Oleksandr Bezdieniezhnykh f5366bbca1 [AZ-698] Multi-flight tlog handling: segment first, pick last flight ...

Real derkachi.tlog covers 3 takeoffs at the same field but the
uploaded video covers only the last. Original NCC argmax + AZ-405
head-takeoff fallback both biased toward flight 1, violating the
spec's "the last chunk in tlog is relevant" framing.

Patch: pre-NCC flight segmenter partitions the IMU energy stream
into distinct flights (threshold + gap walk); find_aligned_window
restricts NCC search to the last segment; low-confidence fallback
uses that segment's start instead of head-takeoff detection.
AlignedWindow gains flight_count_detected + selected_flight_index
for FDR-visible audit.

7 new unit tests (segmenter shapes + end-to-end multi-flight
pipeline + segmented fallback path). 19 AZ-698 tests pass, 113
in the regression slice. Zero new mypy --strict errors.

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

2026-05-20 16:44:41 +03:00

..

jetson_runs

[AZ-687] [autodev] File replay-mode guard task + Tier-2 evidence

2026-05-19 11:53:14 +03:00

reviews

[AZ-687] Guard build_pre_constructed seeds in replay mode

2026-05-19 12:22:03 +03:00

AZ-332_implementation_plan.md

chore: pre-batch-23 carry-over (state + AZ-332 plan)

2026-05-12 09:18:20 +03:00

batch_01_cycle1_report.md

[AZ-263] Bootstrap: repo skeleton + Docker + CI + Alembic + Tier-1 tests

2026-05-11 01:00:28 +03:00

batch_02_cycle1_report.md

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

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

batch_03_cycle1_report.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

batch_04_cycle1_report.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

batch_05_cycle1_report.md

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

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

batch_06_cycle1_report.md

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

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

batch_07_cycle1_report.md

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

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

batch_08_cycle1_report.md

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

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

batch_09_cycle1_report.md

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

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

batch_10_cycle1_report.md

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

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

batch_11_cycle1_report.md

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

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

batch_12_cycle1_report.md

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

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

batch_13_cycle1_report.md

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

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

batch_14_cycle1_report.md

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

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

batch_15_cycle1_report.md

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

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

batch_16_cycle1_report.md

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

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

batch_17_cycle1_report.md

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

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

batch_18_cycle1_report.md

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

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

batch_19_cycle1_report.md

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

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

batch_20_cycle1_report.md

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

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

batch_21_cycle1_report.md

[AZ-489] C12 FlightsApiClient + offline JSON loader + bbox helper

2026-05-12 01:28:49 +03:00

batch_22_cycle1_report.md

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

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

batch_23_cycle1_report.md

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

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

batch_24_cycle1_report.md

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

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

batch_25_cycle1_report.md

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

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

batch_26_cycle1_report.md

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

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

batch_27_cycle1_report.md

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

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

batch_28_cycle1_report.md

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

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

batch_29_cycle1_report.md

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

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

batch_30_cycle1_report.md

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

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

batch_31_cycle1_report.md

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

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

batch_32_cycle1_report.md

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

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

batch_33_cycle1_report.md

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

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

batch_34_cycle1_report.md

chore: backfill batch_34_cycle1_report from commit e2bebef

2026-05-13 03:09:40 +03:00

batch_35_cycle1_report.md

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

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

batch_36_cycle1_report.md

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

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

batch_37_cycle1_report.md

[AZ-325] C10 CacheProvisioner orchestrator

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

batch_38_cycle1_report.md

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

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

batch_39_cycle1_report.md

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

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

batch_40_cycle1_report.md

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

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

batch_41_cycle1_report.md

[AZ-320] Add C11 IdempotentRetryTileUploader decorator

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

batch_42_cycle1_report.md

[AZ-326] [AZ-327] C12 operator-tool CLI + companion SSH bringup

2026-05-13 09:34:14 +03:00

batch_43_cycle1_report.md

[AZ-328] C12 BuildCacheOrchestrator + remote C10 invoker (Batch 43)

2026-05-13 11:03:46 +03:00

batch_44_cycle1_report.md

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

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

batch_44_implementation_plan.md

[Batch 44 prep] Add batch 44 implementation plan

2026-05-13 18:06:02 +03:00

batch_45_cycle1_report.md

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

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

batch_46_cycle1_report.md

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

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

batch_47_cycle1_report.md

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

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

batch_48_cycle1_report.md

[AZ-508] Consolidate _iso_ts_now into helpers/iso_timestamps

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

batch_49_cycle1_report.md

[AZ-526] Consolidate _iso_ts_from_clock into helpers/iso_timestamps

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

batch_50_cycle1_report.md

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

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

batch_51_cycle1_report.md

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

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

batch_52_cycle1_report.md

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

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

batch_53_cycle1_report.md

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

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

batch_54_cycle1_report.md

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

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

batch_55_cycle1_report.md

[AZ-528] Consolidate c1_vio strategy facade orchestration spine

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

batch_56_cycle1_report.md

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

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

batch_57_cycle1_report.md

[AZ-345] [AZ-346] [AZ-347] [AZ-349] C3 matchers + C3.5 AdHoP refiner

2026-05-14 04:09:22 +03:00

batch_58_cycle1_report.md

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

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

batch_59_cycle1_report.md

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

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

batch_60_cycle1_report.md

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

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

batch_65_cycle1_report.md

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

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

batch_67_report.md

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

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

batch_68_report.md

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

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

batch_69_report.md

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

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

batch_70_report.md

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

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

batch_71_report.md

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

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

batch_72_report.md

[AZ-416] [AZ-417] [AZ-419] Test batch 72: FT-P-09 AP/iNav + FT-P-11 cold start

2026-05-17 07:49:17 +03:00

batch_73_report.md

[AZ-424] [AZ-425] [AZ-426] Implement negatives set (FT-N-01/03/04)

2026-05-17 08:26:16 +03:00

batch_74_report.md

[AZ-594] Implement core-three harness stubs (fdr_reader, frame_source_replay, imu_replay)

2026-05-17 08:42:12 +03:00

batch_75_report.md

[AZ-595] Batch 75: sitl_observer FDR-replay + scenario probe cleanup

2026-05-17 09:00:55 +03:00

batch_76_report.md

[AZ-596] Batch 76: fc_proxy_runtime driver (FDR-replay mode)

2026-05-17 09:08:48 +03:00

batch_77_report.md

[AZ-597] Batch 77: replay_mode helpers + 13 scenario stub rewires

2026-05-17 09:52:05 +03:00

batch_78_report.md

[AZ-598] Batch 78: sitl_observer.wait_for_outbound + FT-P-01 fixture builder

2026-05-17 12:08:02 +03:00

batch_79_report.md

[AZ-599] Batch 79: FT-P-02 Derkachi builder + _common.py extraction

2026-05-17 13:40:07 +03:00

batch_80_report.md

[AZ-600] Batch 80: refactor sitl_replay_builder to strategy pattern

2026-05-17 14:19:08 +03:00

batch_81_report.md

[AZ-420] Batch 81: FT-P-12 + FT-P-13 GCS scenarios

2026-05-17 14:46:08 +03:00

batch_82_report.md

[AZ-421] Batch 82: FT-P-15 + FT-P-16 + FT-P-18 cache / offline / no-raw-retention

2026-05-17 15:09:58 +03:00

batch_83_report.md

[AZ-422] Add FT-P-17 + FT-N-06 mid-flight tile blackbox tests

2026-05-17 15:28:39 +03:00

batch_84_report.md

[AZ-423] [AZ-427] Add FT-P-19 + FT-N-05 blackbox tests

2026-05-17 15:43:06 +03:00

batch_85_report.md

[AZ-428] [AZ-429] [AZ-430] [AZ-431] Add NFT-PERF-01..04 perf scenarios

2026-05-17 16:46:49 +03:00

batch_86_report.md

[AZ-432] [AZ-433] [AZ-434] [AZ-435] Add NFT-RES-01..04 resilience scenarios

2026-05-17 17:09:04 +03:00

batch_87_report.md

[AZ-436] [AZ-437] [AZ-438] [AZ-439] Add NFT-SEC-01..05 security scenarios

2026-05-17 17:33:22 +03:00

batch_88_cycle1_report.md

[AZ-440] [AZ-441] [AZ-442] [AZ-443] NFT-LIM-01/02/03+05/04 blackbox scenarios

2026-05-17 18:01:55 +03:00

batch_89_cycle1_report.md

[AZ-446] CSV reporter: band + ci95 annotations + report.csv emitter

2026-05-17 18:14:00 +03:00

batch_90_cycle1_report.md

[autodev] Backfill batch_90_cycle1_report.md for AZ-619

2026-05-19 06:35:47 +03:00

batch_91_cycle1_report.md

[AZ-620] Phase B: build_pre_constructed seeds c6_descriptor_index + c6_tile_store

2026-05-19 06:36:11 +03:00

batch_92_cycle1_report.md

[AZ-621] Phase C: build_pre_constructed seeds c7_inference

2026-05-19 06:47:05 +03:00

batch_93_cycle1_report.md

[AZ-622] Phase D: build_pre_constructed seeds c3 GPU runtimes

2026-05-19 08:56:04 +03:00

batch_94_cycle1_report.md

[AZ-623] [AZ-625] Phase E: c282_ransac + c5 helpers; split handle work

2026-05-19 09:20:28 +03:00

batch_95_cycle1_report.md

[AZ-625] Phase E.5: airborne_bootstrap c5_isam2_graph_handle ordering

2026-05-19 09:38:13 +03:00

batch_96_cycle1_report.md

[AZ-624] [AZ-618] Phase F: wire build_pre_constructed into main()

2026-05-19 10:28:43 +03:00

batch_97_cycle1_report.md

[AZ-687] [autodev] Backfill batch 97 cycle1 report

2026-05-19 12:34:44 +03:00

batch_98_cycle2_report.md

[AZ-697] [AZ-702] tlog GPS truth + KHP20S30 factory calibration

2026-05-20 16:09:03 +03:00

batch_99_cycle2_report.md

[AZ-698] Multi-flight tlog handling: segment first, pick last flight

2026-05-20 16:44:41 +03:00

cumulative_review_batches_01-22_cycle1_report.md

[AZ-381] Fix ISam2GraphHandleImpl missing get_pose_key + comments

2026-05-12 03:55:41 +03:00

cumulative_review_batches_23-27_cycle1_report.md

[AZ-300] [AZ-301] [AZ-302] [AZ-304] docs: sync module-layout for c6+c7

2026-05-12 17:12:30 +03:00

cumulative_review_batches_28-30_cycle1_report.md

chore: record cumulative review batches 28-30 + state

2026-05-12 21:47:40 +03:00

cumulative_review_batches_31-33_cycle1_report.md

chore: record cumulative review batches 31-33 + state

2026-05-13 00:12:30 +03:00

cumulative_review_batches_34-36_cycle1_report.md

chore: record cumulative review batches 34-36 + state

2026-05-13 04:29:26 +03:00

cumulative_review_batches_37-39_cycle1_report.md

chore: cumulative review batches 37-39 (PASS_WITH_WARNINGS)

2026-05-13 06:40:09 +03:00

cumulative_review_batches_40-42_cycle1_report.md

chore: cumulative review batches 40-42 (PASS_WITH_WARNINGS)

2026-05-13 09:40:27 +03:00

cumulative_review_batches_43-45_cycle1_report.md

[AZ-341] [AZ-329] [AZ-330] [AZ-328] Cumulative review batches 43-45

2026-05-13 21:50:32 +03:00

cumulative_review_batches_46-48_cycle1_report.md

[AZ-337] [AZ-338] [AZ-508] Cumulative review batches 46-48

2026-05-13 23:26:58 +03:00

cumulative_review_batches_49-51_cycle1_report.md

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

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

cumulative_review_batches_52-54_cycle1_report.md

[AZ-528] [AZ-527] [AZ-333] [AZ-334] Cumulative review batches 52-54

2026-05-14 02:45:28 +03:00

cumulative_review_batches_55-57_cycle1_report.md

[AZ-528] [AZ-335] [AZ-345..AZ-347] [AZ-349] Cumulative review 55-57

2026-05-14 04:12:47 +03:00

cumulative_review_batches_58-60_cycle1_report.md

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

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

cumulative_review_batches_61-63_cycle1_report.md

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

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

cumulative_review_batches_67-69_cycle1_report.md

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

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

cumulative_review_batches_70-72_cycle1_report.md

[AZ-416] [AZ-417] [AZ-419] Test batch 72: FT-P-09 AP/iNav + FT-P-11 cold start

2026-05-17 07:49:17 +03:00

cumulative_review_batches_82-84_cycle1_report.md

[AZ-423] [AZ-427] Add FT-P-19 + FT-N-05 blackbox tests

2026-05-17 15:43:06 +03:00

cumulative_review_batches_85-87_cycle1_report.md

[autodev] Cumulative review 88-92 + canonical 85-87 path

2026-05-19 08:30:08 +03:00

cumulative_review_batches_88-92_cycle1_report.md

[autodev] Cumulative review 88-92 + canonical 85-87 path

2026-05-19 08:30:08 +03:00

implementation_completeness_cycle1_report.md

[AZ-687] [autodev] Re-run cycle1 completeness gate; clear Step 7

2026-05-19 12:37:08 +03:00

implementation_report_tests.md

[autodev] close Step 10 Implement Tests, advance to Step 11 Run Tests

2026-05-17 18:15:48 +03:00

jetson_harness_setup.md

[autodev] Update Jetson test environment and satellite-provider integration

2026-05-20 13:22:51 +03:00

run_tests_step11_report.md

[AZ-611] [AZ-614] [AZ-618] Step-11 Cycle-3 report + autodev state

2026-05-18 09:50:11 +03:00