mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 17:01:13 +00:00
Oleksandr Bezdieniezhnykh
f6a180e5df
Bookkeeping for batch 51 close: - Archive AZ-340 spec todo/ -> done/ - Add _docs/03_implementation/batch_51_cycle1_report.md - Add _docs/03_implementation/cumulative_review_batches_49-51_cycle1_report.md Verdict: PASS_WITH_WARNINGS. F1 (Medium) escalates the 2-way _assert_engine_output_dim near-duplicate from cumulative-46-48 to a 7-way duplication after AZ-339 + AZ-340; new hygiene PBI AZ-527 formally created. F2 (Low) carries the AC-10 ConfigError vs literal ConfigurationError spec drift (documentation only). - File AZ-527 hygiene PBI (Hygiene -- consolidate _assert_engine_output_dim into a c2-internal helper, 2pt, AZ-255 E-C2). Add the spec stub at _docs/02_tasks/todo/AZ-527_*.md. - Refresh _docs/02_tasks/_dependencies_table.md: +AZ-527 row, totals bumped to 148 tasks / 491 points. - Bump _docs/_autodev_state.md: last_completed_batch=51, last_cumulative_review=batches_49-51. Co-authored-by: Cursor <cursoragent@cursor.com>
342 lines
46 KiB
Markdown
342 lines
46 KiB
Markdown
# Dependencies Table
|
||
|
||
**Date**: 2026-05-14 (refreshed after Batch 51: AZ-527 hygiene PBI added from cumulative review batches 49-51 F1; earlier 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hygiene PBI added from cumulative review batches 46-48 F1+F3; same-day refresh after Batch 44 SRP refactor: AZ-317 superseded; AZ-329 + AZ-330 specs rewritten; AZ-523 + AZ-524 audit-trail tickets added; E-C12 epic renamed `Operator Pre-flight Tooling` → `Operator Pre-flight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**Total Tasks**: 148 (107 product + 41 blackbox-test) — AZ-317 retained in the table marked SUPERSEDED for audit; AZ-523 (C11 gate removal) + AZ-524 (C12 rename) added as 2 closed audit-trail tasks; AZ-526 = 2pt clock-helper hygiene; AZ-527 = 2pt c2 engine-dim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
|
||
**Total Complexity Points**: 491 (358 product + 133 blackbox-test) — AZ-523 = 3pt, AZ-524 = 2pt, AZ-526 = 2pt, AZ-527 = 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 Protocol + JsonlReplaySink impl | 3 | AZ-263, AZ-269, AZ-270, AZ-381, AZ-266, AZ-272 | AZ-265 |
|
||
| AZ-401 | compose_replay(config) -> ReplayRoot + Clock injection across C1–C5 | 3 | AZ-398, AZ-399, AZ-400, AZ-269, AZ-270, AZ-263, AZ-266, AZ-272, AZ-390 | AZ-265 |
|
||
| AZ-402 | gps-denied-replay CLI entrypoint + argparse + camera-calibration loader | 3 | AZ-401, AZ-269, AZ-270, AZ-263, AZ-266, AZ-272, AZ-273 | AZ-265 |
|
||
| AZ-403 | gps-denied-replay-cli Dockerfile + GitHub Actions matrix entry + SBOM diff | 3 | AZ-402, AZ-398, AZ-399, AZ-400, AZ-401, AZ-263, AZ-269, AZ-266 | AZ-265 |
|
||
| AZ-404 | E2E replay fixture test — Derkachi 1–2 min clip + tlog | 5 | AZ-402, AZ-403, AZ-401, AZ-263, AZ-269, AZ-266, AZ-272, AZ-273 | AZ-265 |
|
||
| AZ-405 | Auto-sync of video ↔ tlog via IMU take-off detection | 5 | AZ-402, AZ-399, AZ-398, AZ-263, AZ-269, AZ-266, AZ-272 | 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-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 |
|
||
|
||
## 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_replay)** 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.
|
||
- **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 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 + CLI + auto-sync → AZ-401/402/405
|
||
|
||
- **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.
|