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Oleksandr Bezdieniezhnykh 31a300f8a2 [AZ-388] C5 AC-5.2 no-estimate fallback detector + signal emission

Implements Invariant 9 / AC-5.2: when current_estimate cannot return a
fresh output for >= state.no_estimate_fallback_s (default 3.0 s), emit
ONE engagement signal (FDR kind=c5.state.no_estimate_fallback_engaged
+ GCS STATUSTEXT severity CRITICAL); on recovery, ONE recovery signal
(FDR kind=c5.state.no_estimate_fallback_recovered + STATUSTEXT NOTICE).
Rate-limited via single _in_fallback latch (AC-2: 30 s sustained
no-estimate still emits exactly one engagement).

New FallbackWatcher class owns the state machine; estimator wires it
through constructor + current_estimate entry/success hooks. Public
check_fallback_state(now_ns) watchdog (NFR p99 <= 5 us) + subscribe
APIs let C8 outbound react without coupling C5 to a concrete GCS
adapter at construction. Severity enum extended with CRITICAL=2 and
NOTICE=5 to match MAVLink MAV_SEVERITY.

18 new unit tests across all 8 ACs, deterministic synthetic clock,
integration tests patch monotonic_ns through GtsamIsam2StateEstimator
to drive AC-7 iSAM2 leg (ESKF leg deferred to AZ-386).

Full suite: 607 passed, 2 skipped.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-11 06:53:22 +03:00

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flow: greenfield step: 7 name: Implement status: in_progress sub_step: phase: 6 name: implement-tasks detail: "batch 16 of N committed (AZ-388 c5 ac-5.2 fallback: FallbackWatcher + threshold/rate-limit + FDR engagement/recovery + GCS STATUSTEXT severities + watchdog API + subscriber pattern for C8)" retry_count: 0 cycle: 1 tracker: jira

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378 B

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