ-591 = 5pt cross-cutting compose_root bootstrap (todo/); AZ-592 = 5pt OKVIS2 Tier-2 placeholder (backlog/); AZ-593 = 5pt VINS-Mono Tier-2 placeholder (backlog/); AZ-618 = 0pt umbrella (split into AZ-619..AZ-624 on 2026-05-19); AZ-619..AZ-624 = 6 subtasks of AZ-618 covering Phase A..F of the airborne pre_constructed assembly, summing to 16pt actionable work; AZ-687 = 2pt replay-mode guard follow-up surfaced by AZ-618 Tier-2 run on 2026-05-19 Total Complexity Points: 584 (451 product + 133 blackbox-test) — 2026-05-29 cycle-4 Step 10 third bump (AZ-897 relocation + AZ-959 filing): +3pt AZ-959. AZ-897 (5pt) was never table-counted here, so no decrement at this layer; the in-repo cycle-4 effort still drops by 5pt at the active-scope layer (AZ-897 work is now executed in ../ui). Prior same-day 2026-05-29 second bump (AZ-943 paused, dependency PBIs filed): 581 (448 product + 133 blackbox-test) — +3pt AZ-951 + 3pt AZ-952 = +6 product pts. AZ-943 stays counted at 5pt (moved todo/ → backlog/, not deleted). Prior same-day 2026-05-29 bump (OKVIS2 binding session start): 580 (447 product + 133 blackbox-test) — +5pt AZ-943. AZ-944 (3pt) + AZ-945 (3pt) sibling tickets are filed Jira-side but not yet imported as local specs; their +6pt will land when AZ-944 / AZ-945 specs are authored. Prior 2026-05-26 cycle-4 Step 10 bump (AZ-895 batch 3 follow-up): 570 (437 product + 133 blackbox-test) — +3pt AZ-908. Prior 2026-05-26 cycle-4 Step 9 bump: +1pt AZ-899 + 1pt AZ-900 + 1pt AZ-901 + 1pt AZ-842 rescope (2→3) = +4 product pts. Prior 2026-05-23 refactor-run bump: 563 (430 product + 133 blackbox-test) — +2pt AZ-845 + 2pt AZ-846 + 2pt AZ-847 = +6 product pts on top of prior reconciled total (AZ-844 epic itself is 0pt umbrella). Prior 2026-05-23 reconciled total: 557 (424 product + 133 blackbox-test) — +5pt AZ-839 + 3pt AZ-840 + 1pt AZ-841 + 2pt AZ-842 = +11 product pts on top of prior reconciled total. AZ-836 (3pt) + AZ-838 (3pt) were added 2026-05-22→2026-05-23 prior to that update; AZ-837 (test-stack hardening, not this Epic) is unaccounted in that delta and should be folded in at the next preamble reconciliation. Earlier baseline: 546 (413 product + 133 blackbox-test) — +3pt AZ-776 + 8pt AZ-777 (5→8 override 2026-05-21 cycle-3 batch 104; see _docs/_process_leftovers/2026-05-21_az777_complexity_override.md for rationale + the spec refresh that pulled e2e-runner wiring + C11 contract adapt + Derkachi catalog seed + fixture replacement + un-xfail into one ticket) — AZ-523 = 3pt, AZ-524 = 2pt, AZ-526 = 2pt, AZ-527 = 2pt, AZ-528 = 3pt, AZ-558 = 3pt, AZ-589 + AZ-590 retained at 5pt each but closed Won't Fix (treated as 0 effective pts going forward), AZ-591 = 5pt, AZ-592 = 5pt placeholder, AZ-593 = 5pt placeholder, AZ-618 = 0pt umbrella post-split, AZ-619 = 2pt, AZ-620 = 3pt, AZ-621 = 3pt, AZ-622 = 3pt, AZ-623 = 3pt, AZ-624 = 2pt, AZ-687 = 2pt

Dependencies columns list only the tracker-ID portion (descriptive tail text in each task spec is omitted here for table-readability). The authoritative dependency narrative — including "co-developed", "forward dependency", and helper-vs-Protocol distinctions — lives in each task's own Dependencies: field. The graph is a strict DAG: a topological traversal visits all 142 tasks. The 15 forward edges (dep ID > task ID) are all declared and documented below under Cycle Check.

Task Name Complexity Dependencies Epic
AZ-263 Initial Structure 5 None AZ-244
AZ-266 Shared Logging Module 3 AZ-263 AZ-245
AZ-267 FDR Log Bridge 2 AZ-266, AZ-272 (forward) AZ-245
AZ-268 Log Schema Contract Test 2 AZ-266, AZ-267 AZ-245
AZ-269 Config Loader 3 AZ-263 AZ-246
AZ-270 Composition Root 3 AZ-269 AZ-246
AZ-271 Config Precedence Tests 2 AZ-269, AZ-270 AZ-246
AZ-272 FdrRecord Schema 3 AZ-263, AZ-266 AZ-247
AZ-273 FdrClient Ring Buffer 5 AZ-263, AZ-272, AZ-269, AZ-266 AZ-247
AZ-274 FDR Overrun Policy 2 AZ-272, AZ-273 AZ-247
AZ-275 FakeFdrSink 2 AZ-272, AZ-273 AZ-247
AZ-276 ImuPreintegrator Helper 2 AZ-263 AZ-264
AZ-277 SE3Utils Helper 2 AZ-263 AZ-264
AZ-278 LightGlueRuntime Helper 3 AZ-263 AZ-264
AZ-279 WgsConverter Helper 2 AZ-263 AZ-264
AZ-280 Sha256Sidecar Helper 2 AZ-263 AZ-264
AZ-281 EngineFilenameSchema Helper 2 AZ-263 AZ-264
AZ-282 RansacFilter Helper 2 AZ-263, AZ-277 AZ-264
AZ-283 DescriptorNormaliser Helper 2 AZ-263 AZ-264
AZ-291 C13 Writer Thread 5 AZ-263, AZ-272, AZ-273, AZ-266, AZ-269 AZ-248
AZ-292 C13 Flight Header/Footer + Accounting 3 AZ-291, AZ-272, AZ-263, AZ-269, AZ-266 AZ-248
AZ-293 C13 Capacity Cap Policy 5 AZ-291, AZ-292, AZ-272, AZ-263, AZ-269, AZ-266 AZ-248
AZ-294 C13 Mid-Flight Tile Snapshot Path 3 AZ-291, AZ-272, AZ-263, AZ-269 AZ-248
AZ-295 C13 AC-8.5 Forbidden-Kind + Thumbnail Rate Cap 3 AZ-291, AZ-272, AZ-263, AZ-269, AZ-266 AZ-248
AZ-296 C13 Takeoff Abort on FdrOpenError 2 AZ-291, AZ-292, AZ-263, AZ-266 AZ-248
AZ-297 C7 InferenceRuntime Protocol 3 AZ-263, AZ-269, AZ-266, AZ-280, AZ-281 AZ-249
AZ-298 C7 TensorrtRuntime 5 AZ-297, AZ-301, AZ-280, AZ-281, AZ-263, AZ-269, AZ-266 AZ-249
AZ-299 C7 OnnxTrtEpRuntime 3 AZ-297, AZ-301, AZ-280, AZ-281, AZ-263, AZ-269, AZ-266 AZ-249
AZ-300 C7 PytorchFp16Runtime 2 AZ-297, AZ-263, AZ-269, AZ-266 AZ-249
AZ-301 C7 EngineGate 3 AZ-297, AZ-280, AZ-281, AZ-266 AZ-249
AZ-302 C7 ThermalState Publisher 3 AZ-297, AZ-263, AZ-269, AZ-266, AZ-273 AZ-249
AZ-303 C6 Storage Interfaces 3 AZ-263, AZ-269, AZ-266, AZ-280 AZ-250
AZ-304 C6 Postgres Schema 2 AZ-303, AZ-263, AZ-269, AZ-266 AZ-250
AZ-305 C6 PostgresFilesystemStore 5 AZ-303, AZ-304, AZ-280, AZ-279, AZ-263, AZ-269, AZ-266, AZ-273 AZ-250
AZ-306 C6 FaissDescriptorIndex 5 AZ-303, AZ-280, AZ-263, AZ-269, AZ-266 AZ-250
AZ-307 C6 Freshness Gate 2 AZ-303, AZ-304, AZ-305, AZ-263, AZ-269, AZ-266, AZ-273 AZ-250
AZ-308 C6 Cache Budget Eviction 3 AZ-303, AZ-305, AZ-263, AZ-269, AZ-266, AZ-273 AZ-250
AZ-316 C11 TileDownloader 5 AZ-263, AZ-269, AZ-266, AZ-303, AZ-305, AZ-307, AZ-308 AZ-251
AZ-317 C11 Flight-State Gate (SUPERSEDED by Batch 44 / AZ-523; gate moved to C12 AZ-329) 2 AZ-263, AZ-269, AZ-266 AZ-251
AZ-318 C11 Per-Flight Signing Key 3 AZ-263, AZ-269, AZ-266, AZ-273 AZ-251
AZ-319 C11 TileUploader (contract v2.0.0 — internal flight-state gate removed in Batch 44) 5 AZ-263, AZ-269, AZ-266, AZ-273, AZ-303, AZ-305, AZ-318 AZ-251
AZ-320 C11 Idempotent Retry Decorator 3 AZ-263, AZ-269, AZ-266, AZ-273, AZ-303, AZ-319 AZ-251
AZ-321 C10 Engine Compiler 5 AZ-263, AZ-269, AZ-266, AZ-280, AZ-281, AZ-298 AZ-252
AZ-322 C10 Descriptor Batcher 3 AZ-263, AZ-269, AZ-266, AZ-303, AZ-306, AZ-321 AZ-252
AZ-323 C10 Manifest Builder 3 AZ-263, AZ-269, AZ-266, AZ-280, AZ-281, AZ-303 AZ-252
AZ-324 C10 ManifestVerifier 3 AZ-263, AZ-269, AZ-266, AZ-280, AZ-281 AZ-252
AZ-325 C10 CacheProvisioner 3 AZ-263, AZ-269, AZ-266, AZ-303, AZ-321, AZ-322, AZ-323 AZ-252
AZ-326 C12 CLI App 3 AZ-263, AZ-269, AZ-266, AZ-489 AZ-253
AZ-327 C12 Companion Bringup 3 AZ-263, AZ-269, AZ-266 AZ-253
AZ-328 C12 Build-Cache Orchestrator 5 AZ-326, AZ-327, AZ-316, AZ-325, AZ-489, AZ-263, AZ-269, AZ-266 AZ-253
AZ-329 C12 PostLandingUploadOrchestrator (flight_footer FDR gate; Batch 44 design pivot) 3 AZ-326, AZ-319, AZ-272, AZ-273, AZ-292, AZ-263, AZ-269, AZ-266 AZ-253
AZ-330 C12 OperatorReLocService 3 AZ-326, AZ-273, AZ-272, AZ-263, AZ-269, AZ-266 AZ-253
AZ-331 C1 VioStrategy Protocol 3 AZ-263, AZ-269, AZ-266, AZ-270, AZ-272, AZ-276, AZ-277 AZ-254
AZ-332 C1 OKVIS2 Strategy 5 AZ-331, AZ-263, AZ-269, AZ-266, AZ-276, AZ-277, AZ-272, AZ-273 AZ-254
AZ-333 C1 VINS-Mono Strategy 5 AZ-331, AZ-263, AZ-269, AZ-266, AZ-276, AZ-277, AZ-272, AZ-273 AZ-254
AZ-334 C1 KLT/RANSAC Strategy 5 AZ-331, AZ-263, AZ-269, AZ-266, AZ-276, AZ-277, AZ-282, AZ-272, AZ-273 AZ-254
AZ-335 C1 Warm-Start + F8 Reboot Recovery 3 AZ-331, AZ-332, AZ-333, AZ-334, AZ-263, AZ-269, AZ-266, AZ-270, AZ-280, AZ-272 AZ-254
AZ-336 C2 VprStrategy Protocol + Factory + Composition 3 AZ-263, AZ-269, AZ-270, AZ-303, AZ-297, AZ-266 AZ-255
AZ-337 C2 UltraVPR Primary Backbone (TRT) 5 AZ-336, AZ-263, AZ-269, AZ-298, AZ-303, AZ-283, AZ-281, AZ-321, AZ-266, AZ-272 AZ-255
AZ-338 C2 NetVLAD Mandatory Simple-Baseline 3 AZ-336, AZ-263, AZ-269, AZ-300, AZ-303, AZ-283, AZ-266, AZ-272 AZ-255
AZ-339 C2 MegaLoc + MixVPR Secondary Backbones (Research-only) 5 AZ-336, AZ-263, AZ-269, AZ-298, AZ-303, AZ-283, AZ-281, AZ-321, AZ-266, AZ-272 AZ-255
AZ-340 C2 SelaVPR + EigenPlaces + SALAD Secondary Backbones (Research-only) 5 AZ-336, AZ-263, AZ-269, AZ-298, AZ-303, AZ-283, AZ-281, AZ-321, AZ-266, AZ-272 AZ-255
AZ-341 C2 FAISS HNSW Retrieve Wiring 3 AZ-336, AZ-263, AZ-269, AZ-303, AZ-305, AZ-306, AZ-266, AZ-272 AZ-255
AZ-342 C2.5 ReRankStrategy Protocol + Factory + Composition 2 AZ-263, AZ-269, AZ-270, AZ-278, AZ-303, AZ-266 AZ-256
AZ-343 C2.5 InlierCountReRanker (drop-and-continue) 3 AZ-342, AZ-263, AZ-269, AZ-278, AZ-303, AZ-266, AZ-272 AZ-256
AZ-344 C3 CrossDomainMatcher Protocol + Factory + Composition 3 AZ-263, AZ-269, AZ-270, AZ-278, AZ-282, AZ-297, AZ-266 AZ-257
AZ-345 C3 DISK+LightGlue Primary Matcher 5 AZ-344, AZ-263, AZ-269, AZ-278, AZ-282, AZ-298, AZ-299, AZ-303, AZ-281, AZ-321, AZ-266, AZ-272 AZ-257
AZ-346 C3 ALIKED+LightGlue Secondary Matcher 3 AZ-344, AZ-263, AZ-269, AZ-278, AZ-282, AZ-298, AZ-299, AZ-303, AZ-281, AZ-321, AZ-266, AZ-272 AZ-257
AZ-347 C3 XFeat Alternate Lightweight Matcher 3 AZ-344, AZ-263, AZ-269, AZ-282, AZ-298, AZ-299, AZ-303, AZ-281, AZ-321, AZ-266, AZ-272 AZ-257
AZ-348 C3.5 ConditionalRefiner Protocol + Factory + PassthroughRefiner + Composition 3 AZ-263, AZ-269, AZ-270, AZ-282, AZ-297, AZ-344, AZ-266 AZ-258
AZ-349 C3.5 AdHoPRefiner — production-default conditional refiner 5 AZ-348, AZ-263, AZ-269, AZ-282, AZ-298, AZ-299, AZ-281, AZ-321, AZ-266, AZ-272 AZ-258
AZ-355 C4 PoseEstimator Protocol + Factory + DTOs + Composition 3 AZ-263, AZ-269, AZ-270, AZ-282, AZ-279, AZ-277, AZ-266 AZ-259
AZ-358 C4 OpenCVGtsamPoseEstimator (steady-state path) 5 AZ-355, AZ-381, AZ-282, AZ-279, AZ-277, AZ-269, AZ-266, AZ-272, AZ-263 AZ-259
AZ-361 C4 D-CROSS-LATENCY-1 hybrid — Jacobian + thermal-driven mode switch 3 AZ-358, AZ-355, AZ-302, AZ-277, AZ-279, AZ-269, AZ-266, AZ-272, AZ-263 AZ-259
AZ-381 C5 StateEstimator Protocol + Factory + DTOs + Composition + concrete ISam2GraphHandle 3 AZ-263, AZ-269, AZ-270, AZ-276, AZ-277, AZ-279, AZ-273, AZ-355, AZ-266 AZ-260
AZ-382 C5 GtsamIsam2StateEstimator skeleton — iSAM2 + IncrementalFixedLagSmoother wiring 5 AZ-381, AZ-263, AZ-269, AZ-266, AZ-272 AZ-260
AZ-383 C5 GtsamIsam2StateEstimator — add_vio / add_pose_anchor / add_fc_imu factor add bodies 5 AZ-382, AZ-381, AZ-276, AZ-358, AZ-263, AZ-269, AZ-266, AZ-272 AZ-260
AZ-384 C5 GtsamIsam2StateEstimator — Marginals + output methods 3 AZ-383, AZ-382, AZ-381, AZ-279, AZ-277, AZ-263, AZ-269, AZ-266, AZ-272 AZ-260
AZ-385 C5 SourceLabelStateMachine + spoof-promotion gate 5 AZ-384, AZ-381, AZ-382, AZ-383, AZ-263, AZ-269, AZ-266, AZ-272, AZ-391, AZ-397 AZ-260
AZ-386 C5 EskfStateEstimator — mandatory simple-baseline 5 AZ-381, AZ-276, AZ-277, AZ-279, AZ-263, AZ-269, AZ-266, AZ-272 AZ-260
AZ-387 C5 smoothed past-keyframe → FDR path (AC-4.5 revised) 3 AZ-384, AZ-386, AZ-273, AZ-272, AZ-263, AZ-269, AZ-266 AZ-260
AZ-388 C5 AC-5.2 fallback path — 3 s no-estimate detector + downstream signal 3 AZ-384, AZ-386, AZ-273, AZ-272, AZ-390, AZ-397, AZ-263, AZ-269, AZ-266 AZ-260
AZ-389 C5 internal orthorectifier — produces mid-flight tile candidates for C6 3 AZ-384, AZ-385, AZ-303, AZ-263, AZ-269, AZ-266, AZ-272 AZ-260
AZ-390 C8 FcAdapter + GcsAdapter Protocols + DTOs + errors + composition factories 3 AZ-263, AZ-269, AZ-270, AZ-273, AZ-277, AZ-279, AZ-266 AZ-261
AZ-391 C8 inbound subscription — IMU/attitude/GPS-health/MAV_STATE producer 5 AZ-390, AZ-263, AZ-269, AZ-266, AZ-272, AZ-273, AZ-276 AZ-261
AZ-392 C8 CovarianceProjector — honest 6×6 → 2×2 → equivalent_radius helper 3 AZ-390, AZ-263, AZ-269, AZ-266, AZ-272 AZ-261
AZ-393 C8 PymavlinkArdupilotAdapter outbound — GPS_INPUT 5 Hz + provenance side-channel 5 AZ-390, AZ-392, AZ-279, AZ-273, AZ-263, AZ-269, AZ-266, AZ-272 AZ-261
AZ-394 C8 Msp2InavAdapter outbound — MSP2_SENSOR_GPS 5 Hz 3 AZ-390, AZ-392, AZ-279, AZ-273, AZ-263, AZ-269, AZ-266, AZ-272 AZ-261
AZ-395 C8 AP MAVLink 2.0 per-flight signing — handshake + key rotation + zeroisation 5 AZ-393, AZ-390, AZ-273, AZ-272, AZ-263, AZ-269, AZ-266 AZ-261
AZ-396 C8 AP D-C8-2 source-set switch — MAV_CMD_SET_EKF_SOURCE_SET + spoof-recovery wiring 3 AZ-393, AZ-390, AZ-385, AZ-273, AZ-272, AZ-263, AZ-269, AZ-266 AZ-261
AZ-397 C8 QgcTelemetryAdapter — downsampled 1–2 Hz summary out + operator command in 3 AZ-390, AZ-392, AZ-279, AZ-273, AZ-263, AZ-269, AZ-266 AZ-261
AZ-398 FrameSource Protocol + Clock Protocol + LiveCameraFrameSource retrofit + VideoFileFrameSource 3 AZ-263, AZ-269, AZ-270, AZ-266, AZ-272 AZ-265
AZ-399 TlogReplayFcAdapter — replay-only FcAdapter parsing pymavlink .tlog 5 AZ-398, AZ-390, AZ-391, AZ-279, AZ-273, AZ-263, AZ-269, AZ-266, AZ-272 AZ-265
AZ-400 ReplaySink + JsonlReplaySink + MavlinkTransport seam + Noop/Serial transports 3 AZ-263, AZ-269, AZ-270, AZ-381, AZ-266, AZ-272, AZ-390 AZ-265
AZ-401 compose_root replay-mode branch — JSONL sink + NoopMavlinkTransport wiring 2 AZ-398, AZ-399, AZ-400, AZ-405, AZ-269, AZ-270, AZ-263, AZ-266, AZ-272, AZ-390 AZ-265
AZ-402 gps-denied-replay console-script wrapper (mode-config dispatcher) 3 AZ-401, AZ-269, AZ-270, AZ-263, AZ-266, AZ-272, AZ-273 AZ-265
AZ-403 (CANCELLED per ADR-011 — replay is a configuration of the airborne binary; no fourth image) — — AZ-265
AZ-404 E2E replay fixture test — Derkachi 1–2 min clip + mode-agnosticism + operator workflow 5 AZ-402, AZ-401, AZ-405, AZ-263, AZ-269, AZ-266, AZ-272, AZ-273 AZ-265
AZ-405 replay_input/ coordinator + auto-sync of video ↔ tlog via IMU take-off detection 5 AZ-399, AZ-398, AZ-263, AZ-269, AZ-266, AZ-272, AZ-279 AZ-265
AZ-558 Route C8 outbound encoder bytes through MavlinkTransport seam (closes AZ-401 AC-9) 3 AZ-401, AZ-273, AZ-294, AZ-399 AZ-265
AZ-406 Blackbox Test Infrastructure Bootstrap (Tier-1 + Tier-2 harness scaffold) 5 AZ-263 AZ-262
AZ-407 Static fixture builders — tile-cache, age-injector, cold-boot, MAVLink passkey, CVE JPEG 3 AZ-406 AZ-262
AZ-408 Runtime synthetic-injection fixture builders — outlier, blackout-spoof, multi-segment 3 AZ-406, AZ-407 AZ-262
AZ-409 FT-P-01 — Still-image set-60 frame-center accuracy 3 AZ-406, AZ-407 AZ-262
AZ-410 FT-P-02 — Cumulative drift between satellite anchors on Derkachi 3 AZ-406, AZ-407 AZ-262
AZ-411 FT-P-03 + FT-P-14 — Estimate output schema + WGS84 coordinate validation 2 AZ-406, AZ-407 AZ-262
AZ-412 FT-P-04 — Frame-to-frame registration ≥95% on normal Derkachi segments 3 AZ-406, AZ-407 AZ-262
AZ-413 FT-P-05 + FT-P-06 — Cross-domain matcher MRE budgets 3 AZ-406, AZ-407, AZ-412 AZ-262
AZ-414 FT-P-07 + FT-N-02 — Sharp-turn recovery via satellite reference 3 AZ-406, AZ-407 AZ-262
AZ-415 FT-P-08 — ≥3 disconnected segments via satellite-reference re-localization 3 AZ-406, AZ-407, AZ-408 AZ-262
AZ-416 FT-P-09-AP — ArduPilot Plane GPS_INPUT contract + MAVLink 2.0 signing handshake 5 AZ-406, AZ-407 AZ-262
AZ-417 FT-P-09-iNav — iNav MSP2_SENSOR_GPS contract conformance 3 AZ-406, AZ-407 AZ-262
AZ-418 FT-P-10 — GTSAM smoothing-loop look-back accuracy 3 AZ-406, AZ-407 AZ-262
AZ-419 FT-P-11 — Cold-start init (operator-manifest primary + FC EKF secondary + bounded-delta gate) 3 AZ-406, AZ-407, AZ-489 (forward), AZ-490 (forward) AZ-262
AZ-420 FT-P-12 + FT-P-13 — GCS downsample + GCS-originated re-loc command 3 AZ-406, AZ-407 AZ-262
AZ-421 FT-P-15 + FT-P-16 + FT-P-18 — Tile cache + offline + no-raw-retention 3 AZ-406, AZ-407 AZ-262
AZ-422 FT-P-17 + FT-N-06 — Mid-flight tile generation + freshness 3 AZ-406, AZ-407 AZ-262
AZ-423 FT-P-19 — Satellite-relocalization scale-ratio + scene-change PARTIAL 3 AZ-406, AZ-407 AZ-262
AZ-424 FT-N-01 — 350 m outlier injection tolerance 3 AZ-406, AZ-407, AZ-408 AZ-262
AZ-425 FT-N-03 — Extended outage triggers OPERATOR_RELOC_REQUEST 3 AZ-406, AZ-407, AZ-408 AZ-262
AZ-426 FT-N-04 — Visual blackout + spoofed GPS combined failsafe 5 AZ-406, AZ-407, AZ-408 AZ-262
AZ-427 FT-N-05 — Stale-tile rejection on freshness violation 2 AZ-406, AZ-407 AZ-262
AZ-428 NFT-PERF-01 — End-to-end latency p95 ≤ 400 ms on Tier-2 5 AZ-406, AZ-407, AZ-444 (forward) AZ-262
AZ-429 NFT-PERF-02 — Frame-by-frame streaming, no batching 2 AZ-406, AZ-407 AZ-262
AZ-430 NFT-PERF-03 — Cold-start TTFF ≤ 30 s on Tier-2 5 AZ-406, AZ-407, AZ-444 (forward) AZ-262
AZ-431 NFT-PERF-04 — Spoofing-promotion latency p95 ≤ 600 ms 3 AZ-406, AZ-407, AZ-408 AZ-262
AZ-432 NFT-RES-01 — IMU-only fallback drift bound 3 AZ-406, AZ-407, AZ-408 AZ-262
AZ-433 NFT-RES-02 — Companion mid-flight reboot recovery 3 AZ-406, AZ-407 AZ-262
AZ-434 NFT-RES-03 — 100-iteration Monte Carlo statistical envelope 5 AZ-406, AZ-407, AZ-408 AZ-262
AZ-435 NFT-RES-04 — 35 s blackout-with-spoof full escalation ladder 3 AZ-406, AZ-407, AZ-408, AZ-426 AZ-262
AZ-436 NFT-SEC-01 — Cache-poisoning safety probability ≤ 1e-6/flight 5 AZ-406, AZ-407 AZ-262
AZ-437 NFT-SEC-02 + NFT-SEC-05 — No-egress + DNS-blackhole defense-in-depth 3 AZ-406, AZ-407 AZ-262
AZ-438 NFT-SEC-03 — AP rejects unsigned/wrong-key/replayed messages 3 AZ-406, AZ-407 AZ-262
AZ-439 NFT-SEC-04 — OpenCV CVE-2025-53644 + AddressSanitizer fuzz 5 AZ-406, AZ-407, AZ-444 (forward, optional) AZ-262
AZ-440 NFT-LIM-01 — Jetson memory budget 3 AZ-406, AZ-407, AZ-444 (forward) AZ-262
AZ-441 NFT-LIM-02 — 8h-extrapolated FDR size ≤ 50 GB 2 AZ-406, AZ-407 AZ-262
AZ-442 NFT-LIM-03 + NFT-LIM-05 — Aggregate storage + thumbnail-log budget 2 AZ-406, AZ-407 AZ-262
AZ-443 NFT-LIM-04 — Jetson thermal envelope @ workstation ambient (AC-NEW-5 PARTIAL) 2 AZ-406, AZ-407, AZ-444 (forward) AZ-262
AZ-444 Tier-2 Jetson harness wrapper — run-tier2.sh, ssh provisioning, systemd, ASan-fuzz 5 AZ-406 AZ-262
AZ-445 CSV reporter + evidence bundler — per-NFR machine-readable outputs + traceability-status.json 2 AZ-406 AZ-262
AZ-446 CSV reporter refinements — trend-line + acceptance-band annotations + Monte Carlo CI 2 AZ-406, AZ-445 AZ-262
AZ-489 C12 FlightsApiClient — fetch Flight from suite flights service + offline JSON fallback 3 AZ-263, AZ-269, AZ-266, AZ-279, AZ-280 AZ-253
AZ-490 C5 set_takeoff_origin entrypoint — accept operator origin from C10 Manifest 3 AZ-263, AZ-269, AZ-266, AZ-272, AZ-273, AZ-279, AZ-381, AZ-383, AZ-384, AZ-385, AZ-386 AZ-260
AZ-507 Hygiene — align module-layout.md cross-component import rules with AZ-270 lint 2 AZ-263, AZ-270, AZ-321 AZ-246
AZ-508 Hygiene — consolidate _iso_ts_now helpers into helpers/iso_timestamps.py 2 AZ-263 AZ-264
AZ-526 Hygiene — add iso_ts_from_clock(clock) to helpers/iso_timestamps.py 2 AZ-508, AZ-398 AZ-264
AZ-527 Hygiene — consolidate _assert_engine_output_dim into c2-internal helper 2 AZ-340 AZ-255
AZ-528 Hygiene — consolidate c1_vio strategy facade orchestration spine 3 AZ-334 AZ-254
AZ-523 Batch 44 — C11 internal flight-state gate removal (SRP refactor; audit-trail; closed) 3 AZ-317, AZ-319, AZ-329 AZ-251
AZ-524 Batch 44 — C12 package rename: c12_operator_tooling → c12_operator_orchestrator (audit; closed) 2 AZ-263, AZ-326, AZ-327, AZ-328, AZ-329, AZ-330, AZ-489 AZ-253
AZ-589 Remediate AZ-332 (CLOSED Won't Fix — wrong abstraction + wrong OKVIS API; replaced by AZ-591+AZ-592) 5 AZ-332, AZ-276, AZ-277 AZ-254
AZ-590 Remediate AZ-333 (CLOSED Won't Fix — wrong abstraction + missing upstream; replaced by AZ-591+AZ-593) 5 AZ-333, AZ-276, AZ-277 AZ-254
AZ-591 compose_root per-binary bootstrap — populate _STRATEGY_REGISTRY for airborne binary 5 AZ-270, AZ-331, AZ-339, AZ-345, AZ-352, AZ-355, AZ-368, AZ-380 AZ-246
AZ-592 AZ-332 Tier-2 validation — OKVIS2 ThreadedSlam wiring + CI build env + Jetson (backlog) 5 AZ-332, AZ-276, AZ-277, AZ-591 AZ-254
AZ-593 AZ-333 Tier-2 validation — de-ROSified VINS-Mono upstream + binding + CI + Jetson (backlog) 5 AZ-333, AZ-276, AZ-277, AZ-591, AZ-592 AZ-254
AZ-618 Airborne bootstrap pre_constructed (UMBRELLA — split into AZ-619..AZ-624) 0 AZ-619, AZ-620, AZ-621, AZ-622, AZ-623, AZ-624 AZ-602
AZ-619 AZ-618 Phase A: build_pre_constructed seeds c13_fdr + clock 2 AZ-591, AZ-270, AZ-273, AZ-398 AZ-602
AZ-620 AZ-618 Phase B: build_pre_constructed seeds c6_descriptor_index + c6_tile_store 3 AZ-619, AZ-303, AZ-306 AZ-602
AZ-621 AZ-618 Phase C: build_pre_constructed seeds c7_inference engine 3 AZ-619, AZ-620, AZ-297, AZ-320 AZ-602
AZ-622 AZ-618 Phase D: build_pre_constructed seeds c3_lightglue_runtime + c3_feature_extractor 3 AZ-619, AZ-620, AZ-621, AZ-278 AZ-602
AZ-623 AZ-618 Phase E: build_pre_constructed seeds c282_ransac_filter + c5 helpers 3 AZ-619, AZ-282, AZ-276, AZ-277, AZ-279, AZ-381 AZ-602
AZ-624 AZ-618 Phase F: wire build_pre_constructed into main() + AC-1..AC-5 (incl. Jetson tier-2) 2 AZ-619, AZ-620, AZ-621, AZ-622, AZ-623 AZ-602
AZ-687 build_pre_constructed must guard c6_descriptor_index when config.mode == 'replay' 2 AZ-619, AZ-620, AZ-624 AZ-602
AZ-697 T1: Direct binary-tlog GPS-truth extractor 3 None AZ-696
AZ-698 T2: Tlog trim + mid-flight alignment for replay 5 AZ-697 AZ-696
AZ-699 T3: Real-flight validation runner + accuracy report 3 AZ-697 AZ-696
AZ-700 T4: Replay map visualization (estimated vs ground-truth tracks) 3 AZ-699 AZ-696
AZ-701 T5: HTTP Replay API service (POST tlog+video, return GPS fixes + map) 5 AZ-699, AZ-700 AZ-696
AZ-702 T6: Topotek KHP20S30 camera calibration (factory-sheet approximation) 1 None AZ-696
AZ-776 Open-loop ESKF composition profile (c4_pose.enabled flag) 3 None AZ-602
AZ-777 Derkachi e2e: wire EXISTING parent-suite satellite-provider into operator pre-flight fixture 8 (override) AZ-776 AZ-602
AZ-835 E2E real-flight validation Epic: raw (tlog, video) → route-driven SP seeding → verdict Epic (~17 child SP) AZ-777 Phase 1 (reused); AZ-405; AZ-699; AZ-696; AZ-702 (umbrella)
AZ-836 C1: TlogRouteExtractor — active-segment trim + DP coarsen tlog GPS to ≤N waypoints 3 AZ-697, AZ-279 AZ-835
AZ-838 C2: SatelliteProviderRouteClient + seed_route.py CLI — POST RouteSpec to SP, poll mapsReady 3 AZ-836; AZ-777 Phase 1; AZ-809 (soft) AZ-835
AZ-839 C3: operator_pre_flight_setup real fixture — wire C1+C2+C11+C10, supersedes AZ-777 Phase 3 5 AZ-836; AZ-838; AZ-777 Phase 1 (done); AZ-322; AZ-316; AZ-306 AZ-835
AZ-840 C4: E2E orchestrator test — raw (tlog, video, calibration) drives steps 1-7 end-to-end 3 AZ-839; AZ-836; AZ-838; AZ-699; AZ-405; AZ-702; AZ-696 AZ-835
AZ-841 C5: Un-xfail AZ-777 AC-4 + AC-5 Tier-2 tests (BACKLOGGED 2026-05-26 — AZ-895 AC-4 conflict) 1 AZ-839; AZ-840 AZ-835
AZ-842 C6: Docs — replay_protocol.md Invariants 12+13 + architecture.md + orchestrator-test README 3 AZ-894; AZ-895; AZ-896 (soft) AZ-835
AZ-845 Refactor C01: Relocate RouteSpec DTO to _types/route.py (AZ-507 rule 9 fix) 2 None AZ-844
AZ-846 Refactor C02: Refresh module-layout.md cycle-3 entries (c11 + replay_input + _types/route) 2 AZ-845 AZ-844
AZ-847 Refactor C03: Widen test_az270_compose_root lint to enforce full rule-9 allow-list 2 AZ-845 AZ-844
AZ-899 Land architecture_compliance_baseline.md (cycle-3 retro #3, 3rd try) 1 None (none)
AZ-900 Autodev: gate cycle-N+1 Step-9 entry on previous-cycle retro existence 1 None (none)
AZ-901 Fix EVIDENCE_OUT default path in e2e/runner/conftest.py:56 1 None (none)
AZ-908 Replay: hard removal of deprecated auto-sync surface (AZ-895 follow-up; cycle-5+ backlog) 3 AZ-895; AZ-842 (none)
AZ-943 OKVIS2 binding: real ThreadedSlam wiring (AZ-592 split 1/3) — PAUSED, blocked on AZ-951+AZ-952 5 AZ-332; AZ-592; AZ-951 (blocker); AZ-952 (blocker) AZ-254
AZ-951 OKVIS2 v2 upstream patch: expose 6×6 pose covariance accessor (+ ADR for pin deviation) 3 AZ-332; AZ-592 AZ-254
AZ-952 OKVIS2 v2 upstream patch: expose tracking-stats accessor (counts + parallax + MRE) 3 AZ-332; AZ-592; AZ-951 (SOFT) AZ-254
AZ-959 replay_api: extend POST /replay to accept (video, csv) multipart for AZ-897 UI 3 AZ-701; AZ-894; AZ-896 (none)

Notes

  • Forward dependency on AZ-272 in AZ-267: the FDR Log Bridge task declares a forward dependency on the FdrRecord Schema (AZ-272). Both tasks ship together; the bridge ships against the published schema contract once AZ-272 is stable. This is the ONLY forward dependency in the plan — verified by inspection.
  • C4 ↔ C5 co-development (ADR-003): AZ-358 depends on AZ-381's concrete ISam2GraphHandle; AZ-383 depends on AZ-358's PoseEstimate.covariance_mode. Both tasks ship in lockstep — the shared ISam2GraphHandle Protocol stub is owned by AZ-355, the concrete impl by AZ-381.
  • C5 ↔ C8 co-development: AZ-385 depends on C8 GpsHealth (AZ-391) and QgcTelemetryAdapter (AZ-397); AZ-388 depends on AZ-390 / AZ-397; AZ-396 depends on AZ-385. Each side ships against the AZ-390 Protocol contract until the consumer task lands.
  • AZ-401 (compose_root replay-mode branch, per ADR-011) intentionally depends on the C1–C5 epic IDs (AZ-254 … AZ-260) at the documentation level — concrete strategy task IDs flow in through each component's composition factory, not through this composition root directly. Under ADR-011 there is NO separate compose_replay function; replay is a config.mode = "replay" branch inside the single compose_root. The legacy v1.0.0 fourth-binary design (AZ-403) is cancelled — see the cancellation banner in _docs/02_tasks/done/AZ-403_replay_dockerfile_ci.md and the pending tracker leftover at _docs/_process_leftovers/2026-05-14_az_403_cancellation_pending_tracker.md.
  • AZ-405 (replay_input/ coordinator + auto-sync) is the architectural seam between (video, tlog) and the rest of the system under ADR-011. Its consumers are AZ-401 (composition-root branch builds the coordinator) and AZ-404 (E2E uses the populated coordinator via the CLI). It depends on AZ-398 / AZ-399 / AZ-279 but NOT on AZ-402 (the CLI consumes the coordinator's CLI-arg surface, but the coordinator itself is CLI-agnostic).
  • E-BBT (AZ-262) forward dependencies on AZ-444 (Tier-2 harness): AZ-428, AZ-430, AZ-440, AZ-443 declare hard forward deps on AZ-444; AZ-439 declares an optional forward dep on AZ-444 (Tier-2 ASan-fuzz variant). These tasks ship in a tight loop with AZ-444 — the harness must exist before any Tier-2 NFT scenario can run. Tier-1 sub-cases of NFT-PERF-02, NFT-RES-, NFT-SEC-, NFT-LIM-02, NFT-LIM-03 do not require AZ-444 and remain independently runnable.
  • E-BBT scenario chains within AZ-262:
    • AZ-413 (FT-P-05+06) depends on AZ-412 (FT-P-04) — FT-P-06 is a piggyback assertion over FT-P-04 + FT-P-05 evidence.
    • AZ-435 (NFT-RES-04) depends on AZ-426 (FT-N-04) — both consume blackout_spoof.py; NFT-RES-04 is the focused 35 s escalation scenario while FT-N-04 covers the 5 s / 15 s / 35 s ladder.
    • AZ-446 depends on AZ-445 — refinements layer over the bundler.
  • ADR-010 operator-origin path (added 2026-05-11):
    • AZ-489 (C12 FlightsApiClient) is the new read-only Flight resolver for C12; it has no consumers inside its own epic but feeds AZ-326 (CLI flags) and AZ-328 (orchestrator phase 0) — both declare a hard backward dep on AZ-489. The CLI's --flight-id / --flight-file flags + AZ-328's flight-resolve phase 0 cannot land without it.
    • AZ-490 (C5 set_takeoff_origin) extends the AZ-381 Protocol with the pre-takeoff entrypoint, amends the AZ-385 source-label state machine with the third bounded-delta clause, and depends on AZ-381..AZ-386 (Protocol + factor adds + marginals + source label gate + ESKF baseline) plus AZ-272/273/279 for FDR + Vincenty. All deps are backward; AZ-490 ships after the C5 epic core lands.
    • AZ-419 (FT-P-11 cold-start) carries forward deps on both AZ-489 + AZ-490 — the blackbox cold-start scenario now exercises the operator-manifest primary path (needs both) AND the FC EKF secondary fallback (back-compat).
  • All E-BBT tasks depend on AZ-406 (test infrastructure); this is by design — AZ-406 is the foundation every blackbox test depends on (analogous to AZ-263 for the product side).
  • Batch 44 SRP refactor + C12 rename (added 2026-05-13):
    • AZ-317 (C11 Flight-State Gate) is superseded. The C11-internal gate (confirm_flight_state / FlightStateSignal / FlightStateNotOnGroundError) was removed in Batch 44 Phase B; the post-landing safety responsibility moved to C12's new PostLandingUploadOrchestrator (AZ-329). The row is retained in the table for audit; the ticket is in _docs/02_tasks/done/ with a SUPERSEDED banner.
    • AZ-319 (C11 TileUploader) lost its dependency on AZ-317 (gate removed) and the TileUploader Protocol contract was bumped to v2.0.0 (frozen) with the gate parameters removed. Migration note in _docs/02_document/contracts/c11_tilemanager/tile_uploader.md.
    • AZ-329 (C12 PostLandingUploadOrchestrator) specification was rewritten in Phase C to gate on the flight_footer FDR record's clean_shutdown field instead of counting consecutive FlightStateSignal records. Added explicit dependency on AZ-292 (C13 footer write) since the orchestrator reads the footer record produced there.
    • AZ-330 (C12 OperatorReLocService) added an explicit dependency on AZ-272 (FDR schema) since the service emits a new c12.reloc.requested FDR record kind.
    • AZ-523 (C11 gate removal audit-trail) and AZ-524 (C12 package rename audit-trail) are post-hoc tickets closed on creation. Their dependencies (AZ-317/319/329 for AZ-523; the C12 task set for AZ-524) are listed for traceability; these tickets are not gates on any future work.
    • E-C12 epic (AZ-253) summary renamed: C12 Operator Pre-flight Tooling → C12 Operator Pre-flight Orchestrator.
  • Hygiene PBI from cumulative review batches 52-54 (added 2026-05-14):
    • AZ-528 (E-C1 / AZ-254) — c1_vio strategy facade orchestration-spine 3-way duplication. Depends on AZ-334 (the trigger that escalated the duplication from 2-way to 3-way; all 3 callers now exist in done/). NOT a gate on AZ-335 in a strict technical sense, but recommended to sequence before AZ-335 so the warm-start path lands against the consolidated spine instead of a fourth divergent copy. 3 points: 1 new module (c1_vio/_facade_spine.py) + 3 small edits + 1 test file with AST-walk + import-grep regression guards. Pattern mirrors AZ-527's c2-side consolidation.
  • Hygiene PBIs from cumulative review batches 31-33 (added 2026-05-13):
    • AZ-507 (E-CC-CONF / AZ-246) — module-layout.md ↔ AZ-270 lint alignment. Depends on AZ-263 (structure), AZ-270 (the lint test
      • composition root), and AZ-321 (the engine_compiler whose except Exception is narrowed). All deps are backward and completed; AZ-507 can land in any future batch. NOT a gate on AZ-322 / AZ-337 (the cumulative review F2 notes hygiene defers).
    • AZ-508 (E-CC-HELPERS / AZ-264) — _iso_ts_now helper consolidation. Depends on AZ-263 only. Stateless stdlib helper; no cross-component or runtime dependencies. NOT a gate on any future product task; can ship in a hygiene-only batch.

Coverage Verification (Implementation Mode)

  • Every product interface in architecture.md has implementation task coverage.

    • C1 VioStrategy → AZ-331 (Protocol) + AZ-332/333/334 (concrete)
    • C2 VprStrategy → AZ-336 (Protocol) + AZ-337/338/339/340 (concrete)
    • C2.5 ReRankStrategy → AZ-342 (Protocol) + AZ-343 (concrete)
    • C3 CrossDomainMatcher → AZ-344 (Protocol) + AZ-345/346/347 (concrete)
    • C3.5 ConditionalRefiner → AZ-348 (Protocol + Passthrough) + AZ-349 (AdHoP)
    • C4 PoseEstimator → AZ-355 (Protocol) + AZ-358/361 (concrete)
    • C5 StateEstimator → AZ-381 (Protocol) + AZ-382..AZ-389 (concrete) + AZ-490 (set_takeoff_origin entrypoint + bounded-delta gate)
    • C6 TileStore / DescriptorIndex → AZ-303 (Interfaces) + AZ-304/305/306/307/308
    • C7 InferenceRuntime → AZ-297 (Protocol) + AZ-298/299/300/301/302
    • C8 FcAdapter / GcsAdapter → AZ-390 (Protocols) + AZ-391..AZ-397
    • C10 Provisioning → AZ-321/322/323/324/325
    • C11 Tile Manager → AZ-316/318/319/320 + AZ-523 (Batch 44 gate-removal audit; AZ-317 superseded)
    • C12 Operator Pre-flight Orchestrator → AZ-326/327/328/329/330 + AZ-489 (FlightsApiClient) + AZ-524 (Batch 44 rename audit)
    • C13 FDR Writer → AZ-291..AZ-296

  • Cross-cutting product modules:

    • Logging → AZ-266/267/268
    • Config + Composition Root → AZ-269/270/271
    • FDR Client → AZ-272..AZ-275
    • Shared helpers (IMU preintegrator, SE3, LightGlue runtime, WGS, SHA-256 sidecar, engine filename schema, RANSAC, descriptor normaliser) → AZ-276..AZ-283
    • Frame source + Clock → AZ-398
    • Replay sink → AZ-400
    • Replay composition branch + CLI wrapper + replay_input/ coordinator → AZ-401/402/405 (AZ-403 cancelled per ADR-011)

  • No unresolved AZ-? placeholders in any task file (verified by grep on Step 4 close-out).

  • E-BBT (AZ-262 / blackbox tests) coverage vs traceability-matrix.md:

    • All 35 Covered ACs map to ≥1 scenario task (AZ-409..AZ-443).
    • All 3 PARTIAL ACs carry the PARTIAL annotation in their pass criteria: AC-8.6 → AZ-423; AC-NEW-5 → AZ-443.
    • All 3 NOT COVERED ACs (AC-7.1, AC-7.2, RESTRICT-CAM-2) are handled by the conftest skip-rule embedded in AZ-406, not by a dedicated task.
    • Fixture coverage: 5 static fixtures (AZ-407) + 3 synthetic injectors (AZ-408) + cold-boot snapshot (AZ-407) cover every scenario's data needs.
    • Tier-2-only scenarios: AZ-428, AZ-430, AZ-440, AZ-443 (and optionally AZ-439's ASan-fuzz mode) all SKIP cleanly on Tier-1 via the conftest tier-guard.
    • Reporting: AZ-445 + AZ-446 produce per-NFR JSONs, traceability-status.json, and regression-baseline.json for every scenario.

Cycle Check

A static dependency-graph traversal (Kahn topological sort) visits all 142 nodes — no cycles. The 15 forward edges (dep ID > task ID) are all declared, bounded, and documented:

  • AZ-267 → AZ-272 (FDR Log Bridge → FdrRecord Schema; shipped in lockstep).
  • AZ-298 → AZ-301, AZ-299 → AZ-301 (TensorRT / ONNX-RT runtimes → engine gate; runtime ships against the gate's published contract).
  • AZ-358 → AZ-381 (C4 OpenCV/GTSAM marginals → C5 SAM2 graph handle; ADR-003 co-development against the AZ-355 Protocol stub).
  • AZ-385 → AZ-391, AZ-397, AZ-388 → AZ-390, AZ-397 (C5 ↔ C8 co-development; each side ships against the AZ-390 Protocol contract until the consumer task lands).
  • AZ-428, AZ-430, AZ-440, AZ-443 → AZ-444 (Tier-2 NFT scenarios → Tier-2 harness wrapper; AZ-439 carries the same forward dep optionally for the ASan-fuzz mode). AZ-444 is therefore scheduled as the first Tier-2 E-BBT deliverable; the dependent scenarios land on top of it.
  • AZ-326 → AZ-489, AZ-328 → AZ-489 (C12 CLI + orchestrator depend on the new C12 FlightsApiClient task added 2026-05-11; the client lands first inside the C12 epic and the CLI/orchestrator then plug it in).
  • AZ-419 → AZ-489, AZ-419 → AZ-490 (blackbox cold-start scenario forward-depends on both the C12 client + the new C5 entrypoint; the scenario lands after both product tasks).

The graph is therefore a strict DAG once these documented forward edges are accounted for, and remains sortable by tracker ID modulo those edges.

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