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Oleksandr Bezdieniezhnykh
7cbd17ee83
Implements Invariants 5 + 8 + AC-NEW-2 / AC-NEW-8: the EstimatorOutput.source_label now reflects a real state machine (DEAD_RECKONED → SATELLITE_ANCHORED ↔ VISUAL_PROPAGATED) governed by a spoof-promotion gate that latches closed on FC SPOOFED GPS health and re-opens only when BOTH conditions hold — ≥10 s STABLE_NON_SPOOFED AND next anchor within spoof_promotion_visual_consistency_tol_m. Every reject emits a c5.state.spoof_rejected FDR record plus a subscriber-fan-out STATUSTEXT (severity WARNING, 50-char cap per MAVLink). FDR and subscriber paths bypass the standard logger so silencing logs cannot suppress the spoof trail (R07 / AC-6). GtsamIsam2StateEstimator now eagerly builds the SM from C5StateConfig in __init__; new public methods notify_gps_health() (delegates to SM, called by composition root from C8 inbound) and subscribe_spoof_rejection() (composition root attaches C8's QgcTelemetryAdapter here). health_snapshot.spoof_promotion_blocked + current_estimate.source_label now flow from the live SM. 25 new unit tests across all 12 ACs plus cancellation, subscriber exception isolation, and estimator wire-up integration cases. One AZ-384 test renamed + updated to expect DEAD_RECKONED before any anchor (was VISUAL_PROPAGATED placeholder pre-AZ-385). Full suite: 632 passed, 2 skipped. Co-authored-by: Cursor <cursoragent@cursor.com>
425 B
425 B
Autodev State
Current Step
flow: greenfield step: 7 name: Implement status: in_progress sub_step: phase: 6 name: implement-tasks detail: "batch 17 of N committed (AZ-385 c5 source-label state machine + spoof-promotion gate: dwell + visual-consistency conditions + unsilenceable FDR/STATUSTEXT reject path + estimator wire-up via notify_gps_health/subscribe_spoof_rejection)" retry_count: 0 cycle: 1 tracker: jira