feat(falcon): v1.121 — dual-M9N GNSS blend/failover + TF02 terrain-relative landing - #280
Merged
Merged
Conversation
…lative landing (GNSS-P02 + RANGEDRV-P01) Two hardware-register slices for the first vehicle, both built by first UN-ORPHANING verified leaves (the recurring pattern): GNSS-P02 — falcon-gnss-ubx dual.rs: per-receiver health gating (fix, sats, accuracy ceiling+floor, innovation gate vs the estimator), inverse-variance blending, failover within one fix interval, and a debounced LATCHED divergence flag. Sqrt-free decision path (squared gates). Kani GNSS-K05 proved selector totality over ALL inputs — and caught a real NaN: a denormal reported accuracy overflowed the 1/acc² blend weight into ∞−∞ (fixed with accuracy floor + position sanity bound). FlightCore runs the selector when the backend has two lanes (read_gnss_dual seam, default None); the previously-ORPHANED relay-iekf SpoofMonitor is now fed the position innovation, and nav_compromised() (spoof ∨ divergence) blocks pre-arm. RANGEDRV-P01 — relay-flowrange tf02.rs: Benewake TF02-Pro 9-byte frame decode cross-validated against TWO independent parsers (ArduPilot AP_RangeFinder_Benewake + PX4 tfmini_parser semantics quoted in the module doc), strength/envelope quality gate IN the decoder, streaming resync scanner. Kani FLOWRANGE-K03/K04 (decode totality + gate soundness over all 9-byte patterns; scanner totality) — K03 caught 10 × 0.01f32 = 0.099999994 escaping the envelope (fixed: divide, the correctly-rounded quotient makes the bounds exact). The previously- ORPHANED range_to_altitude is now the LANDING-PHASE altitude reference: terrain-relative AGL (the PX4 terrain-estimator role, NOT z-state fusion — three absolute references would fight), innovation- gated so an obstacle overflight can never fold the touchdown logic. Oracles (falcon-core, +5 tests): failover holds the estimate (<1 m step, no reset); divergence latches + blocks arming + estimate stays with the consistent receiver; 40-trial LCG dispersion campaign (drop / accuracy-collapse / divergence-walk / nominal — flag in 100% of walk trials, 0 false flags, no estimate steps); biased-vertical landing (baro AND GNSS-z lying 2 m high — the sim now models receiver BIAS, which zero-mean noise cannot) touches down within 15 cm of TRUE ground with range assist and provably NOT without; obstacle short-return rejected by the gate, altitude estimate unfolded. Also: CI clippy gate extended with relay-batt, relay-flowrange, falcon-gnss-ubx (they were outside the linted crate list); a pre-existing match-destructure lint in relay-flowrange fixed; LoggingBackend forwards the two new backend reads (the v1.120 wrapper-default lesson; raw-lane logging = schema-v2, #277). SWREQ-FALCON-GNSS-P02 + SWREQ-FALCON-RANGEDRV-P01 → implemented (the verify PR follows per the two-commit rule). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HvusAXYbHLyv3uTzfBcMbG
avrabe
added a commit
that referenced
this pull request
Jul 16, 2026
…TF02-Pro (#281) Code-free promotion per the two-commit rule. Evidence on merged main (aece1cf, impl PR #280 merged at 58/58 green), plus a FULL clean-room pass: 12 falsifiable claims verified cold, 12/12 CONFIRMED — including an independent re-fetch of both external parsers (ArduPilot AP_RangeFinder_Benewake, PX4 tfmini_parser) to validate the TF02 frame layout without trusting the module's own doc. New FV-FALCON-GNSS-002 + FV-FALCON-RANGEDRV-001 (ids grepped free). SWREQ-FALCON-GNSS-P02 + SWREQ-FALCON-RANGEDRV-P01: implemented → verified. Claude-Session: https://claude.ai/code/session_01HvusAXYbHLyv3uTzfBcMbG Co-authored-by: Claude Fable 5 <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Verify-Filter: (has-tag "v1.121")
Implements GNSS-P02 + RANGEDRV-P01 (→
implemented; verify PR follows per the two-commit rule) — the two remaining hardware-register slices for the first vehicle's sensor complement (2× M9N, TF02-Pro). Both built by first un-orphaning verified leaves:relay-iekf::SpoofMonitorandrelay_flowrange::range_to_altitudewere verified but wired nowhere.GNSS-P02 — dual-receiver selection (
falcon-gnss-ubx/src/dual.rs)nav_compromised()(with the now-wired SpoofMonitor CUSUM) → blocks pre-arm.1/acc²blend weight into∞−∞. Fixed with the accuracy floor + position sanity bound; the harness now proves the no-NaN claim outright.RANGEDRV-P01 — TF02-Pro decode + terrain-relative landing (
relay-flowrange/plain/src/tf02.rs)AP_RangeFinder_Benewake, PX4tfmini_parser— semantics quoted in the module doc; the external-reference rule). Strength/envelope quality gate lives in the decoder; streaming resync scanner.10 × 0.01f32 = 0.099999994escaping the 0.1 m envelope bound; fixed by dividing (correctly-rounded quotient ⇒ exact bounds).Oracles (falcon-core, +5 tests, 54/54)
Gate hygiene
Gates
cargo test: falcon-core 54 + flowrange 14 + gnss-ubx 12, 0 fail ·cargo kani: flowrange 4/4, gnss-ubx 2/2 · clippy-D warningsclean on all four crates ·rivet validatePASS.🤖 Generated with Claude Code
https://claude.ai/code/session_01HvusAXYbHLyv3uTzfBcMbG