gps-denied-onboard/_docs/03_implementation/batch_09_cycle1_report.md

Batch Report

Batch: 9 Tasks: AZ-232_safety_anchor_state_machine Date: 2026-05-03

Task Results

Task	Status	Files Modified	Tests	AC Coverage	Issues
AZ-232_safety_anchor_state_machine	Done	4 files	Pass	4/4 ACs covered	None

AC Test Coverage: All covered

AC Ref	Coverage
AZ-232 AC-1	test_vio_state_updates_position_estimate_with_honest_covariance verifies VIO updates emit source-labelled estimates with honest covariance.
AZ-232 AC-2	test_accepted_anchor_corrects_state_and_records_evidence verifies accepted anchors promote satellite_anchored state and record evidence.
AZ-232 AC-3	test_blackout_degrades_then_reaches_no_fix_with_monotonic_covariance verifies monotonic covariance growth and no-fix semantics.
AZ-232 AC-4	test_tile_write_eligibility_requires_trusted_low_covariance_pose verifies conservative tile-write eligibility.

Code Review Verdict: PASS

Review report: _docs/03_implementation/reviews/batch_09_review.md

Auto-Fix Attempts: 0

Stuck Agents: None

Verification

• .venv/bin/python -m black --check src tests e2e/replay passed.
• .venv/bin/python -m ruff check src tests e2e/replay passed.
• .venv/bin/python -m pytest passed: 49 tests.

Next Batch: All tasks complete