gps-denied-onboard/.planning/phases/02-acceptance-criteria-test-taxonomy-observability-spine/02-04-SUMMARY.md

---

phase: 02-acceptance-criteria-test-taxonomy-observability-spine plan: "04" subsystem: traceability tags: [ac-traceability, pytest-markers, bidirectional-coverage] dependency_graph: requires: [02-01, 02-02, 02-03] provides: [scripts/gen_ac_traceability.py, .planning/AC-TRACEABILITY.md, @pytest.mark.ac decorations] affects: [02-05-CI-gate, AC-06-satisfaction] tech_stack: added: [] patterns: [argparse-cli, subprocess-pytest-collect, ac-marker-plugin, class-level-pytestmark] key_files: created: - scripts/gen_ac_traceability.py - .planning/AC-TRACEABILITY.md modified: - tests/test_acceptance.py - tests/test_accuracy.py - tests/test_processor_pipe.py - tests/test_gps_input_encoding.py - tests/test_sitl_integration.py - tests/test_mavlink.py - tests/test_schemas.py decisions:

• "AC-TRACEABILITY.md committed to .planning/ with git add -f (path is gitignored but other .planning files are tracked)"
• "test_gps_input_encoding.py marked at module/pytestmark level (all 13 tests -> AC-4.3)"
• "TestGPSPoint and TestWaypoint marked at class level -> AC-6.3 (propagates to methods)"
• "Orphan ACs get pending-phase-3 annotation in Plan 02-05 (documented decision carried forward)" metrics: duration: "~15 minutes" completed: "2026-05-11" tasks_completed: 4 files_created: 2 files_modified: 7

---

Phase 02 Plan 04: AC Traceability Script + Test Decorations Summary

One-liner: scripts/gen_ac_traceability.py + 38 @pytest.mark.ac(...) decorations cover 14 of 35 non-deferred ACs in the initial matrix, with --check deterministic for CI gating.

Tasks Completed

Task	Status	Commit
1: Implement gen_ac_traceability.py	Done	4bf6f67
2: Decorate 7 test files	Done	6a1cd51
3: Regenerate and commit AC-TRACEABILITY.md	Done	419e9c5
4: Regression gate	Done	(verification only)

Task 1: Script Implementation

The script matches RESEARCH.md §2.3 exactly with one minor adaptation: the --strict alias is added as --check, --strict on the same argument (both names accepted by argparse via nargs).

Functions implemented:

• collect_acs_from_doc() — regex parses - **AC-X.Y** headers + deferred-hardware token within each block
• collect_acs_from_tests() — subprocess pytest --collect-only -q --ac-dump=<tmp> reads the JSON from conftest Plan 02-02 hook
• render_md() — produces header stats, | AC ID | Test count | Tests | Status | table, backward-orphan section
• main() — argparse + --check exit-1 on any non-deferred orphan or unknown AC ID

Deviations vs RESEARCH.md §2.3: None material. The plan's verbatim source was used as written.

Task 2: Decoration Counts Per File

File	Decorator lines added	AC IDs tagged	Notes
test_acceptance.py	8	AC-1.1, AC-2.1a, AC-3.3, AC-3.4, AC-4.1, AC-4.4, AC-1.4	per-function decorators
test_accuracy.py	11	AC-1.1, AC-1.2, AC-1.3, AC-2.1a, AC-2.2, AC-4.1	per-function decorators
test_processor_pipe.py	2	AC-4.4, AC-1.4	per-function decorators
test_gps_input_encoding.py	1	AC-4.3	module-level pytestmark (13 tests inherit)
test_sitl_integration.py	9	AC-4.3, AC-4.4, AC-NEW-2, AC-5.2, AC-3.4	per-function decorators
test_mavlink.py	5	AC-4.3, AC-5.2, AC-3.4	per-function decorators
test_schemas.py	2	AC-6.3	class-level decorators (propagate to methods)
Total	38	14 unique ACs

Total tests collected under -m ac: 45 (from 298 collected).

AC Coverage Table

AC ID	Covered?	Reason if orphan
AC-1.1	Yes	test_acceptance (2), test_accuracy (3)
AC-1.2	Yes	test_accuracy (2)
AC-1.3	Yes	test_accuracy (1)
AC-1.4	Yes	test_acceptance (1), test_processor_pipe (1)
AC-2.1a	Yes	test_acceptance (1), test_accuracy (1)
AC-2.1b	No	No test explicitly checks cross-domain registration separately from VO
AC-2.2	Yes	test_accuracy (1)
AC-3.1	No	No outlier-tolerance test in Phase 2 test files
AC-3.2	No	No sharp-turn test in Phase 2 test files
AC-3.3	Yes	test_acceptance (1) — factor graph convergence
AC-3.4	Yes	test_acceptance (1), test_mavlink (1), test_sitl (1)
AC-3.5	No	No visual-blackout mode-switch test in Phase 2
AC-4.1	Yes	test_acceptance (1), test_accuracy (2)
AC-4.2	No	No memory-bound test exists in Phase 2
AC-4.3	Yes	test_gps_input_encoding (12), test_mavlink (3), test_sitl (5)
AC-4.4	Yes	test_acceptance (3), test_processor_pipe (1), test_sitl (1)
AC-4.5	No	No refinement/correction round-trip test in Phase 2
AC-5.1	No	Phase 3 target — FC EKF init test not yet written
AC-5.2	Yes	test_mavlink (1), test_sitl (1)
AC-5.3	No	Phase 3 target — mid-flight reboot recovery
AC-6.1	No	No GCS downsample rate test in Phase 2
AC-6.2	No	No operator reloc command test in Phase 2
AC-6.3	Yes	test_schemas TestGPSPoint (4), TestWaypoint (2)
AC-7.1	No	Phase 3+ — AI camera localization accuracy
AC-7.2	No	Phase 3+ — trig computation
AC-8.1	No	Phase 3/4 — satellite imagery integration
AC-8.2	No	Phase 3/4 — tile freshness
AC-8.3	No	Phase 3/4 — pre-flight loading
AC-8.4	No	deferred-stage3 per AC doc
AC-8.5	No	Phase 4 — storage policy
AC-8.6	No	Phase 4/VPR — conditional VPR
AC-NEW-1	DEFERRED (hardware)	cold-boot bench requires Jetson
AC-NEW-2	Yes	test_sitl (1) — spoofing-promotion via GPS_INPUT accepted
AC-NEW-3	No (partial deferred)	integration-test scope not yet written; deferred-hardware for real NVMe
AC-NEW-4	No	Phase 3 — Monte Carlo false-position budget
AC-NEW-5	DEFERRED (hardware)	hot/cold soak chamber
AC-NEW-6	No	Phase 3 — freshness enforcement
AC-NEW-7	DEFERRED (hardware)	multi-flight voting
AC-NEW-8	No	Phase 3 — visual blackout + GPS spoofing budget

Summary: 14 ACs covered / 35 non-deferred / 4 deferred = 40% initial coverage. Expected — Phase 3+ plans will add the bulk of missing tests.

Outstanding Orphan List for Plan 02-05

The following 21 non-deferred ACs have zero tests after Plan 02-04. Per the plan-recorded decision, Plan 02-05 should annotate these with status: pending-phase-3 in the AC doc and widen the --check orphan detector to exempt pending-phase-3 ACs:

AC-2.1b   AC-3.1    AC-3.2    AC-3.5    AC-4.2
AC-4.5    AC-5.1    AC-5.3    AC-6.1    AC-6.2
AC-7.1    AC-7.2    AC-8.1    AC-8.2    AC-8.3
AC-8.4    AC-8.5    AC-8.6    AC-NEW-4  AC-NEW-6
AC-NEW-8

(21 non-deferred orphans; AC-NEW-3 has partial deferred status and is not counted.)

--check Determinism Confirmation

Two consecutive python scripts/gen_ac_traceability.py --check runs produce identical stderr output and identical exit code (rc=1 in both runs). diff /tmp/c1.log /tmp/c2.log is empty.

Final Regression Count

216 passed, 8 skipped in 13.44s

Baseline: passed=216. Current: 216 passed. Parity maintained.

Git-Diff Hygiene Check

git diff tests/test_acceptance.py tests/test_accuracy.py \
         tests/test_processor_pipe.py tests/test_gps_input_encoding.py \
         tests/test_sitl_integration.py tests/test_mavlink.py tests/test_schemas.py \
| grep -E '^[-+]' \
| grep -vE '^(\+\+\+|---|@@|[-+]@pytest\.mark\.ac\(|[-+]pytestmark = \[pytest\.mark\.|[-+]\s*$)'

Output: empty. Only @pytest.mark.ac(...) decorators and one pytestmark = list extension were added. No logic edits.

Deviations from Plan

None — plan executed exactly as written.

The .planning/AC-TRACEABILITY.md was committed with git add -f because the .gitignore excludes .planning/ globally, but other .planning/ files (STATE.md, ROADMAP.md, REQUIREMENTS.md) are already tracked via prior force-adds — this is consistent with project convention.

Known Stubs

None. The script and matrix are fully wired: script produces real data from pytest collection, matrix reflects actual tagged tests.

Threat Flags

None. Script reads local filesystem and invokes pytest as subprocess — no new network endpoints, auth paths, or trust-boundary surface introduced.

Self-Check: PASSED

• scripts/gen_ac_traceability.py exists: FOUND
• .planning/AC-TRACEABILITY.md exists with 39 ACs: FOUND
• Commits 4bf6f67, 6a1cd51, 419e9c5: verified via git log --oneline