Oleksandr Bezdieniezhnykh 8de2716500 [AZ-776] Open-loop ESKF composition profile via c4_pose.enabled ...

ADR-012: add c4_pose.enabled (default True) and enforce the
(c4_pose.enabled, c5_state.strategy) 2x2 pairing matrix at compose
time. When enabled=false, compose_root removes c4_pose from the
selection map and build_pre_constructed omits c5_isam2_graph_handle.
Replay protocol Invariant 13 owns the gate. Tier-2 conftest YAML
writes the open-loop profile; un-xfails AC-1/2/5 and both AC-6
variants in Derkachi (AC-3 stays xfailed for AZ-777). 319/319
runtime_root + c4_pose + c5_state tests green.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-21 13:40:01 +03:00

..

description.md

[AZ-776] Open-loop ESKF composition profile via c4_pose.enabled

2026-05-21 13:40:01 +03:00

tests.md

Update autodev state, architecture documentation, and glossary terms

2026-05-10 00:21:34 +03:00