MAVLink GCS Gateway

Task: AZ-224_mavlink_gcs_gateway Name: MAVLink GCS Gateway Description: Subscribe to FC telemetry, emit GPS_INPUT, and publish QGC-visible status/failsafe messages. Complexity: 3 points Dependencies: AZ-220_shared_runtime_contracts, AZ-222_runtime_config_errors_telemetry Component: MAVLink And GCS Integration Tracker: AZ-224 Epic: AZ-210

Problem

The runtime needs a strict protocol boundary for ArduPilot Plane telemetry in and GPS-denied estimates/status out.

Outcome

FC telemetry is normalized into shared samples.
GPS_INPUT is emitted only from validated position estimates.
QGC status is rate-limited and safety-relevant.

Scope

Included

Telemetry subscription behavior.
GPS_INPUT field validation and emission result.
QGC status/failsafe message emission.

Excluded

Safety policy and covariance calculation.
SITL test runner implementation.

Dependencies

Document Dependencies

_docs/02_document/contracts/shared/runtime_contracts.md
_docs/02_document/contracts/shared/config_errors_telemetry.md

Acceptance Criteria

AC-1: Telemetry sample emitted Given a valid FC telemetry stream When the gateway subscribes Then normalized telemetry samples are available to consumers.

AC-2: Invalid GPS_INPUT is rejected Given a malformed or unsafe position estimate When emission is requested Then no invalid GPS_INPUT packet is emitted.

AC-3: Operator status is rate-limited Given repeated mode changes or warnings When status is emitted Then QGC-visible messages stay within the configured rate.

Non-Functional Requirements

Reliability

Connection loss is surfaced to wrapper/FDR.

Unit Tests

AC Ref	What to Test	Required Outcome
AC-1	Telemetry normalization	Shared sample emitted
AC-2	Invalid fix type/accuracy	Emission rejected
AC-3	Status burst	Rate limit enforced

Blackbox Tests

AC Ref	Initial Data/Conditions	What to Test	Expected Behavior	NFR References
AC-2	Plane SITL	`GPS_INPUT` output	Fields match ArduPilot expectations	Reliability

Constraints

v1 emits GPS_INPUT only.
Do not hide MAVLink disconnects or invalid output errors.

Risks & Mitigation

Risk 1: ArduPilot parameter mismatch

Risk: Plane ignores or mishandles emitted estimates.
Mitigation: SITL validation remains a release gate.

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