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Ticket 036: Computed Divert Routing

Goal

Compute deterministic divert route estimates for lost-link and contingency policy outcomes instead of recording only the selected divert target ID.

Current Gap

The lost-link policy outcome can record a divert_target_id, but it does not compute a route, time, energy, geofence interaction, or landing-zone feasibility for the divert action.

Scope

  • Add deterministic divert-route construction from the policy action point.
  • Estimate divert distance, time, energy, and reserve after divert.
  • Reuse landing-zone reachability and geofence checks where applicable.
  • Add policy outcome fields or a versioned result extension for divert details.
  • Add tests for reachable, infeasible, and missing-target divert cases.
  • Update golden fixtures if public result contracts change.

Integration Requirements

  • Use existing mission YAML landing-zone assets, geofence assets, terrain assets, wind layers, wind grids, vehicle performance, resource systems, link systems, and energy models when building divert estimates.
  • Keep lost_link_policy and divert_target_id in scenario YAML as the primary scenario entry point.
  • Add scenario YAML examples that combine computed divert routing with dynamic landing-zone availability, terrain-referenced altitude, wind-grid inputs, external/tethered power, and communication-link constraints.
  • Expose divert details through the existing scenario command and scenario envelope rather than a separate command.
  • Keep the estimate command behavior stable for missions that do not execute scenario contingency policies.
  • Update Markdown reports so divert route evidence is visible alongside the existing policy outcome.

Acceptance Criteria

  • divert policy outcomes include deterministic route and feasibility evidence.
  • Infeasible divert actions produce structured diagnostics.
  • Existing non-divert lost-link policy behavior remains stable.
  • Divert routing composes with existing YAML-configured mission, vehicle, terrain, wind, geofence, landing-zone, resource, and link features.

Out of Scope

  • Real-time route replanning against live airspace.
  • Obstacle-aware path planning.
  • Operator command execution.