What you saw may have not been cheating but based on the position they were in and your husband's reaction, had you not shown up they would probably have been fucking.
Also I'm not sure from your story how long you were asleep, there's a chance they could've already fucked and redressed before they went outside.
In any event I would have a hard time trusting him after this if I were you, even if nothing happend your husband and sister both put themselves in a very compromising position.
Is this cheating
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What you saw may have not been cheating but based on the position they were in and your husband's reaction, had you not shown up they would probably have been fucking.
Also I'm not sure from your story how long you were asleep, there's a chance they could've already fucked and redressed before they went outside.
In any event I would have a hard time trusting him after this if I were you, even if nothing happend your husband and sister both put themselves in a very compromising position.