gps-denied-onboard/_docs/_autodev_state.md

Autodev State

Current Step

flow: existing-code step: 10 name: Implement status: in_progress sub_step: phase: 6 name: implement-tasks detail: "batch 10 = AZ-962 SHIPPED end-to-end + 2 new tickets filed. Implemented configs/operator_replay.yaml (registers c6/c7/c10/c11 with defaults; backbones: [] intentionally — see AZ-965), docker-compose.test.jetson.yml exports GPS_DENIED_OPERATOR_CONFIG_PATH=/opt/configs/operator_replay.yaml + bind-mounts ./configs:/opt/configs:ro, ENV_KEY_MAP (src/gps_denied_onboard/config/loader.py) gained two entries (SATELLITE_PROVIDER_URL → c11.satellite_provider_url, SATELLITE_PROVIDER_API_KEY → c11.service_api_key) so secrets flow from .env.test and never land in YAML, and README dropped the manual export step. 97/97 c11+config unit tests stay green. Tier-2 re-run on Jetson AGX Orin (JETSON_SSH_ALIAS=jetson bash scripts/run-tests-jetson.sh): 4 failed / 48 passed / 1 skipped / 1 xfailed / 1 xpassed / 2 errors in 84.99s — i.e. -2 skipped, +2 errors vs the prior baseline. AZ-962 AC-3 + AC-4 satisfied: AZ-840 orchestrator no longer SKIPs at env-var; it now ERRORs at a deeper, real gate during fixture setup with IndexUnavailableError: FaissDescriptorIndex: .index file missing at /tmp/pytest-of-root/pytest-0/operator_pre_flight_cache0/descriptor.index. Same error in test_operator_pre_flight_integration.py::test_operator_pre_flight_setup_produces_populated_cache confirms fixture-wide bug, not a single-test issue. Root cause: conftest.py:487 calls build_descriptor_index(config) against a fresh empty c6_tile_cache.root_dir (tmp dir per AZ-839 invariant) — FAISS factory needs an existing .index. tile-init compose service exists but writes its seed to /var/lib/gps-denied/tiles, not the tmp dir the fixture overrides into. Filed AZ-964 (3 SP, To Do, FAISS index bootstrap; preferred fix = invoke mk_test_faiss_fixture.py inline against override root_dir) and AZ-965 (3 SP, To Do, blocked by AZ-964, NetVLAD ONNX backbone provisioning — the next gate after FAISS clears). AZ-962 transitioned To Do → In Progress → Done in Jira (read-back verified). AZ-962 spec moved todo/ → done/. Cycle-4 e2e gate still NOT GREEN: AZ-840 chain is now AZ-964 → AZ-965 → orchestrator PASS; 60s smoke is AZ-963 → 4 derkachi_1min tests PASS. OKVIS2 deferral directive still in force (not yet met). Earlier same-day batch 9 = Tier-2 Jetson e2e validation run NOT GREEN. Ran JETSON_SSH_ALIAS=jetson bash scripts/run-tests-jetson.sh; result = 4 failed / 48 passed / 3 skipped / 1 xfailed / 1 xpassed in 90.59s. Two distinct blockers: (1) AZ-840 orchestrator test SKIPPED because GPS_DENIED_OPERATOR_CONFIG_PATH not exported by docker-compose.test.jetson.yml AND operator_replay.yaml missing from repo — Epic AZ-835's 'Done' status was validated by doc-content only, never by actual orchestrator test execution; (2) AZ-895 fallout — 4 tests in test_derkachi_1min.py regress with EstimatorFatalError('eskf filter divergence: mahalanobis²=212.311 > 100.0') at frame 233 because the CSV-driven path (now primary) runs open-loop on the Derkachi fixture (no reference C6 tile cache → no satellite anchoring). Filed AZ-962 (3 SP, operator config + compose wiring) and AZ-963 (3 SP, ESKF regression triage). OKVIS2 chain stays deferred per user 2026-05-29 directive ('after Derkachi e2e green' — directive unchanged; e2e not green). AZ-842 caveat: the AZ-840/AZ-842 'Done' tracker state set earlier today is contingent on whether convention (A) 'In Testing = shipped' or (B) 'Done = shipped+tested' applies; user-skipped convention question, leftover holds the walk-back payload if needed. Cycle-4 not green. Earlier same-day batch 8 = tracker-only fix for AZ-842 (To Do → Done, read-back verified) + wider Jira drift audit recorded as _docs/_process_leftovers/2026-05-29_jira_status_drift_audit.md. 10 cycle-3/4 tickets (AZ-836/838/839/840/894/895/896/899/900/901) shipped to done/ locally but stuck in 'In Testing' in Jira; Epic AZ-835 in todo/ with all 5 children done. User skipped A/B/C/D convention question — leftover holds the bulk-transition payload for whichever convention they pick. Corrected cycle-4 todo/ remainder: nothing actionable. Earlier narratives that listed AZ-899/900/901 as 'cycle-4 todo/ remainder for next batches' were fiction — those specs have been in done/ the whole time. OKVIS2 chain (AZ-943/951/952) sits in todo/ but is deferred per user 2026-05-29 directive until after Derkachi e2e flight test passes. Cycle-4 product work is effectively complete pending Derkachi e2e green + AZ-897 UI in ../ui." retry_count: 0 cycle: 4 tracker: jira