mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 02:31:12 +00:00
Oleksandr Bezdieniezhnykh
31a300f8a2
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>
15 lines
378 B
Markdown
15 lines
378 B
Markdown
# Autodev State
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## Current Step
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flow: greenfield
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step: 7
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name: Implement
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status: in_progress
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sub_step:
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phase: 6
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name: implement-tasks
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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)"
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retry_count: 0
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cycle: 1
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tracker: jira
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