v1.104 — enforce the 8 orphaned flight-critical control+estimator Kani proofs#243
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…+estimator Kani proofs A workspace scan found 36 of 142 Kani harnesses (25%) authored but absent from the kani.yml matrix — CI never ran them. Same orphaned-proof gap that left relay-rc unenforced ~40 releases and relay-mix-quad's MIX-P05..08 unenforced until v1.102. This closes the highest-safety subset: the 8 control + estimator proofs across 4 crates, all locally VERIFICATION SUCCESSFUL and now gated on every PR. relay-arm verify_arming_total / verify_arming_torque_gated relay-adrc verify_command_filter_saturation / verify_from_bandwidth_separation relay-geo verify_shield_contract relay-iekf verify_nis3_total / verify_spoof_monitor_no_false_alarm / verify_clamp_factor_bounded - kani.yml: add relay-arm/adrc/geo/iekf to the model-checking matrix (the roll-up "Kani gate" required check now covers them). - ci.yml: add the same 4 crates to the -D warnings clippy gate. This surfaced a latent collapsible_match in relay-arm's arming state machine (DISARMED arm) — refactored to a match guard; BOTH relay-arm Kani harnesses re-verified SUCCESSFUL, proving semantics preserved. - FV-RELAY-KANICI-002: rivet enforcement artifact (companion to KANICI-001), verifies ARM/ADRC/SHIELD/IEKF/SPOOF requirements. - Adopt the new rivet `release:` field (rivet 0.22.0 release-handling) on KANICI-002 (falcon-v1.104.0) and retroactively on FV-FALCON-FAULT-002 (falcon-v1.103.0). Hand-placed: `rivet modify --set-release` corrupts folded scalars (filed pulseengine/rivet#613). Remaining orphaned slice: 12 crates (~28 harnesses) flight-support + HAL drivers + infra — the next enforcement release. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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What
A workspace scan found 36 of 142 Kani harnesses (25%) authored but absent from
kani.yml— CI never ran them. This is the same orphaned-proof gap that left relay-rc unenforced for ~40 releases and relay-mix-quad's MIX-P05..08 unenforced until v1.102.This PR closes the highest-safety subset: the 8 control + estimator proofs across 4 crates, all locally
VERIFICATION SUCCESSFULand now gated on every PR.verify_arming_total,verify_arming_torque_gatedverify_command_filter_saturation,verify_from_bandwidth_separationverify_shield_contractverify_nis3_total,verify_spoof_monitor_no_false_alarm,verify_clamp_factor_boundedChanges
-D warningsclippy gate. This surfaced a latentcollapsible_matchin relay-arm's arming state machine (DISARMEDarm) — refactored to a match guard; both relay-arm Kani harnesses re-verified SUCCESSFUL, proving the refactor preserved semantics.release:field (rivet 0.22.0 release-handling) on KANICI-002 (falcon-v1.104.0) + retroactively on FV-FALCON-FAULT-002 (falcon-v1.103.0).Verification
VERIFICATION SUCCESSFULlocally (kani 0.67).cargo testfor the 4 crates: 54 passed, 0 failed.cargo clippy -D warningsclean for all 4.rivet validate: PASS.rivet release status falcon-v1.104.0correctly reports NOT-cuttable (exit 1) until the proofs are CI-verified.Tooling friction filed
rivet modify --set-releasecorrupts artifacts with folded/literal multiline scalars (inserts the key mid-block) → pulseengine/rivet#613.release:fields here are hand-placed.Follow-up
Remaining orphaned slice: 12 crates (~28 harnesses) — flight-support + HAL drivers + infra — the next enforcement release.
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