Oleksandr Bezdieniezhnykh
64542d32fc
Transitioned the autodev state to phase 21, reflecting the completion of Step 5 and the drafting of Step 6 epics. Revised the architecture documentation to clarify the roles of the Tile Manager and its components, ensuring accurate representation of the system's operational flow. Updated glossary entries for Flight State and Operator to incorporate recent changes and enhance clarity on component interactions and responsibilities.
5.1 KiB
Test Specification — C4 Pose Estimator
Component-scoped. Suite-level coverage in _docs/02_document/tests/*.md.
Acceptance Criteria Traceability
| AC ID | Acceptance Criterion (one-line) | Test IDs | Coverage |
|---|---|---|---|
| AC-1.1 | Frame-center GPS within 50 m for ≥80% of normal-flight photos | FT-P-01, C4-IT-01 | Covered |
| AC-1.2 | Frame-center GPS within 20 m for ≥50% | FT-P-01, C4-IT-01 | Covered |
| AC-1.4 | Estimate reports 95% covariance + source label | FT-P-03, C4-IT-02 | Covered |
| AC-4.1 | E2E latency <400 ms p95 (incl. Marginals) | NFT-PERF-01, C4-PT-01 | Covered |
| AC-NEW-5 | Operating envelope; thermal-throttle-driven covariance degradation hybrid | NFT-LIM-04, C4-IT-03 | Covered (workstation portion) |
Component-Internal Tests
C4-IT-01: PnP convergence + WGS84 accuracy on Derkachi
Summary: for the Derkachi normal segment, p80 of frame-center positions land within 50 m of ground truth, p50 within 20 m.
Traces to: AC-1.1, AC-1.2
Description: feed MatchResult from C3 (Derkachi normal-segment fixture) into estimate; convert position_wgs84 to local frame; compute distance to recorded GPS ground truth; assert p80 ≤ 50 m and p50 ≤ 20 m.
Input data: flight_derkachi/normal_segment_60_stills/ (with recorded GPS ground truth) + corresponding C3 MatchResult outputs (replayed from a recorded fixture so the test is C4-isolated).
Expected result: p80 ≤ 50 m, p50 ≤ 20 m.
Max execution time: 60 s.
C4-IT-02: 6×6 covariance is SPD and honest under match degradation
Summary: every emitted PoseEstimate carries an SPD covariance_6x6; under inlier degradation (synthetically reduced inlier count), the covariance norm rises monotonically.
Traces to: AC-1.4
Description: replay 100 frames; for each, assert (a) covariance is symmetric and positive-definite, (b) when a fixture-injected inlier-degradation event occurs at frame 50, the cov norm rises and stays elevated for ≥10 frames. Also assert source_label reflects the gate state — satellite_anchored only when C5's gate confirms; visual_propagated otherwise.
Input data: synthetic_matcher/inlier_degradation_at_f50/.
Expected result: 100/100 frames pass SPD invariant; cov norm rises ≥1.5× steady-state for the degradation interval.
Max execution time: 60 s.
C4-IT-03: D-CROSS-LATENCY-1 hybrid auto-degrade switch
Summary: when ThermalState.throttle == true, current_covariance_mode() returns JACOBIAN; when false, returns MARGINALS. The switch is per-frame.
Traces to: AC-NEW-5 (workstation-baseline portion; hot-soak chamber deferred)
Description: drive a 60 s replay alternating thermal flag every 5 s; assert covariance_mode in each emitted PoseEstimate matches the input thermal flag for that frame; assert no jitter or hysteresis (the spec calls for per-frame decision).
Input data: synthetic frames + a ThermalState injection harness.
Expected result: 100% match between thermal input and covariance_mode output.
Max execution time: 90 s.
C4-IT-04: shared-graph integration with C5
Summary: factors added by C4 to C5's iSAM2 graph survive an update/marginalCovariance cycle without corrupting prior keyframes.
Traces to: AC-1.4 (defensive — backstops the C4↔C5 shared-substrate co-dependency per ADR-003)
Description: in a single test process, instantiate C5 with a 10-keyframe synthetic prior; have C4 add a GenericProjectionFactorCal3DS2 for keyframe 11; trigger iSAM2 update; assert (a) the previously-known keyframe poses change by less than configurable tolerance (10 cm position, 0.5° rotation), (b) marginals on every keyframe remain SPD.
Input data: synthetic 10-keyframe iSAM2 prior + a known correspondence set.
Expected result: prior-keyframe perturbations within tolerance; SPD invariant holds.
Max execution time: 60 s.
Performance Tests
C4-PT-01: Marginals vs Jacobian path latency on Tier-2
Traces to: AC-4.1
Load scenario: 3 Hz, 10 min replay; thermal flag toggled every 30 s to exercise both modes.
Expected results:
| Metric | Target | Failure Threshold |
|---|---|---|
estimate p95 (MARGINALS, K=15) |
≤ 90 ms | 130 ms |
estimate p95 (JACOBIAN) |
≤ 15 ms | 25 ms |
| Mode-switch latency | < 1 frame (i.e., next-frame switch) | > 1 frame |
Security Tests
C4 has no externally-reachable surface.
Acceptance Tests
Covered transitively via FT-P-01 / FT-P-03 / FT-P-09-AP / FT-P-09-iNav.
Test Data Management
| Data Set | Source | Size |
|---|---|---|
Replayed C3 MatchResult for Derkachi |
recorded once via fixture-build script | ~30 MB |
synthetic_matcher/inlier_degradation_at_f50/ |
generated | ~10 MB |
| Synthetic 10-keyframe iSAM2 prior | scripted | <1 MB |
Setup: replay fixture must be re-recorded if C3's output schema changes (versioned in tests/fixtures/c4_inputs/<schema-version>/).
Teardown: read-only.
Data isolation: per-test temp dirs.