ci(kani,clippy): enforce the orphaned relay-mix-quad proofs (MIX-P05..08)#241
Merged
Merged
Conversation
….08) Caught while scoping motor-failure reallocation: relay-mix-quad has six Kani harnesses (MIX-P05..P08 — the X-mixer bound, saturation-direction, thrust-floor, and the MIX-P08 single-rotor-out allocator that pins the failed rotor to 0 and keeps healthy rotors in [floor,1]) but the crate was NOT in the dedicated Kani matrix. MIX-P08 ran only via FV-FALCON-FAULT-002's verification step; the rest ran nowhere in CI. Same orphaned-proof pattern closed this session for relay-param / relay-fsm / relay-preflight / relay-calib / relay-fsafe. Add relay-mix-quad to .github/workflows/kani.yml + the -D warnings clippy gate (3 test-fn #[allow(clippy::needless_range_loop)] where the index is used in the failure message — the verified mixer logic is untouched). All six harnesses verify 6/6; 23 tests; clippy clean. FV-FALCON-FAULT-002 notes the enforcement. (Note: the rotor-loss FEATURE is already implemented + verified — RotorFaultDetector + mix_rotor_out + moment_reduced + the end-to-end SITL chain test all pass. This is the gate-enforcement gap, not new feature code.) Co-Authored-By: Claude Opus 4.8 <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Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be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.
What
Caught while scoping motor-failure reallocation: relay-mix-quad has 6 Kani harnesses (MIX-P05..P08) but was never in the dedicated Kani matrix. MIX-P08 (the single-rotor-out allocator — failed rotor → 0, healthy ∈ [floor,1]) ran only via
FV-FALCON-FAULT-002's verification step; the rest ran nowhere in CI. Same orphaned-proof pattern closed this session for relay-param/fsm/preflight/calib/fsafe.relay-mix-quadto.github/workflows/kani.yml+ the-D warningsclippy gate.#[allow(clippy::needless_range_loop)](index used in the failure message) — the verified mixer logic is untouched.FV-FALCON-FAULT-002notes the enforcement.Context (important)
The rotor-loss feature is already implemented + verified end-to-end —
relay-iekf::RotorFaultDetector+mix_rotor_out+relay-geo::moment_reduced+ thefalcon-sitl-gz::fault_tolerance_chain_recovers_from_rotor_lossSITL chain test all pass. This PR is the gate-enforcement gap, not new feature code. (Verify-first caught that a planned new detector would have duplicated the existingRotorFaultDetector.)Next: wire the existing pieces into the production
FlightCore::step(currently only the SITL example composes them).🤖 Generated with Claude Code