gps-denied-onboard/_docs/03_implementation/batch_72_report.md

Batch 72 Report — Test Implementation (cycle 1, batch 6 of test phase)

Batch: 72 Date: 2026-05-16 Context: Test implementation (greenfield Step 10 — Implement Tests) Tasks: AZ-416 (5pt), AZ-417 (3pt), AZ-419 (3pt) — 11 cp / 3 tasks Cycle: 1 Verdict: COMPLETE — PASS (self-reviewed + K=3 cumulative reviewed; see reviews/batch_72_review.md and cumulative_review_batches_70-72_cycle1_report.md)

Summary

FC contract conformance + cold-start init — the three remaining scenarios that consume mavproxy / signing / cold-boot fixtures already built in batches 67-68. Same pattern as prior batches:

• Pure-logic helper under e2e/runner/helpers/ (everything the scenario can express without docker-bound SITL access).
• Scenario file(s) under e2e/tests/positive/, parameterized across conftest fixtures, skip-gated on upstream replay / SITL observer / FDR helpers (auto-activates when AZ-441 + AZ-407 leftovers land).
• Helper-driven unit test file under e2e/_unit_tests/helpers/.

AZ-416 — FT-P-09-AP ArduPilot signing + GPS_INPUT contract (5pt)

• runner/helpers/mavproxy_tlog_reader.py — AZ-416 fills in the pymavlink-backed iter_messages body that AZ-406 reserved. Uses mavutil.mavlink_connection(str(tlog_path)) with recv_match to iterate frames; exposes TlogMessage(timestamp_us, msg_type, signed, fields). The signed flag uses msg.get_signed() with a defensive AttributeError fallback. The function is FAIL-FAST on missing files (raises FileNotFoundError); pymavlink's BAD_DATA frames are skipped silently per the standard idiom.
• runner/helpers/ap_contract_evaluator.py — four analysers:
  • observe_signing_handshake (AC-1): first signed frame within HANDSHAKE_BUDGET_S = 5.0 s AND no BAD_SIGNATURE STATUSTEXT within that window.
  • compute_gps_input_rate (AC-2): GPS_INPUT cadence ≥4.5 Hz (constant GPS_INPUT_MIN_RATE_HZ).
  • validate_ek3_src1_posxy (AC-3): the AP EKF source-set parameter must equal EK3_SRC1_POSXY_REQUIRED = 3 (GPS).
  • evaluate_gps_raw_int_health (AC-4): GPS_RAW_INT fix_type ≥ 3 AND eph ≤ 200 for ≥80 % of the window.
  • collect_messages_to_list — explicit single-pass-iterator materialisation so multiple analysers can share the tlog.
• tests/positive/test_ft_p_09_ap_signing.py — scenario forces fc_adapter=ardupilot (skips other adapters), parameterised per vio_strategy. Records signing_handshake_s, gps_input_rate_hz, ek3_src1_posxy, gps_raw_int_healthy_fraction NFR metrics with AC IDs.
• 22 unit tests in test_ap_contract_evaluator.py + 6 in test_mavproxy_tlog_reader.py.

AZ-417 — FT-P-09-iNav MSP2_SENSOR_GPS contract (3pt)

• runner/helpers/msp_frame_observer.py — pure logic for AC-2 (compute_rate_hz with MSP2_SENSOR_GPS_FUNCTION_ID = 0x1F03 + MIN_OBSERVED_RATE_HZ = 4.5) and AC-3 (evaluate_inav_gps_state with MIN_FIX_TYPE = 3 and REQUIRED_PROVIDER = "MSP").
• tests/positive/test_ft_p_09_inav.py — scenario forces fc_adapter=inav (skips other adapters), parameterised per vio_strategy. Probes TCP handshake via sitl_observer.observe_inav_tcp_handshake (gated), captures MSP frames via collect_inav_msp_frames (gated), queries iNav GPS state via query_inav_gps_state (gated).
• 14 unit tests in test_msp_frame_observer.py.

AZ-419 — FT-P-11 cold-start init (3pt)

• runner/helpers/cold_start_evaluator.py — covers ADR-010's primary + secondary + bounded-delta paths plus AC-3 no-origin abort:
  • write_manifest / read_manifest — test-fixture builder for the C10 Manifest's flight.takeoff_origin (the test fabricates one instead of fetching from C12 because the SUT consumes a Manifest file path, not a service URL).
  • read_cold_boot_fixture — parse the AZ-408 fixture JSON into a typed ColdBootSnapshot (converts lat_e7 / lon_e7 / alt_mm → decimal degrees + meters).
  • evaluate_first_estimate (AC-1/2/4): distance vs expected origin
    • source_label rule for bounded-delta + FDR record audit.
  • evaluate_no_origin_path (AC-3): SUT must produce NO outbound estimate AND FDR must record c5.cold_start_origin.unavailable.
  • Constants for accuracy budget (50 m), bounded-delta trigger (200 m), forbidden first-label (satellite_anchored), and the three FDR record types.
• tests/positive/test_ft_p_11_cold_start_init.py — two scenario functions:
  • test_ft_p_11_cold_start_origin_variants — parametrized on origin_source ∈ {operator_manifest, fc_ekf, bounded_delta_conflict}; one fixture / one assertion path per variant.
  • test_ft_p_11_cold_start_no_origin_aborts — AC-3 dedicated scenario. Both rely on sitl_observer.prepare_sitl_cold_boot + prepare_sitl_no_gps (gated until AZ-407 leftovers land).
• 19 unit tests in test_cold_start_evaluator.py.

Tests

• Full e2e unit suite: 460 passed in 134.35 s (was 393 at end of batch 71 → +67 net new tests this batch).
• Pre-existing: macOS-only /e2e-results plugin issue in scenario invocation outside Docker. Unit suite unaffected.

Files Touched

New helpers:

• e2e/runner/helpers/msp_frame_observer.py
• e2e/runner/helpers/ap_contract_evaluator.py
• e2e/runner/helpers/cold_start_evaluator.py

Modified helper:

• e2e/runner/helpers/mavproxy_tlog_reader.py — AZ-416 fills the pymavlink-backed iter_messages body that AZ-406 reserved (NotImplementedError → real iterator). Surface unchanged.

New unit tests:

• e2e/_unit_tests/helpers/test_mavproxy_tlog_reader.py (6 tests)
• e2e/_unit_tests/helpers/test_ap_contract_evaluator.py (22 tests)
• e2e/_unit_tests/helpers/test_msp_frame_observer.py (14 tests)
• e2e/_unit_tests/helpers/test_cold_start_evaluator.py (19 tests)

New scenarios:

• e2e/tests/positive/test_ft_p_09_ap_signing.py
• e2e/tests/positive/test_ft_p_09_inav.py
• e2e/tests/positive/test_ft_p_11_cold_start_init.py

Updated:

• e2e/_unit_tests/test_directory_layout.py — added 6 new paths.

Archived:

• _docs/02_tasks/todo/AZ-416_*.md → done/
• _docs/02_tasks/todo/AZ-417_*.md → done/
• _docs/02_tasks/todo/AZ-419_*.md → done/

Cumulative Review Trigger

K=3 FIRED at end of batch 72 (last cumulative covered batches 67-69; since then 70 + 71 + 72 = 3 batches). Report written: _docs/03_implementation/cumulative_review_batches_70-72_cycle1_report.md. Verdict: PASS. Next cumulative trigger: end of batch 75.