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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
33486588de
E-CC-HELPERS closes with the three remaining Layer-1 helpers and E-CC-CONF closes with the env > YAML > defaults precedence test gate. All four tickets ship with frozen public surfaces, hermetic unit tests, and no upward (components.*) imports. * AZ-271 — tests/unit/shared/config/test_precedence.py (5 ACs + smoke test + helper that names the layer in failure messages). * AZ-282 — helpers/ransac_filter.py: static RansacFilter + RansacResult; cv2.setRNGSeed(0) for byte-equal determinism; median residual semantics pinned by contract. * AZ-276 — helpers/imu_preintegrator.py + make_imu_preintegrator; GTSAM PreintegratedCombinedMeasurements; strict-monotonic ts_ns guard runs before any state mutation. Adjacent hygiene: _types/nav.py ImuSample/ImuWindow now use ts_ns:int and the spec-mandated ImuBias dataclass. * AZ-278 — helpers/lightglue_runtime.py: structural R14 fix. LightGlueRuntime + non-blocking concurrent-access guard that raises rather than serialising. EngineHandle Protocol in _types/manifests.py + KeypointSet/CorrespondenceSet in _types/matching.py (Protocol surface adds approved by spec). Dependency conflict (Finding 1, user-approved): gtsam 4.2 (PyPI) is numpy-1.x-ABI only; opencv-python>=4.12 needs numpy>=2 at runtime. Resolution: opencv-python pin relaxed to >=4.11.0.86,<4.12. The D-CROSS-CVE-1 ratchet at ci/opencv_pin_gate.py is held at 4.11.0 with the original 4.12.0 floor restored once a numpy-2-compatible gtsam wheel ships. Full replay procedure in _docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md. Tests: 294 passed, 2 skipped (cmake/actionlint env-skips, pre-existing). 43 new tests added for batch 5. Ruff check + format clean. Co-authored-by: Cursor <cursoragent@cursor.com>