gps-denied-onboard/_docs/02_document/tests/traceability-matrix.md

# Traceability Matrix

This matrix is the canonical view of test coverage for the planning context. It traces every numbered AC and every restriction to the test scenario IDs that exercise it.

**Coverage discipline**: an AC counts as **Covered** when at least one test scenario has a quantifiable pass/fail criterion that exercises it. **PARTIAL** rows are exercised but with reduced confidence — the row's "Mitigation" column points to the action item (Plan-phase decision or D-PROJ gate) that, when resolved, lifts the row to Covered. **NOT COVERED** rows are deliberately deferred (out-of-scope for data acquisition per Phase 1 gate, or covered at a later workflow stage); each has a stated mitigation.

## Acceptance Criteria Coverage

| AC ID | Acceptance Criterion (one-line) | Test IDs | Coverage |
|-------|---------------------|----------|----------|
| AC-1.1 | Frame-center GPS within 50 m for ≥80% of normal-flight photos | FT-P-01 | Covered |
| AC-1.2 | Frame-center GPS within 20 m for ≥50% of normal-flight photos | FT-P-01 | Covered |
| AC-1.3 | Cumulative drift between satellite-anchored fixes <100 m visual / <50 m IMU-fused | FT-P-02 | Covered |
| AC-1.4 | Estimate reports 95% covariance + source label | FT-P-03 | Covered |
| AC-2.1a | Frame-to-frame registration ≥95% on normal segments | FT-P-04 | Covered |
| AC-2.1b | Satellite-anchor registration meets AC-1.1/1.2/2.2/8.2/8.6 | FT-P-05, FT-P-19 | Covered |
| AC-2.2 | MRE <1 px frame-to-frame, <2.5 px cross-domain | FT-P-05, FT-P-06 | Covered |
| AC-3.1 | Tolerate up to 350 m outliers, tilt ±20° | FT-N-01 | Covered |
| AC-3.2 | Tolerate sharp turns; recovery via satellite re-loc | FT-P-07, FT-N-02 | Covered |
| AC-3.3 | Handle ≥3 disconnected segments via satellite re-loc | FT-P-08 | Covered |
| AC-3.4 | On ≥3 frames + ≥2 s outage, request operator re-loc; FC dead-reckons | FT-N-03 | Covered |
| AC-3.5 | Visual blackout + spoofed GPS failsafe | FT-N-04 | Covered |
| AC-4.1 | E2E latency <400 ms p95 | NFT-PERF-01 (Tier-2), NFT-RES-05 (bootstrap precondition) | Covered |
| AC-4.2 | Memory <8 GB on Jetson | NFT-LIM-01 (Tier-2) | Covered |
| AC-4.3 | FC output contract: GPS_INPUT (AP) + MSP2_SENSOR_GPS (iNav) with honest covariance | FT-P-03, FT-P-09-AP, FT-P-09-iNav | Covered |
| AC-4.4 | Estimates streamed frame-by-frame | NFT-PERF-02 | Covered |
| AC-4.5 (revised) | Internal smoothing improves past-keyframe estimates (NOT FC retroactive correction per Mode B Fact #107) | FT-P-10 | Covered |
| AC-5.1 | Init from FC EKF's last valid GPS + IMU-extrapolated | FT-P-11 | Covered |
| AC-5.2 | On >3 s without estimate, FC IMU-only fallback; SUT logs | NFT-RES-01 | Covered |
| AC-5.3 | On reboot, re-init from FC IMU-extrapolated pose | NFT-RES-02 | Covered |
| AC-6.1 | GCS stream at 1-2 Hz | FT-P-12 | Covered |
| AC-6.2 | GCS may send commands via standard MAVLink | FT-P-13 | Covered |
| AC-6.3 | WGS84 output | FT-P-14 | Covered |
| AC-7.1 | AI-camera object localization, level-flight accuracy | — | NOT COVERED — out of scope for current data acquisition (no AI-camera fixture; AC-7.x scoped to a different sensor). Mitigation: defer to a follow-up cycle with AI-camera fixture; flag in `_docs/_process_leftovers/` as `2026-05-09_ai-camera-fixture-deferred.md` |
| AC-7.2 | AI-camera object coordinates from gimbal/zoom/altitude | — | NOT COVERED — same as AC-7.1 |
| AC-8.1 | Imagery via Suite Sat Service offline cache, ≥0.5 m/px | FT-P-15, FT-P-16, NFT-SEC-02 | Covered |
| AC-8.2 | Tile freshness <6 mo (active-conflict) / <12 mo (rear) | FT-N-05 | Covered |
| AC-8.3 | Imagery pre-loaded onto companion before flight | FT-P-15, FT-P-16 | Covered |
| AC-8.4 | Mid-flight tile generation with quality metadata | FT-P-17 | Covered |
| AC-8.5 | No raw nav/AI-cam frame retention except thumbnail log | FT-P-18 | Covered |
| AC-8.6 | Satellite relocalization scale-ratio + scene-change | FT-P-19 (scale FULL; scene-change PARTIAL) | PARTIAL — scene-change subset reduced confidence (only 2/60 stills have paired sat refs; no labeled change-pair dataset). Independent of the AC-NEW-4 / AC-NEW-7 multi-flight gap (those rows were resolved by AC-text relaxation 2026-05-09; AC-8.6 scene-change still requires a labeled change-pair dataset that synthetic perturbations cannot substitute for). Mitigation: deferred to a follow-up cycle when labeled change-pair data becomes available; surfaced in the Step 4 risk register |
| AC-NEW-1 | Cold-start TTFF <30 s p95 | NFT-PERF-03 (Tier-2), NFT-RES-05 (bootstrap precondition) | Covered |
| AC-NEW-2 | Spoofing-promotion latency <3 s p95 | NFT-PERF-04 | Covered |
| AC-NEW-3 | FDR ≤64 GB / flight, no silent drops | NFT-LIM-02 | Covered |
| AC-NEW-4 | False-position safety: P(>500 m)<0.1%, P(>1 km)<0.01% | NFT-RES-03 | Covered — AC text relaxed 2026-05-09 to Monte-Carlo-over-current-data with stated 95% CI (Plan Phase 2a.0 outcome). Multi-flight statistical headroom is residual risk in the Step 4 risk register; D-PROJ-3 reopens validation when additional multi-flight data becomes available |
| AC-NEW-5 | Operating envelope -20 °C to +50 °C, 25 W TDP, 8 h, no throttle | NFT-LIM-04 (workstation baseline only) | PARTIAL — workstation thermal-day baseline only. Mitigation: chamber-attached Jetson runner + DO-160G shaker rig — out of scope for data-acquisition per Phase 1 gate; tracked as a release-tag-blocking gate |
| AC-NEW-6 | System rejects/downgrades stale tiles | FT-N-05, FT-N-06 | Covered |
| AC-NEW-7 | Cache poisoning: P(misalign>30 m)<1%, P(>100 m)<0.1% | NFT-SEC-01 | Covered (onboard-side) — AC text relaxed 2026-05-09 to Monte-Carlo-over-current-data with stated 95% CI for the onboard contribution. Cross-suite voting-layer contract verification (D-PROJ-2) is a parent-suite design task tracked outside this Plan cycle; multi-flight statistical headroom remains residual risk (D-PROJ-3) |
| AC-NEW-8 | Visual blackout + spoof degraded-mode escalation | FT-N-04, NFT-RES-04 | Covered |

## Restrictions Coverage

| Restriction ID | Restriction (one-line) | Test IDs | Coverage |
|---------------|-------------|----------|----------|
| RESTRICT-UAV-1 | Fixed-wing UAV, nav-camera fixed downward | FT-N-01 (tilt envelope) | Covered (envelope assertion) |
| RESTRICT-UAV-2 | Mission profile: 8 h flights, 60 km/h, ≤400 km² area | NFT-LIM-01, NFT-LIM-02 (8 h replay) | Covered |
| RESTRICT-UAV-3 | Sharp turns may share <5% overlap | FT-P-07, FT-N-02 | Covered |
| RESTRICT-UAV-4 | No raw-photo storage; tile cache + FDR only | FT-P-18, NFT-LIM-03 | Covered |
| RESTRICT-CAM-1 | Nav camera ADTi 20MP 20L V1 nadir-fixed | FT-N-01 (tilt envelope), test fixture validation | Covered |
| RESTRICT-CAM-2 | AI camera: gimbal+zoom only; level-flight scope | — | NOT COVERED — paired with AC-7.x deferral |
| RESTRICT-SAT-1 | Onboard cache offline-only; no in-flight Service calls | FT-P-16, NFT-SEC-02, NFT-SEC-05 | Covered |
| RESTRICT-SAT-2 | Cache budget 10 GB across operational area | NFT-LIM-03 | Covered |
| RESTRICT-SAT-3 | Tile freshness per AC-8.2 / AC-NEW-6 | FT-N-05, FT-N-06 | Covered |
| RESTRICT-SAT-4 | No Sentinel-2 / sub-0.5 m/px imagery | FT-P-15 (resolution floor) | Covered |
| RESTRICT-HW-1 | Jetson Orin Nano Super, 8 GB shared LPDDR5, 25 W | NFT-LIM-01, NFT-LIM-04, NFT-LIM-05 | Covered |
| RESTRICT-HW-2 | Cooling 25 W continuous, 8 h, upper temp envelope | NFT-LIM-04, deferred chamber test | PARTIAL — chamber portion deferred; same as AC-NEW-5 |
| RESTRICT-FC-1 | ArduPilot Plane + iNav supported; PX4 out of scope | FT-P-09-AP, FT-P-09-iNav, parameterized matrix | Covered |
| RESTRICT-FC-2 | iNav has no inbound MAVLink ext-positioning; MSP2 only | FT-P-09-iNav | Covered |
| RESTRICT-FC-3 | Output contract: WGS84 GPS via per-FC interface | FT-P-09-AP, FT-P-09-iNav, FT-P-14 | Covered |
| RESTRICT-COMM-1 | MAVLink for GCS link (QGroundControl) | FT-P-12, FT-P-13 | Covered |
| RESTRICT-COMM-2 | iNav has no MAVLink signing; accepted residual risk | NFT-SEC-03 (asymmetry note) | Covered (documented asymmetry) |
| RESTRICT-FAIL-1 | >3 s no estimate → FC IMU-only fallback | NFT-RES-01 | Covered |
| RESTRICT-FAIL-2 | False-position safety budget (AC-NEW-4) | NFT-RES-03 | Covered (via AC-NEW-4 relaxation 2026-05-09); multi-flight statistical headroom is residual risk in Step 4 |
| RESTRICT-FAIL-3 | Cold-start TTFF (AC-NEW-1), spoofing-promotion (AC-NEW-2) | NFT-PERF-03, NFT-PERF-04 | Covered |

## Coverage Summary

> Revised 2026-05-09 (Plan Phase 2a.0 outcomes): three rows moved PARTIAL → Covered (AC-NEW-4, AC-NEW-7, RESTRICT-FAIL-2) following AC-text relaxation per Q3=B. Restriction row count corrected from 19 to 20 (pre-existing arithmetic error).
>
> Revised 2026-05-19 (Greenfield Step 12 cycle-update — autodev): NFT-RES-05 appended to `resilience-tests.md` capturing the composition-root bootstrap contract introduced by AZ-591 / AZ-618 / AZ-687 (replay-mode minimal config, `AirborneBootstrapError` operator-error contract, Tier-2 `replay.compose_root.ready` + `replay.input.frame_emitted` log-boundary gate). NFT-RES-05 is added to AC-NEW-1 and AC-4.1 as bootstrap-precondition coverage; no coverage counts move because the scenario is supplementary, not promoting any PARTIAL row.

| Category | Total Items | Covered | PARTIAL | Not Covered | Coverage % (Covered + PARTIAL counted half) |
|----------|-----------|---------|---------|-------------|--------------------------------------------|
| Acceptance Criteria | 39 | 35 | 2 | 2 | 92.3% |
| Restrictions | 20 | 18 | 1 | 1 | 92.5% |
| **Total** | **59** | **53** | **3** | **3** | **92.4%** |

Coverage clears the 75% gate with margin under both the inclusive reading (PARTIAL = covered) and the strict reading (PARTIAL not counted) — strict coverage is **(53 / 59) = 89.8%**. The remaining PARTIAL / Not Covered items are: AC-8.6 scene-change subset (needs labeled change-pair dataset, deferred), AC-NEW-5 hot-soak chamber (physical hardware, deferred), AC-7.1 / AC-7.2 (no AI-camera fixture, deferred), RESTRICT-CAM-2 (paired with AC-7.x), RESTRICT-HW-2 chamber portion (paired with AC-NEW-5).

## Uncovered Items Analysis

> Revised 2026-05-09 (Plan Phase 2a.0): AC-NEW-4 and AC-NEW-7 rows removed from this section after AC-text relaxation (Q3=B) flipped them to Covered with residual risk tracked in the Step 4 risk register.

| Item | Reason Not Covered | Risk | Mitigation |
|------|-------------------|------|-----------|
| AC-7.1 | No AI-camera fixture in `input_data/`; AC scoped to a different sensor than the nav camera; level-flight assumption + bank/pitch <5° is independent of the nav-cam pipeline | Object-localization accuracy untested; AI consumers may receive wrong coordinates if not flight-tested | Deferred to a follow-up Plan cycle scoped to AI-camera integration; recorded in `_docs/_process_leftovers/2026-05-09_ai-camera-fixture-deferred.md` (will be created in Phase 3 if confirmed). |
| AC-7.2 | Same as AC-7.1 | Same | Same |
| AC-8.6 (scene-change subset) | Only 2/60 stills paired with `_gmaps.png`; no labeled change-pair dataset bundled in `input_data/`. Independent of the AC-NEW-4 / AC-NEW-7 multi-flight gap (those were resolved by AC-text relaxation; AC-8.6 still needs labeled change-pair data) | Stale-tile match in active-conflict sectors may yield false `satellite_anchored`; AC-NEW-6 partially compensates but scene-change recall is unmeasured | Deferred to a follow-up cycle when labeled change-pair data becomes available (Maxar Open Data Ukraine + AerialVL change-pair subset). Scale-ratio half of AC-8.6 IS covered. |
| AC-NEW-5 | Workstation thermal-day baseline only. AC-NEW-5 hot-soak (25 W @ +50 °C, 8 h, no throttle) requires a thermal chamber — physical hardware, not data | Without chamber test, AC-4.1 latency budget at +50 °C is not validated; D-CROSS-LATENCY-1 hybrid auto-degrade unproven under real thermal stress | Chamber-attached Jetson runner gated as release-tag-blocker. NOT counted as data-acquisition deferral; counted as physical hardware deferral. |
| RESTRICT-CAM-2 | Paired with AC-7.x — no AI-camera fixture | Same as AC-7.x | Same as AC-7.x |
| RESTRICT-HW-2 (chamber portion) | Paired with AC-NEW-5 — physical chamber required | Same as AC-NEW-5 | Same as AC-NEW-5 |

## New findings forwarded into Plan (Steps 2 + 3 inputs)

These insights from Phase 2 augment the F1-F5 carried over from Phase 1; together they feed forward into Solution Analysis (Step 2) and Component Decomposition (Step 3):

1. **F6 — Two-tier execution profile is a first-class architectural concern.** The split between Tier-1 (workstation Docker) and Tier-2 (Jetson hardware) means several AC have validation locations that must appear in the deployment plan and in the CI matrix design. Add a "Tier-2 hardware-runner availability" entry to the project's risk register (Step 4).
2. **F7 — `mock-suite-sat-service` is an e2e-test fixture for the not-yet-shipped D-PROJ-2 POST contract.** It is **not a first-class component** (ADR-007 reversed 2026-05-09); the architectural counterparty for both download and upload is the real `satellite-provider`. The contract sketch is the source of truth and lives in `_docs/_process_leftovers/2026-05-09_satellite-provider-design-tasks.md`; the fixture mirrors it for NFT-SEC-01 / FT-P-17 / IT runs and is retired when the real endpoint ships. Component decomposition (Step 3) treats the Service-publish contract as a C11 `TileUploader` ↔ `satellite-provider` boundary (not buried inside C8).
3. **F8 — VioStrategy parameterization in CI requires both a production binary AND a research binary.** D-C1-1-SUB-A locked the BUILD_VINS_MONO=ON/OFF split; the test plan must produce both binaries on every PR for the comparative-study report (IT-12 in `solution.md`). Add to deployment plan (Step 2) and to epic/work-item planning (Step 6).
4. **F9 — D-PROJ-3 (fixture acquisition) is now a named deliverable** with a clear gate: must resolve before greenfield Step 5 re-runs the full test-spec with architecture context. Promote to risk register and to the architecture's open-items list.
5. **F10 — Defense-in-depth security layer (NFT-SEC-05 DNS blackholing, OPENCV ASan build, SBOM signing-passkey verification)** implies CI/build infrastructure features (multi-stage build for ASan instrumentation, SBOM generator, lockfile linter). Add to deployment plan (Step 2).