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Yuzviak
f2f278bc09
First real e2e run on EuRoC MH_01 (indoor micro-MAV, ASL format from machine_hall bundle, SHA256 5ed7d07…). 100-frame CI-tier completes in ~30s end-to-end. Pipeline emits GPS estimates (raw IMU present in EuRoC so ESKF path is active), but ATE RMSE ≈ 10.9 km on an indoor trajectory that physically spans ~20 m — satellite-anchoring path is not yet wired for indoor data, so VO+ESKF drift dominates. Test gates via xfail (same pattern as VPAIR) until VO/ESKF tuning is done. Constant EUROC_MH01_MAX_FRAMES is explicit so the cap is discoverable and easy to raise when full-sequence runs become worthwhile. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>