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Oleksandr Bezdieniezhnykh
8a9cf88a46
AZ-396: PymavlinkArdupilotAdapter.request_source_set_switch body sends MAV_CMD_SET_EKF_SOURCE_SET, awaits COMMAND_ACK with timeout, enforces Invariant 11 idempotence (1s rate-limit + skip-after-success). Adds runtime_root.SpoofRecoverySink to bridge C5 spoof-promotion-recovered signal to the C8 outbound thread via a bounded dispatch queue. FcConfig gains spoof_recovery_source_set + source_set_switch_timeout_ms. AZ-397: QgcTelemetryAdapter implements GcsAdapter strategy: MAVLink 2.0 to QGC, emit_summary downsamples 5Hz to configurable summary_rate_hz [0.5, 5.0] via integer modulo, emit_status_text mirrors to GCS link, subscribe_operator_commands translates COMMAND_LONG / PARAM_REQUEST_* / REQUEST_DATA_STREAM / MISSION_* / SET_MODE into OperatorCommand DTOs and audits each receipt to FDR. FcKind.GCS_QGC added for PortConfig. Tests: 25 new (12 AZ-396 + 13 AZ-397); full suite 501 passing, 2 skipped. Contracts unchanged (additive FcConfig fields, range relaxation on GcsConfig.summary_rate_hz, additive FcKind enum value). Co-authored-by: Cursor <cursoragent@cursor.com>