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Oleksandr Bezdieniezhnykh
c6e6cba237
- 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>