verify(falcon): v1.121 → verified — GNSS-P02 dual-M9N + RANGEDRV-P01 TF02-Pro

[avrabe]

Verify-Filter: (has-tag "v1.121")

Code-free verification PR per the two-commit rule, promoting SWREQ-FALCON-GNSS-P02 and SWREQ-FALCON-RANGEDRV-P01 implemented → verified with evidence artifacts FV-FALCON-GNSS-002 and FV-FALCON-RANGEDRV-001.

Evidence on merged main (aece1cf, #280 at 58/58 green):

• Full clean-room pass, 12/12 CONFIRMED — a cold verifier re-ran every suite, both Kani sets, the clippy gate, and independently re-fetched ArduPilot's and PX4's Benewake parsers to validate the frame layout against external sources.
• GNSS-P02: 40-trial dispersion campaign (100% divergence detection on walk trials, zero false flags, no estimate steps); one-interval failover with the estimate held; divergence latches + blocks arming; Kani GNSS-K05 selector totality over all inputs (caught a real ∞−∞ NaN during development — fixed with accuracy floor + position bound).
• RANGEDRV-P01: decode conformance vs two independent external parsers + hand-worked vector; quality gate in the decoder (Kani-proven sound over all 9-byte patterns — caught a float envelope escape, fixed by division); biased-vertical landing within 15 cm of true ground with range assist and provably not without; obstacle short-return rejected by the innovation gate.

🤖 Generated with Claude Code

https://claude.ai/code/session_01HvusAXYbHLyv3uTzfBcMbG