Build the per-component contracts and estimator-internal diagnostics that turn VIO debugging from end-to-end edit-and-measure-ATE into a principled characterize → assess → hypothesize → model → test workflow. Motivated by the #211/#247 dynamic-init post-mortem: the gravity-sign bug flowed through an undefined interface contract and was masked by synthetic tests that re-encoded the same convention (a compensating error), discoverable only via real-data ATE.
See docs/assessments/vio-diagnostic-methodology.md (full assessment). Sub-issues track section C of that doc. Prerequisite to doing #212 (and future estimator work) by measurement rather than search.
Sub-issues (build list §C):
Build the per-component contracts and estimator-internal diagnostics that turn VIO debugging from end-to-end edit-and-measure-ATE into a principled characterize → assess → hypothesize → model → test workflow. Motivated by the #211/#247 dynamic-init post-mortem: the gravity-sign bug flowed through an undefined interface contract and was masked by synthetic tests that re-encoded the same convention (a compensating error), discoverable only via real-data ATE.
See docs/assessments/vio-diagnostic-methodology.md (full assessment). Sub-issues track section C of that doc. Prerequisite to doing #212 (and future estimator work) by measurement rather than search.
Sub-issues (build list §C):