gps-denied-onboard/_docs/03_implementation/reviews/batch_09_review.md

Code Review Report

Batch: AZ-232_safety_anchor_state_machine Date: 2026-05-03 Verdict: PASS

Findings

No findings.

Review Scope

• Task spec:
  • _docs/02_tasks/todo/AZ-232_safety_anchor_state_machine.md
• Changed files:
  • src/safety_anchor_wrapper/__init__.py
  • src/safety_anchor_wrapper/interfaces.py
  • src/safety_anchor_wrapper/types.py
  • tests/unit/test_safety_anchor_wrapper.py

Phase Notes

Spec Compliance

• AZ-232 AC-1 is covered by test_vio_state_updates_position_estimate_with_honest_covariance.
• AZ-232 AC-2 is covered by test_accepted_anchor_corrects_state_and_records_evidence.
• AZ-232 AC-3 is covered by test_blackout_degrades_then_reaches_no_fix_with_monotonic_covariance.
• AZ-232 AC-4 is covered by test_tile_write_eligibility_requires_trusted_low_covariance_pose.

Code Quality

The safety wrapper owns source-label, covariance, anchor-promotion, degraded-mode, and tile-eligibility decisions without reaching into VIO, Anchor Verification, MAVLink transport, or Tile Manager internals.

Security Quick-Scan

No network calls, shell execution, dynamic code execution, hardcoded secrets, or credential logging were introduced.

Performance Scan

State transitions are constant-time and operate on typed DTOs. No per-frame heavy retrieval or matching work was introduced.

Cross-Task Consistency

The wrapper consumes VioStatePacket and AnchorDecision outputs from previous batches and emits shared PositionEstimate DTOs for MAVLink/GCS integration.

Architecture Compliance

Imports respect _docs/02_document/module-layout.md: Safety And Anchor Wrapper imports shared contracts and does not call Tile Manager directly during anchor acceptance.

Verification

• .venv/bin/python -m black --check src tests e2e/replay
• .venv/bin/python -m ruff check src tests e2e/replay
• .venv/bin/python -m pytest