Oleksandr Bezdieniezhnykh c6e6cba237 [AZ-414] [AZ-415] [AZ-418] Test batch 71: sharp turn + multi-segment + smoothing ...

- AZ-414 (FT-P-07 + FT-N-02): sharp_turn_detector helper covering
  AC-1 (gyro_z run detection + synthetic-overlay fallback),
  AC-2/AC-3 (FT-N-02 during-turn label + monotonic covariance),
  AC-4/AC-5/AC-6 (FT-P-07 recovery lag/drift/heading); twin scenario
  files under positive/ and negative/.
- AZ-415 (FT-P-08): multi_segment_evaluator helper + scenario.
- AZ-418 (FT-P-10): smoothing_evaluator helper covering AC-1 (raw +
  smoothed pose pairing), AC-2 (improvement rate >= 0.80), AC-3
  (mean improvement >= 5 m); scenario file.
- All scenarios skip-gated on upstream frame_source_replay /
  imu_replay / fdr_reader stubs (auto-activate when AZ-441 + AZ-407
  leftovers land).
- +68 unit tests; full e2e unit suite: 393 passed.

See _docs/03_implementation/batch_71_report.md and
_docs/03_implementation/reviews/batch_71_review.md.

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

2026-05-17 07:12:24 +03:00

..

AZ-263_initial_structure.md

[AZ-329] [AZ-330] [AZ-523] [AZ-524] Batch 44 atomic refactor

2026-05-13 19:42:46 +03:00

AZ-266_log_module.md

[AZ-266] [AZ-269] [AZ-277] [AZ-280] Cross-cutting log/config + SE3/SHA256 helpers

2026-05-11 01:33:42 +03:00

AZ-267_fdr_log_bridge.md

[AZ-273] [AZ-274] [AZ-275] [AZ-267] [AZ-268] FDR producer chain + log bridge + contract test

2026-05-11 03:00:49 +03:00

AZ-268_log_schema_contract_test.md

[AZ-273] [AZ-274] [AZ-275] [AZ-267] [AZ-268] FDR producer chain + log bridge + contract test

2026-05-11 03:00:49 +03:00

AZ-269_config_loader.md

[AZ-266] [AZ-269] [AZ-277] [AZ-280] Cross-cutting log/config + SE3/SHA256 helpers

2026-05-11 01:33:42 +03:00

AZ-270_compose_root.md

[AZ-270] [AZ-272] [AZ-279] [AZ-281] [AZ-283] Compose root + FDR schema + 3 Layer-1 helpers

2026-05-11 02:03:36 +03:00

AZ-271_config_precedence_tests.md

[AZ-271] [AZ-276] [AZ-278] [AZ-282] Finish cross-cutting helpers + relax opencv pin

2026-05-11 03:23:33 +03:00

AZ-272_fdr_record_schema.md

[AZ-270] [AZ-272] [AZ-279] [AZ-281] [AZ-283] Compose root + FDR schema + 3 Layer-1 helpers

2026-05-11 02:03:36 +03:00

AZ-273_fdr_client_ringbuf.md

[AZ-273] [AZ-274] [AZ-275] [AZ-267] [AZ-268] FDR producer chain + log bridge + contract test

2026-05-11 03:00:49 +03:00

AZ-274_fdr_overrun_emission.md

[AZ-273] [AZ-274] [AZ-275] [AZ-267] [AZ-268] FDR producer chain + log bridge + contract test

2026-05-11 03:00:49 +03:00

AZ-275_fake_fdr_sink.md

[AZ-273] [AZ-274] [AZ-275] [AZ-267] [AZ-268] FDR producer chain + log bridge + contract test

2026-05-11 03:00:49 +03:00

AZ-276_imu_preintegrator.md

[AZ-271] [AZ-276] [AZ-278] [AZ-282] Finish cross-cutting helpers + relax opencv pin

2026-05-11 03:23:33 +03:00

AZ-277_se3_utils.md

[AZ-266] [AZ-269] [AZ-277] [AZ-280] Cross-cutting log/config + SE3/SHA256 helpers

2026-05-11 01:33:42 +03:00

AZ-278_lightglue_runtime.md

[AZ-271] [AZ-276] [AZ-278] [AZ-282] Finish cross-cutting helpers + relax opencv pin

2026-05-11 03:23:33 +03:00

AZ-279_wgs_converter.md

[AZ-270] [AZ-272] [AZ-279] [AZ-281] [AZ-283] Compose root + FDR schema + 3 Layer-1 helpers

2026-05-11 02:03:36 +03:00

AZ-280_sha256_sidecar.md

[AZ-266] [AZ-269] [AZ-277] [AZ-280] Cross-cutting log/config + SE3/SHA256 helpers

2026-05-11 01:33:42 +03:00

AZ-281_engine_filename_schema.md

[AZ-270] [AZ-272] [AZ-279] [AZ-281] [AZ-283] Compose root + FDR schema + 3 Layer-1 helpers

2026-05-11 02:03:36 +03:00

AZ-282_ransac_filter.md

[AZ-271] [AZ-276] [AZ-278] [AZ-282] Finish cross-cutting helpers + relax opencv pin

2026-05-11 03:23:33 +03:00

AZ-283_descriptor_normaliser.md

[AZ-270] [AZ-272] [AZ-279] [AZ-281] [AZ-283] Compose root + FDR schema + 3 Layer-1 helpers

2026-05-11 02:03:36 +03:00

AZ-291_c13_writer_thread.md

[AZ-291] [AZ-292] [AZ-293] C13 FDR writer chain (batch 6)

2026-05-11 03:38:58 +03:00

AZ-292_c13_flight_header_footer.md

[AZ-291] [AZ-292] [AZ-293] C13 FDR writer chain (batch 6)

2026-05-11 03:38:58 +03:00

AZ-293_c13_capacity_cap_policy.md

[AZ-291] [AZ-292] [AZ-293] C13 FDR writer chain (batch 6)

2026-05-11 03:38:58 +03:00

AZ-294_c13_mid_flight_tile_snapshot.md

[AZ-294] [AZ-295] [AZ-296] Finish C13: tile snapshot + record-kind policy + takeoff abort

2026-05-11 03:52:07 +03:00

AZ-295_c13_thumbnail_rate_limiter.md

[AZ-294] [AZ-295] [AZ-296] Finish C13: tile snapshot + record-kind policy + takeoff abort

2026-05-11 03:52:07 +03:00

AZ-296_c13_open_error_takeoff_abort.md

[AZ-294] [AZ-295] [AZ-296] Finish C13: tile snapshot + record-kind policy + takeoff abort

2026-05-11 03:52:07 +03:00

AZ-297_c7_runtime_protocol.md

[AZ-297] C7 InferenceRuntime: Protocol + DTOs + factory

2026-05-12 04:30:14 +03:00

AZ-298_c7_tensorrt_runtime.md

[AZ-298] C7 TensorrtRuntime: TRT 10.3 + INT8 calib trust + GPU budget

2026-05-12 23:11:49 +03:00

AZ-299_c7_onnxrt_fallback.md

[AZ-299] C7 OnnxTrtEpRuntime: ORT + TRT EP fallback strategy

2026-05-12 23:55:50 +03:00

AZ-300_c7_pytorch_baseline.md

[AZ-300] Implement PytorchFp16Runtime — C7 simple-baseline strategy

2026-05-12 10:13:21 +03:00

AZ-301_c7_engine_gate.md

[AZ-301] Implement EngineGate — D-C10-3 + D-C10-7 takeoff validator

2026-05-12 10:20:21 +03:00

AZ-302_c7_thermal_publisher.md

[AZ-302] C7 ThermalStatePublisher — jtop/NVML 1 Hz background poller

2026-05-12 10:33:37 +03:00

AZ-303_c6_storage_interfaces.md

[AZ-303] C6 storage interfaces: Protocols + DTOs + factories

2026-05-12 04:21:44 +03:00

AZ-304_c6_postgres_schema.md

[AZ-304] C6 Postgres schema: additive 0002 migration + UUIDv5

2026-05-12 17:05:41 +03:00

AZ-305_c6_postgres_filesystem_store.md

[AZ-305] c6 PostgresFilesystemStore: TileStore + TileMetadataStore impl

2026-05-12 18:01:50 +03:00

AZ-306_c6_faiss_descriptor_index.md

[AZ-306] C6 FaissDescriptorIndex (faiss-cpu, HNSW32)

2026-05-13 04:01:37 +03:00

AZ-307_c6_freshness_gate.md

[AZ-307] c6 FreshnessGate: active-conflict reject + stable-rear downgrade

2026-05-12 19:29:11 +03:00

AZ-308_c6_cache_budget_eviction.md

[AZ-308] c6 CacheBudgetEnforcer: 10 GB hard cap + LRU sweep

2026-05-12 20:37:41 +03:00

AZ-316_c11_tile_downloader.md

[AZ-316] Implement C11 HttpTileDownloader (batch 40)

2026-05-13 07:01:14 +03:00

AZ-317_c11_flight_state_gate.md

[AZ-329] [AZ-330] [AZ-523] [AZ-524] Batch 44 atomic refactor

2026-05-13 19:42:46 +03:00

AZ-318_c11_signing_key.md

[AZ-317] [AZ-318] C11 upload-side: flight-state gate + per-flight key

2026-05-13 05:48:52 +03:00

AZ-319_c11_tile_uploader.md

[AZ-319] C11 HttpTileUploader (post-landing upload path)

2026-05-13 06:13:36 +03:00

AZ-320_c11_idempotent_retry.md

[AZ-320] Add C11 IdempotentRetryTileUploader decorator

2026-05-13 08:48:53 +03:00

AZ-321_c10_engine_compiler.md

[AZ-321] C10 EngineCompiler: hardware-tied TRT compile + cache reuse

2026-05-13 00:09:53 +03:00

AZ-322_c10_descriptor_batcher.md

[AZ-322] C10 DescriptorBatcher (faiss-cpu, OOM halve-retry)

2026-05-13 04:20:47 +03:00

AZ-323_c10_manifest_builder.md

[AZ-507] [AZ-323] [AZ-324] C10 Manifest build + verify + AZ-270 hygiene

2026-05-13 02:37:14 +03:00

AZ-324_c10_manifest_verifier.md

[AZ-507] [AZ-323] [AZ-324] C10 Manifest build + verify + AZ-270 hygiene

2026-05-13 02:37:14 +03:00

AZ-325_c10_cache_provisioner.md

[AZ-325] C10 CacheProvisioner orchestrator

2026-05-13 05:00:16 +03:00

AZ-326_c12_cli_app.md

[AZ-329] [AZ-330] [AZ-523] [AZ-524] Batch 44 atomic refactor

2026-05-13 19:42:46 +03:00

AZ-327_c12_companion_bringup.md

[AZ-329] [AZ-330] [AZ-523] [AZ-524] Batch 44 atomic refactor

2026-05-13 19:42:46 +03:00

AZ-328_c12_build_cache_orchestrator.md

[AZ-329] [AZ-330] [AZ-523] [AZ-524] Batch 44 atomic refactor

2026-05-13 19:42:46 +03:00

AZ-329_c12_post_landing_upload.md

[AZ-329] [AZ-330] Archive Batch 44 task files to done/

2026-05-13 21:30:25 +03:00

AZ-330_c12_operator_reloc_service.md

[AZ-329] [AZ-330] Archive Batch 44 task files to done/

2026-05-13 21:30:25 +03:00

AZ-331_c1_vio_strategy_protocol.md

[AZ-331] C1 VioStrategy: Protocol + DTOs + factory + C5 migration

2026-05-12 04:44:31 +03:00

AZ-332_c1_okvis2_strategy.md

[AZ-332] C1 OKVIS2 Strategy: facade + binding skeleton

2026-05-12 09:56:45 +03:00

AZ-333_c1_vins_mono_strategy.md

[AZ-333] C1 VINS-Mono strategy — research-only comparative VIO

2026-05-14 01:11:09 +03:00

AZ-334_c1_klt_ransac_strategy.md

[AZ-334] C1 KLT/RANSAC strategy — engine-rule simple-baseline VIO

2026-05-14 02:40:01 +03:00

AZ-335_c1_warm_start_recovery.md

[AZ-335] C1 warm-start hint persistence + F8 reboot recovery wiring

2026-05-14 03:30:46 +03:00

AZ-336_c2_vpr_strategy_protocol.md

[AZ-336] C2 VprStrategy: Protocol + DTOs + factory + composition

2026-05-12 05:25:35 +03:00

AZ-337_c2_ultra_vpr.md

[AZ-337] Archive task spec + batch 47 report + state bump

2026-05-13 22:44:22 +03:00

AZ-338_c2_net_vlad.md

[AZ-338] Archive task spec + batch 46 report + state bump

2026-05-13 22:31:56 +03:00

AZ-339_c2_megaloc_mixvpr.md

[AZ-339] C2 MegaLoc + MixVPR secondary VPR backbones

2026-05-13 23:52:54 +03:00

AZ-340_c2_selavpr_eigenplaces_salad.md

[AZ-340] [AZ-527] Archive AZ-340 + batch 51 report + cumulative review 49-51

2026-05-14 00:39:29 +03:00

AZ-341_c2_faiss_retrieve_wiring.md

[AZ-341] Archive AZ-341 + batch 45 report

2026-05-13 21:47:07 +03:00

AZ-342_c2_5_rerank_strategy_protocol.md

[AZ-342] C2.5 ReRankStrategy: Protocol + DTOs + factory + composition

2026-05-12 05:31:27 +03:00

AZ-343_c2_5_inlier_count_reranker.md

[AZ-343] C2.5 InlierCountReRanker + shared FeatureExtractor helper

2026-05-12 06:22:40 +03:00

AZ-344_c3_matcher_protocol.md

[AZ-344] C3 CrossDomainMatcher Protocol + factory + RollingHealthWindow

2026-05-12 05:43:33 +03:00

AZ-345_c3_disk_lightglue.md

[AZ-345] [AZ-346] [AZ-347] [AZ-349] Archive batch 57 task specs

2026-05-14 04:10:34 +03:00

AZ-346_c3_aliked_lightglue.md

[AZ-345] [AZ-346] [AZ-347] [AZ-349] Archive batch 57 task specs

2026-05-14 04:10:34 +03:00

AZ-347_c3_xfeat.md

[AZ-345] [AZ-346] [AZ-347] [AZ-349] Archive batch 57 task specs

2026-05-14 04:10:34 +03:00

AZ-348_c3_5_refiner_protocol.md

[AZ-348] C3.5 ConditionalRefiner Protocol + factory + PassthroughRefiner

2026-05-12 05:52:36 +03:00

AZ-349_c3_5_adhop_refiner.md

[AZ-345] [AZ-346] [AZ-347] [AZ-349] Archive batch 57 task specs

2026-05-14 04:10:34 +03:00

AZ-355_c4_pose_protocol.md

[AZ-355] C4 PoseEstimator Protocol + factory + DTOs + composition

2026-05-11 10:32:14 +03:00

AZ-358_c4_opencv_gtsam_marginals.md

[AZ-358] [AZ-361] C4 OpenCVGtsamPoseEstimator + Jacobian thermal hybrid

2026-05-14 05:01:14 +03:00

AZ-361_c4_jacobian_thermal_hybrid.md

[AZ-358] [AZ-361] C4 OpenCVGtsamPoseEstimator + Jacobian thermal hybrid

2026-05-14 05:01:14 +03:00

AZ-381_c5_state_protocol.md

[AZ-381] C5 StateEstimator protocol + factory + C8 DTO reshape

2026-05-11 05:35:20 +03:00

AZ-382_c5_isam2_smoother_wiring.md

[AZ-382] C5 GtsamIsam2StateEstimator skeleton + real iSAM2 handle bodies

2026-05-11 05:51:23 +03:00

AZ-383_c5_factor_adds.md

[AZ-383] C5 add_vio/add_pose_anchor/add_fc_imu factor adds

2026-05-11 06:07:45 +03:00

AZ-384_c5_marginals_outputs.md

[AZ-384] C5 marginals + current_estimate/smoothed_history/health_snapshot

2026-05-11 06:20:01 +03:00

AZ-385_c5_source_label_spoof_gate.md

[AZ-385] C5 SourceLabelStateMachine + spoof-promotion gate

2026-05-11 07:06:38 +03:00

AZ-386_c5_eskf_baseline.md

[AZ-386] C5 ESKF baseline: 16-state error-state KF (NumPy)

2026-05-11 10:12:30 +03:00

AZ-387_c5_smoothed_history_fdr.md

[AZ-387] C5 smoothed-history → FDR side-channel

2026-05-11 07:13:44 +03:00

AZ-388_c5_ac52_fallback.md

[AZ-388] C5 AC-5.2 no-estimate fallback detector + signal emission

2026-05-11 06:53:22 +03:00

AZ-389_c5_orthorectifier_c6.md

[AZ-389] C5 orthorectifier emits mid-flight tiles to C6

2026-05-16 09:02:33 +03:00

AZ-390_c8_adapter_protocol.md

[AZ-390] [AZ-392] C8 FC/GCS adapter foundation + covariance projector

2026-05-11 04:17:59 +03:00

AZ-391_c8_inbound_subscription.md

[AZ-391] C8 inbound: MAVLink + MSP2 decoders + rings + bus + warm-start

2026-05-11 04:28:14 +03:00

AZ-392_c8_covariance_projector.md

[AZ-390] [AZ-392] C8 FC/GCS adapter foundation + covariance projector

2026-05-11 04:17:59 +03:00

AZ-393_c8_ardupilot_outbound.md

[AZ-393] [AZ-394] [AZ-395] C8 outbound chain + AP MAVLink2 signing

2026-05-11 04:47:44 +03:00

AZ-394_c8_inav_outbound.md

[AZ-393] [AZ-394] [AZ-395] C8 outbound chain + AP MAVLink2 signing

2026-05-11 04:47:44 +03:00

AZ-395_c8_mavlink_signing.md

[AZ-393] [AZ-394] [AZ-395] C8 outbound chain + AP MAVLink2 signing

2026-05-11 04:47:44 +03:00

AZ-396_c8_source_set_switch.md

[AZ-396] [AZ-397] Batch 11: C8 source-set switch + QGC telemetry adapter

2026-05-11 05:06:56 +03:00

AZ-397_c8_qgc_telemetry_adapter.md

[AZ-396] [AZ-397] Batch 11: C8 source-set switch + QGC telemetry adapter

2026-05-11 05:06:56 +03:00

AZ-398_replay_frame_source_clock.md

[AZ-398] Replay: FrameSource + Clock Protocols + Clock injection

2026-05-12 05:10:01 +03:00

AZ-399_replay_tlog_adapter.md

[AZ-399] [AZ-400] C8 TlogReplayFcAdapter + ReplaySink + JsonlReplaySink

2026-05-14 05:33:20 +03:00

AZ-400_replay_jsonl_sink.md

[AZ-399] [AZ-400] C8 TlogReplayFcAdapter + ReplaySink + JsonlReplaySink

2026-05-14 05:33:20 +03:00

AZ-401_replay_compose.md

[AZ-401] [AZ-400] Replay — compose_root replay-mode branch + transport seam

2026-05-14 11:55:33 +03:00

AZ-402_replay_cli.md

[AZ-402] Replay — gps-denied-replay console-script + shared main(config)

2026-05-14 20:04:37 +03:00

AZ-403_replay_dockerfile_ci.md

[AZ-265] Replay as configuration of airborne binary (ADR-011)

2026-05-14 09:01:04 +03:00

AZ-404_replay_e2e_fixture.md

[AZ-404] [AZ-389] [AZ-559] E2E replay test (Derkachi 60s) + AZ-389 cleanup

2026-05-14 21:41:39 +03:00

AZ-405_replay_auto_sync.md

[AZ-405] Replay — replay_input/ coordinator + IMU take-off auto-sync

2026-05-14 09:50:51 +03:00

AZ-406_test_infrastructure.md

[AZ-406] Blackbox test harness bootstrap (Tier-1 + Tier-2 scaffold)

2026-05-16 16:22:44 +03:00

AZ-407_fixture_builders_static.md

[AZ-407] [AZ-444] [AZ-445] Batch 68: fixtures, Tier-2 harness, NFR reporter

2026-05-16 17:18:01 +03:00

AZ-408_fixture_builders_synth_injectors.md

[AZ-408] [AZ-410] [AZ-411] Batch 69: synth injectors + FT-P-02/03/14

2026-05-16 17:54:00 +03:00

AZ-409_ft_p_01_still_image_accuracy.md

[AZ-409] [AZ-412] [AZ-413] Batch 70: FT-P-01/04/05/06 scenarios

2026-05-16 18:10:46 +03:00

AZ-410_ft_p_02_derkachi_drift.md

[AZ-408] [AZ-410] [AZ-411] Batch 69: synth injectors + FT-P-02/03/14

2026-05-16 17:54:00 +03:00

AZ-411_ft_p_03_14_schema_wgs84.md

[AZ-408] [AZ-410] [AZ-411] Batch 69: synth injectors + FT-P-02/03/14

2026-05-16 17:54:00 +03:00

AZ-412_ft_p_04_derkachi_f2f_registration.md

[AZ-409] [AZ-412] [AZ-413] Batch 70: FT-P-01/04/05/06 scenarios

2026-05-16 18:10:46 +03:00

AZ-413_ft_p_05_06_sat_anchor_mre.md

[AZ-409] [AZ-412] [AZ-413] Batch 70: FT-P-01/04/05/06 scenarios

2026-05-16 18:10:46 +03:00

AZ-414_ft_p_07_ftn_02_sharp_turn.md

[AZ-414] [AZ-415] [AZ-418] Test batch 71: sharp turn + multi-segment + smoothing

2026-05-17 07:12:24 +03:00

AZ-415_ft_p_08_multi_segment_reloc.md

[AZ-414] [AZ-415] [AZ-418] Test batch 71: sharp turn + multi-segment + smoothing

2026-05-17 07:12:24 +03:00

AZ-418_ft_p_10_smoothing_lookback.md

[AZ-414] [AZ-415] [AZ-418] Test batch 71: sharp turn + multi-segment + smoothing

2026-05-17 07:12:24 +03:00

AZ-444_tier2_jetson_harness.md

[AZ-407] [AZ-444] [AZ-445] Batch 68: fixtures, Tier-2 harness, NFR reporter

2026-05-16 17:18:01 +03:00

AZ-445_csv_reporter_evidence_bundler.md

[AZ-407] [AZ-444] [AZ-445] Batch 68: fixtures, Tier-2 harness, NFR reporter

2026-05-16 17:18:01 +03:00

AZ-489_c12_flights_api_client.md

[AZ-329] [AZ-330] [AZ-523] [AZ-524] Batch 44 atomic refactor

2026-05-13 19:42:46 +03:00

AZ-490_c5_set_takeoff_origin.md

[AZ-490] C5 set_takeoff_origin entrypoint + bounded-delta GPS gate

2026-05-12 02:53:58 +03:00

AZ-507_hygiene_module_layout_az270_alignment.md

[AZ-507] [AZ-323] [AZ-324] C10 Manifest build + verify + AZ-270 hygiene

2026-05-13 02:37:14 +03:00

AZ-508_hygiene_iso_timestamps_consolidation.md

[AZ-508] Consolidate _iso_ts_now into helpers/iso_timestamps

2026-05-13 23:23:22 +03:00

AZ-526_hygiene_iso_ts_from_clock_consolidation.md

[AZ-526] Consolidate _iso_ts_from_clock into helpers/iso_timestamps

2026-05-13 23:37:04 +03:00

AZ-527_hygiene_engine_dim_assertion_consolidation.md

[AZ-527] Archive AZ-527 + batch 52 report + state bump

2026-05-14 00:51:19 +03:00

AZ-528_hygiene_c1_vio_facade_spine_consolidation.md

[AZ-528] Consolidate c1_vio strategy facade orchestration spine

2026-05-14 03:03:16 +03:00

AZ-558_mavlink_transport_routing.md

[AZ-558] Route C8 outbound encoder bytes through MavlinkTransport seam

2026-05-16 05:33:56 +03:00

AZ-591_compose_root_per_binary_bootstrap.md

[AZ-591] Add airborne_bootstrap to populate _STRATEGY_REGISTRY

2026-05-16 12:58:38 +03:00