Ticket 031: Fidelity v2 Core - Turn Dynamics and Fixed-Wing Loiter

Status

Implemented in May 2026.

Goal

Improve trajectory realism where v1 currently uses simple leg-to-leg geodesics.

Current Gap

This ticket is complete. Turn-arc dynamics and fixed-wing circular loiter are available when fidelity v2 is selected.

Scope

• Add turn-dynamics estimate.
• Add fixed-wing circular loiter model.
• Add compatibility mode preserving v1 behavior.
• Add tests for v1/v2 behavior separation.

Acceptance Criteria

• Fixed-wing circular loiter and turn-aware estimates are available behind explicit fidelity selection.
• v1-compatible mode remains stable.

Integrated Surfaces

• Mission YAML enables the behavior with estimation.fidelity: v2.
• Scenario YAML enables the behavior with initial_conditions.fidelity: v2.
• The estimate CLI enables the behavior with --fidelity v2.
• Fidelity v2 route expansion feeds the same downstream energy, geofence, landing-zone, terrain, wind, scenario assertion, JSON, and Markdown paths.
• v1 remains the default compatibility mode for existing examples and golden fixtures unless explicitly overridden.

Out of Scope

• SITL comparison logic.
• Full flight-dynamics simulation.