@h2loop/uav 1.0.0 → 1.2.0

package/USAGE.md

@@ -15,8 +15,9 @@ covers getting it running on **macOS, Linux, and Windows**, validating it works,
   `mcp[cli]>=1.0.0`). The pack does **not** auto-provision a venv; you install the deps
   yourself (see §6). Plain `.bin` log analysis needs no Python.
 - *Optional:* `export EXA_API_KEY=…` for web grounding of bounds.
-- macOS/Linux are native; on **Windows** use **WSL2** for the bridge's Python (the bridge is
-  POSIX-oriented).
+- **macOS, Linux, and Windows are all native** — no WSL required. The pack resolves the Python
+  interpreter per-platform (`python3` / `python` / the `py -3` launcher); override it with
+  `UAV_PYTHON=<full path to python>` if you keep one in a venv.
 
 ---
 
@@ -41,14 +42,27 @@ hydron plugin add /path/to/uav-pack            #   add --project to scope it to
 Native. Nothing extra needed to use a published pack. Python ≥ 3.10 is only required for the
 optional MAVLink bridge (§6).
 
-### Windows — use WSL2 for the bridge
-The `hydron plugin add` command itself is cross-platform. The MAVLink bridge, however, is
-POSIX-oriented Python, so run it (and ideally Hydron) inside **WSL2** (Ubuntu):
+### Windows
+Native — run the same `hydron plugin add` in PowerShell. `.bin` log analysis, the checks, param
+audit, tuning, plots and compare need no Python at all.
+
+The Python-backed features (`uav_python`, `.tlog`/`.ulog` decode, the MAVLink bridge) need a
+real Python ≥ 3.10 — install it from **python.org** and tick **“Add python.exe to PATH”**. The
+pack finds it via the `py -3` launcher or `python`; there is no `python3` on Windows.
+
+> Windows pre-installs *stub* `python.exe` / `python3.exe` aliases that only open the Microsoft
+> Store. The pack ignores them (it probes by running code, not by looking on PATH), but if
+> `python --version` opens the Store rather than printing a version, turn the stubs off under
+> **Settings → Apps → Advanced app settings → App execution aliases**.
+
+Pinning a specific interpreter (e.g. a venv) works everywhere:
 ```powershell
-wsl --install -d Ubuntu        # PowerShell (admin), one-time; then open the Ubuntu shell
+$env:UAV_PYTHON = "C:\path\to\.venv\Scripts\python.exe"
 ```
-Use the **VS Code "WSL" remote** (or Hydron's CLI inside WSL) so Hydron and the bridge share
-the same environment.
+
+WSL2 also works and stays fully supported — but if you use it, install the pack **and** run
+Hydron inside WSL (VS Code's **WSL** remote). A Windows-side Hydron cannot see a WSL-side
+install; that mismatch is the usual cause of "the UAV tools didn't appear".
 
 ### Uninstall (any OS)
 ```bash
@@ -121,7 +135,10 @@ The pack does **not** auto-provision a venv. The bridge needs Python ≥ 3.10 wi
 ```bash
 pip install -r bridge/requirements.txt     # ideally into a venv
 ```
-Then point the `mavlink` command's `python3` at that interpreter.
+Then point the `mavlink` command's first element at that interpreter. **This is the one place
+the interpreter is not auto-detected** — `mcp.json` is static config that Hydron spawns
+directly, so it ships the POSIX default `python3`. On Windows change it to `python` (or the
+venv's full `…\Scripts\python.exe`); everywhere else an absolute venv path is the safest value.
 
 ### Enable and configure (per-project in opencode.jsonc)
 The `mavlink` server ships in `mcp.json` **disabled by default**. Enable it per-project:
@@ -135,8 +152,9 @@ The `mavlink` server ships in `mcp.json` **disabled by default**. Enable it per-
 }
 ```
 Connect-target forms: `udp:HOST:PORT` (default `udp:127.0.0.1:14550` = SITL/MAVProxy) |
-`tcp:HOST:PORT` | `serial:/dev/ttyUSB0:BAUD` | `/path/log.tlog` (offline replay). Can also be
-set via the `MAVLINK_CONNECT` env on the server.
+`tcp:HOST:PORT` | `serial:/dev/ttyUSB0:BAUD` (on Windows a COM port, e.g. `COM3` or
+`COM3:57600`) | `/path/log.tlog` (offline replay). Can also be set via the `MAVLINK_CONNECT`
+env on the server.
 
 > **"Connected" ≠ a live vehicle.** The panel shows `mavlink Connected` once the bridge *process*
 > starts. The tools only return data while something is **actually publishing MAVLink** at the
@@ -159,11 +177,17 @@ set via the `MAVLINK_CONNECT` env on the server.
 ## 7. Troubleshooting
 
 - **UAV tools don't appear** → you didn't *fully* restart Hydron (a window reload isn't enough); the
-  plugin loads once per process. Confirm it's installed with `hydron plugin list`. On Windows make
-  sure Hydron is running in the **same WSL env** you're using.
-- **`mavlink` shows Disabled** → the `python3` in the `mavlink` command lacks `pymavlink`+`mcp`, or
-  it isn't Python ≥ 3.10. Install the deps (`pip install -r bridge/requirements.txt`, ideally into a
-  venv) and point the command at that interpreter.
+  plugin loads once per process. Confirm it's installed with `hydron plugin list`. If you install
+  under WSL, Hydron must also **run** under WSL — a Windows-side Hydron cannot see a WSL-side
+  install (check for the green `WSL: Ubuntu` badge in VS Code's bottom-left corner).
+- **`uav_python` / `.ulog` decode → "no working Python 3 interpreter found"** → no runnable Python
+  on PATH. On Windows, install from python.org with **“Add python.exe to PATH”** ticked — the
+  pre-installed Store *stubs* don't count. Then reopen the terminal, or set `UAV_PYTHON` to the
+  interpreter's full path.
+- **`mavlink` shows Disabled** → the interpreter in the `mavlink` command lacks `pymavlink`+`mcp`,
+  or it isn't Python ≥ 3.10. Install the deps (`pip install -r bridge/requirements.txt`, ideally
+  into a venv) and point the command at that interpreter. Note `mcp.json` ships `python3`, which
+  does not exist on Windows — change it to `python` or an absolute path.
 - **Every mavlink tool → `MCP error -32001: Request timed out`** → the bridge is Connected but **no
   MAVLink source is live** at the connect target. Start SITL / point `--connect` at a live link.
 - **`MCP error -32000: Connection closed`** → the bridge crashed at startup: usually the wrong Python

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@h2loop/uav",
-  "version": "1.0.0",
+  "version": "1.2.0",
   "description": "UAV domain pack for Hydron — ArduPilot/PX4 flight-log intelligence (analyze, triage, compare, tune)",
   "type": "module",
   "private": false,

package/plugins/index.js

@@ -1,46 +1,46 @@
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q("hover",Z.thresholds);if(!C(Z,"CTUN","ThH"))return q("hover",Z.thresholds,"CTUN missing ThH column");let Q=$?.band??[0.25,0.75],[J,X]=Q,Y=P(Z,'SELECT AVG("ThH") FROM "CTUN"'),K=Y===null?!1:Y<J||Y>X;return D({check:"hover",thresholds:Z.thresholds,failed:K,failSeverity:"HIGH",value:Y,threshold_used:X,source:$?.source,detail:`mean hover throttle ${(Y??0).toFixed(3)} vs band [${J}, ${X}]`})},X$=2000,m0=(Z)=>{if(!$Z(Z.vehicleType))return q("rcou",Z.thresholds,`n/a for ${Z.vehicleType} (control surfaces, not motor mix)`);if(!Z.hasTable("RCOU"))return q("rcou",Z.thresholds);let $=y(Z,"RCOU"),Q=[];for(let Y=1;Y<=8;Y++)if($.has(`C${Y}`))Q.push(`C${Y}`);if(Q.length===0)return q("rcou",Z.thresholds,"RCOU has no C1..C8 channels");let J=-1/0,X=[];for(let Y of Q){let K=P(Z,`SELECT MAX(${w(Y)}) FROM "RCOU"`);if(K===null)continue;if(K>J)J=K;if(K>=X$)X.push(`${Y}=${K}`)}if(J===-1/0)J=0;return D({check:"rcou",thresholds:Z.thresholds,failed:X.length>0,failSeverity:"HIGH",value:J,threshold_used:X$,detail:X.length>0?`motor output(s) pegged at max: ${X.join(", ")}`:void 0})},_Z=1000,RZ=2000,d0=(Z)=>{if(!Z.hasTable("RCIN"))return q("rcin",Z.thresholds);if(!C(Z,"RCIN","C3"))return q("rcin",Z.thresholds,"RCIN missing C3 column");let $=P(Z,'SELECT MIN("C3") FROM "RCIN"'),Q=P(Z,'SELECT MAX("C3") FROM "RCIN"'),J=$!==null&&$<_Z||Q!==null&&Q>RZ,X=Q;if($!==null&&$<_Z)X=$;return D({check:"rcin",thresholds:Z.thresholds,failed:J,failSeverity:"HIGH",value:X,threshold_used:RZ,detail:`RCIN C3 range [${$??"\u2014"}, ${Q??"\u2014"}] vs [${_Z}, ${RZ}]`})},p0=(Z)=>{let $=Z.thresholds.vibration;if(!Z.hasTable("VIBE"))return q("vibration",Z.thresholds);let Q=y(Z,"VIBE"),J=["VibeX","VibeY","VibeZ"].filter((V)=>Q.has(V));if(J.length===0)return q("vibration",Z.thresholds,"VIBE has no VibeX/Y/Z columns");let X=$?.max_ms2??30,Y={},K=-1/0;for(let V of J){let L=P(Z,`SELECT MAX(${w(V)}) FROM 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$=Z.thresholds.ekf,Q=Y$(Z,["XKF3","NKF3"]);if(!Q)return q("ekf",Z.thresholds);let J=y(Z,Q),X=["IVN","IVE","IVD","IVT","IPN","IPE","IPD"].filter((G)=>J.has(G));if(X.length===0)return q("ekf",Z.thresholds,`${Q} has no IVN/IVE/IVD/IVT/IPN/IPE/IPD columns`);let Y=$?.max_ratio??0.5,K=-1/0;for(let G of X){let W=P(Z,`SELECT MAX(ABS(${w(G)})) FROM ${w(Q)}`);if(W!==null&&W>K)K=W}if(K===-1/0)K=0;return D({check:"ekf",thresholds:Z.thresholds,failed:K>Y,failSeverity:"HIGH",value:K,threshold_used:Y,source:$?.source,detail:`peak innovation ${K} (${Q}: ${X.join("/")})`})},i0=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return q("min_cell_voltage",Z.thresholds);if(!C(Z,"BAT","Volt"))return q("min_cell_voltage",Z.thresholds,"BAT missing Volt column");let Q=$?.min_cell_v??3.3,J=P(Z,'SELECT MAX("Volt") FROM "BAT"'),X=P(Z,'SELECT MIN("Volt") FROM "BAT"');if(J===null||X===null||J<=0)return q("min_cell_voltage",Z.thresholds,"BAT.Volt has no usable values");let Y=Math.max(1,Math.round(J/4.2)),K=X/Y;return D({check:"min_cell_voltage",thresholds:Z.thresholds,failed:K<Q,failSeverity:"CRITICAL",value:K,threshold_used:Q,source:$?.source,detail:`${Y}S pack (MAX pack ${J.toFixed(2)}V), min cell ${K.toFixed(3)}V vs floor ${Q}V`})},o0=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return q("voltage_sag",Z.thresholds);if(!C(Z,"BAT","VoltR")||!C(Z,"BAT","Volt"))return q("voltage_sag",Z.thresholds,"BAT missing VoltR/Volt columns");let Q=$?.max_sag_v??2,J=P(Z,'SELECT MAX("VoltR"-"Volt") FROM "BAT"');return D({check:"voltage_sag",thresholds:Z.thresholds,failed:J!==null&&J>Q,failSeverity:"HIGH",value:J,threshold_used:Q,source:$?.source,detail:`peak sag ${(J??0).toFixed(2)}V (VoltR-Volt) vs ${Q}V`})},r0=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return q("over_current",Z.thresholds);if(!C(Z,"BAT","Curr"))return q("over_current",Z.thresholds,"BAT missing Curr column");let Q=$?.max_current_a??200,J=P(Z,'SELECT MAX("Curr") FROM 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D({check:"internal_resistance",thresholds:Z.thresholds,failed:Y>K,failSeverity:"HIGH",value:Y,threshold_used:K,source:$?.source,detail:`peak internal resistance ${Y.toFixed(4)}\u03A9 (at Curr \u2265 ${J} A) vs ${K}\u03A9`})},s0=(Z)=>{let $=Z.thresholds.power;if(!Z.hasTable("POWR"))return q("board_brownout",Z.thresholds);if(!C(Z,"POWR","Vcc"))return q("board_brownout",Z.thresholds,"POWR missing Vcc column");let Q=$?.min_vcc_v??4.5,J=P(Z,'SELECT MIN("Vcc") FROM "POWR"');return D({check:"board_brownout",thresholds:Z.thresholds,failed:J!==null&&J<Q,failSeverity:"CRITICAL",value:J,threshold_used:Q,source:$?.source,detail:`min board Vcc ${(J??0).toFixed(3)}V vs floor ${Q}V`})},t0=(Z)=>{let $=Z.thresholds.rate;if(!Z.hasTable("RATE"))return q("rate_tracking",Z.thresholds);let Q=y(Z,"RATE"),X=[["RDes","R"],["PDes","P"],["YDes","Y"]].filter(([W,z])=>Q.has(W)&&Q.has(z));if(X.length===0)return q("rate_tracking",Z.thresholds,"RATE has no RDes/R, PDes/P, YDes/Y pairs");let Y=$?.max_err_dps??50,K=-1/0,G="";for(let[W,z]of X){let B=P(Z,`SELECT MAX(ABS(${w(W)}-${w(z)})) FROM "RATE"`);if(B!==null&&B>K)K=B,G=W.replace("Des","")}if(K===-1/0)K=0;return D({check:"rate_tracking",thresholds:Z.thresholds,failed:K>Y,failSeverity:"HIGH",value:K,threshold_used:Y,source:$?.source,detail:`peak rate-tracking error ${K.toFixed(2)} deg/s (axis ${G||"?"}) vs ${Y} deg/s`})},e0=(Z)=>{let $=Z.thresholds.gps;if(!Z.hasTable("GPA"))return q("gps_accuracy",Z.thresholds);if(!C(Z,"GPA","HAcc"))return q("gps_accuracy",Z.thresholds,"GPA missing HAcc column");let Q=$?.hacc_max_m??5,J=P(Z,'SELECT MAX("HAcc") FROM "GPA"');return D({check:"gps_accuracy",thresholds:Z.thresholds,failed:J!==null&&J>Q,failSeverity:"HIGH",value:J,threshold_used:Q,source:$?.source,detail:`peak horizontal accuracy ${(J??0).toFixed(2)}m vs ${Q}m`})},Z8=(Z)=>{let $=Z.thresholds.ekf,Q=Y$(Z,["XKF4","NKF4"]);if(!Q)return q("ekf_variance",Z.thresholds);let J=y(Z,Q),X=["SV","SP","SH","SM"].filter((B)=>J.has(B));if(X.length===0)return q("ekf_variance",Z.thresholds,`${Q} has no SV/SP/SH/SM columns`);let Y=$?.max_variance??1,K=-1/0,G="";for(let B of X){let V=P(Z,`SELECT MAX(${w(B)}) FROM ${w(Q)}`);if(V!==null&&V>K)K=V,G=B}if(K===-1/0)K=0;let W=J.has("FS")?P(Z,`SELECT MAX("FS") FROM ${w(Q)}`):null,z=W!==null&&W>0?` | EKF failsafe set (FS MAX=${W})`:"";return D({check:"ekf_variance",thresholds:Z.thresholds,failed:K>Y,failSeverity:"HIGH",value:K,threshold_used:Y,source:$?.source,detail:`peak EKF variance ${K.toFixed(3)} (${Q}: ${G||X.join("/")}) vs ${Y}${z}`})},$8=(Z)=>{let $=Z.thresholds.mag;if(!Z.hasTable("MAG"))return q("mag_offsets",Z.thresholds);let Q=y(Z,"MAG"),J=["OfsX","OfsY","OfsZ"].filter((G)=>Q.has(G));if(J.length===0)return q("mag_offsets",Z.thresholds,"MAG has no OfsX/OfsY/OfsZ columns");let X=$?.max_offset??600,Y=-1/0,K="";for(let G of J){let W=P(Z,`SELECT MAX(ABS(${w(G)})) FROM "MAG"`);if(W!==null&&W>Y)Y=W,K=G}if(Y===-1/0)Y=0;return D({check:"mag_offsets",thresholds:Z.thresholds,failed:Y>X,failSeverity:"HIGH",value:Y,threshold_used:X,source:$?.source,detail:`peak mag offset ${Y.toFixed(0)} (${K||J.join("/")}) vs ${X}`})},J8=(Z)=>{let $=Z.thresholds.esc;if(!Z.hasTable("ESC"))return q("esc_health",Z.thresholds);let Q=y(Z,"ESC"),J=["Temp","MotTemp"].filter((V)=>Q.has(V));if(J.length===0&&!Q.has("Err"))return q("esc_health",Z.thresholds,"ESC has no Temp/MotTemp/Err columns");let X=$?.max_temp_c??90,Y=-1/0,K="";for(let V of J){let U=P(Z,`SELECT MAX(${w(V)}) FROM "ESC"`);if(U!==null&&U>Y)Y=U,K=V}if(Y===-1/0)Y=0;let G=Q.has("Err")?P(Z,'SELECT MAX("Err") FROM "ESC"')??0:0,W=J.length>0&&Y>X,z=G>0,B=z?` | ESC Err MAX=${G}`:"";return D({check:"esc_health",thresholds:Z.thresholds,failed:W||z,failSeverity:"HIGH",value:Y,threshold_used:X,source:$?.source,detail:`peak ESC temp ${Y.toFixed(1)}\xB0C (${K||"n/a"}) vs ${X}\xB0C${B}`})},Q8=(Z)=>{if(!$Z(Z.vehicleType))return q("thrust_margin",Z.thresholds,`n/a for ${Z.vehicleType} (lift/T:W is a rotorcraft metric)`);if(!Z.hasTable("MOTB"))return q("thrust_margin",Z.thresholds);let $=y(Z,"MOTB");if(!$.has("FailFlags")&&!($.has("ThrOut")&&$.has("LiftMax")))return q("thrust_margin",Z.thresholds,"MOTB missing FailFlags and ThrOut/LiftMax columns");let Q=$.has("FailFlags")?P(Z,'SELECT MAX("FailFlags") FROM "MOTB"')??0:0,J=null;if($.has("ThrOut")&&$.has("LiftMax")){let G=P(Z,'SELECT AVG("ThrOut") FROM "MOTB"'),W=P(Z,'SELECT AVG("LiftMax") FROM "MOTB"');if(G!==null&&W!==null&&W>0)J=G/W}let X=J!==null&&J>0.5,Y=Q>0,K=`MOTB FailFlags MAX=${Q}`+(J!==null?`, mean ThrOut/LiftMax ${J.toFixed(2)} (low-margin > 0.5)`:"")+(Y?" \u2014 THRUST-LOSS flagged":X?" \u2014 low thrust margin":"");return D({check:"thrust_margin",thresholds:Z.thresholds,failed:Y||X,failSeverity:"HIGH",value:J,threshold_used:0.5,detail:K})},X8=(Z)=>{let $=Z.thresholds.imu;if(!Z.hasTable("IMU"))return q("imu_health",Z.thresholds);let Q=y(Z,"IMU"),J=["EG","EA"].filter((G)=>Q.has(G));if(J.length===0)return q("imu_health",Z.thresholds,"IMU has no EG/EA error-count columns");let X=$?.max_err??0,Y=-1/0,K="";for(let G of J){let W=P(Z,`SELECT MAX(${w(G)}) FROM "IMU"`);if(W!==null&&W>Y)Y=W,K=G}if(Y===-1/0)Y=0;return D({check:"imu_health",thresholds:Z.thresholds,failed:Y>X,failSeverity:"HIGH",value:Y,threshold_used:X,source:$?.source,detail:`max IMU error count ${Y} (${K||J.join("/")}) vs ${X}`})},Y8=(Z)=>{let $=Z.thresholds.imu;if(!Z.hasTable("IMU"))return q("imu_consistency",Z.thresholds);let Q=y(Z,"IMU");if(!Q.has("I"))return q("imu_consistency",Z.thresholds,"IMU has no instance column I");let J=["AccX","AccY","AccZ"].filter((_)=>Q.has(_)),X=["GyrX","GyrY","GyrZ"].filter((_)=>Q.has(_));if(J.length===0&&X.length===0)return q("imu_consistency",Z.thresholds,"IMU has no Acc*/Gyr* columns");let Y=[...J,...X].map((_)=>`AVG(${w(_)}) ${w(_)}`).join(", "),K=Z.db.query(`SELECT "I" AS "I", ${Y} FROM "IMU" GROUP BY "I"`).all();if(K.length<2)return q("imu_consistency",Z.thresholds,`only ${K.length} IMU instance \u2014 nothing to cross-check`);let G=(_)=>{let T=K.map((M)=>Number(M[_])).filter((M)=>Number.isFinite(M));return T.length>=2?Math.max(...T)-Math.min(...T):0},W=0,z="";for(let _ of J){let T=G(_);if(T>W)W=T,z=_}let B=0,V="";for(let _ of X){let T=G(_);if(T>B)B=T,V=_}let U=$?.accel_consistency_max??0.7,L=$?.gyro_consistency_max??0.3,A=W>U,F=B>L,H=A||F,O=W/U>=B/L?W:B,E=W/U>=B/L?U:L,N=H?`INCONSISTENT \u2014 ${A?`accel ${z} spread ${W.toFixed(3)} m/s\xB2 > ${U}`:""}${A&&F?"; ":""}${F?`gyro ${V} spread ${B.toFixed(3)} rad/s > ${L}`:""}`:`IMUs consistent \u2014 max inter-instance bias spread: accel ${W.toFixed(3)} m/s\xB2 (<${U}), gyro ${B.toFixed(3)} rad/s (<${L}); relative differences between instances are within healthy tolerance`;return D({check:"imu_consistency",thresholds:Z.thresholds,failed:H,failSeverity:"HIGH",value:O,threshold_used:E,source:{kind:"rule-of-thumb",ref:"IMU inconsistency 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-`)}var b6=["# UAV domain pack active","","This project uses the Hydron UAV pack for ArduPilot/PX4 flight-log intelligence. Handle UAV","work (flight logs, parameters, tuning, telemetry) in whatever mode you are already in \u2014 do","NOT switch to a dedicated agent. The `uav_*` tools are available now: `uav_analyze` (decode +","run the system checks on a .bin/.log/.ulog/.tlog), `uav_query` (read-only SQL over a decoded","flight), `uav_python` (pandas/numpy over its tables \u2014 the tool for any non-trivial","computation), `uav_plot` (charts), `uav_param_audit`, `uav_tune`, `uav_tag`, `uav_finding`,","`uav_export`.","","For the domain rules \u2014 grounding discipline (the guardrails judge, you narrate; cite every","bound's source; never invent a threshold), signal semantics, per-check interpretation, the","tuning playbook, and when to fan work out \u2014 **load the `uav` skill**. Load it as soon as you","start UAV work, not only when narrating results.","","Specialist loops (spawn only for a genuine multi-step drill-down): `uav-investigate`","(open-ended 'why' on one flight), `uav-compare` (cross-flight regression), `uav-verify`","(adversarially pressure-test a proposed anomaly)."].join(`
-`),f6=async(Z)=>{let $=Z.directory,Q=Z.project?.id!=null?String(Z.project.id):"local";return{"experimental.chat.system.transform":async(J,X)=>{X.system.push(b6)},tool:{uav_analyze:R({description:"Analyze one ArduPilot/PX4 flight log (.bin): decode, run the UAV system checks, persist the observation locally, and (if a prior flight for the same airframe exists) compute the param/finding diff. Returns a ranked anomaly report. Verdicts come from deterministic guardrails, not the model.",args:{path:R.schema.string().describe("Absolute path to the .bin DataFlash log")},async execute(J){let{report:X}=await g$(J.path,{projectDir:$,workspace:Q});return y6(X)}}),uav_query:R({description:"Ask an ad-hoc SQL question over a single decoded flight's message tables (one table per message type, e.g. VIBE, ATT, BAT, ERR, CTUN, RCOU). Read-only: SELECT/WITH only, single statement, capped at 10k rows. Use the table/column names from the ArduPilot log. Findings produced this way are exploratory (tier:user), not part of the regression record.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),query:R.schema.string().describe("read-only SQL (SELECT/WITH) over the flight's message tables")},async execute(J){try{let X=await u$({projectDir:$,workspace:Q,flight_id:J.flight_id,query:J.query});return $$(X)}catch(X){return`uav_query error: ${X instanceof Error?X.message:String(X)}`}}}),uav_compare:R({description:"Compare 2+ ALREADY-ANALYZED flights at once: finding-severity trend (only checks that "+"differ), key-metric trend (vibe_peak, hover_thr, \u2026), and parameter drift across the runs. "+"Analyze each flight first with uav_analyze. Memory-light \u2014 compares the stored per-flight "+"summaries, NOT the raw logs, so four 1 GB flights compare cheaply. Returns a markdown report.",args:{flight_ids:R.schema.array(R.schema.string()).describe("2+ flight_ids from prior uav_analyze runs, in the order to display")},async execute(J){try{let{markdown:X}=await m$({projectDir:$,workspace:Q,flight_ids:J.flight_ids});return X}catch(X){return`uav_compare error: ${X instanceof Error?X.message:String(X)}`}}}),uav_param_audit:R({description:"Audit a flight's ArduPilot parameters for safety-critical settings (arming checks, battery/radio failsafes), out-of-range tuning values, and consistency (cell-count vs failsafe voltages, frame/notch). Deterministic; bounds come from param-rules.yaml + built-in defaults. (uav_analyze already includes this; use this for a standalone param re-audit of a stored flight.)",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze")},async execute(J){try{let X=await v6($,Q,J.flight_id);return H$(JZ(X,{configDir:$}))}catch(X){return`uav_param_audit error: ${X instanceof Error?X.message:String(X)}`}}}),uav_tune:R({description:"Compute an FFT over a flight's gyro/vibration data, find the dominant vibration peak, and recommend ArduPilot harmonic-notch params (INS_HNTCH_ENABLE/FREQ/BW/REF/HMNCS) with their verified ranges. "+"Recommendation only \u2014 review before applying; pushing params is a separate gated step.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze")},async execute(J){try{let X=await l(await VZ($,Q,J.flight_id),{configDir:$});return h6(l$(X))}catch(X){return`uav_tune error: ${X instanceof Error?X.message:String(X)}`}}}),uav_tag:R({description:"Tag a stored flight with test-profile / campaign labels (e.g. 'notch-v2', 'windy', 'post-prop-balance') for the param-history / run-tracking record. Returns the flight's full tag set.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),tags:R.schema.array(R.schema.string()).describe("one or more tags to add")},async execute(J){try{let X=await C$({projectDir:$,workspace:Q,flight_id:J.flight_id,tags:J.tags});return`tagged ${J.flight_id}: [${X.join(", ")}]`}catch(X){return`uav_tag error: ${X instanceof Error?X.message:String(X)}`}}}),uav_finding:R({description:`Store or list a flight's findings. Findings from uav_analyze are deterministic; THIS tool records the conclusions YOU reach during an investigation so they attach to the flight.
+`)}var Z0=(Z)=>Z==="CRITICAL"?2:Z==="HIGH"?1:0;function d6(Z){if(!Z.length)return"(no findings stored for this flight yet)";let $=Z.filter((Y)=>Y.origin!=="agent"),Q=Z.filter((Y)=>Y.origin==="agent"),J=(Y)=>`  ${Y.origin==="agent"?`[agent ${Y.id}]`:"[deterministic]"} ${Y.severity}/${Y.verdict} ${Y.check}${Y.detail?` \u2014 ${Y.detail}`:""}`,X=[`${Z.length} finding(s) stored:`];return X.push(`Deterministic (${$.length}):`,...$.map(J)),X.push(`Agent-authored (${Q.length}):`,...Q.length?Q.map(J):["  (none)"]),X.push("","Before adding, judge whether your finding is ALREADY represented above (same root cause, even if phrased differently). Add only if genuinely new; pass supersedes_id to replace a stale one."),X.join(`
+`)}async function p6(Z,$,Q){let J=u(Z,".hydron","observations",$),X=await $0(J).catch(()=>{throw Error(`No observation store at ${J}. Run uav_analyze first.`)});for(let Y of X){let K=u(J,Y,`${Q}.json`);try{let G=JSON.parse(await J0(K,"utf8"));if(Array.isArray(G?.params))return G.params}catch(G){if(G.code==="ENOENT")continue;throw G}}throw Error(`flight_id ${Q} not found in the observation store. Run uav_analyze first.`)}async function HZ(Z,$,Q){let J=u(Z,".hydron","observations",$),X=await $0(J).catch(()=>{throw Error(`No observation store at ${J}. Run uav_analyze first.`)});for(let Y of X)try{let G=JSON.parse(await J0(u(J,Y,`${Q}.json`),"utf8"))?.episode?.attrs?.source_path;if(typeof G==="string"&&G)return G}catch(K){if(K.code==="ENOENT")continue;throw K}throw Error(`flight_id ${Q} not found (or no source_path). Run uav_analyze first.`)}function l6(Z){if(Z.dominant_peak_hz==null)return`No notch recommendation: ${Z.rationale}`;let $=[`Dominant vibration peak: ${Z.dominant_peak_hz.toFixed(1)} Hz`,Z.rationale,"","Recommended harmonic-notch params:"];for(let Q of Z.params){let J=Q.range?` (range ${Q.range[0]}\u2013${Q.range[1]})`:"",X=Q.source?` [${Q.source.kind}${Q.source.ref?`: ${Q.source.ref}`:""}]`:"";$.push(`  ${Q.name} = ${Q.value}${J}${X}`)}return $.push("","Review before applying. Push via the gated MAVLink param link, then tag the retest."),$.join(`
+`)}var n6=["# UAV domain pack active","","This project uses the Hydron UAV pack for ArduPilot/PX4 flight-log intelligence. Handle UAV","work (flight logs, parameters, tuning, telemetry) in whatever mode you are already in \u2014 do","NOT switch to a dedicated agent. The `uav_*` tools are available now: `uav_analyze` (decode +","run the system checks on a .bin/.log/.ulog/.tlog), `uav_query` (read-only SQL over a decoded","flight), `uav_python` (pandas/numpy over its tables \u2014 the tool for any non-trivial","computation), `uav_plot` (charts), `uav_param_audit`, `uav_tune`, `uav_tag`, `uav_finding`,","`uav_export`.","","For the domain rules \u2014 grounding discipline (the guardrails judge, you narrate; cite every","bound's source; never invent a threshold), signal semantics, per-check interpretation, the","tuning playbook, and when to fan work out \u2014 **load the `uav` skill**. Load it as soon as you","start UAV work, not only when narrating results.","","Specialist loops (spawn only for a genuine multi-step drill-down): `uav-investigate`","(open-ended 'why' on one flight), `uav-compare` (cross-flight regression), `uav-verify`","(adversarially pressure-test a proposed anomaly)."].join(`
+`),c6=async(Z)=>{let $=Z.directory,Q=Z.project?.id!=null?String(Z.project.id):"local";return{"experimental.chat.system.transform":async(J,X)=>{X.system.push(n6)},tool:{uav_analyze:R({description:"Analyze one ArduPilot/PX4 flight log (.bin): decode, run the UAV system checks, persist the observation locally, and (if a prior flight for the same airframe exists) compute the param/finding diff. Returns a ranked anomaly report. Verdicts come from deterministic guardrails, not the model.",args:{path:R.schema.string().describe("Absolute path to the .bin DataFlash log")},async execute(J){let{report:X}=await m$(J.path,{projectDir:$,workspace:Q});return m6(X)}}),uav_query:R({description:"Ask an ad-hoc SQL question over a single decoded flight's message tables (one table per message type, e.g. VIBE, ATT, BAT, ERR, CTUN, RCOU). Read-only: SELECT/WITH only, single statement, capped at 10k rows. Use the table/column names from the ArduPilot log. Findings produced this way are exploratory (tier:user), not part of the regression record.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),query:R.schema.string().describe("read-only SQL (SELECT/WITH) over the flight's message tables")},async execute(J){try{let X=await d$({projectDir:$,workspace:Q,flight_id:J.flight_id,query:J.query});return X$(X)}catch(X){return`uav_query error: ${X instanceof Error?X.message:String(X)}`}}}),uav_compare:R({description:"Compare 2+ ALREADY-ANALYZED flights at once: finding-severity trend (only checks that "+"differ), key-metric trend (vibe_peak, hover_thr, \u2026), and parameter drift across the runs. "+"Analyze each flight first with uav_analyze. Memory-light \u2014 compares the stored per-flight "+"summaries, NOT the raw logs, so four 1 GB flights compare cheaply. Returns a markdown report.",args:{flight_ids:R.schema.array(R.schema.string()).describe("2+ flight_ids from prior uav_analyze runs, in the order to display")},async execute(J){try{let{markdown:X}=await l$({projectDir:$,workspace:Q,flight_ids:J.flight_ids});return X}catch(X){return`uav_compare error: ${X instanceof Error?X.message:String(X)}`}}}),uav_param_audit:R({description:"Audit a flight's ArduPilot parameters for safety-critical settings (arming checks, battery/radio failsafes), out-of-range tuning values, and consistency (cell-count vs failsafe voltages, frame/notch). Deterministic; bounds come from param-rules.yaml + built-in defaults. (uav_analyze already includes this; use this for a standalone param re-audit of a stored flight.)",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze")},async execute(J){try{let X=await p6($,Q,J.flight_id);return A$(XZ(X,{configDir:$}))}catch(X){return`uav_param_audit error: ${X instanceof Error?X.message:String(X)}`}}}),uav_tune:R({description:"Compute an FFT over a flight's gyro/vibration data, find the dominant vibration peak, and recommend ArduPilot harmonic-notch params (INS_HNTCH_ENABLE/FREQ/BW/REF/HMNCS) with their verified ranges. "+"Recommendation only \u2014 review before applying; pushing params is a separate gated step.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze")},async execute(J){try{let X=await c(await HZ($,Q,J.flight_id),{configDir:$});return l6(i$(X))}catch(X){return`uav_tune error: ${X instanceof Error?X.message:String(X)}`}}}),uav_tag:R({description:"Tag a stored flight with test-profile / campaign labels (e.g. 'notch-v2', 'windy', 'post-prop-balance') for the param-history / run-tracking record. Returns the flight's full tag set.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),tags:R.schema.array(R.schema.string()).describe("one or more tags to add")},async execute(J){try{let X=await w$({projectDir:$,workspace:Q,flight_id:J.flight_id,tags:J.tags});return`tagged ${J.flight_id}: [${X.join(", ")}]`}catch(X){return`uav_tag error: ${X instanceof Error?X.message:String(X)}`}}}),uav_finding:R({description:`Store or list a flight's findings. Findings from uav_analyze are deterministic; THIS tool records the conclusions YOU reach during an investigation so they attach to the flight.
 `+`\u2022 op:"list" \u2014 show every stored finding (deterministic + agent). ALWAYS call this first.
-`+'\u2022 op:"add" \u2014 append a NEW agent finding. Only add after listing and judging it is not already '+"represented (same root cause, even if worded differently). To replace one you now consider stale, "+"pass supersedes_id. A finding must cite the ABSOLUTE bound it breached (in detail) \u2014 not 'N\xD7 the "+"other instances'. The store refuses an exact-id rewrite but does NOT dedup semantically; that is your call.",args:{op:R.schema.enum(["list","add"]).describe("list existing findings, or add a new one"),flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),title:R.schema.string().optional().describe("add: short label, e.g. 'IMU2 accel-Y divergence'"),severity:R.schema.enum(["OK","HIGH","CRITICAL"]).optional().describe("add: magnitude (default HIGH)"),detail:R.schema.string().optional().describe("add: the grounded evidence + the ABSOLUTE bound it breached and that bound's source"),value:R.schema.number().optional().describe("add: measured metric, if any"),threshold_used:R.schema.number().optional().describe("add: the absolute bound it was judged against"),supersedes_id:R.schema.string().optional().describe("add: id of an existing finding this replaces")},async execute(J){try{if(J.op==="list")return k6(await M$({projectDir:$,workspace:Q,flight_id:J.flight_id}));if(!J.title)return"uav_finding error: title is required to add a finding";let X=J.severity??"HIGH",Y={check:J.title,severity:X,verdict:X==="OK"?"PASS":"FAIL",tier:"user",origin:"agent",value:J.value??null,threshold_used:J.threshold_used??null,ruleset_version:"",detail:J.detail,id:`a-${Date.now().toString(36)}-${Math.random().toString(36).slice(2,6)}`,created_at:new Date().toISOString()},K=await w$({projectDir:$,workspace:Q,flight_id:J.flight_id,finding:Y,supersedesId:J.supersedes_id});return K.added?`stored agent finding ${K.id} on ${J.flight_id} (${K.total} findings total)`+(J.supersedes_id?` \u2014 superseded ${J.supersedes_id}`:""):`not stored (${K.reason}); ${K.total} findings already on ${J.flight_id}`}catch(X){return`uav_finding error: ${X instanceof Error?X.message:String(X)}`}}}),uav_python:R({description:"Run a Python snippet (pandas + numpy) over a flight's decoded data \u2014 THE tool for any non-trivial "+"analysis: binning, correlation, scoring/ranking windows, regression, FFT, custom stats. The message "+"tables are available as `load('VIBE')`, `load('ATT')`, `load('BAT')`, \u2026 (each a DataFrame; TimeUS is \xB5s "+"since boot). `print()` your results. Use this INSTEAD of multiple uav_query calls or doing arithmetic "+"in your head \u2014 the numbers must come from code you actually run.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),code:R.schema.string().describe("Python; use load('TABLE') for DataFrames, print() results")},async execute(J){try{let X=g($,".hydron","pycache",J.flight_id);if(!w6(X)){let W=await l(await VZ($,Q,J.flight_id),{configDir:$});await vZ(W,X)}let{stdout:Y,ok:K,tables:G}=await a$(X,J.code);return K?Y||"(snippet ran, no output \u2014 did you print()?)":`python exited non-zero:
+`+'\u2022 op:"add" \u2014 append a NEW agent finding. Only add after listing and judging it is not already '+"represented (same root cause, even if worded differently). To replace one you now consider stale, "+"pass supersedes_id. A finding must cite the ABSOLUTE bound it breached (in detail) \u2014 not 'N\xD7 the "+"other instances'. The store refuses an exact-id rewrite but does NOT dedup semantically; that is your call.",args:{op:R.schema.enum(["list","add"]).describe("list existing findings, or add a new one"),flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),title:R.schema.string().optional().describe("add: short label, e.g. 'IMU2 accel-Y divergence'"),severity:R.schema.enum(["OK","HIGH","CRITICAL"]).optional().describe("add: magnitude (default HIGH)"),detail:R.schema.string().optional().describe("add: the grounded evidence + the ABSOLUTE bound it breached and that bound's source"),value:R.schema.number().optional().describe("add: measured metric, if any"),threshold_used:R.schema.number().optional().describe("add: the absolute bound it was judged against"),supersedes_id:R.schema.string().optional().describe("add: id of an existing finding this replaces")},async execute(J){try{if(J.op==="list")return d6(await y$({projectDir:$,workspace:Q,flight_id:J.flight_id}));if(!J.title)return"uav_finding error: title is required to add a finding";let X=J.severity??"HIGH",Y={check:J.title,severity:X,verdict:X==="OK"?"PASS":"FAIL",tier:"user",origin:"agent",value:J.value??null,threshold_used:J.threshold_used??null,ruleset_version:"",detail:J.detail,id:`a-${Date.now().toString(36)}-${Math.random().toString(36).slice(2,6)}`,created_at:new Date().toISOString()},K=await v$({projectDir:$,workspace:Q,flight_id:J.flight_id,finding:Y,supersedesId:J.supersedes_id});return K.added?`stored agent finding ${K.id} on ${J.flight_id} (${K.total} findings total)`+(J.supersedes_id?` \u2014 superseded ${J.supersedes_id}`:""):`not stored (${K.reason}); ${K.total} findings already on ${J.flight_id}`}catch(X){return`uav_finding error: ${X instanceof Error?X.message:String(X)}`}}}),uav_python:R({description:"Run a Python snippet (pandas + numpy) over a flight's decoded data \u2014 THE tool for any non-trivial "+"analysis: binning, correlation, scoring/ranking windows, regression, FFT, custom stats. The message "+"tables are available as `load('VIBE')`, `load('ATT')`, `load('BAT')`, \u2026 (each a DataFrame; TimeUS is \xB5s "+"since boot). `print()` your results. Use this INSTEAD of multiple uav_query calls or doing arithmetic "+"in your head \u2014 the numbers must come from code you actually run.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),code:R.schema.string().describe("Python; use load('TABLE') for DataFrames, print() results")},async execute(J){try{let X=u($,".hydron","pycache",J.flight_id);if(!x6(X)){let W=await c(await HZ($,Q,J.flight_id),{configDir:$});await bZ(W,X)}let{stdout:Y,ok:K,tables:G}=await e$(X,J.code);return K?Y||"(snippet ran, no output \u2014 did you print()?)":`python exited non-zero:
 ${Y}
 
-(tables available: ${G.join(", ")})`}catch(X){return`uav_python error: ${X instanceof Error?X.message:String(X)}`}}}),uav_export:R({description:"Export a decoded flight to one CSV per message type (PlotJuggler-importable) into a directory, so the lab's existing PlotJuggler validation flow isn't disrupted. Returns the output directory + file count.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),out_dir:R.schema.string().describe("absolute output directory for the CSVs")},async execute(J){try{let X=await l(await VZ($,Q,J.flight_id),{configDir:$});return`exported ${(await vZ(X,J.out_dir)).length} CSV file(s) to ${J.out_dir} (PlotJuggler-importable)`}catch(X){return`uav_export error: ${X instanceof Error?X.message:String(X)}`}}}),uav_plot:R({description:"Chart flight signals as an SVG that renders in the editor. Use for ANY plot/chart/graph/visualise "+`request \u2014 never hand-write SQL via uav_query for visualisation. Three modes:
+(tables available: ${G.join(", ")})`}catch(X){return`uav_python error: ${X instanceof Error?X.message:String(X)}`}}}),uav_export:R({description:"Export a decoded flight to one CSV per message type (PlotJuggler-importable) into a directory, so the lab's existing PlotJuggler validation flow isn't disrupted. Returns the output directory + file count.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),out_dir:R.schema.string().describe("absolute output directory for the CSVs")},async execute(J){try{let X=await c(await HZ($,Q,J.flight_id),{configDir:$});return`exported ${(await bZ(X,J.out_dir)).length} CSV file(s) to ${J.out_dir} (PlotJuggler-importable)`}catch(X){return`uav_export error: ${X instanceof Error?X.message:String(X)}`}}}),uav_plot:R({description:"Chart flight signals as an SVG that renders in the editor. Use for ANY plot/chart/graph/visualise "+`request \u2014 never hand-write SQL via uav_query for visualisation. Three modes:
 `+'\u2022 timeseries (default): signals vs time. Supports DERIVED expressions, e.g. "ATT.DesRoll - ATT.Roll" '+`(tracking error), "CTUN.ThH * 100". Multiple signals overlay.
 `+"\u2022 xy: one signal vs another (time-aligned) \u2014 correlations, e.g. x=BAT.Curr y=BAT.Volt (sag/IR), "+`x=RCOU.C1 y=VIBE.VibeZ (vibe vs throttle \u2014 motor output, NOT CTUN.ThH which is the constant hover estimate).
 `+`\u2022 fft: magnitude spectrum (Hz) of a signal \u2014 vibration peaks, e.g. signals=["IMU.GyrX"] or ["VIBE.VibeZ"].
-`+"Signals/exprs use TABLE.COLUMN (VIBE.VibeZ, ATT.DesRoll, BAT.Volt, RCOU.C1, XKF3.IVN, \u2026).",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),mode:R.schema.enum(["timeseries","xy","fft"]).optional().describe("default timeseries"),signals:R.schema.array(R.schema.string()).optional().describe('timeseries/fft: signals or derived exprs, e.g. ["ATT.DesRoll - ATT.Roll"] or ["IMU.GyrX"]'),x:R.schema.string().optional().describe("xy mode: x-axis signal, e.g. BAT.Curr"),y:R.schema.string().optional().describe("xy mode: y-axis signal, e.g. BAT.Volt"),title:R.schema.string().optional().describe("optional chart title")},async execute(J){try{let X=await l(await VZ($,Q,J.flight_id),{configDir:$}),{svg:Y,plotted:K,missing:G}=o$(X,{mode:J.mode,signals:J.signals,x:J.x,y:J.y,title:J.title});if(!K.length)return`uav_plot: nothing plottable (${G.join(", ")||"no signals given"}) for flight ${J.flight_id}`;let W=g($,".hydron","plots");await S6(W,{recursive:!0});let z=(J.mode??"ts")+"_"+K.join("_").replace(/[^A-Za-z0-9._-]/g,"-").slice(0,50),B=g(W,`${J.flight_id}__${z}.svg`);await M6(B,Y);let V=`data:image/svg+xml;base64,${Buffer.from(Y).toString("base64")}`,U=G.length?`
-_(no data for: ${G.join(", ")})_`:"",L=[...J.signals??[],J.x,J.y].filter((H)=>!!H),A=r$(L.length?L:K),F=A.length?`
+`+"Signals/exprs use TABLE.COLUMN (VIBE.VibeZ, ATT.DesRoll, BAT.Volt, RCOU.C1, XKF3.IVN, \u2026).",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),mode:R.schema.enum(["timeseries","xy","fft"]).optional().describe("default timeseries"),signals:R.schema.array(R.schema.string()).optional().describe('timeseries/fft: signals or derived exprs, e.g. ["ATT.DesRoll - ATT.Roll"] or ["IMU.GyrX"]'),x:R.schema.string().optional().describe("xy mode: x-axis signal, e.g. BAT.Curr"),y:R.schema.string().optional().describe("xy mode: y-axis signal, e.g. BAT.Volt"),title:R.schema.string().optional().describe("optional chart title")},async execute(J){try{let X=await c(await HZ($,Q,J.flight_id),{configDir:$}),{svg:Y,plotted:K,missing:G}=s$(X,{mode:J.mode,signals:J.signals,x:J.x,y:J.y,title:J.title});if(!K.length)return`uav_plot: nothing plottable (${G.join(", ")||"no signals given"}) for flight ${J.flight_id}`;let W=u($,".hydron","plots");await u6(W,{recursive:!0});let z=(J.mode??"ts")+"_"+K.join("_").replace(/[^A-Za-z0-9._-]/g,"-").slice(0,50),B=u(W,`${J.flight_id}__${z}.svg`);await g6(B,Y);let V=`data:image/svg+xml;base64,${Buffer.from(Y).toString("base64")}`,U=G.length?`
+_(no data for: ${G.join(", ")})_`:"",H=[...J.signals??[],J.x,J.y].filter((L)=>!!L),E=t$(H.length?H:K),T=E.length?`
 
-`+A.map((H)=>`> \u2139\uFE0F ${H}`).join(`
+`+E.map((L)=>`> \u2139\uFE0F ${L}`).join(`
 `):"";return`![${K.join(", ")}](${V})
 
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package/plugins/worker/worker-entry.js

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F({check:"rcou",thresholds:Z.thresholds,failed:Q.length>0,failSeverity:"HIGH",value:X,threshold_used:iZ,detail:Q.length>0?`motor output(s) pegged at max: ${Q.join(", ")}`:void 0})},zZ=1000,KZ=2000,q0=(Z)=>{if(!Z.hasTable("RCIN"))return U("rcin",Z.thresholds);if(!_(Z,"RCIN","C3"))return U("rcin",Z.thresholds,"RCIN missing C3 column");let J=q(Z,'SELECT MIN("C3") FROM "RCIN"'),$=q(Z,'SELECT MAX("C3") FROM "RCIN"'),X=J!==null&&J<zZ||$!==null&&$>KZ,Q=$;if(J!==null&&J<zZ)Q=J;return F({check:"rcin",thresholds:Z.thresholds,failed:X,failSeverity:"HIGH",value:Q,threshold_used:KZ,detail:`RCIN C3 range [${J??"\u2014"}, ${$??"\u2014"}] vs [${zZ}, ${KZ}]`})},j0=(Z)=>{let J=Z.thresholds.vibration;if(!Z.hasTable("VIBE"))return U("vibration",Z.thresholds);let $=w(Z,"VIBE"),X=["VibeX","VibeY","VibeZ"].filter((L)=>$.has(L));if(X.length===0)return U("vibration",Z.thresholds,"VIBE has no VibeX/Y/Z columns");let Q=J?.max_ms2??30,Y={},z=-1/0;for(let L of X){let A=q(Z,`SELECT MAX(${S(L)}) FROM 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F({check:"board_brownout",thresholds:Z.thresholds,failed:X!==null&&X<$,failSeverity:"CRITICAL",value:X,threshold_used:$,source:J?.source,detail:`min board Vcc ${(X??0).toFixed(3)}V vs floor ${$}V`})},I0=(Z)=>{let J=Z.thresholds.rate;if(!Z.hasTable("RATE"))return U("rate_tracking",Z.thresholds);let $=w(Z,"RATE"),Q=[["RDes","R"],["PDes","P"],["YDes","Y"]].filter(([W,G])=>$.has(W)&&$.has(G));if(Q.length===0)return U("rate_tracking",Z.thresholds,"RATE has no RDes/R, PDes/P, YDes/Y pairs");let Y=J?.max_err_dps??50,z=-1/0,K="";for(let[W,G]of Q){let B=q(Z,`SELECT MAX(ABS(${S(W)}-${S(G)})) FROM "RATE"`);if(B!==null&&B>z)z=B,K=W.replace("Des","")}if(z===-1/0)z=0;return F({check:"rate_tracking",thresholds:Z.thresholds,failed:z>Y,failSeverity:"HIGH",value:z,threshold_used:Y,source:J?.source,detail:`peak rate-tracking error ${z.toFixed(2)} deg/s (axis ${K||"?"}) vs ${Y} deg/s`})},S0=(Z)=>{let J=Z.thresholds.gps;if(!Z.hasTable("GPA"))return 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F({check:"ekf_variance",thresholds:Z.thresholds,failed:z>Y,failSeverity:"HIGH",value:z,threshold_used:Y,source:J?.source,detail:`peak EKF variance ${z.toFixed(3)} (${$}: ${K||Q.join("/")}) vs ${Y}${G}`})},C0=(Z)=>{let J=Z.thresholds.mag;if(!Z.hasTable("MAG"))return U("mag_offsets",Z.thresholds);let $=w(Z,"MAG"),X=["OfsX","OfsY","OfsZ"].filter((K)=>$.has(K));if(X.length===0)return U("mag_offsets",Z.thresholds,"MAG has no OfsX/OfsY/OfsZ columns");let Q=J?.max_offset??600,Y=-1/0,z="";for(let K of X){let W=q(Z,`SELECT MAX(ABS(${S(K)})) FROM "MAG"`);if(W!==null&&W>Y)Y=W,z=K}if(Y===-1/0)Y=0;return F({check:"mag_offsets",thresholds:Z.thresholds,failed:Y>Q,failSeverity:"HIGH",value:Y,threshold_used:Q,source:J?.source,detail:`peak mag offset ${Y.toFixed(0)} (${z||X.join("/")}) vs ${Q}`})},w0=(Z)=>{let J=Z.thresholds.esc;if(!Z.hasTable("ESC"))return U("esc_health",Z.thresholds);let $=w(Z,"ESC"),X=["Temp","MotTemp"].filter((L)=>$.has(L));if(X.length===0&&!$.has("Err"))return 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N=K(R);if(N>W)W=N,G=R}let B=0,L="";for(let R of Q){let N=K(R);if(N>B)B=N,L=R}let V=J?.accel_consistency_max??0.7,A=J?.gyro_consistency_max??0.3,D=W>V,E=B>A,H=D||E,O=W/V>=B/A?W:B,j=W/V>=B/A?V:A,T=H?`INCONSISTENT \u2014 ${D?`accel ${G} spread ${W.toFixed(3)} m/s\xB2 > ${V}`:""}${D&&E?"; ":""}${E?`gyro ${L} spread ${B.toFixed(3)} rad/s > ${A}`:""}`:`IMUs consistent \u2014 max inter-instance bias spread: accel ${W.toFixed(3)} m/s\xB2 (<${V}), gyro ${B.toFixed(3)} rad/s (<${A}); relative differences between instances are within healthy tolerance`;return F({check:"imu_consistency",thresholds:Z.thresholds,failed:H,failSeverity:"HIGH",value:O,threshold_used:j,source:{kind:"rule-of-thumb",ref:"IMU inconsistency tolerance (~ArduPilot arming limits)"},detail:T})},v0=(Z)=>{if(!Z.hasTable("ERR"))return U("err_events",Z.thresholds);if(!_(Z,"ERR","Subsys")||!_(Z,"ERR","ECode"))return U("err_events",Z.thresholds,"ERR present but Subsys/ECode columns absent");let J=Z.thresholds.battery?.err_subsys??6,$=Z.db.query(`SELECT "Subsys" AS subsys, "ECode" AS ecode, COUNT(*) AS n FROM "ERR" WHERE "ECode" <> 0 AND "Subsys" <> ${J} GROUP BY "Subsys", "ECode" ORDER BY "Subsys", "ECode"`).all(),X=0,Q=[];for(let Y of $)X+=Number(Y.n),Q.push(`Subsys=${Y.subsys} ECode=${Y.ecode} \xD7${Y.n}`);return F({check:"err_events",thresholds:Z.thresholds,failed:X>0,failSeverity:"HIGH",value:X,threshold_used:0,detail:X>0?`${X} non-battery ERR event(s): ${Q.join(", ")}`:"no non-battery ERR events"})},b0,g0=(Z)=>{if(!Z.hasTable("MODE"))return U("mode_changes",Z.thresholds);if(!_(Z,"MODE","ModeNum"))return U("mode_changes",Z.thresholds,"MODE missing ModeNum column");let J=Z.db.query('SELECT "ModeNum" AS modenum FROM "MODE"').all(),$=J.length,X=$>0?$-1:0,Q=new Map,Y=!1;for(let K of J){let W=Number(K.modenum);if(Q.set(W,(Q.get(W)??0)+1),b0.has(W))Y=!0}let z=[...Q.entries()].sort((K,W)=>K[0]-W[0]).map(([K,W])=>`Mode${K}\xD7${W}`).join(", ");return 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