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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
fd848266d1
Replaces AZ-382 NotImplementedError placeholders with real GTSAM factor adds wired against the iSAM2 graph handle: - add_vio -> BetweenFactorPose3 between consecutive VIO pose keys (first call primes the chain; AZ-388 owns first-keyframe seeding). - add_pose_anchor -> mode-dispatch per pose.covariance_mode: "marginals" -> PriorFactorPose3 + handle.update(); "jacobian" -> skip iSAM2 add per AZ-361 contract. Both paths bump _last_anchor_ns via time.monotonic_ns(). - add_fc_imu -> shared ImuPreintegrator.integrate_window + reset_for_new_keyframe; builds a CombinedImuFactor between the prev/curr (X, V, B) keyframe triple. Introduces new 'v' (velocity) and 'b' (bias) GTSAM key namespaces decoupled from the VIO/pose frame_id mapping. Invariant 2 - non-decreasing timestamps - enforced per call with EstimatorDegradedError + c5.state.out_of_order log. Every successful add emits a structured DEBUG *_ok log; every failure emits a structured ERROR *_failed log and raises through the C5 error hierarchy (R05). Contract-vs-reality fix-ups also landed: - StateEstimator Protocol: add_fc_imu(ImuWindow) - was incorrectly annotated as ImuTelemetrySample by AZ-381. - _last_anchor_ns semantics switched to monotonic_ns() to match last_anchor_age_ms. - create() factory back-wires the ISam2GraphHandle to the estimator via the new attach_handle() method. Tests: +21 in tests/unit/c5_state/test_az383_factor_adds.py covering all 8 ACs with mock ISam2GraphHandle instances. Three obsolete AZ-382 tests (test_ac10_add_*_raises_named_az383) removed. Full suite: 565 passed, 2 skipped. Co-authored-by: Cursor <cursoragent@cursor.com>