mirror of
https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
e367b07e3b
Imports AZ-943 (OKVIS2 binding: real ThreadedSlam wiring; AZ-592 split
1/3, 5pt) from Jira into a local task spec at
_docs/02_tasks/todo/AZ-943_okvis2_threadedslam_binding.md so the
implement skill batch loop has the input it needs.
Dependency table: +AZ-943 row, +preamble entry, totals 180→181 tasks /
570→575 SP. AZ-944 + AZ-945 stay Jira-only this session per the
AZ-943→AZ-944→AZ-945 Blocks chain (their local specs land when their
Implement turns come up).
State file trimmed from 52 lines to schema-compliant 13 lines per
.cursor/skills/autodev/state.md (sub_step.detail must be a one-line
pointer, not a logbook). Resume context lives in the new task spec +
git log of 94d2358 (AZ-918..AZ-922 baseline fixes).
Per AZ-942 + AZ-923 are parked (state file's "Open Items At Pause" is
recorded in git log via this commit's body; not retained in state file
going forward).
Co-authored-by: Cursor <cursoragent@cursor.com>
405 lines
68 KiB
Markdown
405 lines
68 KiB
Markdown
# Dependencies Table
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**Date**: 2026-05-29 (cycle-4 Step 10 Implement — OKVIS2 production-default pivot per user 2026-05-27 directive: AZ-592 placeholder split into 3 properly-sized sub-tickets per PBI rule, all three filed Jira-side then; local-spec import for AZ-943 happens this session before implement batch starts. **AZ-943** (5pt, todo/, c1_vio, OKVIS2 binding wiring; replaces AZ-332 skeleton; deps AZ-332 + AZ-592; epic AZ-254). Sibling tickets remain Jira-only this session: **AZ-944** (3pt, Linux CI build env + DBoW2 small_voc + Tier-1 EuRoC smoke; Blocks chain AZ-943→AZ-944) and **AZ-945** (3pt, Jetson L4T + Tier-2 Derkachi `--vio-strategy okvis2` e2e; Blocks chain AZ-944→AZ-945). Local specs for AZ-944 + AZ-945 will be authored when their Implement turns come up. Earlier 2026-05-26 (cycle-4 Step 10 Implement — AZ-895 batch 3 user complexity decision: chose Option A "minimum deprecation" path. Filed **AZ-908** (3pt, backlog/, replay: hard removal of deprecated auto-sync surface — AZ-895 follow-up; deps AZ-895 HARD + AZ-842 HARD; no epic) to track the cycle-5+ physical removal that AZ-895's minimum-path explicitly defers. AZ-895 ships the no-op stubs + CLI deprecation warnings; AZ-908 will delete the stub files, drop the DTOs from `replay_input/interface.py`, remove the deprecated CLI flags, and drop the `auto_sync` config block. No SP change to cycle-4 totals (AZ-908 is cycle-5+ backlog, not cycle-4 active scope). Earlier same-day at Step 9 New Task — scope adjustments: (a) AZ-841 (1pt, un-xfail AZ-777 Tier-2 tests) moved from todo/ to backlog/ due to hard conflict with AZ-895 AC-4 (test_derkachi_real_tlog.py stays @xfail in cycle 4 because AZ-848 is backlogged) + partial overlap with AZ-894 AC-3 (CSV-path adapter covers the test_derkachi_1min.py un-xfail target); Jira comment added to AZ-841 documenting the deferral. (b) AZ-842 (2pt → **3pt**, +1 SP rescope) — dropped AZ-841 soft dependency, expanded replay_protocol.md scope to add new Invariant 13 covering single-canonical-clock model + cycle-4 CSV-driven replay narrative (AZ-894 + AZ-895 + AZ-896), plus architecture.md replay-input section updates. New deps: AZ-894 HARD + AZ-895 HARD + AZ-896 SOFT. (c) +**AZ-899** (1pt, product, todo/, land architecture_compliance_baseline.md — cycle-3 retro Top-3 #3 third try; deps None; no epic). (d) +**AZ-900** (1pt, product, todo/, autodev cycle-N+1 Step-9 retro-existence gate — cycle-3 retro Top-3 #2 + 2026-05-26 LESSONS process entry; deps None; no epic). (e) +**AZ-901** (1pt, product, todo/, fix EVIDENCE_OUT default path in e2e/runner/conftest.py:56 — closes 2026-05-26 leftover; deps None; no epic). Cycle-4 active scope: 6 product tickets in todo/ totaling **17 SP** = AZ-842 (3, docs) + AZ-894 (3, CSV adapter) + AZ-895 (2, auto-sync deprecation) + AZ-896 (1, format docs) + AZ-897 (5, replay UI) + AZ-899 (1) + AZ-900 (1) + AZ-901 (1). Dependency order: AZ-894 blocks AZ-895 + AZ-842 + AZ-897; AZ-896 blocks AZ-897 + AZ-842. AZ-899/AZ-900/AZ-901 standalone (no internal blockers). AZ-848 (5) + AZ-883 (2) + AZ-908 (3) remain in backlog/ (cycle-3 retro Top-3 #1 + AZ-895 follow-up deferred to cycle-5+; CSV-bypass strategy supersedes their fixes for the demo path). Earlier 2026-05-23 (cycle-3 Step 10 Implement, refactor run 02-az507-routespec-relocation — added AZ-844 (Epic, run dir `_docs/04_refactoring/02-az507-routespec-relocation/`) + AZ-845 (C01, 2pt relocate `RouteSpec` from `replay_input/tlog_route.py` to `_types/route.py`, deps None, epic AZ-844) + AZ-846 (C02, 2pt refresh `module-layout.md` cycle-3 entries — c11 + replay_input + `_types/route`, deps AZ-845, epic AZ-844) + AZ-847 (C03, 2pt widen `test_az270_compose_root` lint to enforce full rule-9 allow-list, deps AZ-845, epic AZ-844). Resolves cycle-3 cumulative review FAIL verdict (F1 High Architecture, F2 Medium Architecture, F3 Medium Maintainability) per `_docs/03_implementation/cumulative_review_batches_104-109_cycle3_report.md`. Jira "Blocks" links recorded: AZ-845 → AZ-846, AZ-845 → AZ-847. Earlier same-day at start of Step 10 Implement — Epic AZ-835 decomposed into 4 leaf tasks + AZ-777 closed: AZ-839 (C3, 5pt operator_pre_flight_setup real fixture, deps AZ-836+AZ-838+AZ-777Phase1+AZ-322+AZ-316+AZ-306, epic AZ-835), AZ-840 (C4, 3pt e2e orchestrator test (tlog,video,calibration), deps AZ-839+AZ-836+AZ-838+AZ-699+AZ-405+AZ-702+AZ-696, epic AZ-835), AZ-841 (C5, 1pt un-xfail AZ-777 AC-4+AC-5, deps AZ-839+AZ-840, epic AZ-835), AZ-842 (C6, 2pt docs — replay_protocol.md Invariant 12 + architecture.md + orchestrator README, soft dep AZ-841, epic AZ-835). AZ-777 transitioned to Done in Jira: Phases 1+2 shipped (batch 104 + between batches 104 and 106); Phases 3-5 superseded by Epic AZ-835 children per 2026-05-22 user directive. AZ-777 spec moved to done/. Earlier 2026-05-21 (cycle-3 Step 9 New Task — added AZ-776 (3pt open-loop ESKF composition profile via `c4_pose.enabled` flag, no deps, epic AZ-602) + AZ-777 (5pt Derkachi C6 reference tile cache + FAISS descriptor index from OSM/CARTO basemap, depends on AZ-776, epic AZ-602). Both unblock the 7 currently-`@xfail`-masked Derkachi e2e tests on Jetson; AZ-776 unblocks 5 (AC-1, AC-2, AC-5, AC-6 realtime, AC-6 asap), AZ-777 unblocks the remaining 2 (AC-3 + AZ-699 real-flight verdict). Earlier 2026-05-19 (refreshed late-morning after 11:27 Jetson Tier-2 e2e run for AZ-618 — surfaced a NEW gap: replay-mode `Config` lacks `c6_tile_cache` block, so `build_pre_constructed → _build_c6_descriptor_index → _c6_config` raises `KeyError` for AC-1/2/5/6. Follow-up filed as AZ-687 (2pt) under E-AZ-602 with guard at the bootstrap layer (NOT silent fallback in `_c6_config`). Earlier same-day mid-day after AZ-618 split: per the spec author's own Sizing-note recommendation + user-rule cap on PBI complexity, AZ-618 was split into 6 subtasks AZ-619..AZ-624 in Jira (subtasks of AZ-618; epic AZ-602 stays grandparent). AZ-618 retained at 0pt as the umbrella tracker; aggregate actionable work is 16pt across the subtasks (vs. AZ-618's original 5pt filing — author's "likely a true 8" caveat was understated due to c5_isam2_graph_handle ordering + GPU builder unknowns). Earlier same-day refresh at start of Step-7 rewind for AZ-618 — Step-11 Jetson tier-2 e2e gate identified missing internal product implementation: `runtime_root.main()` does not build the airborne `pre_constructed` infrastructure dict before `compose_root()`; AZ-618 = 5pt cross-cutting follow-up to AZ-591, lives under E-AZ-602; all 12 dep tasks are in `done/`. Earlier 2026-05-16 (cycle-1 completeness-gate post-mortem): AZ-589 + AZ-590 closed Won't Fix — were wrong abstraction (OKVIS v1 `ThreadedKFVio` API doesn't exist in OKVIS2 upstream; VINS-Mono `cpp/vins_mono/upstream/` submodule never existed; the actual production gap is the empty central `_STRATEGY_REGISTRY` affecting EVERY component with a strategy-selecting config field, not just c1_vio); replaced by AZ-591 (cross-cutting compose_root per-binary bootstrap, todo/, 5pt) + AZ-592 (AZ-332 Tier-2 validation bundle, backlog/, 5pt placeholder) + AZ-593 (AZ-333 Tier-2 validation bundle, backlog/, 5pt placeholder); AZ-332 + AZ-333 re-classified in gate report from FAIL to BLOCKED-on-Tier-2 per the original tasks' Implementation Notes deferral handles; earlier same-day after end of cycle-1 gate: AZ-589 + AZ-590 created (now closed); earlier same-day after end of Batch 64: AZ-558 implementation closed — `MavlinkTransport` seam now routes every C8 outbound MAVLink byte; AZ-401 AC-9 + AZ-404 AC-4b unskipped together; encoder helpers extracted to `_outbound_mavlink_payloads.py`; live-mode `compose_root` injection deferred to whichever future batch registers AP/iNav strategies in an airborne binary; earlier 2026-05-14: refreshed at start of Batch 63: AZ-559 closed Won't Fix — gap was illusory; `TileSource.ONBOARD_INGEST` + `TileMetadata.quality_metadata` + `write_tile`'s `FreshnessRejectionError` already cover the AZ-389 mid-flight ingest semantic without any new API; AZ-389 dep restored to AZ-303; earlier same-day after Batch 61: AZ-558 follow-up added — routes C8 outbound encoder bytes through `MavlinkTransport` seam; closes AZ-401 AC-9 deferred during batch 61 due to encoder-side routing not being in the AZ-401 task envelope; earlier same-day after cumulative review batches 52-54: AZ-528 hygiene PBI added for c1_vio strategy facade orchestration-spine 3-way duplication (Medium); earlier same-day after Batch 53: AZ-333 VINS-Mono landed — first c1_vio strategy after the AZ-332 OKVIS2 production-default; consolidation hygiene for the strategy-facade duplication deferred to a post-AZ-334 PBI; earlier same-day after Batch 51: AZ-527 hygiene PBI added from cumulative review batches 49-51 F1; 2026-05-13: AZ-526 hygiene PBI added from cumulative review batches 46-48 F1+F3; same-day refresh after Batch 44 SRP refactor: AZ-317 superseded; AZ-329 + AZ-330 specs rewritten; AZ-523 + AZ-524 audit-trail tickets added; E-C12 epic renamed `Operator Pre-flight Tooling` → `Operator Pre-flight Orchestrator`; earlier same-day refresh: AZ-507 + AZ-508 hygiene PBIs from cumulative review batches 31-33; 2026-05-11: AZ-489 + AZ-490 ADR-010 operator-origin path)
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**Total Tasks**: 181 (140 product + 41 blackbox-test) — 2026-05-29 cycle-4 Step 10 bump (OKVIS2 binding session): +AZ-943 (1 product task, todo/, 5pt). AZ-944 + AZ-945 remain Jira-only at the time of this update (sibling tickets, local specs deferred to their own Implement turns); their Total-Tasks impact will be reconciled when their specs land. Prior 2026-05-26 cycle-4 Step 10 bump (AZ-895 batch 3 follow-up): 180 (139 product + 41 blackbox-test) — +AZ-908 (1 product task, backlog/, 3pt). Prior 2026-05-26 cycle-4 Step 9 bump: +AZ-899 + AZ-900 + AZ-901 (3 product tasks). AZ-841 moved todo/ → backlog/ (no count change; backlog tickets are still in the table). Prior 2026-05-23 refactor-run bump: 176 (135 product + 41 blackbox-test) — +AZ-844 (Epic, 0pt umbrella for refactor run 02) + AZ-845 + AZ-846 + AZ-847 (3 product tasks). Prior 2026-05-23 bump (Epic AZ-835 decomposition): 173 (132 product + 41 blackbox-test) = +AZ-835 (Epic) + AZ-836 (C1) + AZ-837 (test-stack hardening, not this Epic) + AZ-838 (C2) added 2026-05-22→2026-05-23 prior to that update; +AZ-839 (C3) + AZ-840 (C4) + AZ-841 (C5) + AZ-842 (C6) added in that update. AZ-777 stays in the table (now closed in Jira; spec at `done/AZ-777_derkachi_c6_reference_fixture.md` retains 8pt credit for Phases 1+2 shipped). Earlier counts: 165 (124 product + 41 blackbox-test) — AZ-317 retained in the table marked SUPERSEDED for audit; AZ-523 (C11 gate removal) + AZ-524 (C12 rename) added as 2 closed audit-trail tasks; AZ-526 = 2pt clock-helper hygiene; AZ-527 = 2pt c2 engine-dim helper hygiene; AZ-528 = 3pt c1_vio facade-spine hygiene; AZ-558 = 3pt MavlinkTransport routing follow-up; AZ-559 closed Won't Fix; AZ-589 + AZ-590 closed Won't Fix (kept in table as 0pt audit-trail rows); AZ-591 = 5pt cross-cutting compose_root bootstrap (todo/); AZ-592 = 5pt OKVIS2 Tier-2 placeholder (backlog/); AZ-593 = 5pt VINS-Mono Tier-2 placeholder (backlog/); AZ-618 = 0pt umbrella (split into AZ-619..AZ-624 on 2026-05-19); AZ-619..AZ-624 = 6 subtasks of AZ-618 covering Phase A..F of the airborne `pre_constructed` assembly, summing to 16pt actionable work; AZ-687 = 2pt replay-mode guard follow-up surfaced by AZ-618 Tier-2 run on 2026-05-19
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**Total Complexity Points**: 575 (442 product + 133 blackbox-test) — 2026-05-29 cycle-4 Step 10 bump (OKVIS2 binding session): +5pt AZ-943. AZ-944 (3pt) + AZ-945 (3pt) sibling tickets are filed Jira-side but not yet imported as local specs; their +6pt will land when AZ-944 / AZ-945 specs are authored. Prior 2026-05-26 cycle-4 Step 10 bump (AZ-895 batch 3 follow-up): 570 (437 product + 133 blackbox-test) — +3pt AZ-908. Prior 2026-05-26 cycle-4 Step 9 bump: +1pt AZ-899 + 1pt AZ-900 + 1pt AZ-901 + 1pt AZ-842 rescope (2→3) = +4 product pts. Prior 2026-05-23 refactor-run bump: 563 (430 product + 133 blackbox-test) — +2pt AZ-845 + 2pt AZ-846 + 2pt AZ-847 = +6 product pts on top of prior reconciled total (AZ-844 epic itself is 0pt umbrella). Prior 2026-05-23 reconciled total: 557 (424 product + 133 blackbox-test) — +5pt AZ-839 + 3pt AZ-840 + 1pt AZ-841 + 2pt AZ-842 = +11 product pts on top of prior reconciled total. AZ-836 (3pt) + AZ-838 (3pt) were added 2026-05-22→2026-05-23 prior to that update; AZ-837 (test-stack hardening, not this Epic) is unaccounted in that delta and should be folded in at the next preamble reconciliation. Earlier baseline: 546 (413 product + 133 blackbox-test) — +3pt AZ-776 + 8pt AZ-777 (5→8 override 2026-05-21 cycle-3 batch 104; see `_docs/_process_leftovers/2026-05-21_az777_complexity_override.md` for rationale + the spec refresh that pulled e2e-runner wiring + C11 contract adapt + Derkachi catalog seed + fixture replacement + un-xfail into one ticket) — AZ-523 = 3pt, AZ-524 = 2pt, AZ-526 = 2pt, AZ-527 = 2pt, AZ-528 = 3pt, AZ-558 = 3pt, AZ-589 + AZ-590 retained at 5pt each but closed Won't Fix (treated as 0 effective pts going forward), AZ-591 = 5pt, AZ-592 = 5pt placeholder, AZ-593 = 5pt placeholder, AZ-618 = 0pt umbrella post-split, AZ-619 = 2pt, AZ-620 = 3pt, AZ-621 = 3pt, AZ-622 = 3pt, AZ-623 = 3pt, AZ-624 = 2pt, AZ-687 = 2pt
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Dependencies columns list only the tracker-ID portion (descriptive tail
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text in each task spec is omitted here for table-readability). The
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authoritative dependency narrative — including "co-developed", "forward
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dependency", and helper-vs-Protocol distinctions — lives in each task's
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own `Dependencies:` field. The graph is a strict DAG: a topological
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traversal visits all 142 tasks. The 15 forward edges (dep ID > task ID)
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are all declared and documented below under **Cycle Check**.
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| Task | Name | Complexity | Dependencies | Epic |
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|--------|----------------------------------------------------------------------------------------------|------------|-------------------------------------------------------------------------------------------------------|--------|
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| AZ-263 | Initial Structure | 5 | None | AZ-244 |
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| AZ-266 | Shared Logging Module | 3 | AZ-263 | AZ-245 |
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| AZ-267 | FDR Log Bridge | 2 | AZ-266, AZ-272 (forward) | AZ-245 |
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| AZ-268 | Log Schema Contract Test | 2 | AZ-266, AZ-267 | AZ-245 |
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| AZ-269 | Config Loader | 3 | AZ-263 | AZ-246 |
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| AZ-270 | Composition Root | 3 | AZ-269 | AZ-246 |
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| AZ-271 | Config Precedence Tests | 2 | AZ-269, AZ-270 | AZ-246 |
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| AZ-272 | FdrRecord Schema | 3 | AZ-263, AZ-266 | AZ-247 |
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| AZ-273 | FdrClient Ring Buffer | 5 | AZ-263, AZ-272, AZ-269, AZ-266 | AZ-247 |
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| AZ-274 | FDR Overrun Policy | 2 | AZ-272, AZ-273 | AZ-247 |
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| AZ-275 | FakeFdrSink | 2 | AZ-272, AZ-273 | AZ-247 |
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| AZ-276 | ImuPreintegrator Helper | 2 | AZ-263 | AZ-264 |
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| AZ-277 | SE3Utils Helper | 2 | AZ-263 | AZ-264 |
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| AZ-278 | LightGlueRuntime Helper | 3 | AZ-263 | AZ-264 |
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| AZ-279 | WgsConverter Helper | 2 | AZ-263 | AZ-264 |
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| AZ-280 | Sha256Sidecar Helper | 2 | AZ-263 | AZ-264 |
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| AZ-281 | EngineFilenameSchema Helper | 2 | AZ-263 | AZ-264 |
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| AZ-282 | RansacFilter Helper | 2 | AZ-263, AZ-277 | AZ-264 |
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| AZ-283 | DescriptorNormaliser Helper | 2 | AZ-263 | AZ-264 |
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| AZ-291 | C13 Writer Thread | 5 | AZ-263, AZ-272, AZ-273, AZ-266, AZ-269 | AZ-248 |
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| AZ-292 | C13 Flight Header/Footer + Accounting | 3 | AZ-291, AZ-272, AZ-263, AZ-269, AZ-266 | AZ-248 |
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| AZ-293 | C13 Capacity Cap Policy | 5 | AZ-291, AZ-292, AZ-272, AZ-263, AZ-269, AZ-266 | AZ-248 |
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| AZ-294 | C13 Mid-Flight Tile Snapshot Path | 3 | AZ-291, AZ-272, AZ-263, AZ-269 | AZ-248 |
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| AZ-295 | C13 AC-8.5 Forbidden-Kind + Thumbnail Rate Cap | 3 | AZ-291, AZ-272, AZ-263, AZ-269, AZ-266 | AZ-248 |
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| AZ-296 | C13 Takeoff Abort on FdrOpenError | 2 | AZ-291, AZ-292, AZ-263, AZ-266 | AZ-248 |
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| AZ-297 | C7 InferenceRuntime Protocol | 3 | AZ-263, AZ-269, AZ-266, AZ-280, AZ-281 | AZ-249 |
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| AZ-298 | C7 TensorrtRuntime | 5 | AZ-297, AZ-301, AZ-280, AZ-281, AZ-263, AZ-269, AZ-266 | AZ-249 |
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| AZ-299 | C7 OnnxTrtEpRuntime | 3 | AZ-297, AZ-301, AZ-280, AZ-281, AZ-263, AZ-269, AZ-266 | AZ-249 |
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| AZ-300 | C7 PytorchFp16Runtime | 2 | AZ-297, AZ-263, AZ-269, AZ-266 | AZ-249 |
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| AZ-301 | C7 EngineGate | 3 | AZ-297, AZ-280, AZ-281, AZ-266 | AZ-249 |
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| AZ-302 | C7 ThermalState Publisher | 3 | AZ-297, AZ-263, AZ-269, AZ-266, AZ-273 | AZ-249 |
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| AZ-303 | C6 Storage Interfaces | 3 | AZ-263, AZ-269, AZ-266, AZ-280 | AZ-250 |
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| AZ-304 | C6 Postgres Schema | 2 | AZ-303, AZ-263, AZ-269, AZ-266 | AZ-250 |
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| AZ-305 | C6 PostgresFilesystemStore | 5 | AZ-303, AZ-304, AZ-280, AZ-279, AZ-263, AZ-269, AZ-266, AZ-273 | AZ-250 |
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| AZ-306 | C6 FaissDescriptorIndex | 5 | AZ-303, AZ-280, AZ-263, AZ-269, AZ-266 | AZ-250 |
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| AZ-307 | C6 Freshness Gate | 2 | AZ-303, AZ-304, AZ-305, AZ-263, AZ-269, AZ-266, AZ-273 | AZ-250 |
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| AZ-308 | C6 Cache Budget Eviction | 3 | AZ-303, AZ-305, AZ-263, AZ-269, AZ-266, AZ-273 | AZ-250 |
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| AZ-316 | C11 TileDownloader | 5 | AZ-263, AZ-269, AZ-266, AZ-303, AZ-305, AZ-307, AZ-308 | AZ-251 |
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| AZ-317 | C11 Flight-State Gate (SUPERSEDED by Batch 44 / AZ-523; gate moved to C12 AZ-329) | 2 | AZ-263, AZ-269, AZ-266 | AZ-251 |
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| AZ-318 | C11 Per-Flight Signing Key | 3 | AZ-263, AZ-269, AZ-266, AZ-273 | AZ-251 |
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| AZ-319 | C11 TileUploader (contract v2.0.0 — internal flight-state gate removed in Batch 44) | 5 | AZ-263, AZ-269, AZ-266, AZ-273, AZ-303, AZ-305, AZ-318 | AZ-251 |
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| AZ-320 | C11 Idempotent Retry Decorator | 3 | AZ-263, AZ-269, AZ-266, AZ-273, AZ-303, AZ-319 | AZ-251 |
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| AZ-321 | C10 Engine Compiler | 5 | AZ-263, AZ-269, AZ-266, AZ-280, AZ-281, AZ-298 | AZ-252 |
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| AZ-322 | C10 Descriptor Batcher | 3 | AZ-263, AZ-269, AZ-266, AZ-303, AZ-306, AZ-321 | AZ-252 |
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| AZ-323 | C10 Manifest Builder | 3 | AZ-263, AZ-269, AZ-266, AZ-280, AZ-281, AZ-303 | AZ-252 |
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| AZ-324 | C10 ManifestVerifier | 3 | AZ-263, AZ-269, AZ-266, AZ-280, AZ-281 | AZ-252 |
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| AZ-325 | C10 CacheProvisioner | 3 | AZ-263, AZ-269, AZ-266, AZ-303, AZ-321, AZ-322, AZ-323 | AZ-252 |
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| AZ-326 | C12 CLI App | 3 | AZ-263, AZ-269, AZ-266, AZ-489 | AZ-253 |
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| AZ-327 | C12 Companion Bringup | 3 | AZ-263, AZ-269, AZ-266 | AZ-253 |
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| AZ-328 | C12 Build-Cache Orchestrator | 5 | AZ-326, AZ-327, AZ-316, AZ-325, AZ-489, AZ-263, AZ-269, AZ-266 | AZ-253 |
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| AZ-329 | C12 PostLandingUploadOrchestrator (flight_footer FDR gate; Batch 44 design pivot) | 3 | AZ-326, AZ-319, AZ-272, AZ-273, AZ-292, AZ-263, AZ-269, AZ-266 | AZ-253 |
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| AZ-330 | C12 OperatorReLocService | 3 | AZ-326, AZ-273, AZ-272, AZ-263, AZ-269, AZ-266 | AZ-253 |
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| AZ-331 | C1 VioStrategy Protocol | 3 | AZ-263, AZ-269, AZ-266, AZ-270, AZ-272, AZ-276, AZ-277 | AZ-254 |
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| AZ-332 | C1 OKVIS2 Strategy | 5 | AZ-331, AZ-263, AZ-269, AZ-266, AZ-276, AZ-277, AZ-272, AZ-273 | AZ-254 |
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| AZ-333 | C1 VINS-Mono Strategy | 5 | AZ-331, AZ-263, AZ-269, AZ-266, AZ-276, AZ-277, AZ-272, AZ-273 | AZ-254 |
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| AZ-334 | C1 KLT/RANSAC Strategy | 5 | AZ-331, AZ-263, AZ-269, AZ-266, AZ-276, AZ-277, AZ-282, AZ-272, AZ-273 | AZ-254 |
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| AZ-335 | C1 Warm-Start + F8 Reboot Recovery | 3 | AZ-331, AZ-332, AZ-333, AZ-334, AZ-263, AZ-269, AZ-266, AZ-270, AZ-280, AZ-272 | AZ-254 |
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| AZ-336 | C2 VprStrategy Protocol + Factory + Composition | 3 | AZ-263, AZ-269, AZ-270, AZ-303, AZ-297, AZ-266 | AZ-255 |
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| AZ-337 | C2 UltraVPR Primary Backbone (TRT) | 5 | AZ-336, AZ-263, AZ-269, AZ-298, AZ-303, AZ-283, AZ-281, AZ-321, AZ-266, AZ-272 | AZ-255 |
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| AZ-338 | C2 NetVLAD Mandatory Simple-Baseline | 3 | AZ-336, AZ-263, AZ-269, AZ-300, AZ-303, AZ-283, AZ-266, AZ-272 | AZ-255 |
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| AZ-339 | C2 MegaLoc + MixVPR Secondary Backbones (Research-only) | 5 | AZ-336, AZ-263, AZ-269, AZ-298, AZ-303, AZ-283, AZ-281, AZ-321, AZ-266, AZ-272 | AZ-255 |
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| AZ-340 | C2 SelaVPR + EigenPlaces + SALAD Secondary Backbones (Research-only) | 5 | AZ-336, AZ-263, AZ-269, AZ-298, AZ-303, AZ-283, AZ-281, AZ-321, AZ-266, AZ-272 | AZ-255 |
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| AZ-341 | C2 FAISS HNSW Retrieve Wiring | 3 | AZ-336, AZ-263, AZ-269, AZ-303, AZ-305, AZ-306, AZ-266, AZ-272 | AZ-255 |
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| AZ-342 | C2.5 ReRankStrategy Protocol + Factory + Composition | 2 | AZ-263, AZ-269, AZ-270, AZ-278, AZ-303, AZ-266 | AZ-256 |
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| AZ-343 | C2.5 InlierCountReRanker (drop-and-continue) | 3 | AZ-342, AZ-263, AZ-269, AZ-278, AZ-303, AZ-266, AZ-272 | AZ-256 |
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| AZ-344 | C3 CrossDomainMatcher Protocol + Factory + Composition | 3 | AZ-263, AZ-269, AZ-270, AZ-278, AZ-282, AZ-297, AZ-266 | AZ-257 |
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||
| AZ-345 | C3 DISK+LightGlue Primary Matcher | 5 | AZ-344, AZ-263, AZ-269, AZ-278, AZ-282, AZ-298, AZ-299, AZ-303, AZ-281, AZ-321, AZ-266, AZ-272 | AZ-257 |
|
||
| AZ-346 | C3 ALIKED+LightGlue Secondary Matcher | 3 | AZ-344, AZ-263, AZ-269, AZ-278, AZ-282, AZ-298, AZ-299, AZ-303, AZ-281, AZ-321, AZ-266, AZ-272 | AZ-257 |
|
||
| AZ-347 | C3 XFeat Alternate Lightweight Matcher | 3 | AZ-344, AZ-263, AZ-269, AZ-282, AZ-298, AZ-299, AZ-303, AZ-281, AZ-321, AZ-266, AZ-272 | AZ-257 |
|
||
| AZ-348 | C3.5 ConditionalRefiner Protocol + Factory + PassthroughRefiner + Composition | 3 | AZ-263, AZ-269, AZ-270, AZ-282, AZ-297, AZ-344, AZ-266 | AZ-258 |
|
||
| AZ-349 | C3.5 AdHoPRefiner — production-default conditional refiner | 5 | AZ-348, AZ-263, AZ-269, AZ-282, AZ-298, AZ-299, AZ-281, AZ-321, AZ-266, AZ-272 | AZ-258 |
|
||
| AZ-355 | C4 PoseEstimator Protocol + Factory + DTOs + Composition | 3 | AZ-263, AZ-269, AZ-270, AZ-282, AZ-279, AZ-277, AZ-266 | AZ-259 |
|
||
| AZ-358 | C4 OpenCVGtsamPoseEstimator (steady-state path) | 5 | AZ-355, AZ-381, AZ-282, AZ-279, AZ-277, AZ-269, AZ-266, AZ-272, AZ-263 | AZ-259 |
|
||
| AZ-361 | C4 D-CROSS-LATENCY-1 hybrid — Jacobian + thermal-driven mode switch | 3 | AZ-358, AZ-355, AZ-302, AZ-277, AZ-279, AZ-269, AZ-266, AZ-272, AZ-263 | AZ-259 |
|
||
| AZ-381 | C5 StateEstimator Protocol + Factory + DTOs + Composition + concrete ISam2GraphHandle | 3 | AZ-263, AZ-269, AZ-270, AZ-276, AZ-277, AZ-279, AZ-273, AZ-355, AZ-266 | AZ-260 |
|
||
| AZ-382 | C5 GtsamIsam2StateEstimator skeleton — iSAM2 + IncrementalFixedLagSmoother wiring | 5 | AZ-381, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-260 |
|
||
| AZ-383 | C5 GtsamIsam2StateEstimator — add_vio / add_pose_anchor / add_fc_imu factor add bodies | 5 | AZ-382, AZ-381, AZ-276, AZ-358, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-260 |
|
||
| AZ-384 | C5 GtsamIsam2StateEstimator — Marginals + output methods | 3 | AZ-383, AZ-382, AZ-381, AZ-279, AZ-277, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-260 |
|
||
| AZ-385 | C5 SourceLabelStateMachine + spoof-promotion gate | 5 | AZ-384, AZ-381, AZ-382, AZ-383, AZ-263, AZ-269, AZ-266, AZ-272, AZ-391, AZ-397 | AZ-260 |
|
||
| AZ-386 | C5 EskfStateEstimator — mandatory simple-baseline | 5 | AZ-381, AZ-276, AZ-277, AZ-279, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-260 |
|
||
| AZ-387 | C5 smoothed past-keyframe → FDR path (AC-4.5 revised) | 3 | AZ-384, AZ-386, AZ-273, AZ-272, AZ-263, AZ-269, AZ-266 | AZ-260 |
|
||
| AZ-388 | C5 AC-5.2 fallback path — 3 s no-estimate detector + downstream signal | 3 | AZ-384, AZ-386, AZ-273, AZ-272, AZ-390, AZ-397, AZ-263, AZ-269, AZ-266 | AZ-260 |
|
||
| AZ-389 | C5 internal orthorectifier — produces mid-flight tile candidates for C6 | 3 | AZ-384, AZ-385, AZ-303, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-260 |
|
||
| AZ-390 | C8 FcAdapter + GcsAdapter Protocols + DTOs + errors + composition factories | 3 | AZ-263, AZ-269, AZ-270, AZ-273, AZ-277, AZ-279, AZ-266 | AZ-261 |
|
||
| AZ-391 | C8 inbound subscription — IMU/attitude/GPS-health/MAV_STATE producer | 5 | AZ-390, AZ-263, AZ-269, AZ-266, AZ-272, AZ-273, AZ-276 | AZ-261 |
|
||
| AZ-392 | C8 CovarianceProjector — honest 6×6 → 2×2 → equivalent_radius helper | 3 | AZ-390, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-261 |
|
||
| AZ-393 | C8 PymavlinkArdupilotAdapter outbound — GPS_INPUT 5 Hz + provenance side-channel | 5 | AZ-390, AZ-392, AZ-279, AZ-273, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-261 |
|
||
| AZ-394 | C8 Msp2InavAdapter outbound — MSP2_SENSOR_GPS 5 Hz | 3 | AZ-390, AZ-392, AZ-279, AZ-273, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-261 |
|
||
| AZ-395 | C8 AP MAVLink 2.0 per-flight signing — handshake + key rotation + zeroisation | 5 | AZ-393, AZ-390, AZ-273, AZ-272, AZ-263, AZ-269, AZ-266 | AZ-261 |
|
||
| AZ-396 | C8 AP D-C8-2 source-set switch — MAV_CMD_SET_EKF_SOURCE_SET + spoof-recovery wiring | 3 | AZ-393, AZ-390, AZ-385, AZ-273, AZ-272, AZ-263, AZ-269, AZ-266 | AZ-261 |
|
||
| AZ-397 | C8 QgcTelemetryAdapter — downsampled 1–2 Hz summary out + operator command in | 3 | AZ-390, AZ-392, AZ-279, AZ-273, AZ-263, AZ-269, AZ-266 | AZ-261 |
|
||
| AZ-398 | FrameSource Protocol + Clock Protocol + LiveCameraFrameSource retrofit + VideoFileFrameSource| 3 | AZ-263, AZ-269, AZ-270, AZ-266, AZ-272 | AZ-265 |
|
||
| AZ-399 | TlogReplayFcAdapter — replay-only FcAdapter parsing pymavlink .tlog | 5 | AZ-398, AZ-390, AZ-391, AZ-279, AZ-273, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-265 |
|
||
| AZ-400 | ReplaySink + JsonlReplaySink + MavlinkTransport seam + Noop/Serial transports | 3 | AZ-263, AZ-269, AZ-270, AZ-381, AZ-266, AZ-272, AZ-390 | AZ-265 |
|
||
| AZ-401 | compose_root replay-mode branch — JSONL sink + NoopMavlinkTransport wiring | 2 | AZ-398, AZ-399, AZ-400, AZ-405, AZ-269, AZ-270, AZ-263, AZ-266, AZ-272, AZ-390 | AZ-265 |
|
||
| AZ-402 | gps-denied-replay console-script wrapper (mode-config dispatcher) | 3 | AZ-401, AZ-269, AZ-270, AZ-263, AZ-266, AZ-272, AZ-273 | AZ-265 |
|
||
| AZ-403 | (CANCELLED per ADR-011 — replay is a configuration of the airborne binary; no fourth image) | — | — | AZ-265 |
|
||
| AZ-404 | E2E replay fixture test — Derkachi 1–2 min clip + mode-agnosticism + operator workflow | 5 | AZ-402, AZ-401, AZ-405, AZ-263, AZ-269, AZ-266, AZ-272, AZ-273 | AZ-265 |
|
||
| AZ-405 | replay_input/ coordinator + auto-sync of video ↔ tlog via IMU take-off detection | 5 | AZ-399, AZ-398, AZ-263, AZ-269, AZ-266, AZ-272, AZ-279 | AZ-265 |
|
||
| AZ-558 | Route C8 outbound encoder bytes through MavlinkTransport seam (closes AZ-401 AC-9) | 3 | AZ-401, AZ-273, AZ-294, AZ-399 | AZ-265 |
|
||
| AZ-406 | Blackbox Test Infrastructure Bootstrap (Tier-1 + Tier-2 harness scaffold) | 5 | AZ-263 | AZ-262 |
|
||
| AZ-407 | Static fixture builders — tile-cache, age-injector, cold-boot, MAVLink passkey, CVE JPEG | 3 | AZ-406 | AZ-262 |
|
||
| AZ-408 | Runtime synthetic-injection fixture builders — outlier, blackout-spoof, multi-segment | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-409 | FT-P-01 — Still-image set-60 frame-center accuracy | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-410 | FT-P-02 — Cumulative drift between satellite anchors on Derkachi | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-411 | FT-P-03 + FT-P-14 — Estimate output schema + WGS84 coordinate validation | 2 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-412 | FT-P-04 — Frame-to-frame registration ≥95% on normal Derkachi segments | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-413 | FT-P-05 + FT-P-06 — Cross-domain matcher MRE budgets | 3 | AZ-406, AZ-407, AZ-412 | AZ-262 |
|
||
| AZ-414 | FT-P-07 + FT-N-02 — Sharp-turn recovery via satellite reference | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-415 | FT-P-08 — ≥3 disconnected segments via satellite-reference re-localization | 3 | AZ-406, AZ-407, AZ-408 | AZ-262 |
|
||
| AZ-416 | FT-P-09-AP — ArduPilot Plane GPS_INPUT contract + MAVLink 2.0 signing handshake | 5 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-417 | FT-P-09-iNav — iNav MSP2_SENSOR_GPS contract conformance | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-418 | FT-P-10 — GTSAM smoothing-loop look-back accuracy | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-419 | FT-P-11 — Cold-start init (operator-manifest primary + FC EKF secondary + bounded-delta gate)| 3 | AZ-406, AZ-407, AZ-489 (forward), AZ-490 (forward) | AZ-262 |
|
||
| AZ-420 | FT-P-12 + FT-P-13 — GCS downsample + GCS-originated re-loc command | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-421 | FT-P-15 + FT-P-16 + FT-P-18 — Tile cache + offline + no-raw-retention | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-422 | FT-P-17 + FT-N-06 — Mid-flight tile generation + freshness | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-423 | FT-P-19 — Satellite-relocalization scale-ratio + scene-change PARTIAL | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-424 | FT-N-01 — 350 m outlier injection tolerance | 3 | AZ-406, AZ-407, AZ-408 | AZ-262 |
|
||
| AZ-425 | FT-N-03 — Extended outage triggers OPERATOR_RELOC_REQUEST | 3 | AZ-406, AZ-407, AZ-408 | AZ-262 |
|
||
| AZ-426 | FT-N-04 — Visual blackout + spoofed GPS combined failsafe | 5 | AZ-406, AZ-407, AZ-408 | AZ-262 |
|
||
| AZ-427 | FT-N-05 — Stale-tile rejection on freshness violation | 2 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-428 | NFT-PERF-01 — End-to-end latency p95 ≤ 400 ms on Tier-2 | 5 | AZ-406, AZ-407, AZ-444 (forward) | AZ-262 |
|
||
| AZ-429 | NFT-PERF-02 — Frame-by-frame streaming, no batching | 2 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-430 | NFT-PERF-03 — Cold-start TTFF ≤ 30 s on Tier-2 | 5 | AZ-406, AZ-407, AZ-444 (forward) | AZ-262 |
|
||
| AZ-431 | NFT-PERF-04 — Spoofing-promotion latency p95 ≤ 600 ms | 3 | AZ-406, AZ-407, AZ-408 | AZ-262 |
|
||
| AZ-432 | NFT-RES-01 — IMU-only fallback drift bound | 3 | AZ-406, AZ-407, AZ-408 | AZ-262 |
|
||
| AZ-433 | NFT-RES-02 — Companion mid-flight reboot recovery | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-434 | NFT-RES-03 — 100-iteration Monte Carlo statistical envelope | 5 | AZ-406, AZ-407, AZ-408 | AZ-262 |
|
||
| AZ-435 | NFT-RES-04 — 35 s blackout-with-spoof full escalation ladder | 3 | AZ-406, AZ-407, AZ-408, AZ-426 | AZ-262 |
|
||
| AZ-436 | NFT-SEC-01 — Cache-poisoning safety probability ≤ 1e-6/flight | 5 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-437 | NFT-SEC-02 + NFT-SEC-05 — No-egress + DNS-blackhole defense-in-depth | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-438 | NFT-SEC-03 — AP rejects unsigned/wrong-key/replayed messages | 3 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-439 | NFT-SEC-04 — OpenCV CVE-2025-53644 + AddressSanitizer fuzz | 5 | AZ-406, AZ-407, AZ-444 (forward, optional) | AZ-262 |
|
||
| AZ-440 | NFT-LIM-01 — Jetson memory budget | 3 | AZ-406, AZ-407, AZ-444 (forward) | AZ-262 |
|
||
| AZ-441 | NFT-LIM-02 — 8h-extrapolated FDR size ≤ 50 GB | 2 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-442 | NFT-LIM-03 + NFT-LIM-05 — Aggregate storage + thumbnail-log budget | 2 | AZ-406, AZ-407 | AZ-262 |
|
||
| AZ-443 | NFT-LIM-04 — Jetson thermal envelope @ workstation ambient (AC-NEW-5 PARTIAL) | 2 | AZ-406, AZ-407, AZ-444 (forward) | AZ-262 |
|
||
| AZ-444 | Tier-2 Jetson harness wrapper — run-tier2.sh, ssh provisioning, systemd, ASan-fuzz | 5 | AZ-406 | AZ-262 |
|
||
| AZ-445 | CSV reporter + evidence bundler — per-NFR machine-readable outputs + traceability-status.json | 2 | AZ-406 | AZ-262 |
|
||
| AZ-446 | CSV reporter refinements — trend-line + acceptance-band annotations + Monte Carlo CI | 2 | AZ-406, AZ-445 | AZ-262 |
|
||
| AZ-489 | C12 FlightsApiClient — fetch Flight from suite flights service + offline JSON fallback | 3 | AZ-263, AZ-269, AZ-266, AZ-279, AZ-280 | AZ-253 |
|
||
| AZ-490 | C5 set_takeoff_origin entrypoint — accept operator origin from C10 Manifest | 3 | AZ-263, AZ-269, AZ-266, AZ-272, AZ-273, AZ-279, AZ-381, AZ-383, AZ-384, AZ-385, AZ-386 | AZ-260 |
|
||
| AZ-507 | Hygiene — align module-layout.md cross-component import rules with AZ-270 lint | 2 | AZ-263, AZ-270, AZ-321 | AZ-246 |
|
||
| AZ-508 | Hygiene — consolidate `_iso_ts_now` helpers into `helpers/iso_timestamps.py` | 2 | AZ-263 | AZ-264 |
|
||
| AZ-526 | Hygiene — add `iso_ts_from_clock(clock)` to `helpers/iso_timestamps.py` | 2 | AZ-508, AZ-398 | AZ-264 |
|
||
| AZ-527 | Hygiene — consolidate `_assert_engine_output_dim` into c2-internal helper | 2 | AZ-340 | AZ-255 |
|
||
| AZ-528 | Hygiene — consolidate c1_vio strategy facade orchestration spine | 3 | AZ-334 | AZ-254 |
|
||
| AZ-523 | Batch 44 — C11 internal flight-state gate removal (SRP refactor; audit-trail; closed) | 3 | AZ-317, AZ-319, AZ-329 | AZ-251 |
|
||
| AZ-524 | Batch 44 — C12 package rename: c12_operator_tooling → c12_operator_orchestrator (audit; closed)| 2 | AZ-263, AZ-326, AZ-327, AZ-328, AZ-329, AZ-330, AZ-489 | AZ-253 |
|
||
| AZ-589 | Remediate AZ-332 (CLOSED Won't Fix — wrong abstraction + wrong OKVIS API; replaced by AZ-591+AZ-592) | 5 | AZ-332, AZ-276, AZ-277 | AZ-254 |
|
||
| AZ-590 | Remediate AZ-333 (CLOSED Won't Fix — wrong abstraction + missing upstream; replaced by AZ-591+AZ-593) | 5 | AZ-333, AZ-276, AZ-277 | AZ-254 |
|
||
| AZ-591 | compose_root per-binary bootstrap — populate `_STRATEGY_REGISTRY` for airborne binary | 5 | AZ-270, AZ-331, AZ-339, AZ-345, AZ-352, AZ-355, AZ-368, AZ-380 | AZ-246 |
|
||
| AZ-592 | AZ-332 Tier-2 validation — OKVIS2 ThreadedSlam wiring + CI build env + Jetson (backlog) | 5 | AZ-332, AZ-276, AZ-277, AZ-591 | AZ-254 |
|
||
| AZ-593 | AZ-333 Tier-2 validation — de-ROSified VINS-Mono upstream + binding + CI + Jetson (backlog) | 5 | AZ-333, AZ-276, AZ-277, AZ-591, AZ-592 | AZ-254 |
|
||
| AZ-618 | Airborne bootstrap pre_constructed (UMBRELLA — split into AZ-619..AZ-624) | 0 | AZ-619, AZ-620, AZ-621, AZ-622, AZ-623, AZ-624 | AZ-602 |
|
||
| AZ-619 | AZ-618 Phase A: build_pre_constructed seeds c13_fdr + clock | 2 | AZ-591, AZ-270, AZ-273, AZ-398 | AZ-602 |
|
||
| AZ-620 | AZ-618 Phase B: build_pre_constructed seeds c6_descriptor_index + c6_tile_store | 3 | AZ-619, AZ-303, AZ-306 | AZ-602 |
|
||
| AZ-621 | AZ-618 Phase C: build_pre_constructed seeds c7_inference engine | 3 | AZ-619, AZ-620, AZ-297, AZ-320 | AZ-602 |
|
||
| AZ-622 | AZ-618 Phase D: build_pre_constructed seeds c3_lightglue_runtime + c3_feature_extractor | 3 | AZ-619, AZ-620, AZ-621, AZ-278 | AZ-602 |
|
||
| AZ-623 | AZ-618 Phase E: build_pre_constructed seeds c282_ransac_filter + c5 helpers | 3 | AZ-619, AZ-282, AZ-276, AZ-277, AZ-279, AZ-381 | AZ-602 |
|
||
| AZ-624 | AZ-618 Phase F: wire build_pre_constructed into main() + AC-1..AC-5 (incl. Jetson tier-2) | 2 | AZ-619, AZ-620, AZ-621, AZ-622, AZ-623 | AZ-602 |
|
||
| AZ-687 | build_pre_constructed must guard c6_descriptor_index when config.mode == 'replay' | 2 | AZ-619, AZ-620, AZ-624 | AZ-602 |
|
||
| AZ-697 | T1: Direct binary-tlog GPS-truth extractor | 3 | None | AZ-696 |
|
||
| AZ-698 | T2: Tlog trim + mid-flight alignment for replay | 5 | AZ-697 | AZ-696 |
|
||
| AZ-699 | T3: Real-flight validation runner + accuracy report | 3 | AZ-697 | AZ-696 |
|
||
| AZ-700 | T4: Replay map visualization (estimated vs ground-truth tracks) | 3 | AZ-699 | AZ-696 |
|
||
| AZ-701 | T5: HTTP Replay API service (POST tlog+video, return GPS fixes + map) | 5 | AZ-699, AZ-700 | AZ-696 |
|
||
| AZ-702 | T6: Topotek KHP20S30 camera calibration (factory-sheet approximation) | 1 | None | AZ-696 |
|
||
| AZ-776 | Open-loop ESKF composition profile (c4_pose.enabled flag) | 3 | None | AZ-602 |
|
||
| AZ-777 | Derkachi e2e: wire EXISTING parent-suite satellite-provider into operator pre-flight fixture | 8 (override) | AZ-776 | AZ-602 |
|
||
| AZ-835 | E2E real-flight validation Epic: raw (tlog, video) → route-driven SP seeding → verdict | Epic (~17 child SP) | AZ-777 Phase 1 (reused); AZ-405; AZ-699; AZ-696; AZ-702 | (umbrella) |
|
||
| AZ-836 | C1: TlogRouteExtractor — active-segment trim + DP coarsen tlog GPS to ≤N waypoints | 3 | AZ-697, AZ-279 | AZ-835 |
|
||
| AZ-838 | C2: SatelliteProviderRouteClient + seed_route.py CLI — POST RouteSpec to SP, poll mapsReady | 3 | AZ-836; AZ-777 Phase 1; AZ-809 (soft) | AZ-835 |
|
||
| AZ-839 | C3: operator_pre_flight_setup real fixture — wire C1+C2+C11+C10, supersedes AZ-777 Phase 3 | 5 | AZ-836; AZ-838; AZ-777 Phase 1 (done); AZ-322; AZ-316; AZ-306 | AZ-835 |
|
||
| AZ-840 | C4: E2E orchestrator test — raw (tlog, video, calibration) drives steps 1-7 end-to-end | 3 | AZ-839; AZ-836; AZ-838; AZ-699; AZ-405; AZ-702; AZ-696 | AZ-835 |
|
||
| AZ-841 | C5: Un-xfail AZ-777 AC-4 + AC-5 Tier-2 tests (BACKLOGGED 2026-05-26 — AZ-895 AC-4 conflict) | 1 | AZ-839; AZ-840 | AZ-835 |
|
||
| AZ-842 | C6: Docs — replay_protocol.md Invariants 12+13 + architecture.md + orchestrator-test README | 3 | AZ-894; AZ-895; AZ-896 (soft) | AZ-835 |
|
||
| AZ-845 | Refactor C01: Relocate RouteSpec DTO to _types/route.py (AZ-507 rule 9 fix) | 2 | None | AZ-844 |
|
||
| AZ-846 | Refactor C02: Refresh module-layout.md cycle-3 entries (c11 + replay_input + _types/route) | 2 | AZ-845 | AZ-844 |
|
||
| AZ-847 | Refactor C03: Widen test_az270_compose_root lint to enforce full rule-9 allow-list | 2 | AZ-845 | AZ-844 |
|
||
| AZ-899 | Land architecture_compliance_baseline.md (cycle-3 retro #3, 3rd try) | 1 | None | (none) |
|
||
| AZ-900 | Autodev: gate cycle-N+1 Step-9 entry on previous-cycle retro existence | 1 | None | (none) |
|
||
| AZ-901 | Fix EVIDENCE_OUT default path in e2e/runner/conftest.py:56 | 1 | None | (none) |
|
||
| AZ-908 | Replay: hard removal of deprecated auto-sync surface (AZ-895 follow-up; cycle-5+ backlog) | 3 | AZ-895; AZ-842 | (none) |
|
||
| AZ-943 | OKVIS2 binding: real ThreadedSlam wiring (AZ-592 split 1/3) | 5 | AZ-332; AZ-592 | AZ-254 |
|
||
|
||
## Notes
|
||
|
||
- **Forward dependency on AZ-272** in AZ-267: the FDR Log Bridge task
|
||
declares a forward dependency on the FdrRecord Schema (AZ-272). Both
|
||
tasks ship together; the bridge ships against the published schema
|
||
contract once AZ-272 is stable. This is the ONLY forward dependency
|
||
in the plan — verified by inspection.
|
||
- **C4 ↔ C5 co-development (ADR-003)**: AZ-358 depends on AZ-381's
|
||
concrete `ISam2GraphHandle`; AZ-383 depends on AZ-358's
|
||
`PoseEstimate.covariance_mode`. Both tasks ship in lockstep — the
|
||
shared `ISam2GraphHandle` Protocol stub is owned by AZ-355, the
|
||
concrete impl by AZ-381.
|
||
- **C5 ↔ C8 co-development**: AZ-385 depends on C8 `GpsHealth`
|
||
(AZ-391) and `QgcTelemetryAdapter` (AZ-397); AZ-388 depends on
|
||
AZ-390 / AZ-397; AZ-396 depends on AZ-385. Each side ships against
|
||
the AZ-390 Protocol contract until the consumer task lands.
|
||
- **AZ-401 (compose_root replay-mode branch, per ADR-011)** intentionally
|
||
depends on the C1–C5 epic IDs (AZ-254 … AZ-260) at the documentation
|
||
level — concrete strategy task IDs flow in through each component's
|
||
composition factory, not through this composition root directly. Under
|
||
ADR-011 there is NO separate `compose_replay` function; replay is a
|
||
`config.mode = "replay"` branch inside the single `compose_root`. The
|
||
legacy v1.0.0 fourth-binary design (AZ-403) is cancelled — see the
|
||
cancellation banner in `_docs/02_tasks/done/AZ-403_replay_dockerfile_ci.md`
|
||
and the pending tracker leftover at
|
||
`_docs/_process_leftovers/2026-05-14_az_403_cancellation_pending_tracker.md`.
|
||
- **AZ-405 (replay_input/ coordinator + auto-sync)** is the architectural
|
||
seam between `(video, tlog)` and the rest of the system under ADR-011.
|
||
Its consumers are AZ-401 (composition-root branch builds the
|
||
coordinator) and AZ-404 (E2E uses the populated coordinator via the
|
||
CLI). It depends on AZ-398 / AZ-399 / AZ-279 but NOT on AZ-402 (the CLI
|
||
consumes the coordinator's CLI-arg surface, but the coordinator itself
|
||
is CLI-agnostic).
|
||
- **E-BBT (AZ-262) forward dependencies on AZ-444 (Tier-2 harness)**:
|
||
AZ-428, AZ-430, AZ-440, AZ-443 declare hard forward deps on AZ-444;
|
||
AZ-439 declares an optional forward dep on AZ-444 (Tier-2 ASan-fuzz
|
||
variant). These tasks ship in a tight loop with AZ-444 — the harness
|
||
must exist before any Tier-2 NFT scenario can run. Tier-1 sub-cases
|
||
of NFT-PERF-02, NFT-RES-*, NFT-SEC-*, NFT-LIM-02, NFT-LIM-03 do not
|
||
require AZ-444 and remain independently runnable.
|
||
- **E-BBT scenario chains within AZ-262**:
|
||
- AZ-413 (FT-P-05+06) depends on AZ-412 (FT-P-04) — FT-P-06 is a
|
||
piggyback assertion over FT-P-04 + FT-P-05 evidence.
|
||
- AZ-435 (NFT-RES-04) depends on AZ-426 (FT-N-04) — both consume
|
||
`blackout_spoof.py`; NFT-RES-04 is the focused 35 s escalation
|
||
scenario while FT-N-04 covers the 5 s / 15 s / 35 s ladder.
|
||
- AZ-446 depends on AZ-445 — refinements layer over the bundler.
|
||
- **ADR-010 operator-origin path** (added 2026-05-11):
|
||
- **AZ-489 (C12 FlightsApiClient)** is the new read-only Flight
|
||
resolver for C12; it has no consumers inside its own epic but
|
||
feeds AZ-326 (CLI flags) and AZ-328 (orchestrator phase 0) — both
|
||
declare a hard backward dep on AZ-489. The CLI's `--flight-id` /
|
||
`--flight-file` flags + AZ-328's flight-resolve phase 0 cannot
|
||
land without it.
|
||
- **AZ-490 (C5 set_takeoff_origin)** extends the AZ-381 Protocol
|
||
with the pre-takeoff entrypoint, amends the AZ-385 source-label
|
||
state machine with the third bounded-delta clause, and depends
|
||
on AZ-381..AZ-386 (Protocol + factor adds + marginals + source
|
||
label gate + ESKF baseline) plus AZ-272/273/279 for FDR + Vincenty.
|
||
All deps are backward; AZ-490 ships after the C5 epic core lands.
|
||
- **AZ-419 (FT-P-11 cold-start)** carries forward deps on both
|
||
AZ-489 + AZ-490 — the blackbox cold-start scenario now exercises
|
||
the operator-manifest primary path (needs both) AND the FC EKF
|
||
secondary fallback (back-compat).
|
||
- **All E-BBT tasks depend on AZ-406 (test infrastructure)**; this is
|
||
by design — AZ-406 is the foundation every blackbox test depends on
|
||
(analogous to AZ-263 for the product side).
|
||
- **Batch 44 SRP refactor + C12 rename** (added 2026-05-13):
|
||
- **AZ-317 (C11 Flight-State Gate)** is **superseded**. The
|
||
C11-internal gate (`confirm_flight_state` /
|
||
`FlightStateSignal` / `FlightStateNotOnGroundError`) was removed
|
||
in Batch 44 Phase B; the post-landing safety responsibility
|
||
moved to C12's new `PostLandingUploadOrchestrator` (AZ-329).
|
||
The row is retained in the table for audit; the ticket is in
|
||
`_docs/02_tasks/done/` with a SUPERSEDED banner.
|
||
- **AZ-319 (C11 TileUploader)** lost its dependency on AZ-317
|
||
(gate removed) and the `TileUploader` Protocol contract was
|
||
bumped to **v2.0.0 (frozen)** with the gate parameters removed.
|
||
Migration note in
|
||
`_docs/02_document/contracts/c11_tilemanager/tile_uploader.md`.
|
||
- **AZ-329 (C12 PostLandingUploadOrchestrator)** specification
|
||
was rewritten in Phase C to gate on the `flight_footer` FDR
|
||
record's `clean_shutdown` field instead of counting consecutive
|
||
`FlightStateSignal` records. Added explicit dependency on
|
||
AZ-292 (C13 footer write) since the orchestrator reads the
|
||
footer record produced there.
|
||
- **AZ-330 (C12 OperatorReLocService)** added an explicit
|
||
dependency on AZ-272 (FDR schema) since the service emits a
|
||
new `c12.reloc.requested` FDR record kind.
|
||
- **AZ-523 (C11 gate removal audit-trail)** and **AZ-524 (C12
|
||
package rename audit-trail)** are post-hoc tickets closed
|
||
on creation. Their dependencies (AZ-317/319/329 for AZ-523;
|
||
the C12 task set for AZ-524) are listed for traceability;
|
||
these tickets are not gates on any future work.
|
||
- **E-C12 epic (AZ-253) summary renamed**:
|
||
`C12 Operator Pre-flight Tooling` →
|
||
`C12 Operator Pre-flight Orchestrator`.
|
||
- **Hygiene PBI from cumulative review batches 52-54** (added
|
||
2026-05-14):
|
||
- **AZ-528** (E-C1 / AZ-254) — c1_vio strategy facade
|
||
orchestration-spine 3-way duplication. Depends on AZ-334 (the
|
||
trigger that escalated the duplication from 2-way to 3-way; all
|
||
3 callers now exist in `done/`). NOT a gate on AZ-335 in a strict
|
||
technical sense, but **recommended to sequence before AZ-335** so
|
||
the warm-start path lands against the consolidated spine instead
|
||
of a fourth divergent copy. 3 points: 1 new module
|
||
(`c1_vio/_facade_spine.py`) + 3 small edits + 1 test file with
|
||
AST-walk + import-grep regression guards. Pattern mirrors
|
||
AZ-527's c2-side consolidation.
|
||
- **Hygiene PBIs from cumulative review batches 31-33** (added
|
||
2026-05-13):
|
||
- **AZ-507** (E-CC-CONF / AZ-246) — module-layout.md ↔ AZ-270 lint
|
||
alignment. Depends on AZ-263 (structure), AZ-270 (the lint test
|
||
+ composition root), and AZ-321 (the engine_compiler whose
|
||
`except Exception` is narrowed). All deps are backward and
|
||
completed; AZ-507 can land in any future batch. NOT a gate on
|
||
AZ-322 / AZ-337 (the cumulative review F2 notes hygiene defers).
|
||
- **AZ-508** (E-CC-HELPERS / AZ-264) — `_iso_ts_now` helper
|
||
consolidation. Depends on AZ-263 only. Stateless stdlib helper;
|
||
no cross-component or runtime dependencies. NOT a gate on any
|
||
future product task; can ship in a hygiene-only batch.
|
||
|
||
## Coverage Verification (Implementation Mode)
|
||
|
||
- **Every product interface in `architecture.md` has implementation task coverage.**
|
||
- C1 `VioStrategy` → AZ-331 (Protocol) + AZ-332/333/334 (concrete)
|
||
- C2 `VprStrategy` → AZ-336 (Protocol) + AZ-337/338/339/340 (concrete)
|
||
- C2.5 `ReRankStrategy` → AZ-342 (Protocol) + AZ-343 (concrete)
|
||
- C3 `CrossDomainMatcher` → AZ-344 (Protocol) + AZ-345/346/347 (concrete)
|
||
- C3.5 `ConditionalRefiner` → AZ-348 (Protocol + Passthrough) + AZ-349 (AdHoP)
|
||
- C4 `PoseEstimator` → AZ-355 (Protocol) + AZ-358/361 (concrete)
|
||
- C5 `StateEstimator` → AZ-381 (Protocol) + AZ-382..AZ-389 (concrete) + AZ-490 (`set_takeoff_origin` entrypoint + bounded-delta gate)
|
||
- C6 `TileStore` / `DescriptorIndex` → AZ-303 (Interfaces) + AZ-304/305/306/307/308
|
||
- C7 `InferenceRuntime` → AZ-297 (Protocol) + AZ-298/299/300/301/302
|
||
- C8 `FcAdapter` / `GcsAdapter` → AZ-390 (Protocols) + AZ-391..AZ-397
|
||
- C10 Provisioning → AZ-321/322/323/324/325
|
||
- C11 Tile Manager → AZ-316/318/319/320 + AZ-523 (Batch 44 gate-removal audit; AZ-317 superseded)
|
||
- C12 Operator Pre-flight Orchestrator → AZ-326/327/328/329/330 + AZ-489 (FlightsApiClient) + AZ-524 (Batch 44 rename audit)
|
||
- C13 FDR Writer → AZ-291..AZ-296
|
||
|
||
- **Cross-cutting product modules**:
|
||
- Logging → AZ-266/267/268
|
||
- Config + Composition Root → AZ-269/270/271
|
||
- FDR Client → AZ-272..AZ-275
|
||
- Shared helpers (IMU preintegrator, SE3, LightGlue runtime, WGS,
|
||
SHA-256 sidecar, engine filename schema, RANSAC, descriptor
|
||
normaliser) → AZ-276..AZ-283
|
||
- Frame source + Clock → AZ-398
|
||
- Replay sink → AZ-400
|
||
- Replay composition branch + CLI wrapper + replay_input/ coordinator → AZ-401/402/405 (AZ-403 cancelled per ADR-011)
|
||
|
||
- **No unresolved `AZ-?` placeholders** in any task file (verified by grep on Step 4 close-out).
|
||
|
||
- **E-BBT (AZ-262 / blackbox tests) coverage** vs `traceability-matrix.md`:
|
||
- **All 35 Covered ACs** map to ≥1 scenario task (AZ-409..AZ-443).
|
||
- **All 3 PARTIAL ACs** carry the PARTIAL annotation in their pass
|
||
criteria: AC-8.6 → AZ-423; AC-NEW-5 → AZ-443.
|
||
- **All 3 NOT COVERED ACs** (AC-7.1, AC-7.2, RESTRICT-CAM-2) are
|
||
handled by the conftest skip-rule embedded in AZ-406, not by
|
||
a dedicated task.
|
||
- **Fixture coverage**: 5 static fixtures (AZ-407) + 3 synthetic
|
||
injectors (AZ-408) + cold-boot snapshot (AZ-407) cover every
|
||
scenario's data needs.
|
||
- **Tier-2-only scenarios**: AZ-428, AZ-430, AZ-440, AZ-443 (and
|
||
optionally AZ-439's ASan-fuzz mode) all SKIP cleanly on Tier-1
|
||
via the conftest tier-guard.
|
||
- **Reporting**: AZ-445 + AZ-446 produce per-NFR JSONs,
|
||
`traceability-status.json`, and `regression-baseline.json` for
|
||
every scenario.
|
||
|
||
## Cycle Check
|
||
|
||
A static dependency-graph traversal (Kahn topological sort) visits all
|
||
142 nodes — no cycles. The 15 forward edges (dep ID > task ID) are all
|
||
declared, bounded, and documented:
|
||
|
||
- **AZ-267 → AZ-272** (FDR Log Bridge → FdrRecord Schema; shipped in
|
||
lockstep).
|
||
- **AZ-298 → AZ-301**, **AZ-299 → AZ-301** (TensorRT / ONNX-RT runtimes
|
||
→ engine gate; runtime ships against the gate's published contract).
|
||
- **AZ-358 → AZ-381** (C4 OpenCV/GTSAM marginals → C5 SAM2 graph
|
||
handle; ADR-003 co-development against the AZ-355 Protocol stub).
|
||
- **AZ-385 → AZ-391, AZ-397**, **AZ-388 → AZ-390, AZ-397** (C5 ↔ C8
|
||
co-development; each side ships against the AZ-390 Protocol contract
|
||
until the consumer task lands).
|
||
- **AZ-428, AZ-430, AZ-440, AZ-443 → AZ-444** (Tier-2 NFT scenarios
|
||
→ Tier-2 harness wrapper; AZ-439 carries the same forward dep
|
||
optionally for the ASan-fuzz mode). AZ-444 is therefore scheduled
|
||
as the first Tier-2 E-BBT deliverable; the dependent scenarios land
|
||
on top of it.
|
||
- **AZ-326 → AZ-489, AZ-328 → AZ-489** (C12 CLI + orchestrator
|
||
depend on the new C12 FlightsApiClient task added 2026-05-11; the
|
||
client lands first inside the C12 epic and the CLI/orchestrator
|
||
then plug it in).
|
||
- **AZ-419 → AZ-489, AZ-419 → AZ-490** (blackbox cold-start scenario
|
||
forward-depends on both the C12 client + the new C5 entrypoint;
|
||
the scenario lands after both product tasks).
|
||
|
||
The graph is therefore a strict DAG once these documented forward
|
||
edges are accounted for, and remains sortable by tracker ID modulo
|
||
those edges.
|