@h2loop/uav 1.1.0 → 1.2.1

package/plugins/worker/worker-entry.js

@@ -1,11 +1,11 @@
 // @bun
-var g$=Object.defineProperty;var f$=(Z)=>Z;function u$(Z,J){this[Z]=f$.bind(null,J)}var jZ=(Z,J)=>{for(var $ in J)g$(Z,$,{get:J[$],enumerable:!0,configurable:!0,set:u$.bind(J,$)})};var M=(Z,J)=>()=>(Z&&(J=Z(Z=0)),J);function AZ(){let Z=process.env.UAV_DECODE_MAX_CPU;if(!Z)return;let J=Number(Z);return Number.isFinite(J)&&J>0&&J<1?J:void 0}async function FZ(Z,J){if(!J||Z<=0)return;let $=Math.min(Z*(1/J-1),250);if($>=1)await x$($)}var x$=(Z)=>new Promise((J)=>setTimeout(J,Z));var RZ;var DZ=M(()=>{RZ={a:{kind:"str",width:64},b:{kind:"i8",width:1},B:{kind:"u8",width:1},h:{kind:"i16",width:2},H:{kind:"u16",width:2},i:{kind:"i32",width:4},I:{kind:"u32",width:4},f:{kind:"f32",width:4},d:{kind:"f64",width:8},n:{kind:"str",width:4},N:{kind:"str",width:16},Z:{kind:"str",width:64},c:{kind:"i16",width:2,scale:0.01},C:{kind:"u16",width:2,scale:0.01},e:{kind:"i32",width:4,scale:0.01},E:{kind:"u32",width:4,scale:0.01},L:{kind:"i32",width:4,scale:0.0000001},M:{kind:"u8",width:1},q:{kind:"i64",width:8},Q:{kind:"u64",width:8}}});import{open as m$}from"fs/promises";function n$(Z){return(J,$)=>{let X="",Q=$+Z;for(let Y=$;Y<Q;Y++){let z=J.getUint8(Y);if(z===0)break;X+=String.fromCharCode(z)}return X}}function i$(Z){let J=Z.scale;switch(Z.kind){case"i8":return J===void 0?($,X)=>$.getInt8(X):($,X)=>$.getInt8(X)*J;case"u8":return J===void 0?($,X)=>$.getUint8(X):($,X)=>$.getUint8(X)*J;case"i16":return J===void 0?($,X)=>$.getInt16(X,!0):($,X)=>$.getInt16(X,!0)*J;case"u16":return J===void 0?($,X)=>$.getUint16(X,!0):($,X)=>$.getUint16(X,!0)*J;case"i32":return J===void 0?($,X)=>$.getInt32(X,!0):($,X)=>$.getInt32(X,!0)*J;case"u32":return J===void 0?($,X)=>$.getUint32(X,!0):($,X)=>$.getUint32(X,!0)*J;case"f32":return($,X)=>$.getFloat32(X,!0);case"f64":return($,X)=>$.getFloat64(X,!0);case"i64":return($,X)=>$.getBigInt64(X,!0);case"u64":return($,X)=>$.getBigUint64(X,!0);case"str":return n$(Z.width)}}function c$(Z,J){let $=[],X=[];for(let Y of Z){let z=RZ[Y];if(!z)return{readers:[],widths:[],ok:!1,timeIdx:-1};$.push(i$(z)),X.push(z.width)}let Q=J.indexOf("TimeUS");return{readers:$,widths:X,ok:!0,timeIdx:Q}}async function EZ(Z,J,$){let X=$??AZ(),Q=new Map,Y={},z=!1,K=null,W=null,G=4194304,B=await m$(Z,"r");try{let L=Buffer.allocUnsafe(G),V=new Uint8Array(0),A=0,D=!1;while(!D){let{bytesRead:E}=await B.read(L,0,G,A);A+=E,D=E===0;let H;if(E===0)H=V;else if(V.length===0)H=L.subarray(0,E);else H=new Uint8Array(V.length+E),H.set(V,0),H.set(L.subarray(0,E),V.length);let O=new DataView(H.buffer,H.byteOffset,H.byteLength),j=H.length,T=D,R=performance.now(),N=0;while(N+3<=j){if(H[N]!==p$||H[N+1]!==d$){N+=1;continue}let y=H[N+2],C=N+3;if(y===l$){if(C+PZ>j){if(T)z=!0;break}let k=H[C],qZ=H[C+1],m=t(H,C+2,4),w$=t(H,C+6,16),a=t(H,C+22,64).split(",").filter((b$)=>b$.length>0),{readers:y$,widths:k$,ok:h$,timeIdx:v$}=c$(w$,a);Q.set(k,{name:m,length:qZ,columns:a,ok:h$,payloadLen:qZ-3,readers:y$,widths:k$,timeIdx:v$}),J.onFmt(m,a),Y[m]=(Y[m]??0)+1,N+=3+PZ;continue}let I=Q.get(y);if(I===void 0){N+=1;continue}let r=I.payloadLen;if(C+r>j){if(T)z=!0;break}if(Y[I.name]=(Y[I.name]??0)+1,!I.ok){N+=3+r;continue}let{readers:o,widths:C$}=I,s=Array(o.length),NZ=C;for(let k=0;k<o.length;k++)s[k]=o[k](O,NZ),NZ+=C$[k];if(J.onRow(I.name,s),I.timeIdx>=0){let k=s[I.timeIdx];if(typeof k==="bigint")W=k}N+=3+r}if(V=H.slice(N),await FZ(performance.now()-R,X),D)break}}finally{await B.close()}if(z)K=W;return{partial:z,decodedUntil:K,messageCounts:Y}}function TZ(Z,J,$){let X=Z[J];if(!X)Z[J]={columns:$,rows:[]};else X.columns=$}async function _Z(Z){let J={},$=await EZ(Z,{onFmt:(X,Q)=>TZ(J,X,Q),onRow:(X,Q)=>{J[X].rows.push(Q)}});return{partial:$.partial,decodedUntil:$.decodedUntil,tables:J,messageCounts:$.messageCounts}}async function IZ(Z,J,$={}){let X=$.retain??new Set,Q=5000,Y={},z=new Map,K=await EZ(Z,{onFmt:(W,G)=>{if(TZ(Y,W,G),J.table(W,G),!z.has(W))z.set(W,[])},onRow:(W,G)=>{let B=z.get(W);if(B){if(B.push(G),B.length>=5000)J.rows(W,B),B.length=0}if(X.has(W))Y[W].rows.push(G)}});for(let[W,G]of z)if(G.length)J.rows(W,G);return{partial:K.partial,decodedUntil:K.decodedUntil,tables:Y,messageCounts:K.messageCounts}}function t(Z,J,$){let X="",Q=J+$;for(let Y=J;Y<Q;Y++){let z=Z[Y];if(z===0)break;X+=String.fromCharCode(z)}return X}var p$=163,d$=149,l$=128,PZ=86;var SZ=M(()=>{DZ()});function MZ(Z){return typeof Z==="object"&&Z!==null&&"_summary"in Z}function s$(Z){if(typeof Z==="bigint")return Z;if(typeof Z==="number"&&Number.isFinite(Z))return BigInt(Math.trunc(Z));if(typeof Z==="string"&&/^-?\d+$/.test(Z))return BigInt(Z);return 0n}async function e(Z){if(await Bun.spawn(["python3","-c","import pymavlink"],{stdout:"ignore",stderr:"ignore"}).exited!==0)throw Error("pymavlink not found \u2014 pip install pymavlink");let $=Bun.spawn(["python3",r$,Z],{stdout:"pipe",stderr:"pipe"}),X=new Map,Q={},Y=!1,z=null,K=null,W=!1;function G(H){let O=X.get(H);if(!O)O={columns:[],colIndex:new Map,rows:[]},X.set(H,O);return O}function B(H){let O=H.t,j=G(O),T=H.f;for(let N of Object.keys(T))if(!j.colIndex.has(N))j.colIndex.set(N,j.columns.length),j.columns.push(N);let R=Array(j.columns.length).fill(null);for(let N of Object.keys(T)){let y=j.colIndex.get(N),C=T[N],I=o$.has(N)?s$(C):C;if(R[y]=I,N==="TimeUS"&&typeof I==="bigint")K=I}j.rows.push(R)}let L=new TextDecoder,V="";for await(let H of $.stdout){V+=L.decode(H,{stream:!0});let O;while((O=V.indexOf(`
-`))!==-1){let j=V.slice(0,O);if(V=V.slice(O+1),j.length===0)continue;let T;try{T=JSON.parse(j)}catch{Y=!0;continue}if(MZ(T)){W=!0;for(let[R,N]of Object.entries(T._summary.counts))Q[R]=N;if(T._summary.partial)Y=!0}else B(T)}}V+=L.decode();let A=V.trim();if(A.length>0)try{let H=JSON.parse(A);if(MZ(H)){W=!0;for(let[O,j]of Object.entries(H._summary.counts))Q[O]=j;if(H._summary.partial)Y=!0}else B(H)}catch{Y=!0}let D=await $.exited;if(D!==0){if(!W){let H=(await new Response($.stderr).text()).trim();throw Error(`pymavlink decode failed (exit ${D})${H?`: ${H}`:""}`)}Y=!0}if(!W)Y=!0;if(Y)z=K;let E={};for(let[H,O]of X)E[H]={columns:O.columns,rows:O.rows};for(let[H,O]of X)if(Q[H]===void 0)Q[H]=O.rows.length;return{partial:Y,decodedUntil:z,tables:E,messageCounts:Q}}var r$,o$;var CZ=M(()=>{r$=new URL("./mavdump.py",import.meta.url).pathname,o$=new Set(["TimeUS","TimeMS"])});function e$(Z){return typeof Z==="object"&&Z!==null&&"_summary"in Z}function Z0(Z){if(typeof Z==="bigint")return Z;if(typeof Z==="number"&&Number.isFinite(Z))return BigInt(Math.trunc(Z));if(typeof Z==="string"&&/^-?\d+$/.test(Z))return BigInt(Z);return 0n}async function $0(){let Z=()=>Bun.spawn(["python3","-c","import pyulog"],{stdout:"ignore",stderr:"ignore"}).exited;if(await Z()===0)return;if(await Bun.spawn(["python3","-m","pip","install","--quiet","pyulog"],{stdout:"ignore",stderr:"ignore"}).exited,await Z()!==0)throw Error("pyulog not found \u2014 pip install pyulog")}async function wZ(Z){await $0();let J=Bun.spawn(["python3",a$,Z],{stdout:"pipe",stderr:"pipe"}),$=new Map,X={},Q=!1,Y=null,z=null,K=!1;function W(H){let O=$.get(H);if(!O)O={columns:[],colIndex:new Map,rows:[]},$.set(H,O);return O}function G(H){let O=H.t,j=W(O),T=H.f;for(let N of Object.keys(T))if(!j.colIndex.has(N))j.colIndex.set(N,j.columns.length),j.columns.push(N);let R=Array(j.columns.length).fill(null);for(let N of Object.keys(T)){let y=j.colIndex.get(N),C=T[N],I=t$.has(N)?Z0(C):C;if(R[y]=I,N==="timestamp"&&typeof I==="bigint")z=I}j.rows.push(R)}function B(H){if(H.length===0)return;let O;try{O=JSON.parse(H)}catch{Q=!0;return}if(e$(O)){K=!0;for(let[j,T]of Object.entries(O._summary.counts))X[j]=T;if(O._summary.partial)Q=!0}else G(O)}let L=new TextDecoder,V="";for await(let H of J.stdout){V+=L.decode(H,{stream:!0});let O;while((O=V.indexOf(`
-`))!==-1)B(V.slice(0,O)),V=V.slice(O+1)}V+=L.decode();let A=V.trim();if(A.length>0)B(A);let D=await J.exited;if(D!==0){if(!K){let H=(await new Response(J.stderr).text()).trim();throw Error(`ulog decode failed (exit ${D})${H?`: ${H}`:""}`)}Q=!0}if(!K)Q=!0;if(Q)Y=z;let E={};for(let[H,O]of $)E[H]={columns:O.columns,rows:O.rows};for(let[H,O]of $)if(X[H]===void 0)X[H]=O.rows.length;return{partial:Q,decodedUntil:Y,tables:E,messageCounts:X}}var a$,t$;var yZ=M(()=>{a$=new URL("./ulog.py",import.meta.url).pathname,t$=new Set(["timestamp","timestamp_sample"])});import{existsSync as kZ,readFileSync as J0}from"fs";import{mkdtemp as X0,rm as Q0}from"fs/promises";import{tmpdir as Y0}from"os";import{basename as ZZ,join as $Z}from"path";function hZ(Z){if(!Z)return[];let J=$Z(Z,".hydron","uav-format-converters.json");if(!kZ(J))return[];try{let $=JSON.parse(J0(J,"utf8"));return Array.isArray($.converters)?$.converters.filter((X)=>X&&X.match&&X.command):[]}catch{return[]}}function vZ(Z,J){for(let $ of J)try{if(new RegExp($.match,"i").test(Z))return $}catch{}return null}async function bZ(Z,J){let $=await X0($Z(Y0(),"uav-convert-")),X=ZZ(Z).replace(/\.[^.]+$/,""),Q=$Z($,X+(J.produces??".bin")),Y=J.command.replaceAll("{input}",Z).replaceAll("{output}",Q),z=()=>Q0($,{recursive:!0,force:!0});try{let K=Bun.spawn(["bash","-lc",Y],{stdout:"pipe",stderr:"pipe"}),W=await K.exited;if(W!==0){let G=(await new Response(K.stderr).text()).trim().slice(0,300);throw Error(`format converter failed (exit ${W}) for ${ZZ(Z)}: ${G}`)}if(!kZ(Q))throw Error(`format converter produced no output for ${ZZ(Z)}`);return{out:Q,cleanup:z}}catch(K){throw await z(),K}}var gZ=()=>{};import{Database as z0}from"bun:sqlite";import{tmpdir as K0}from"os";import{join as W0}from"path";import{existsSync as fZ,unlinkSync as uZ}from"fs";function mZ(Z){let J=W0(K0(),`uav-${Z}-${process.pid}-${G0++}.sqlite`);try{if(fZ(J))uZ(J)}catch{}let $=new z0(J);return $.exec("PRAGMA page_size = 8192"),$.query("PRAGMA journal_mode = MEMORY").get(),$.exec("PRAGMA synchronous = OFF"),$.exec("PRAGMA temp_store = FILE"),$.exec("PRAGMA cache_size = -65536"),{db:$,cleanup(){try{$.close()}catch{}try{if(fZ(J))uZ(J)}catch{}}}}function XZ(Z){let J=new Map,$=new Map;return{table(X,Q){if(J.has(X)||Q.length===0)return;Z.run(`CREATE TABLE ${JZ(X)} (${Q.map(JZ).join(", ")})`);let Y=Q.map(()=>"?").join(", ");J.set(X,Z.query(`INSERT INTO ${JZ(X)} VALUES (${Y})`)),$.set(X,Q.length)},rows(X,Q){let Y=J.get(X),z=$.get(X);if(!Y||z===void 0||Q.length===0)return;let K=Z.transaction((W)=>{for(let G of W){let B=Array(z);for(let L=0;L<z;L++){let V=G[L];B[L]=V===void 0?null:V}Y.run(...B)}});for(let W=0;W<Q.length;W+=xZ)K(Q.slice(W,W+xZ))}}}function pZ(Z,J){let $=XZ(Z);for(let[X,Q]of Object.entries(J.tables)){if(Q.columns.length===0)continue;if($.table(X,Q.columns),Q.rows.length)$.rows(X,Q.rows)}}var G0=0,JZ=(Z)=>`"${Z.replace(/"/g,'""')}"`,xZ=5000;var dZ=()=>{};async function x(Z,J="flight",$){let X=vZ(Z,hZ($?.configDir));if(X){let{out:z,cleanup:K}=await bZ(Z,X);try{return await x(z,J)}finally{await K()}}let{db:Q,cleanup:Y}=mZ(J);try{let z=Z.toLowerCase();if(z.endsWith(".bin"))return{log:await IZ(Z,XZ(Q),{retain:B0}),db:Q,cleanup:Y};let K;if(z.endsWith(".ulog"))K=await wZ(Z);else if(z.endsWith(".tlog")||z.endsWith(".log"))K=await e(Z);else try{K=await _Z(Z)}catch{K=await e(Z)}return pZ(Q,K),{log:K,db:Q,cleanup:Y}}catch(z){throw Y(),z}}var B0;var QZ=M(()=>{SZ();CZ();yZ();gZ();dZ();B0=new Set(["PARM","MSG","GPS","ERR","MODE"])});function YZ(Z,J){let $=Z.tables.PARM;if(!$)return null;let X=$.columns.findIndex((z)=>z.toLowerCase()==="name"),Q=$.columns.findIndex((z)=>z.toLowerCase()==="value");if(X<0||Q<0)return null;let Y=J.toLowerCase();for(let z of $.rows)if(String(z[X]).toLowerCase()===Y){let K=Number(z[Q]);return Number.isFinite(K)?K:null}return null}function H0(Z){let J=Z.tables.MSG;if(!J)return"";let $=J.columns.findIndex((X)=>/message|msg/i.test(X));if($<0)return"";for(let X of J.rows){let Q=String(X[$]??"");if(/Ardu(Copter|Plane|Sub|Rover)|PX4/i.test(Q))return Q}return""}function lZ(Z){let J=YZ(Z,"Q_ENABLE");if(J!==null&&J>=1||Z.tables.QUIK||Z.tables.AETR){if(Z.tables.MOTB||YZ(Z,"FRAME_CLASS")!==null||Z.tables.ARSP)return"vtol"}if(J!==null&&J>=1)return"vtol";let $=H0(Z);if(/ArduPlane/i.test($))return"fixedwing";if(/ArduCopter/i.test($))return"multirotor";if(YZ(Z,"FRAME_CLASS")!==null)return"multirotor";if(Z.tables.ARSP&&!Z.tables.MOTB)return"fixedwing";if(Z.tables.MOTB||Z.tables.RATE)return"multirotor";return"unknown"}function p(Z){return Z===void 0||Z==="multirotor"||Z==="vtol"||Z==="unknown"}function nZ(Z){return Z==="fixedwing"||Z==="vtol"}function S(Z){return`"${Z.replace(/"/g,'""')}"`}function q(Z,J){let $=Z.db.query(J).get();if(!$)return null;let X=Object.values($)[0];if(X===null||X===void 0)return null;return Number(X)}function w(Z,J){try{let $=Z.db.query(`PRAGMA table_info(${S(J)})`).all();return new Set($.map((X)=>X.name))}catch{return new Set}}function _(Z,J,$){return w(Z,J).has($)}function cZ(Z,J){for(let $ of J)if(Z.hasTable($))return $;return null}function U(Z,J,$){return{check:Z,severity:"OK",value:null,threshold_used:null,ruleset_version:J.ruleset_version,verdict:"SKIP",tier:"system",...$?{detail:$}:{}}}function F(Z){return{check:Z.check,severity:Z.failed?Z.failSeverity:"OK",value:Z.value,threshold_used:Z.threshold_used,ruleset_version:Z.thresholds.ruleset_version,verdict:Z.failed?"FAIL":"PASS",tier:"system",...Z.source?{source:Z.source}:{},...Z.detail?{detail:Z.detail}:{}}}function A0(Z,J,$){let X=Object.values(Z);if(J<=0||X.length===0)return"";let Q=[...X].sort((G,B)=>B-G),Y=Q[0],z=Q.length>1?Q[1]:0;if(Q.length>=2&&z>0&&Y>=2*z)return" | cause: likely sensor/mounting alignment (one axis dominates)";let W=Q.length>=2&&Y<=1.5*(Q[Q.length-1]||Y);if($>0||W)return" | cause: likely mechanical degradation (props/bearings/frame)";return""}function rZ(Z,J,$){let X=new Set;try{let z=Z.query("SELECT name FROM sqlite_master WHERE type='table'").all();for(let K of z)X.add(K.name)}catch{}let Q={db:Z,thresholds:J,hasTable:(z)=>X.has(z),vehicleType:$?.vehicleType},Y=[];for(let{id:z,run:K}of u0)try{Y.push(K(Q))}catch(W){let G=W instanceof Error?W.message:String(W);Y.push(U(z,J,`check error: ${G}`))}return Y}var U0=(Z)=>{let J=Z.thresholds.battery;if(!Z.hasTable("ERR"))return U("battery",Z.thresholds);if(!_(Z,"ERR","Subsys")||!_(Z,"ERR","ECode"))return U("battery",Z.thresholds,"ERR present but Subsys/ECode columns absent");let $=J?.err_subsys??6,X=J?.err_ecode??1,Q=q(Z,`SELECT COUNT(*) FROM "ERR" WHERE "Subsys"=${$} AND "ECode"=${X}`)??0;return F({check:"battery",thresholds:Z.thresholds,failed:Q>0,failSeverity:"CRITICAL",value:Q,threshold_used:0,source:J?.source,detail:Q>0?`${Q} battery failsafe ERR event(s) (Subsys=${$} ECode=${X})`:void 0})},L0=(Z)=>{let J=Z.thresholds.attitude;if(!Z.hasTable("ATT"))return U("attitude",Z.thresholds);for(let z of["DesRoll","Roll","DesPitch","Pitch"])if(!_(Z,"ATT",z))return U("attitude",Z.thresholds,`ATT missing column ${z}`);let $=J?.max_deg??5,X=q(Z,'SELECT MAX(ABS("DesRoll"-"Roll")) FROM "ATT"'),Q=q(Z,'SELECT MAX(ABS("DesPitch"-"Pitch")) FROM "ATT"'),Y=Math.max(X??0,Q??0);return F({check:"attitude",thresholds:Z.thresholds,failed:Y>$,failSeverity:"HIGH",value:Y,threshold_used:$,source:J?.source,detail:`peak roll err ${(X??0).toFixed(2)}\xB0, pitch err ${(Q??0).toFixed(2)}\xB0`})},V0=(Z)=>{let J=Z.thresholds.altitude;if(!Z.hasTable("CTUN"))return U("altitude",Z.thresholds);if(!_(Z,"CTUN","DAlt")||!_(Z,"CTUN","Alt"))return U("altitude",Z.thresholds,"CTUN missing DAlt/Alt columns");let $=J?.max_m??2,X=q(Z,'SELECT MAX(ABS("DAlt"-"Alt")) FROM "CTUN"');return F({check:"altitude",thresholds:Z.thresholds,failed:(X??0)>$,failSeverity:"HIGH",value:X,threshold_used:$,source:J?.source})},O0=(Z)=>{let J=Z.thresholds.hover;if(!p(Z.vehicleType))return U("hover",Z.thresholds,`n/a for ${Z.vehicleType} (no hover throttle)`);if(!Z.hasTable("CTUN"))return U("hover",Z.thresholds);if(!_(Z,"CTUN","ThH"))return U("hover",Z.thresholds,"CTUN missing ThH column");let $=J?.band??[0.25,0.75],[X,Q]=$,Y=q(Z,'SELECT AVG("ThH") FROM "CTUN"'),z=Y===null?!1:Y<X||Y>Q;return F({check:"hover",thresholds:Z.thresholds,failed:z,failSeverity:"HIGH",value:Y,threshold_used:Q,source:J?.source,detail:`mean hover throttle ${(Y??0).toFixed(3)} vs band [${X}, ${Q}]`})},iZ=2000,N0=(Z)=>{if(!p(Z.vehicleType))return U("rcou",Z.thresholds,`n/a for ${Z.vehicleType} (control surfaces, not motor mix)`);if(!Z.hasTable("RCOU"))return U("rcou",Z.thresholds);let J=w(Z,"RCOU"),$=[];for(let Y=1;Y<=8;Y++)if(J.has(`C${Y}`))$.push(`C${Y}`);if($.length===0)return U("rcou",Z.thresholds,"RCOU has no C1..C8 channels");let X=-1/0,Q=[];for(let Y of $){let z=q(Z,`SELECT MAX(${S(Y)}) FROM "RCOU"`);if(z===null)continue;if(z>X)X=z;if(z>=iZ)Q.push(`${Y}=${z}`)}if(X===-1/0)X=0;return 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(${S(L)}) FROM "VIBE"`)??0;if(Y[L]=A,A>z)z=A}if(z===-1/0)z=0;let K=["Clip","Clip0","Clip1","Clip2"].filter((L)=>$.has(L)),W=0;for(let L of K){let V=q(Z,`SELECT MAX(${S(L)}) FROM "VIBE"`);if(V!==null&&V>W)W=V}let G=K.length>0?` | clipping MAX=${W}${W>0?" (CLIP EVENTS)":""}`:"",B=A0(Y,z,W);return F({check:"vibration",thresholds:Z.thresholds,failed:z>=Q,failSeverity:"HIGH",value:z,threshold_used:Q,source:J?.source,detail:`peak vibe ${z} m/s\xB2 (axes ${X.join("/")})${G}${B}`})},F0=(Z)=>{let J=Z.thresholds.mag;if(!Z.hasTable("MAG"))return U("mag",Z.thresholds);if(!_(Z,"MAG","Health"))return U("mag",Z.thresholds,"MAG missing Health column");let $=J?.min??1,X=q(Z,'SELECT MIN("Health") FROM "MAG"');return F({check:"mag",thresholds:Z.thresholds,failed:X!==null&&X<$,failSeverity:"HIGH",value:X,threshold_used:$,source:J?.source})},R0=(Z)=>{let J=Z.thresholds.ekf,$=cZ(Z,["XKF3","NKF3"]);if(!$)return U("ekf",Z.thresholds);let X=w(Z,$),Q=["IVN","IVE","IVD","IVT","IPN","IPE","IPD"].filter((K)=>X.has(K));if(Q.length===0)return U("ekf",Z.thresholds,`${$} has no IVN/IVE/IVD/IVT/IPN/IPE/IPD columns`);let Y=J?.max_ratio??0.5,z=-1/0;for(let K of Q){let W=q(Z,`SELECT MAX(ABS(${S(K)})) FROM ${S($)}`);if(W!==null&&W>z)z=W}if(z===-1/0)z=0;return F({check:"ekf",thresholds:Z.thresholds,failed:z>Y,failSeverity:"HIGH",value:z,threshold_used:Y,source:J?.source,detail:`peak innovation ${z} (${$}: ${Q.join("/")})`})},D0=(Z)=>{let J=Z.thresholds.battery;if(!Z.hasTable("BAT"))return U("min_cell_voltage",Z.thresholds);if(!_(Z,"BAT","Volt"))return U("min_cell_voltage",Z.thresholds,"BAT missing Volt column");let $=J?.min_cell_v??3.3,X=q(Z,'SELECT MAX("Volt") FROM "BAT"'),Q=q(Z,'SELECT MIN("Volt") FROM "BAT"');if(X===null||Q===null||X<=0)return U("min_cell_voltage",Z.thresholds,"BAT.Volt has no usable values");let Y=Math.max(1,Math.round(X/4.2)),z=Q/Y;return F({check:"min_cell_voltage",thresholds:Z.thresholds,failed:z<$,failSeverity:"CRITICAL",value:z,threshold_used:$,source:J?.source,detail:`${Y}S pack (MAX pack ${X.toFixed(2)}V), min cell ${z.toFixed(3)}V vs floor ${$}V`})},P0=(Z)=>{let J=Z.thresholds.battery;if(!Z.hasTable("BAT"))return U("voltage_sag",Z.thresholds);if(!_(Z,"BAT","VoltR")||!_(Z,"BAT","Volt"))return U("voltage_sag",Z.thresholds,"BAT missing VoltR/Volt columns");let $=J?.max_sag_v??2,X=q(Z,'SELECT MAX("VoltR"-"Volt") FROM "BAT"');return F({check:"voltage_sag",thresholds:Z.thresholds,failed:X!==null&&X>$,failSeverity:"HIGH",value:X,threshold_used:$,source:J?.source,detail:`peak sag ${(X??0).toFixed(2)}V (VoltR-Volt) vs ${$}V`})},E0=(Z)=>{let J=Z.thresholds.battery;if(!Z.hasTable("BAT"))return U("over_current",Z.thresholds);if(!_(Z,"BAT","Curr"))return U("over_current",Z.thresholds,"BAT missing Curr column");let $=J?.max_current_a??200,X=q(Z,'SELECT MAX("Curr") FROM "BAT"');return F({check:"over_current",thresholds:Z.thresholds,failed:X!==null&&X>$,failSeverity:"HIGH",value:X,threshold_used:$,source:J?.source,detail:`peak current ${(X??0).toFixed(1)}A vs ${$}A`})},T0=(Z)=>{let J=Z.thresholds.battery;if(!Z.hasTable("BAT"))return U("internal_resistance",Z.thresholds);if(!_(Z,"BAT","Res"))return U("internal_resistance",Z.thresholds,"BAT missing Res column");let $=q(Z,'SELECT MAX("Res") FROM "BAT"');if($===null||$===0)return U("internal_resistance",Z.thresholds,"BAT.Res all zero/absent (not reported)");let X=J?.res_min_current_a??5,Y=_(Z,"BAT","Curr")?q(Z,`SELECT MAX("Res") FROM "BAT" WHERE "Curr" >= ${X}`):$;if(Y===null)return U("internal_resistance",Z.thresholds,`no BAT samples at Curr \u2265 ${X} A \u2014 Res only valid under load (max raw ${$.toFixed(3)}\u03A9 is a low-current artifact)`);let z=J?.max_res_ohm??0.03;return F({check:"internal_resistance",thresholds:Z.thresholds,failed:Y>z,failSeverity:"HIGH",value:Y,threshold_used:z,source:J?.source,detail:`peak internal resistance ${Y.toFixed(4)}\u03A9 (at Curr \u2265 ${X} A) vs ${z}\u03A9`})},_0=(Z)=>{let J=Z.thresholds.power;if(!Z.hasTable("POWR"))return U("board_brownout",Z.thresholds);if(!_(Z,"POWR","Vcc"))return U("board_brownout",Z.thresholds,"POWR missing Vcc column");let $=J?.min_vcc_v??4.5,X=q(Z,'SELECT MIN("Vcc") FROM "POWR"');return F({check:"board_brownout",thresholds:Z.thresholds,failed:X!==null&&X<$,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 U("gps_accuracy",Z.thresholds);if(!_(Z,"GPA","HAcc"))return U("gps_accuracy",Z.thresholds,"GPA missing HAcc column");let $=J?.hacc_max_m??5,X=q(Z,'SELECT MAX("HAcc") FROM "GPA"');return F({check:"gps_accuracy",thresholds:Z.thresholds,failed:X!==null&&X>$,failSeverity:"HIGH",value:X,threshold_used:$,source:J?.source,detail:`peak horizontal accuracy ${(X??0).toFixed(2)}m vs ${$}m`})},M0=(Z)=>{let J=Z.thresholds.ekf,$=cZ(Z,["XKF4","NKF4"]);if(!$)return U("ekf_variance",Z.thresholds);let X=w(Z,$),Q=["SV","SP","SH","SM"].filter((B)=>X.has(B));if(Q.length===0)return U("ekf_variance",Z.thresholds,`${$} has no SV/SP/SH/SM columns`);let Y=J?.max_variance??1,z=-1/0,K="";for(let B of Q){let L=q(Z,`SELECT MAX(${S(B)}) FROM ${S($)}`);if(L!==null&&L>z)z=L,K=B}if(z===-1/0)z=0;let W=X.has("FS")?q(Z,`SELECT MAX("FS") FROM ${S($)}`):null,G=W!==null&&W>0?` | EKF failsafe set (FS MAX=${W})`:"";return 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&&!$.has("Err"))return U("esc_health",Z.thresholds,"ESC has no Temp/MotTemp/Err columns");let Q=J?.max_temp_c??90,Y=-1/0,z="";for(let L of X){let V=q(Z,`SELECT MAX(${S(L)}) FROM "ESC"`);if(V!==null&&V>Y)Y=V,z=L}if(Y===-1/0)Y=0;let K=$.has("Err")?q(Z,'SELECT MAX("Err") FROM "ESC"')??0:0,W=X.length>0&&Y>Q,G=K>0,B=G?` | ESC Err MAX=${K}`:"";return F({check:"esc_health",thresholds:Z.thresholds,failed:W||G,failSeverity:"HIGH",value:Y,threshold_used:Q,source:J?.source,detail:`peak ESC temp ${Y.toFixed(1)}\xB0C (${z||"n/a"}) vs ${Q}\xB0C${B}`})},y0=(Z)=>{if(!p(Z.vehicleType))return U("thrust_margin",Z.thresholds,`n/a for ${Z.vehicleType} (lift/T:W is a rotorcraft metric)`);if(!Z.hasTable("MOTB"))return U("thrust_margin",Z.thresholds);let J=w(Z,"MOTB");if(!J.has("FailFlags")&&!(J.has("ThrOut")&&J.has("LiftMax")))return U("thrust_margin",Z.thresholds,"MOTB missing FailFlags and ThrOut/LiftMax columns");let $=J.has("FailFlags")?q(Z,'SELECT MAX("FailFlags") FROM "MOTB"')??0:0,X=null;if(J.has("ThrOut")&&J.has("LiftMax")){let K=q(Z,'SELECT AVG("ThrOut") FROM "MOTB"'),W=q(Z,'SELECT AVG("LiftMax") FROM "MOTB"');if(K!==null&&W!==null&&W>0)X=K/W}let Q=X!==null&&X>0.5,Y=$>0,z=`MOTB FailFlags MAX=${$}`+(X!==null?`, mean ThrOut/LiftMax ${X.toFixed(2)} (low-margin > 0.5)`:"")+(Y?" \u2014 THRUST-LOSS flagged":Q?" \u2014 low thrust margin":"");return F({check:"thrust_margin",thresholds:Z.thresholds,failed:Y||Q,failSeverity:"HIGH",value:X,threshold_used:0.5,detail:z})},k0=(Z)=>{let J=Z.thresholds.imu;if(!Z.hasTable("IMU"))return U("imu_health",Z.thresholds);let $=w(Z,"IMU"),X=["EG","EA"].filter((K)=>$.has(K));if(X.length===0)return U("imu_health",Z.thresholds,"IMU has no EG/EA error-count columns");let Q=J?.max_err??0,Y=-1/0,z="";for(let K of X){let W=q(Z,`SELECT MAX(${S(K)}) FROM "IMU"`);if(W!==null&&W>Y)Y=W,z=K}if(Y===-1/0)Y=0;return F({check:"imu_health",thresholds:Z.thresholds,failed:Y>Q,failSeverity:"HIGH",value:Y,threshold_used:Q,source:J?.source,detail:`max IMU error count ${Y} (${z||X.join("/")}) vs ${Q}`})},h0=(Z)=>{let J=Z.thresholds.imu;if(!Z.hasTable("IMU"))return U("imu_consistency",Z.thresholds);let $=w(Z,"IMU");if(!$.has("I"))return U("imu_consistency",Z.thresholds,"IMU has no instance column I");let X=["AccX","AccY","AccZ"].filter((R)=>$.has(R)),Q=["GyrX","GyrY","GyrZ"].filter((R)=>$.has(R));if(X.length===0&&Q.length===0)return U("imu_consistency",Z.thresholds,"IMU has no Acc*/Gyr* columns");let Y=[...X,...Q].map((R)=>`AVG(${S(R)}) ${S(R)}`).join(", "),z=Z.db.query(`SELECT "I" AS "I", ${Y} FROM "IMU" GROUP BY "I"`).all();if(z.length<2)return U("imu_consistency",Z.thresholds,`only ${z.length} IMU instance \u2014 nothing to cross-check`);let K=(R)=>{let N=z.map((y)=>Number(y[R])).filter((y)=>Number.isFinite(y));return N.length>=2?Math.max(...N)-Math.min(...N):0},W=0,G="";for(let R of X){let 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 F({check:"mode_changes",thresholds:Z.thresholds,failed:Y,failSeverity:"HIGH",value:X,threshold_used:0,detail:`${X} mode change(s); timeline: ${z||"\u2014"}`+(Y?" \u2014 emergency mode (RTL/LAND) entered":"")})},f0=(Z)=>{let J=Z.thresholds.airspeed;if(!nZ(Z.vehicleType))return U("airspeed",Z.thresholds,`n/a for ${Z.vehicleType} (no fixed-wing airspeed)`);if(!Z.hasTable("ARSP"))return U("airspeed",Z.thresholds,"no ARSP (airspeed) data");if(!_(Z,"ARSP","Airspeed"))return U("airspeed",Z.thresholds,"ARSP missing Airspeed column");let $=J?.stall_min_ms??8,X={kind:"rule-of-thumb",ref:"default stall floor"};if(Z.hasTable("PARM")){let Y=q(Z,`SELECT "Value" FROM "PARM" WHERE "Name"='ARSPD_FBW_MIN' LIMIT 1`);if(Y!==null&&Y>0)$=Y,X={kind:"datasheet",ref:"ARSPD_FBW_MIN"}}let Q=q(Z,'SELECT MIN("Airspeed") FROM "ARSP" WHERE "Airspeed" > 2');if(Q===null)return U("airspeed",Z.thresholds,"no airborne airspeed samples");return F({check:"airspeed",thresholds:Z.thresholds,failed:Q<$,failSeverity:"HIGH",value:Q,threshold_used:$,source:X,detail:`min in-flight airspeed ${Q.toFixed(1)} m/s vs stall floor ${$} m/s`})},u0;var oZ=M(()=>{b0=new Set([6,9]),u0=[{id:"battery",run:U0},{id:"min_cell_voltage",run:D0},{id:"voltage_sag",run:P0},{id:"over_current",run:E0},{id:"internal_resistance",run:T0},{id:"board_brownout",run:_0},{id:"attitude",run:L0},{id:"rate_tracking",run:I0},{id:"altitude",run:V0},{id:"hover",run:O0},{id:"rcou",run:N0},{id:"rcin",run:q0},{id:"thrust_margin",run:y0},{id:"vibration",run:j0},{id:"imu_health",run:k0},{id:"imu_consistency",run:h0},{id:"mag",run:F0},{id:"mag_offsets",run:C0},{id:"gps_accuracy",run:S0},{id:"ekf",run:R0},{id:"ekf_variance",run:M0},{id:"esc_health",run:w0},{id:"airspeed",run:f0},{id:"err_events",run:v0},{id:"mode_changes",run:g0}]});import{existsSync as x0,readFileSync as m0}from"fs";import{dirname as p0,join as WZ}from"path";import{fileURLToPath as d0}from"url";function tZ(Z){if(Z){let J=WZ(Z,".hydron","apm-params.json"),$=aZ(J);if($&&$.size>0)return $}for(let J of l0){let $=aZ(J);if($)return $}return new Map}function eZ(Z,J){return J.get(Z.toUpperCase())}function aZ(Z){if(!x0(Z))return;try{let J=m0(Z,"utf8"),$=JSON.parse(J);if(!$||typeof $!=="object")return;let X=new Map;for(let[Q,Y]of Object.entries($)){if(!Q||Q.startsWith("_")||typeof Y!=="object"||Y===null)continue;let z={name:Q};if(typeof Y.min==="number"&&Number.isFinite(Y.min))z.min=Y.min;if(typeof Y.max==="number"&&Number.isFinite(Y.max))z.max=Y.max;if(typeof Y.units==="string"&&Y.units)z.units=Y.units;X.set(Q.toUpperCase(),z)}return X}catch{return}}var sZ,l0;var Z$=M(()=>{sZ=p0(d0(import.meta.url)),l0=[WZ(sZ,"..","data","apm-params.json"),WZ(sZ,"..","..","data","apm-params.json")]});import{existsSync as n0,readFileSync as i0}from"fs";import{join as c0}from"path";function $$(){return{ruleset_version:"v1",safety:{ARMING_CHECK:{min:1},FS_THR_ENABLE:{min:1},FENCE_ENABLE:{min:1}},range:{INS_GYRO_FILTER:{min:5,max:80,severity:"HIGH"},ATC_RAT_RLL_P:{min:0,max:0.5,severity:"HIGH"},ATC_RAT_PIT_P:{min:0,max:0.5,severity:"HIGH"},ATC_RAT_YAW_P:{min:0,max:1,severity:"HIGH"},MOT_SPIN_ARM:{min:0,max:0.2,severity:"HIGH"},MOT_SPIN_MIN:{min:0,max:0.3,severity:"HIGH"},RTL_ALT:{min:200,max:1e4,severity:"HIGH"},WPNAV_SPEED:{min:50,max:2000,severity:"HIGH"}}}}function r0(Z){let J=$$(),$=c0(Z,".hydron","param-rules.yaml");if(!n0($))return J;try{let X=i0($,"utf8");return o0(J,X)}catch{return J}}function o0(Z,J){let $={ruleset_version:Z.ruleset_version,safety:{...Z.safety},range:{...Z.range}},X=null;for(let Q of J.split(/\r?\n/)){let z=Q.replace(/#.*$/,"").trim();if(!z||z.startsWith("-"))continue;let K=/^ruleset_version\s*:\s*(.+)$/.exec(z);if(K){$.ruleset_version=K[1].trim().replace(/^["']|["']$/g,""),X=null;continue}if(/^safety\s*:\s*$/.test(z)){X="safety";continue}if(/^range\s*:\s*$/.test(z)){X="range";continue}let W=/^([A-Za-z0-9_]+)\s*:\s*\{(.+)\}\s*$/.exec(z);if(W&&X){let G=W[1],B=s0(W[2]);if(X==="safety"){let L=B.min;if(typeof L==="number")$.safety[G]={min:L}}else{let{min:L,max:V,severity:A}=B;if(typeof L==="number"&&typeof V==="number")$.range[G]={min:L,max:V,severity:A==="CRITICAL"?"CRITICAL":"HIGH"}}}}return $}function s0(Z){let J={};for(let $ of Z.split(",")){let X=/^\s*([A-Za-z0-9_]+)\s*:\s*(.+?)\s*$/.exec($);if(!X)continue;let Q=X[1],Y=X[2].replace(/^["']|["']$/g,""),z=Number(Y);J[Q]=Number.isFinite(z)&&Y!==""?z:Y}return J}function a0(Z){let J=new Map;for(let $ of Z)J.set($.name.toUpperCase(),$.value);return J}function v(Z){return{check:Z.check,severity:Z.severity,value:Z.value,threshold_used:Z.threshold_used,ruleset_version:Z.ruleset_version,verdict:Z.verdict,tier:"system",source:Z.source,detail:Z.detail}}function J$(Z,J={}){let $=J.configDir?r0(J.configDir):$$(),X=J.ruleset_version??$.ruleset_version,Q=a0(Z),Y=tZ(J.configDir);return[...t0(Q,$,X),...e0(Q,X),...$8(Q,$,X,Y),...J8(Z,null)]}function t0(Z,J,$){let X=[],Q={kind:"rule-of-thumb"},Y=Z.get("ARMING_CHECK");if(Y===void 0)X.push(b("param.safety.arming",$,"ARMING_CHECK absent"));else{let B=Y!==0;X.push(v({check:"param.safety.arming",severity:B?"OK":"CRITICAL",value:Y,threshold_used:J.safety.ARMING_CHECK?.min??1,verdict:B?"PASS":"FAIL",ruleset_version:$,detail:B?"arming checks enabled":"ARMING_CHECK=0 \u2014 ALL pre-arm safety checks are disabled",source:Q}))}let z=Z.get("BATT_LOW_VOLT"),K=Z.get("BATT_CRT_VOLT");if(z===void 0&&K===void 0)X.push(b("param.safety.battery_failsafe",$,"BATT_LOW_VOLT/BATT_CRT_VOLT absent"));else{let B=(z??0)===0&&(K??0)===0;X.push(v({check:"param.safety.battery_failsafe",severity:B?"CRITICAL":"OK",value:B?0:K??z??0,threshold_used:0,verdict:B?"FAIL":"PASS",ruleset_version:$,detail:B?"battery failsafe not configured (BATT_LOW_VOLT and BATT_CRT_VOLT both 0)":"battery failsafe configured",source:Q}))}let W=Z.get("FS_THR_ENABLE");if(W===void 0)X.push(b("param.safety.radio_failsafe",$,"FS_THR_ENABLE absent"));else{let B=W!==0;X.push(v({check:"param.safety.radio_failsafe",severity:B?"OK":"HIGH",value:W,threshold_used:J.safety.FS_THR_ENABLE?.min??1,verdict:B?"PASS":"FAIL",ruleset_version:$,detail:B?"radio failsafe enabled":"FS_THR_ENABLE=0 \u2014 radio/throttle failsafe is OFF",source:Q}))}let G=Z.get("FENCE_ENABLE");if(G===void 0)X.push(b("param.safety.fence",$,"FENCE_ENABLE absent"));else{let B=G!==0;X.push(v({check:"param.safety.fence",severity:B?"OK":"HIGH",value:G,threshold_used:J.safety.FENCE_ENABLE?.min??1,verdict:B?"PASS":"FAIL",ruleset_version:$,detail:B?"geofence enabled":"FENCE_ENABLE=0 \u2014 geofence disabled (advisory)",source:Q}))}return X}function e0(Z,J){let $=[],X={kind:"rule-of-thumb"},Q=Z.get("BATT_CRT_VOLT"),Y=Z8(Z);if(Q===void 0||Q===0||Y===null||Y<=0)$.push(b("param.consistency.battery_cells",J,"BATT_CRT_VOLT and a cell-count source required"));else{let G=Q/Y,B=G>=3&&G<=3.7;$.push(v({check:"param.consistency.battery_cells",severity:B?"OK":"HIGH",value:GZ(G,3),threshold_used:3,verdict:B?"PASS":"FAIL",ruleset_version:J,detail:B?`per-cell critical voltage ${GZ(G,2)}V across ${Y}S looks sane`:`per-cell critical voltage ${GZ(G,2)}V (${Y}S) outside [3.0,3.7] \u2014 cell count vs BATT_CRT_VOLT inconsistent`,source:X}))}let z=Z.get("FRAME_CLASS"),K=Z.get("FRAME_TYPE");if(z===void 0&&K===void 0)$.push(b("param.consistency.frame",J,"FRAME_CLASS/FRAME_TYPE absent"));else{let G=(z??0)!==0&&(K??0)!==0;$.push(v({check:"param.consistency.frame",severity:G?"OK":"HIGH",value:z??null,threshold_used:1,verdict:G?"PASS":"FAIL",ruleset_version:J,detail:G?`frame configured (CLASS=${z}, TYPE=${K})`:`frame not fully configured (CLASS=${z??"?"}, TYPE=${K??"?"}) \u2014 must be non-zero for a copter`,source:X}))}let W=Z.get("INS_HNTCH_ENABLE");if(W===void 0)$.push(b("param.consistency.notch_filter",J,"INS_HNTCH_ENABLE absent"));else $.push(v({check:"param.consistency.notch_filter",severity:"OK",value:W,threshold_used:null,verdict:"PASS",ruleset_version:J,detail:W===0?"harmonic notch filter disabled (INS_HNTCH_ENABLE=0) \u2014 advisory; tune if vibration is high":"harmonic notch filter enabled",source:X}));return $}function Z8(Z){for(let $ of["BATT_CELLS","BATT_N_CELLS","BATT_CELL_COUNT"]){let X=Z.get($);if(X!==void 0&&X>0)return Math.round(X)}let J=Z.get("BATT_ARM_VOLT");if(J!==void 0&&J>0)return Math.round(J/3.6);return null}function $8(Z,J,$,X){let Q=[];for(let[Y,z]of Object.entries(J.range)){let K=Z.get(Y.toUpperCase()),W=`param.range.${Y}`;if(K===void 0){Q.push(b(W,$,`${Y} absent`));continue}let G=eZ(Y,X),B=G!==void 0&&(typeof G.min==="number"||typeof G.max==="number"),L=B&&typeof G.min==="number"?Math.max(z.min,G.min):z.min,V=B&&typeof G.max==="number"?Math.min(z.max,G.max):z.max,A=B&&typeof G.min==="number"?G.min:z.min,D=B&&typeof G.max==="number"?G.max:z.max,E=B?{kind:"datasheet",ref:"apm.pdef.xml"}:{kind:"tuned"},H=K>=L&&K<=V;Q.push(v({check:W,severity:H?"OK":z.severity,value:K,threshold_used:H?D:K<L?A:D,verdict:H?"PASS":"FAIL",ruleset_version:$,detail:H?`${Y}=${K} within [${A},${D}]${B?" (apm.pdef.xml)":""}`:`${Y}=${K} outside [${A},${D}]${B?" (apm.pdef.xml)":""}`,source:E}))}return Q}function J8(Z,J){return[]}function b(Z,J,$){return v({check:Z,severity:"OK",value:null,threshold_used:null,verdict:"SKIP",ruleset_version:J,detail:$})}function GZ(Z,J){let $=10**J;return Math.round(Z*$)/$}var X$=M(()=>{Z$()});import{existsSync as X8,readFileSync as Q8}from"fs";import{join as Y8}from"path";function z8(){return{ruleset_version:"v1",vibration:{field:"VibeX|VibeY|VibeZ",max_ms2:30,source:{kind:"rule-of-thumb"}},clipping:{field:"Clip",max:0},battery:{err_subsys:6,err_ecode:1,min_cell_v:3.3,max_sag_v:2,max_current_a:200,max_res_ohm:0.03,res_min_current_a:5,source:{kind:"rule-of-thumb"}},attitude:{fields:"DesRoll-Roll,DesPitch-Pitch",max_deg:5,window_samples:10},altitude:{field:"DAlt-Alt",max_m:2},hover:{field:"ThH",band:[0.25,0.75]},ekf:{fields:"IVN,IVE,IVD",max_ratio:0.5,max_variance:1},mag:{field:"Health",min:1,late_align_s:30,max_offset:600},gps:{field:"NSats",min:6,hdop_max:2,hacc_max_m:5},power:{min_vcc_v:4.5,source:{kind:"rule-of-thumb"}},rate:{max_err_dps:50,source:{kind:"rule-of-thumb"}},esc:{max_temp_c:90,source:{kind:"rule-of-thumb"}},imu:{max_err:0,accel_consistency_max:0.7,gyro_consistency_max:0.3,source:{kind:"rule-of-thumb"}},airspeed:{stall_min_ms:8,source:{kind:"rule-of-thumb"}}}}function Y$(Z){let J=z8(),$=Y8(Z,".hydron","uav-thresholds.yaml");if(!X8($))return J;try{let X=K8(Q8($,"utf8"));return z$(J,X)}catch{return J}}function z$(Z,J){let $={...Z};for(let[X,Q]of Object.entries(J)){let Y=$[X];if(Q&&typeof Q==="object"&&!Array.isArray(Q)&&Y&&typeof Y==="object"&&!Array.isArray(Y))$[X]=z$(Y,Q);else $[X]=Q}return $}function Q$(Z){let J=!1,$=!1;for(let X=0;X<Z.length;X++){let Q=Z[X];if(Q==="'"&&!$)J=!J;else if(Q==='"'&&!J)$=!$;else if(Q==="#"&&!J&&!$)return Z.slice(0,X)}return Z}function K$(Z,J){let $=[],X=0,Q=!1,Y=!1,z=0;for(let K=0;K<Z.length;K++){let W=Z[K];if(W==="'"&&!Y)Q=!Q;else if(W==='"'&&!Q)Y=!Y;else if(!Q&&!Y){if(W==="["||W==="{")X++;else if(W==="]"||W==="}")X--;else if(W===J&&X===0)$.push(Z.slice(z,K)),z=K+1}}return $.push(Z.slice(z)),$}function d(Z){let J=Z.trim();if(J==="")return"";if(/^-?\d+(\.\d+)?$/.test(J))return Number(J);if(J==="true")return!0;if(J==="false")return!1;if(J.startsWith("[")&&J.endsWith("]")){let $=J.slice(1,-1).trim();return $?K$($,",").map(d):[]}if(J.startsWith("{")&&J.endsWith("}"))return W$(J);return J.replace(/^["']|["']$/g,"")}function W$(Z){let J=Z.trim().replace(/^\{/,"").replace(/\}$/,""),$={};for(let X of K$(J,",")){let Q=X.indexOf(":");if(Q<0)continue;let Y=X.slice(0,Q).trim().replace(/^["']|["']$/g,"");if(Y)$[Y]=d(X.slice(Q+1))}return $}function K8(Z){let J={},$=Z.split(/\r?\n/),X=0;while(X<$.length){let Q=Q$($[X]);if(X++,!Q.trim()||/^\s/.test(Q))continue;let Y=/^([A-Za-z0-9_]+):\s*(.*)$/.exec(Q);if(!Y)continue;let z=Y[1],K=Y[2].trim();if(K.startsWith("{"))J[z]=W$(K);else if(K!=="")J[z]=d(K);else{let W={};while(X<$.length){let G=Q$($[X]);if(!G.trim()){X++;continue}if(!/^\s/.test(G))break;X++;let B=/^\s+([A-Za-z0-9_]+):\s*(.*)$/.exec(G);if(B&&B[2].trim()!=="")W[B[1]]=d(B[2])}J[z]=W}}return J}var G$=()=>{};function P(Z,J){let $=J.toLowerCase();return Z.columns.findIndex((X)=>X.toLowerCase()===$)}function h(Z){if(typeof Z==="number")return Number.isFinite(Z)?Z:null;if(typeof Z==="bigint")return Number(Z);if(typeof Z==="string"){let J=Number(Z);return Number.isFinite(J)?J:null}return null}function W8(Z){if(typeof Z==="bigint")return Z;if(typeof Z==="number"&&Number.isFinite(Z))return BigInt(Math.trunc(Z));if(typeof Z==="string"&&/^-?\d+$/.test(Z.trim()))try{return BigInt(Z.trim())}catch{return null}return null}function g(Z){if(Z===null||Z===void 0)return null;if(typeof Z==="string")return Z;return String(Z)}function l(Z){return`"${Z.replace(/"/g,'""')}"`}function LZ(Z,J){try{return!!Z.query("SELECT 1 FROM sqlite_master WHERE type='table' AND name = ?").get(J)}catch{return!1}}function VZ(Z,J){try{let $=Z.query(`PRAGMA table_info(${l(J)})`).all();return new Set($.map((X)=>X.name))}catch{return new Set}}function n(Z,J){try{let $=Z.query(J).get();if(!$)return null;let X=Object.values($)[0];if(X===null||X===void 0)return null;let Q=typeof X==="bigint"?Number(X):Number(X);return Number.isFinite(Q)?Q:null}catch{return null}}function G8(Z){for(let J of["ATT","GPS","VIBE","CTUN","IMU"])if(LZ(Z,J)&&VZ(Z,J).has("TimeUS")){let $=n(Z,`SELECT COUNT(*) AS c FROM ${l(J)}`);if($===null||$<=0)continue;let X=n(Z,`SELECT (MAX("TimeUS") - MIN("TimeUS")) AS d FROM ${l(J)}`);if(X!==null)return X/1e6}return null}function B8(Z){if(!LZ(Z,"VIBE"))return null;let J=VZ(Z,"VIBE"),$=["VibeX","VibeY","VibeZ"].filter((Q)=>J.has(Q));if($.length===0)return null;let X=$.map((Q)=>`SELECT MAX(${l(Q)}) AS m FROM "VIBE"`).join(" UNION ALL ");return n(Z,`SELECT MAX(m) AS m FROM (${X})`)}function H8(Z){if(!LZ(Z,"CTUN")||!VZ(Z,"CTUN").has("ThH"))return null;return n(Z,'SELECT AVG("ThH") AS m FROM "CTUN"')}function BZ(Z,J){let $=Z.tables.PARM;if(!$)return null;let X=P($,"Name"),Q=P($,"Value");if(X<0||Q<0)return null;let Y=J.toLowerCase();for(let z of $.rows)if(g(z[X])?.toLowerCase()===Y)return h(z[Q]);return null}function UZ(Z,J){let $=Z.tables.MSG;if(!$)return null;let X=P($,"Message")>=0?P($,"Message"):P($,"Msg");if(X<0)return null;for(let Q of $.rows){let Y=g(Q[X]);if(Y&&J.test(Y))return Y}return null}function V8(Z){let J=Z.tables.MSG;if(!J)return null;let $=P(J,"Message")>=0?P(J,"Message"):P(J,"Msg");if($<0)return null;for(let X of J.rows){let Q=g(X[$]),Y=Q&&L8.exec(Q.trim());if(Y){let[,z,K,W,G]=Y;return{id:`${K}${W}${G}`.toUpperCase(),name:`${z}-${K.toUpperCase()}`}}}return null}function O8(Z){let J=V8(Z),$=BZ(Z,"SYSID_THISMAV"),X,Q;if(J)X=J.id,Q=J.name;else if($!==null)X=`sysid-${$}`,Q=UZ(Z,/ArduCopter|ArduPlane|ArduPilot|board/i)??X;else{let K=UZ(Z,/ArduCopter|ArduPlane|ArduPilot|ChibiOS|board/i);X=K??"unknown",Q=K??X}let Y,z=BZ(Z,"Q_ENABLE");if(z!==null&&z>=1)Y="QuadPlane";else{let K=BZ(Z,"FRAME_CLASS");if(K!==null)Y=U8[K]??`class_${K}`}return{kind:"airframe",external_id:X,attrs:{name:Q,frame:Y}}}function N8(Z){let J=Z.tables.GPS;if(!J)return null;let $=P(J,"GWk"),X=P(J,"GMS");if($<0||X<0)return null;let Q=315964800000,Y=18000,z=null;for(let W of J.rows){let G=h(W[$]),B=h(W[X]);if(G===null||B===null||G<=0)continue;let L=Q+G*7*24*3600*1000+B-Y;if(z===null||L<z)z=L}if(z===null)return null;let K=new Date(z);return Number.isNaN(K.getTime())?null:K.toISOString()}function q8(Z,J,$){let X=UZ(Z,/ArduCopter|ArduPlane|ArduPilot/);return{kind:"analysis",source_hash:$,logged_at:N8(Z),attrs:{firmware:X??null,duration_s:G8(J),pilot_id:null,rc_id:null}}}function j8(Z){let J=Z.tables.PARM;if(!J)return[];let $=P(J,"Name"),X=P(J,"Value");if($<0||X<0)return[];let Q=P(J,"Default"),Y=[];for(let z of J.rows){let K=g(z[$]);if(!K)continue;let W=h(z[X]);if(W===null)continue;let G={name:K,value:W};if(Q>=0){let B=h(z[Q]);G.default=B}Y.push(G)}return Y}function HZ(Z,J){let $=P(Z,"TimeUS");if($<0)return 0n;return W8(J[$])??0n}function A8(Z){let J=[],$=Z.tables.ERR;if($){let Y=P($,"Subsys"),z=P($,"ECode");for(let K of $.rows)J.push({at:HZ($,K),type:"ERR",payload:{Subsys:Y>=0?h(K[Y]):null,ECode:z>=0?h(K[z]):null}})}let X=Z.tables.MODE;if(X){let Y=P(X,"TimeUS");for(let z of X.rows){let K={};X.columns.forEach((W,G)=>{if(G===Y)return;K[W]=h(z[G])??g(z[G])}),J.push({at:HZ(X,z),type:"MODE",payload:K})}}let Q=Z.tables.MSG;if(Q){let Y=P(Q,"Message")>=0?P(Q,"Message"):P(Q,"Msg");for(let z of Q.rows)J.push({at:HZ(Q,z),type:"MSG",payload:{text:Y>=0?g(z[Y]):null}})}return J}function F8(Z,J){let $=[],X=B8(J);if(X!==null)$.push({name:"vibe_peak",value:X,unit:"m/s/s"});let Q=Z.tables.ERR;if(Q){let z=P(Q,"Subsys"),K=P(Q,"ECode");if(z>=0&&K>=0){let W=0;for(let G of Q.rows)if(h(G[z])===6&&h(G[K])===1)W++;$.push({name:"failsafe_count",value:W})}}let Y=H8(J);if(Y!==null)$.push({name:"hover_thr",value:Y});return $}function B$(Z,J,$){return{entity:O8(Z),episode:q8(Z,J,$.sourceHash),params:j8(Z),events:A8(Z),measurements:F8(Z,J)}}var U8,L8;var H$=M(()=>{U8={0:"Undefined",1:"Quad",2:"Hexa",3:"Octa",4:"OctaQuad",5:"Y6",6:"Heli",7:"Tri",8:"SingleCopter",9:"CoaxCopter",10:"BiCopter",11:"Heli_Dual",12:"DodecaHexa",13:"HeliQuad",14:"Deca",15:"Scripting"};L8=/^([A-Za-z][A-Za-z0-9_+\-]*)\s+([0-9A-Fa-f]{8})\s+([0-9A-Fa-f]{8})\s+([0-9A-Fa-f]{8})\b/});import{mkdir as R8,readFile as OZ,writeFile as L$,readdir as V$,stat as D8}from"fs/promises";import{dirname as kJ,join as f}from"path";function O$(Z,J,$){return f(Z,".hydron","observations",J,i($))}function i(Z){return Z.replace(/[^A-Za-z0-9._-]/g,"_")||"unknown"}function P8(Z,J){return typeof J==="bigint"?J.toString():J}function N$(Z){if(Array.isArray(Z.events))Z.events=Z.events.map((J)=>{let $=J.at,X;if(typeof $==="bigint")X=$;else if(typeof $==="string"&&/^-?\d+$/.test($))X=BigInt($);else if(typeof $==="number")X=BigInt(Math.trunc($));else X=0n;return{...J,at:X}});return Z}function E8(Z){let J=Z.findings??[],$=J.filter((z)=>z.verdict==="FAIL").length,X=J.filter((z)=>z.severity==="CRITICAL"&&z.verdict==="FAIL").length,Q="OK";for(let z of J)if(U$[z.severity]>U$[Q])Q=z.severity;let Y=(z)=>Z.measurements?.find((K)=>K.name===z)?.value??null;return{source_hash:Z.episode.source_hash,logged_at:Z.episode.logged_at,ruleset_version:Z.ruleset_version,anomalies:$,critical:X,vibe_peak:Y("vibe_peak"),failsafe_count:Y("failsafe_count"),worst_severity:Q,...Z.tags&&Z.tags.length>0?{tags:Z.tags}:{}}}async function T8(Z){let J;try{J=await OZ(Z,"utf8")}catch{return[]}let $=[];for(let X of J.split(`
-`)){let Q=X.trim();if(!Q)continue;try{$.push(JSON.parse(Q))}catch{}}return $}async function _8(Z,J){let $=f(Z,"index.jsonl"),X=await T8($),Q=E8(J),Y=X.filter((z)=>z.source_hash!==Q.source_hash);Y.push(Q),await L$($,Y.map((z)=>JSON.stringify(z)).join(`
+var m$=Object.defineProperty;var p$=(Z)=>Z;function d$(Z,$){this[Z]=p$.bind(null,$)}var DZ=(Z,$)=>{for(var J in $)m$(Z,J,{get:$[J],enumerable:!0,configurable:!0,set:d$.bind($,J)})};var M=(Z,$)=>()=>(Z&&($=Z(Z=0)),$);function EZ(){let Z=process.env.UAV_DECODE_MAX_CPU;if(!Z)return;let $=Number(Z);return Number.isFinite($)&&$>0&&$<1?$:void 0}async function RZ(Z,$){if(!$||Z<=0)return;let J=Math.min(Z*(1/$-1),250);if(J>=1)await l$(J)}var l$=(Z)=>new Promise(($)=>setTimeout($,Z));var PZ;var TZ=M(()=>{PZ={a:{kind:"str",width:64},b:{kind:"i8",width:1},B:{kind:"u8",width:1},h:{kind:"i16",width:2},H:{kind:"u16",width:2},i:{kind:"i32",width:4},I:{kind:"u32",width:4},f:{kind:"f32",width:4},d:{kind:"f64",width:8},n:{kind:"str",width:4},N:{kind:"str",width:16},Z:{kind:"str",width:64},c:{kind:"i16",width:2,scale:0.01},C:{kind:"u16",width:2,scale:0.01},e:{kind:"i32",width:4,scale:0.01},E:{kind:"u32",width:4,scale:0.01},L:{kind:"i32",width:4,scale:0.0000001},M:{kind:"u8",width:1},q:{kind:"i64",width:8},Q:{kind:"u64",width:8}}});import{open as n$}from"fs/promises";function o$(Z){return($,J)=>{let X="",Q=J+Z;for(let z=J;z<Q;z++){let K=$.getUint8(z);if(K===0)break;X+=String.fromCharCode(K)}return X}}function s$(Z){let $=Z.scale;switch(Z.kind){case"i8":return $===void 0?(J,X)=>J.getInt8(X):(J,X)=>J.getInt8(X)*$;case"u8":return $===void 0?(J,X)=>J.getUint8(X):(J,X)=>J.getUint8(X)*$;case"i16":return $===void 0?(J,X)=>J.getInt16(X,!0):(J,X)=>J.getInt16(X,!0)*$;case"u16":return $===void 0?(J,X)=>J.getUint16(X,!0):(J,X)=>J.getUint16(X,!0)*$;case"i32":return $===void 0?(J,X)=>J.getInt32(X,!0):(J,X)=>J.getInt32(X,!0)*$;case"u32":return $===void 0?(J,X)=>J.getUint32(X,!0):(J,X)=>J.getUint32(X,!0)*$;case"f32":return(J,X)=>J.getFloat32(X,!0);case"f64":return(J,X)=>J.getFloat64(X,!0);case"i64":return(J,X)=>J.getBigInt64(X,!0);case"u64":return(J,X)=>J.getBigUint64(X,!0);case"str":return o$(Z.width)}}function a$(Z,$){let J=[],X=[];for(let z of Z){let K=PZ[z];if(!K)return{readers:[],widths:[],ok:!1,timeIdx:-1};J.push(s$(K)),X.push(K.width)}let Q=$.indexOf("TimeUS");return{readers:J,widths:X,ok:!0,timeIdx:Q}}async function IZ(Z,$,J){let X=J??EZ(),Q=new Map,z={},K=!1,W=null,Y=null,G=4194304,B=await n$(Z,"r");try{let U=Buffer.allocUnsafe(G),O=new Uint8Array(0),N=0,P=!1;while(!P){let{bytesRead:_}=await B.read(U,0,G,N);N+=_,P=_===0;let j;if(_===0)j=O;else if(O.length===0)j=U.subarray(0,_);else j=new Uint8Array(O.length+_),j.set(O,0),j.set(U.subarray(0,_),O.length);let L=new DataView(j.buffer,j.byteOffset,j.byteLength),V=j.length,D=P,q=performance.now(),F=0;while(F+3<=V){if(j[F]!==i$||j[F+1]!==c$){F+=1;continue}let E=j[F+2],w=F+3;if(E===r$){if(w+_Z>V){if(D)K=!0;break}let v=j[w],FZ=j[w+1],p=e(j,w+2,4),h$=e(j,w+6,16),t=e(j,w+22,64).split(",").filter((x$)=>x$.length>0),{readers:b$,widths:g$,ok:f$,timeIdx:u$}=a$(h$,t);Q.set(v,{name:p,length:FZ,columns:t,ok:f$,payloadLen:FZ-3,readers:b$,widths:g$,timeIdx:u$}),$.onFmt(p,t),z[p]=(z[p]??0)+1,F+=3+_Z;continue}let S=Q.get(E);if(S===void 0){F+=1;continue}let y=S.payloadLen;if(w+y>V){if(D)K=!0;break}if(z[S.name]=(z[S.name]??0)+1,!S.ok){F+=3+y;continue}let{readers:s,widths:v$}=S,a=Array(s.length),AZ=w;for(let v=0;v<s.length;v++)a[v]=s[v](L,AZ),AZ+=v$[v];if($.onRow(S.name,a),S.timeIdx>=0){let v=a[S.timeIdx];if(typeof v==="bigint")Y=v}F+=3+y}if(O=j.slice(F),await RZ(performance.now()-q,X),P)break}}finally{await B.close()}if(K)W=Y;return{partial:K,decodedUntil:W,messageCounts:z}}function SZ(Z,$,J){let X=Z[$];if(!X)Z[$]={columns:J,rows:[]};else X.columns=J}async function MZ(Z){let $={},J=await IZ(Z,{onFmt:(X,Q)=>SZ($,X,Q),onRow:(X,Q)=>{$[X].rows.push(Q)}});return{partial:J.partial,decodedUntil:J.decodedUntil,tables:$,messageCounts:J.messageCounts}}async function CZ(Z,$,J={}){let X=J.retain??new Set,Q=5000,z={},K=new Map,W=await IZ(Z,{onFmt:(Y,G)=>{if(SZ(z,Y,G),$.table(Y,G),!K.has(Y))K.set(Y,[])},onRow:(Y,G)=>{let B=K.get(Y);if(B){if(B.push(G),B.length>=5000)$.rows(Y,B),B.length=0}if(X.has(Y))z[Y].rows.push(G)}});for(let[Y,G]of K)if(G.length)$.rows(Y,G);return{partial:W.partial,decodedUntil:W.decodedUntil,tables:z,messageCounts:W.messageCounts}}function e(Z,$,J){let X="",Q=$+J;for(let z=$;z<Q;z++){let K=Z[z];if(K===0)break;X+=String.fromCharCode(K)}return X}var i$=163,c$=149,r$=128,_Z=86;var wZ=M(()=>{TZ()});function e$(){let Z=process.env.UAV_PYTHON?.trim();if(Z)return[[Z]];return process.platform==="win32"?[["py","-3"],["python"],["python3"]]:[["python3"],["python"]]}async function Z0(Z){try{return await Bun.spawn([...Z,"-c","import sys; sys.exit(0 if sys.version_info >= (3, 8) else 1)"],{stdout:"ignore",stderr:"ignore",stdin:"ignore"}).exited===0}catch{return!1}}async function $0(){if(yZ)return ZZ;for(let Z of e$())if(await Z0(Z)){ZZ=Z;break}return yZ=!0,ZZ}async function d(){let Z=await $0();if(!Z)throw Error(t$);return Z}var t$,ZZ=null,yZ=!1;var $Z=M(()=>{t$="no working Python 3 interpreter found. Install Python >= 3.8 and make sure `python3` "+"(macOS/Linux) or `python` (Windows \u2014 tick \u201CAdd python.exe to PATH\u201D in the installer) runs "+"from a terminal, or set UAV_PYTHON to the interpreter's full path."});import{fileURLToPath as J0}from"url";function kZ(Z){return typeof Z==="object"&&Z!==null&&"_summary"in Z}function z0(Z){if(typeof Z==="bigint")return Z;if(typeof Z==="number"&&Number.isFinite(Z))return BigInt(Math.trunc(Z));if(typeof Z==="string"&&/^-?\d+$/.test(Z))return BigInt(Z);return 0n}async function JZ(Z){let $=await d();if(await Bun.spawn([...$,"-c","import pymavlink"],{stdout:"ignore",stderr:"ignore"}).exited!==0)throw Error(`pymavlink not found \u2014 ${$.join(" ")} -m pip install pymavlink`);let X=Bun.spawn([...$,X0,Z],{stdout:"pipe",stderr:"pipe"}),Q=new Map,z={},K=!1,W=null,Y=null,G=!1;function B(L){let V=Q.get(L);if(!V)V={columns:[],colIndex:new Map,rows:[]},Q.set(L,V);return V}function U(L){let V=L.t,D=B(V),q=L.f;for(let E of Object.keys(q))if(!D.colIndex.has(E))D.colIndex.set(E,D.columns.length),D.columns.push(E);let F=Array(D.columns.length).fill(null);for(let E of Object.keys(q)){let w=D.colIndex.get(E),S=q[E],y=Q0.has(E)?z0(S):S;if(F[w]=y,E==="TimeUS"&&typeof y==="bigint")Y=y}D.rows.push(F)}let O=new TextDecoder,N="";for await(let L of X.stdout){N+=O.decode(L,{stream:!0});let V;while((V=N.indexOf(`
+`))!==-1){let D=N.slice(0,V);if(N=N.slice(V+1),D.length===0)continue;let q;try{q=JSON.parse(D)}catch{K=!0;continue}if(kZ(q)){G=!0;for(let[F,E]of Object.entries(q._summary.counts))z[F]=E;if(q._summary.partial)K=!0}else U(q)}}N+=O.decode();let P=N.trim();if(P.length>0)try{let L=JSON.parse(P);if(kZ(L)){G=!0;for(let[V,D]of Object.entries(L._summary.counts))z[V]=D;if(L._summary.partial)K=!0}else U(L)}catch{K=!0}let _=await X.exited;if(_!==0){if(!G){let L=(await new Response(X.stderr).text()).trim();throw Error(`pymavlink decode failed (exit ${_})${L?`: ${L}`:""}`)}K=!0}if(!G)K=!0;if(K)W=Y;let j={};for(let[L,V]of Q)j[L]={columns:V.columns,rows:V.rows};for(let[L,V]of Q)if(z[L]===void 0)z[L]=V.rows.length;return{partial:K,decodedUntil:W,tables:j,messageCounts:z}}var X0,Q0;var vZ=M(()=>{$Z();X0=J0(new URL("./mavdump.py",import.meta.url)),Q0=new Set(["TimeUS","TimeMS"])});import{fileURLToPath as K0}from"url";function G0(Z){return typeof Z==="object"&&Z!==null&&"_summary"in Z}function B0(Z){if(typeof Z==="bigint")return Z;if(typeof Z==="number"&&Number.isFinite(Z))return BigInt(Math.trunc(Z));if(typeof Z==="string"&&/^-?\d+$/.test(Z))return BigInt(Z);return 0n}async function H0(Z){let $=()=>Bun.spawn([...Z,"-c","import pyulog"],{stdout:"ignore",stderr:"ignore"}).exited;if(await $()===0)return;if(await Bun.spawn([...Z,"-m","pip","install","--quiet","pyulog"],{stdout:"ignore",stderr:"ignore"}).exited,await $()!==0)throw Error(`pyulog not found \u2014 ${Z.join(" ")} -m pip install pyulog`)}async function hZ(Z){let $=await d();await H0($);let J=Bun.spawn([...$,W0,Z],{stdout:"pipe",stderr:"pipe"}),X=new Map,Q={},z=!1,K=null,W=null,Y=!1;function G(L){let V=X.get(L);if(!V)V={columns:[],colIndex:new Map,rows:[]},X.set(L,V);return V}function B(L){let V=L.t,D=G(V),q=L.f;for(let E of Object.keys(q))if(!D.colIndex.has(E))D.colIndex.set(E,D.columns.length),D.columns.push(E);let F=Array(D.columns.length).fill(null);for(let E of Object.keys(q)){let w=D.colIndex.get(E),S=q[E],y=Y0.has(E)?B0(S):S;if(F[w]=y,E==="timestamp"&&typeof y==="bigint")W=y}D.rows.push(F)}function U(L){if(L.length===0)return;let V;try{V=JSON.parse(L)}catch{z=!0;return}if(G0(V)){Y=!0;for(let[D,q]of Object.entries(V._summary.counts))Q[D]=q;if(V._summary.partial)z=!0}else B(V)}let O=new TextDecoder,N="";for await(let L of J.stdout){N+=O.decode(L,{stream:!0});let V;while((V=N.indexOf(`
+`))!==-1)U(N.slice(0,V)),N=N.slice(V+1)}N+=O.decode();let P=N.trim();if(P.length>0)U(P);let _=await J.exited;if(_!==0){if(!Y){let L=(await new Response(J.stderr).text()).trim();throw Error(`ulog decode failed (exit ${_})${L?`: ${L}`:""}`)}z=!0}if(!Y)z=!0;if(z)K=W;let j={};for(let[L,V]of X)j[L]={columns:V.columns,rows:V.rows};for(let[L,V]of X)if(Q[L]===void 0)Q[L]=V.rows.length;return{partial:z,decodedUntil:K,tables:j,messageCounts:Q}}var W0,Y0;var bZ=M(()=>{$Z();W0=K0(new URL("./ulog.py",import.meta.url)),Y0=new Set(["timestamp","timestamp_sample"])});import{existsSync as gZ,readFileSync as U0}from"fs";import{mkdtemp as V0,rm as L0}from"fs/promises";import{tmpdir as O0}from"os";import{basename as XZ,join as QZ}from"path";function fZ(Z){if(!Z)return[];let $=QZ(Z,".hydron","uav-format-converters.json");if(!gZ($))return[];try{let J=JSON.parse(U0($,"utf8"));return Array.isArray(J.converters)?J.converters.filter((X)=>X&&X.match&&X.command):[]}catch{return[]}}function uZ(Z,$){for(let J of $)try{if(new RegExp(J.match,"i").test(Z))return J}catch{}return null}async function xZ(Z,$){let J=await V0(QZ(O0(),"uav-convert-")),X=XZ(Z).replace(/\.[^.]+$/,""),Q=QZ(J,X+($.produces??".bin")),z=$.command.replaceAll("{input}",Z).replaceAll("{output}",Q),K=()=>L0(J,{recursive:!0,force:!0});try{let W=process.platform==="win32"?["cmd.exe","/d","/s","/c",z]:["bash","-lc",z],Y=Bun.spawn(W,{stdout:"pipe",stderr:"pipe"}),G=await Y.exited;if(G!==0){let B=(await new Response(Y.stderr).text()).trim().slice(0,300);throw Error(`format converter failed (exit ${G}) for ${XZ(Z)}: ${B}`)}if(!gZ(Q))throw Error(`format converter produced no output for ${XZ(Z)}`);return{out:Q,cleanup:K}}catch(W){throw await K(),W}}var mZ=()=>{};import{Database as N0}from"bun:sqlite";import{tmpdir as j0}from"os";import{join as q0}from"path";import{existsSync as pZ,unlinkSync as dZ}from"fs";function nZ(Z){let $=q0(j0(),`uav-${Z}-${process.pid}-${A0++}.sqlite`);try{if(pZ($))dZ($)}catch{}let J=new N0($);return J.exec("PRAGMA page_size = 8192"),J.query("PRAGMA journal_mode = MEMORY").get(),J.exec("PRAGMA synchronous = OFF"),J.exec("PRAGMA temp_store = FILE"),J.exec("PRAGMA cache_size = -65536"),{db:J,cleanup(){try{J.close()}catch{}try{if(pZ($))dZ($)}catch{}}}}function KZ(Z){let $=new Map,J=new Map;return{table(X,Q){if($.has(X)||Q.length===0)return;Z.run(`CREATE TABLE ${zZ(X)} (${Q.map(zZ).join(", ")})`);let z=Q.map(()=>"?").join(", ");$.set(X,Z.query(`INSERT INTO ${zZ(X)} VALUES (${z})`)),J.set(X,Q.length)},rows(X,Q){let z=$.get(X),K=J.get(X);if(!z||K===void 0||Q.length===0)return;let W=Z.transaction((Y)=>{for(let G of Y){let B=Array(K);for(let U=0;U<K;U++){let O=G[U];B[U]=O===void 0?null:O}z.run(...B)}});for(let Y=0;Y<Q.length;Y+=lZ)W(Q.slice(Y,Y+lZ))}}}function iZ(Z,$){let J=KZ(Z);for(let[X,Q]of Object.entries($.tables)){if(Q.columns.length===0)continue;if(J.table(X,Q.columns),Q.rows.length)J.rows(X,Q.rows)}}var A0=0,zZ=(Z)=>`"${Z.replace(/"/g,'""')}"`,lZ=5000;var cZ=()=>{};async function m(Z,$="flight",J){let X=uZ(Z,fZ(J?.configDir));if(X){let{out:K,cleanup:W}=await xZ(Z,X);try{return await m(K,$)}finally{await W()}}let{db:Q,cleanup:z}=nZ($);try{let K=Z.toLowerCase();if(K.endsWith(".bin"))return{log:await CZ(Z,KZ(Q),{retain:F0}),db:Q,cleanup:z};let W;if(K.endsWith(".ulog"))W=await hZ(Z);else if(K.endsWith(".tlog")||K.endsWith(".log"))W=await JZ(Z);else try{W=await MZ(Z)}catch{W=await JZ(Z)}return iZ(Q,W),{log:W,db:Q,cleanup:z}}catch(K){throw z(),K}}var F0;var WZ=M(()=>{wZ();vZ();bZ();mZ();cZ();F0=new Set(["PARM","MSG","GPS","ERR","MODE"])});function YZ(Z,$){let J=Z.tables.PARM;if(!J)return null;let X=J.columns.findIndex((K)=>K.toLowerCase()==="name"),Q=J.columns.findIndex((K)=>K.toLowerCase()==="value");if(X<0||Q<0)return null;let z=$.toLowerCase();for(let K of J.rows)if(String(K[X]).toLowerCase()===z){let W=Number(K[Q]);return Number.isFinite(W)?W:null}return null}function D0(Z){let $=Z.tables.MSG;if(!$)return"";let J=$.columns.findIndex((X)=>/message|msg/i.test(X));if(J<0)return"";for(let X of $.rows){let Q=String(X[J]??"");if(/Ardu(Copter|Plane|Sub|Rover)|PX4/i.test(Q))return Q}return""}function rZ(Z){let $=YZ(Z,"Q_ENABLE");if($!==null&&$>=1||Z.tables.QUIK||Z.tables.AETR){if(Z.tables.MOTB||YZ(Z,"FRAME_CLASS")!==null||Z.tables.ARSP)return"vtol"}if($!==null&&$>=1)return"vtol";let J=D0(Z);if(/ArduPlane/i.test(J))return"fixedwing";if(/ArduCopter/i.test(J))return"multirotor";if(YZ(Z,"FRAME_CLASS")!==null)return"multirotor";if(Z.tables.ARSP&&!Z.tables.MOTB)return"fixedwing";if(Z.tables.MOTB||Z.tables.RATE)return"multirotor";return"unknown"}function l(Z){return Z===void 0||Z==="multirotor"||Z==="vtol"||Z==="unknown"}function oZ(Z){return Z==="fixedwing"||Z==="vtol"}function C(Z){return`"${Z.replace(/"/g,'""')}"`}function A(Z,$){let J=Z.db.query($).get();if(!J)return null;let X=Object.values(J)[0];if(X===null||X===void 0)return null;return Number(X)}function k(Z,$){try{let J=Z.db.query(`PRAGMA table_info(${C($)})`).all();return new Set(J.map((X)=>X.name))}catch{return new Set}}function I(Z,$,J){return k(Z,$).has(J)}function aZ(Z,$){for(let J of $)if(Z.hasTable(J))return J;return null}function H(Z,$,J){return{check:Z,severity:"OK",value:null,threshold_used:null,ruleset_version:$.ruleset_version,verdict:"SKIP",tier:"system",...J?{detail:J}:{}}}function R(Z){return{check:Z.check,severity:Z.failed?Z.failSeverity:"OK",value:Z.value,threshold_used:Z.threshold_used,ruleset_version:Z.thresholds.ruleset_version,verdict:Z.failed?"FAIL":"PASS",tier:"system",...Z.source?{source:Z.source}:{},...Z.detail?{detail:Z.detail}:{}}}function M0(Z,$,J){let X=Object.values(Z);if($<=0||X.length===0)return"";let Q=[...X].sort((G,B)=>B-G),z=Q[0],K=Q.length>1?Q[1]:0;if(Q.length>=2&&K>0&&z>=2*K)return" | cause: likely sensor/mounting alignment (one axis dominates)";let Y=Q.length>=2&&z<=1.5*(Q[Q.length-1]||z);if(J>0||Y)return" | cause: likely mechanical degradation (props/bearings/frame)";return""}function tZ(Z,$,J){let X=new Set;try{let K=Z.query("SELECT name FROM sqlite_master WHERE type='table'").all();for(let W of K)X.add(W.name)}catch{}let Q={db:Z,thresholds:$,hasTable:(K)=>X.has(K),vehicleType:J?.vehicleType},z=[];for(let{id:K,run:W}of o0)try{z.push(W(Q))}catch(Y){let G=Y instanceof Error?Y.message:String(Y);z.push(H(K,$,`check error: ${G}`))}return z}var E0=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("ERR"))return H("battery",Z.thresholds);if(!I(Z,"ERR","Subsys")||!I(Z,"ERR","ECode"))return H("battery",Z.thresholds,"ERR present but Subsys/ECode columns absent");let J=$?.err_subsys??6,X=$?.err_ecode??1,Q=A(Z,`SELECT COUNT(*) FROM "ERR" WHERE "Subsys"=${J} AND "ECode"=${X}`)??0;return R({check:"battery",thresholds:Z.thresholds,failed:Q>0,failSeverity:"CRITICAL",value:Q,threshold_used:0,source:$?.source,detail:Q>0?`${Q} battery failsafe ERR event(s) (Subsys=${J} ECode=${X})`:void 0})},R0=(Z)=>{let $=Z.thresholds.attitude;if(!Z.hasTable("ATT"))return H("attitude",Z.thresholds);for(let K of["DesRoll","Roll","DesPitch","Pitch"])if(!I(Z,"ATT",K))return H("attitude",Z.thresholds,`ATT missing column ${K}`);let J=$?.max_deg??5,X=A(Z,'SELECT MAX(ABS("DesRoll"-"Roll")) FROM "ATT"'),Q=A(Z,'SELECT MAX(ABS("DesPitch"-"Pitch")) FROM "ATT"'),z=Math.max(X??0,Q??0);return R({check:"attitude",thresholds:Z.thresholds,failed:z>J,failSeverity:"HIGH",value:z,threshold_used:J,source:$?.source,detail:`peak roll err ${(X??0).toFixed(2)}\xB0, pitch err ${(Q??0).toFixed(2)}\xB0`})},P0=(Z)=>{let $=Z.thresholds.altitude;if(!Z.hasTable("CTUN"))return H("altitude",Z.thresholds);if(!I(Z,"CTUN","DAlt")||!I(Z,"CTUN","Alt"))return H("altitude",Z.thresholds,"CTUN missing DAlt/Alt columns");let J=$?.max_m??2,X=A(Z,'SELECT MAX(ABS("DAlt"-"Alt")) FROM "CTUN"');return R({check:"altitude",thresholds:Z.thresholds,failed:(X??0)>J,failSeverity:"HIGH",value:X,threshold_used:J,source:$?.source})},T0=(Z)=>{let $=Z.thresholds.hover;if(!l(Z.vehicleType))return H("hover",Z.thresholds,`n/a for ${Z.vehicleType} (no hover throttle)`);if(!Z.hasTable("CTUN"))return H("hover",Z.thresholds);if(!I(Z,"CTUN","ThH"))return H("hover",Z.thresholds,"CTUN missing ThH column");let J=$?.band??[0.25,0.75],[X,Q]=J,z=A(Z,'SELECT AVG("ThH") FROM "CTUN"'),K=z===null?!1:z<X||z>Q;return R({check:"hover",thresholds:Z.thresholds,failed:K,failSeverity:"HIGH",value:z,threshold_used:Q,source:$?.source,detail:`mean hover throttle ${(z??0).toFixed(3)} vs band [${X}, ${Q}]`})},sZ=2000,_0=(Z)=>{if(!l(Z.vehicleType))return H("rcou",Z.thresholds,`n/a for ${Z.vehicleType} (control surfaces, not motor mix)`);if(!Z.hasTable("RCOU"))return H("rcou",Z.thresholds);let $=k(Z,"RCOU"),J=[];for(let z=1;z<=8;z++)if($.has(`C${z}`))J.push(`C${z}`);if(J.length===0)return H("rcou",Z.thresholds,"RCOU has no C1..C8 channels");let X=-1/0,Q=[];for(let z of J){let K=A(Z,`SELECT MAX(${C(z)}) FROM "RCOU"`);if(K===null)continue;if(K>X)X=K;if(K>=sZ)Q.push(`${z}=${K}`)}if(X===-1/0)X=0;return R({check:"rcou",thresholds:Z.thresholds,failed:Q.length>0,failSeverity:"HIGH",value:X,threshold_used:sZ,detail:Q.length>0?`motor output(s) pegged at max: ${Q.join(", ")}`:void 0})},GZ=1000,BZ=2000,I0=(Z)=>{if(!Z.hasTable("RCIN"))return H("rcin",Z.thresholds);if(!I(Z,"RCIN","C3"))return H("rcin",Z.thresholds,"RCIN missing C3 column");let $=A(Z,'SELECT MIN("C3") FROM "RCIN"'),J=A(Z,'SELECT MAX("C3") FROM "RCIN"'),X=$!==null&&$<GZ||J!==null&&J>BZ,Q=J;if($!==null&&$<GZ)Q=$;return R({check:"rcin",thresholds:Z.thresholds,failed:X,failSeverity:"HIGH",value:Q,threshold_used:BZ,detail:`RCIN C3 range [${$??"\u2014"}, ${J??"\u2014"}] vs [${GZ}, ${BZ}]`})},S0=(Z)=>{let $=Z.thresholds.vibration;if(!Z.hasTable("VIBE"))return H("vibration",Z.thresholds);let J=k(Z,"VIBE"),X=["VibeX","VibeY","VibeZ"].filter((U)=>J.has(U));if(X.length===0)return H("vibration",Z.thresholds,"VIBE has no VibeX/Y/Z columns");let Q=$?.max_ms2??30,z={},K=-1/0;for(let U of X){let N=A(Z,`SELECT MAX(${C(U)}) FROM "VIBE"`)??0;if(z[U]=N,N>K)K=N}if(K===-1/0)K=0;let W=["Clip","Clip0","Clip1","Clip2"].filter((U)=>J.has(U)),Y=0;for(let U of W){let O=A(Z,`SELECT MAX(${C(U)}) FROM "VIBE"`);if(O!==null&&O>Y)Y=O}let G=W.length>0?` | clipping MAX=${Y}${Y>0?" (CLIP EVENTS)":""}`:"",B=M0(z,K,Y);return R({check:"vibration",thresholds:Z.thresholds,failed:K>=Q,failSeverity:"HIGH",value:K,threshold_used:Q,source:$?.source,detail:`peak vibe ${K} m/s\xB2 (axes ${X.join("/")})${G}${B}`})},C0=(Z)=>{let $=Z.thresholds.mag;if(!Z.hasTable("MAG"))return H("mag",Z.thresholds);if(!I(Z,"MAG","Health"))return H("mag",Z.thresholds,"MAG missing Health column");let J=$?.min??1,X=A(Z,'SELECT MIN("Health") FROM "MAG"');return R({check:"mag",thresholds:Z.thresholds,failed:X!==null&&X<J,failSeverity:"HIGH",value:X,threshold_used:J,source:$?.source})},w0=(Z)=>{let $=Z.thresholds.ekf,J=aZ(Z,["XKF3","NKF3"]);if(!J)return H("ekf",Z.thresholds);let X=k(Z,J),Q=["IVN","IVE","IVD","IVT","IPN","IPE","IPD"].filter((W)=>X.has(W));if(Q.length===0)return H("ekf",Z.thresholds,`${J} has no IVN/IVE/IVD/IVT/IPN/IPE/IPD columns`);let z=$?.max_ratio??0.5,K=-1/0;for(let W of Q){let Y=A(Z,`SELECT MAX(ABS(${C(W)})) FROM ${C(J)}`);if(Y!==null&&Y>K)K=Y}if(K===-1/0)K=0;return R({check:"ekf",thresholds:Z.thresholds,failed:K>z,failSeverity:"HIGH",value:K,threshold_used:z,source:$?.source,detail:`peak innovation ${K} (${J}: ${Q.join("/")})`})},y0=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return H("min_cell_voltage",Z.thresholds);if(!I(Z,"BAT","Volt"))return H("min_cell_voltage",Z.thresholds,"BAT missing Volt column");let J=$?.min_cell_v??3.3,X=A(Z,'SELECT MAX("Volt") FROM "BAT"'),Q=A(Z,'SELECT MIN("Volt") FROM "BAT"');if(X===null||Q===null||X<=0)return H("min_cell_voltage",Z.thresholds,"BAT.Volt has no usable values");let z=Math.max(1,Math.round(X/4.2)),K=Q/z;return R({check:"min_cell_voltage",thresholds:Z.thresholds,failed:K<J,failSeverity:"CRITICAL",value:K,threshold_used:J,source:$?.source,detail:`${z}S pack (MAX pack ${X.toFixed(2)}V), min cell ${K.toFixed(3)}V vs floor ${J}V`})},k0=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return H("voltage_sag",Z.thresholds);if(!I(Z,"BAT","VoltR")||!I(Z,"BAT","Volt"))return H("voltage_sag",Z.thresholds,"BAT missing VoltR/Volt columns");let J=$?.max_sag_v??2,X=A(Z,'SELECT MAX("VoltR"-"Volt") FROM "BAT"');return R({check:"voltage_sag",thresholds:Z.thresholds,failed:X!==null&&X>J,failSeverity:"HIGH",value:X,threshold_used:J,source:$?.source,detail:`peak sag ${(X??0).toFixed(2)}V (VoltR-Volt) vs ${J}V`})},v0=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return H("over_current",Z.thresholds);if(!I(Z,"BAT","Curr"))return H("over_current",Z.thresholds,"BAT missing Curr column");let J=$?.max_current_a??200,X=A(Z,'SELECT MAX("Curr") FROM "BAT"');return R({check:"over_current",thresholds:Z.thresholds,failed:X!==null&&X>J,failSeverity:"HIGH",value:X,threshold_used:J,source:$?.source,detail:`peak current ${(X??0).toFixed(1)}A vs ${J}A`})},h0=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return H("internal_resistance",Z.thresholds);if(!I(Z,"BAT","Res"))return H("internal_resistance",Z.thresholds,"BAT missing Res column");let J=A(Z,'SELECT MAX("Res") FROM "BAT"');if(J===null||J===0)return H("internal_resistance",Z.thresholds,"BAT.Res all zero/absent (not reported)");let X=$?.res_min_current_a??5,z=I(Z,"BAT","Curr")?A(Z,`SELECT MAX("Res") FROM "BAT" WHERE "Curr" >= ${X}`):J;if(z===null)return H("internal_resistance",Z.thresholds,`no BAT samples at Curr \u2265 ${X} A \u2014 Res only valid under load (max raw ${J.toFixed(3)}\u03A9 is a low-current artifact)`);let K=$?.max_res_ohm??0.03;return R({check:"internal_resistance",thresholds:Z.thresholds,failed:z>K,failSeverity:"HIGH",value:z,threshold_used:K,source:$?.source,detail:`peak internal resistance ${z.toFixed(4)}\u03A9 (at Curr \u2265 ${X} A) vs ${K}\u03A9`})},b0=(Z)=>{let $=Z.thresholds.power;if(!Z.hasTable("POWR"))return H("board_brownout",Z.thresholds);if(!I(Z,"POWR","Vcc"))return H("board_brownout",Z.thresholds,"POWR missing Vcc column");let J=$?.min_vcc_v??4.5,X=A(Z,'SELECT MIN("Vcc") FROM "POWR"');return R({check:"board_brownout",thresholds:Z.thresholds,failed:X!==null&&X<J,failSeverity:"CRITICAL",value:X,threshold_used:J,source:$?.source,detail:`min board Vcc ${(X??0).toFixed(3)}V vs floor ${J}V`})},g0=(Z)=>{let $=Z.thresholds.rate;if(!Z.hasTable("RATE"))return H("rate_tracking",Z.thresholds);let J=k(Z,"RATE"),Q=[["RDes","R"],["PDes","P"],["YDes","Y"]].filter(([Y,G])=>J.has(Y)&&J.has(G));if(Q.length===0)return H("rate_tracking",Z.thresholds,"RATE has no RDes/R, PDes/P, YDes/Y pairs");let z=$?.max_err_dps??50,K=-1/0,W="";for(let[Y,G]of Q){let B=A(Z,`SELECT MAX(ABS(${C(Y)}-${C(G)})) FROM "RATE"`);if(B!==null&&B>K)K=B,W=Y.replace("Des","")}if(K===-1/0)K=0;return R({check:"rate_tracking",thresholds:Z.thresholds,failed:K>z,failSeverity:"HIGH",value:K,threshold_used:z,source:$?.source,detail:`peak rate-tracking error ${K.toFixed(2)} deg/s (axis ${W||"?"}) vs ${z} deg/s`})},f0=(Z)=>{let $=Z.thresholds.gps;if(!Z.hasTable("GPA"))return H("gps_accuracy",Z.thresholds);if(!I(Z,"GPA","HAcc"))return H("gps_accuracy",Z.thresholds,"GPA missing HAcc column");let J=$?.hacc_max_m??5,X=A(Z,'SELECT MAX("HAcc") FROM "GPA"');return R({check:"gps_accuracy",thresholds:Z.thresholds,failed:X!==null&&X>J,failSeverity:"HIGH",value:X,threshold_used:J,source:$?.source,detail:`peak horizontal accuracy ${(X??0).toFixed(2)}m vs ${J}m`})},u0=(Z)=>{let $=Z.thresholds.ekf,J=aZ(Z,["XKF4","NKF4"]);if(!J)return H("ekf_variance",Z.thresholds);let X=k(Z,J),Q=["SV","SP","SH","SM"].filter((B)=>X.has(B));if(Q.length===0)return H("ekf_variance",Z.thresholds,`${J} has no SV/SP/SH/SM columns`);let z=$?.max_variance??1,K=-1/0,W="";for(let B of Q){let U=A(Z,`SELECT MAX(${C(B)}) FROM ${C(J)}`);if(U!==null&&U>K)K=U,W=B}if(K===-1/0)K=0;let Y=X.has("FS")?A(Z,`SELECT MAX("FS") FROM ${C(J)}`):null,G=Y!==null&&Y>0?` | EKF failsafe set (FS MAX=${Y})`:"";return R({check:"ekf_variance",thresholds:Z.thresholds,failed:K>z,failSeverity:"HIGH",value:K,threshold_used:z,source:$?.source,detail:`peak EKF variance ${K.toFixed(3)} (${J}: ${W||Q.join("/")}) vs ${z}${G}`})},x0=(Z)=>{let $=Z.thresholds.mag;if(!Z.hasTable("MAG"))return H("mag_offsets",Z.thresholds);let J=k(Z,"MAG"),X=["OfsX","OfsY","OfsZ"].filter((W)=>J.has(W));if(X.length===0)return H("mag_offsets",Z.thresholds,"MAG has no OfsX/OfsY/OfsZ columns");let Q=$?.max_offset??600,z=-1/0,K="";for(let W of X){let Y=A(Z,`SELECT MAX(ABS(${C(W)})) FROM "MAG"`);if(Y!==null&&Y>z)z=Y,K=W}if(z===-1/0)z=0;return R({check:"mag_offsets",thresholds:Z.thresholds,failed:z>Q,failSeverity:"HIGH",value:z,threshold_used:Q,source:$?.source,detail:`peak mag offset ${z.toFixed(0)} (${K||X.join("/")}) vs ${Q}`})},m0=(Z)=>{let $=Z.thresholds.esc;if(!Z.hasTable("ESC"))return H("esc_health",Z.thresholds);let J=k(Z,"ESC"),X=["Temp","MotTemp"].filter((U)=>J.has(U));if(X.length===0&&!J.has("Err"))return H("esc_health",Z.thresholds,"ESC has no Temp/MotTemp/Err columns");let Q=$?.max_temp_c??90,z=-1/0,K="";for(let U of X){let O=A(Z,`SELECT MAX(${C(U)}) FROM "ESC"`);if(O!==null&&O>z)z=O,K=U}if(z===-1/0)z=0;let W=J.has("Err")?A(Z,'SELECT MAX("Err") FROM "ESC"')??0:0,Y=X.length>0&&z>Q,G=W>0,B=G?` | ESC Err MAX=${W}`:"";return R({check:"esc_health",thresholds:Z.thresholds,failed:Y||G,failSeverity:"HIGH",value:z,threshold_used:Q,source:$?.source,detail:`peak ESC temp ${z.toFixed(1)}\xB0C (${K||"n/a"}) vs ${Q}\xB0C${B}`})},p0=(Z)=>{if(!l(Z.vehicleType))return H("thrust_margin",Z.thresholds,`n/a for ${Z.vehicleType} (lift/T:W is a rotorcraft metric)`);if(!Z.hasTable("MOTB"))return H("thrust_margin",Z.thresholds);let $=k(Z,"MOTB");if(!$.has("FailFlags")&&!($.has("ThrOut")&&$.has("LiftMax")))return H("thrust_margin",Z.thresholds,"MOTB missing FailFlags and ThrOut/LiftMax columns");let J=$.has("FailFlags")?A(Z,'SELECT MAX("FailFlags") FROM "MOTB"')??0:0,X=null;if($.has("ThrOut")&&$.has("LiftMax")){let W=A(Z,'SELECT AVG("ThrOut") FROM "MOTB"'),Y=A(Z,'SELECT AVG("LiftMax") FROM "MOTB"');if(W!==null&&Y!==null&&Y>0)X=W/Y}let Q=X!==null&&X>0.5,z=J>0,K=`MOTB FailFlags MAX=${J}`+(X!==null?`, mean ThrOut/LiftMax ${X.toFixed(2)} (low-margin > 0.5)`:"")+(z?" \u2014 THRUST-LOSS flagged":Q?" \u2014 low thrust margin":"");return R({check:"thrust_margin",thresholds:Z.thresholds,failed:z||Q,failSeverity:"HIGH",value:X,threshold_used:0.5,detail:K})},d0=(Z)=>{let $=Z.thresholds.imu;if(!Z.hasTable("IMU"))return H("imu_health",Z.thresholds);let J=k(Z,"IMU"),X=["EG","EA"].filter((W)=>J.has(W));if(X.length===0)return H("imu_health",Z.thresholds,"IMU has no EG/EA error-count columns");let Q=$?.max_err??0,z=-1/0,K="";for(let W of X){let Y=A(Z,`SELECT MAX(${C(W)}) FROM "IMU"`);if(Y!==null&&Y>z)z=Y,K=W}if(z===-1/0)z=0;return R({check:"imu_health",thresholds:Z.thresholds,failed:z>Q,failSeverity:"HIGH",value:z,threshold_used:Q,source:$?.source,detail:`max IMU error count ${z} (${K||X.join("/")}) vs ${Q}`})},l0=(Z)=>{let $=Z.thresholds.imu;if(!Z.hasTable("IMU"))return H("imu_consistency",Z.thresholds);let J=k(Z,"IMU");if(!J.has("I"))return H("imu_consistency",Z.thresholds,"IMU has no instance column I");let X=["AccX","AccY","AccZ"].filter((q)=>J.has(q)),Q=["GyrX","GyrY","GyrZ"].filter((q)=>J.has(q));if(X.length===0&&Q.length===0)return H("imu_consistency",Z.thresholds,"IMU has no Acc*/Gyr* columns");let z=[...X,...Q].map((q)=>`AVG(${C(q)}) ${C(q)}`).join(", "),K=Z.db.query(`SELECT "I" AS "I", ${z} FROM "IMU" GROUP BY "I"`).all();if(K.length<2)return H("imu_consistency",Z.thresholds,`only ${K.length} IMU instance \u2014 nothing to cross-check`);let W=(q)=>{let F=K.map((E)=>Number(E[q])).filter((E)=>Number.isFinite(E));return F.length>=2?Math.max(...F)-Math.min(...F):0},Y=0,G="";for(let q of X){let F=W(q);if(F>Y)Y=F,G=q}let B=0,U="";for(let q of Q){let F=W(q);if(F>B)B=F,U=q}let O=$?.accel_consistency_max??0.7,N=$?.gyro_consistency_max??0.3,P=Y>O,_=B>N,j=P||_,L=Y/O>=B/N?Y:B,V=Y/O>=B/N?O:N,D=j?`INCONSISTENT \u2014 ${P?`accel ${G} spread ${Y.toFixed(3)} m/s\xB2 > ${O}`:""}${P&&_?"; ":""}${_?`gyro ${U} spread ${B.toFixed(3)} rad/s > ${N}`:""}`:`IMUs consistent \u2014 max inter-instance bias spread: accel ${Y.toFixed(3)} m/s\xB2 (<${O}), gyro ${B.toFixed(3)} rad/s (<${N}); relative differences between instances are within healthy tolerance`;return R({check:"imu_consistency",thresholds:Z.thresholds,failed:j,failSeverity:"HIGH",value:L,threshold_used:V,source:{kind:"rule-of-thumb",ref:"IMU inconsistency tolerance (~ArduPilot arming limits)"},detail:D})},n0=(Z)=>{if(!Z.hasTable("ERR"))return H("err_events",Z.thresholds);if(!I(Z,"ERR","Subsys")||!I(Z,"ERR","ECode"))return H("err_events",Z.thresholds,"ERR present but Subsys/ECode columns absent");let $=Z.thresholds.battery?.err_subsys??6,J=Z.db.query(`SELECT "Subsys" AS subsys, "ECode" AS ecode, COUNT(*) AS n FROM "ERR" WHERE "ECode" <> 0 AND "Subsys" <> ${$} GROUP BY "Subsys", "ECode" ORDER BY "Subsys", "ECode"`).all(),X=0,Q=[];for(let z of J)X+=Number(z.n),Q.push(`Subsys=${z.subsys} ECode=${z.ecode} \xD7${z.n}`);return R({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"})},i0,c0=(Z)=>{if(!Z.hasTable("MODE"))return H("mode_changes",Z.thresholds);if(!I(Z,"MODE","ModeNum"))return H("mode_changes",Z.thresholds,"MODE missing ModeNum column");let $=Z.db.query('SELECT "ModeNum" AS modenum FROM "MODE"').all(),J=$.length,X=J>0?J-1:0,Q=new Map,z=!1;for(let W of $){let Y=Number(W.modenum);if(Q.set(Y,(Q.get(Y)??0)+1),i0.has(Y))z=!0}let K=[...Q.entries()].sort((W,Y)=>W[0]-Y[0]).map(([W,Y])=>`Mode${W}\xD7${Y}`).join(", ");return R({check:"mode_changes",thresholds:Z.thresholds,failed:z,failSeverity:"HIGH",value:X,threshold_used:0,detail:`${X} mode change(s); timeline: ${K||"\u2014"}`+(z?" \u2014 emergency mode (RTL/LAND) entered":"")})},r0=(Z)=>{let $=Z.thresholds.airspeed;if(!oZ(Z.vehicleType))return H("airspeed",Z.thresholds,`n/a for ${Z.vehicleType} (no fixed-wing airspeed)`);if(!Z.hasTable("ARSP"))return H("airspeed",Z.thresholds,"no ARSP (airspeed) data");if(!I(Z,"ARSP","Airspeed"))return H("airspeed",Z.thresholds,"ARSP missing Airspeed column");let J=$?.stall_min_ms??8,X={kind:"rule-of-thumb",ref:"default stall floor"};if(Z.hasTable("PARM")){let z=A(Z,`SELECT "Value" FROM "PARM" WHERE "Name"='ARSPD_FBW_MIN' LIMIT 1`);if(z!==null&&z>0)J=z,X={kind:"datasheet",ref:"ARSPD_FBW_MIN"}}let Q=A(Z,'SELECT MIN("Airspeed") FROM "ARSP" WHERE "Airspeed" > 2');if(Q===null)return H("airspeed",Z.thresholds,"no airborne airspeed samples");return R({check:"airspeed",thresholds:Z.thresholds,failed:Q<J,failSeverity:"HIGH",value:Q,threshold_used:J,source:X,detail:`min in-flight airspeed ${Q.toFixed(1)} m/s vs stall floor ${J} m/s`})},o0;var eZ=M(()=>{i0=new Set([6,9]),o0=[{id:"battery",run:E0},{id:"min_cell_voltage",run:y0},{id:"voltage_sag",run:k0},{id:"over_current",run:v0},{id:"internal_resistance",run:h0},{id:"board_brownout",run:b0},{id:"attitude",run:R0},{id:"rate_tracking",run:g0},{id:"altitude",run:P0},{id:"hover",run:T0},{id:"rcou",run:_0},{id:"rcin",run:I0},{id:"thrust_margin",run:p0},{id:"vibration",run:S0},{id:"imu_health",run:d0},{id:"imu_consistency",run:l0},{id:"mag",run:C0},{id:"mag_offsets",run:x0},{id:"gps_accuracy",run:f0},{id:"ekf",run:w0},{id:"ekf_variance",run:u0},{id:"esc_health",run:m0},{id:"airspeed",run:r0},{id:"err_events",run:n0},{id:"mode_changes",run:c0}]});import{existsSync as s0,readFileSync as a0}from"fs";import{dirname as t0,join as HZ}from"path";import{fileURLToPath as e0}from"url";function J$(Z){if(Z){let $=HZ(Z,".hydron","apm-params.json"),J=$$($);if(J&&J.size>0)return J}for(let $ of Z8){let J=$$($);if(J)return J}return new Map}function X$(Z,$){return $.get(Z.toUpperCase())}function $$(Z){if(!s0(Z))return;try{let $=a0(Z,"utf8"),J=JSON.parse($);if(!J||typeof J!=="object")return;let X=new Map;for(let[Q,z]of Object.entries(J)){if(!Q||Q.startsWith("_")||typeof z!=="object"||z===null)continue;let K={name:Q};if(typeof z.min==="number"&&Number.isFinite(z.min))K.min=z.min;if(typeof z.max==="number"&&Number.isFinite(z.max))K.max=z.max;if(typeof z.units==="string"&&z.units)K.units=z.units;X.set(Q.toUpperCase(),K)}return X}catch{return}}var Z$,Z8;var Q$=M(()=>{Z$=t0(e0(import.meta.url)),Z8=[HZ(Z$,"..","data","apm-params.json"),HZ(Z$,"..","..","data","apm-params.json")]});import{existsSync as $8,readFileSync as J8}from"fs";import{join as X8}from"path";function z$(){return{ruleset_version:"v1",safety:{ARMING_CHECK:{min:1},FS_THR_ENABLE:{min:1},FENCE_ENABLE:{min:1}},range:{INS_GYRO_FILTER:{min:5,max:80,severity:"HIGH"},ATC_RAT_RLL_P:{min:0,max:0.5,severity:"HIGH"},ATC_RAT_PIT_P:{min:0,max:0.5,severity:"HIGH"},ATC_RAT_YAW_P:{min:0,max:1,severity:"HIGH"},MOT_SPIN_ARM:{min:0,max:0.2,severity:"HIGH"},MOT_SPIN_MIN:{min:0,max:0.3,severity:"HIGH"},RTL_ALT:{min:200,max:1e4,severity:"HIGH"},WPNAV_SPEED:{min:50,max:2000,severity:"HIGH"}}}}function Q8(Z){let $=z$(),J=X8(Z,".hydron","param-rules.yaml");if(!$8(J))return $;try{let X=J8(J,"utf8");return z8($,X)}catch{return $}}function z8(Z,$){let J={ruleset_version:Z.ruleset_version,safety:{...Z.safety},range:{...Z.range}},X=null;for(let Q of $.split(/\r?\n/)){let K=Q.replace(/#.*$/,"").trim();if(!K||K.startsWith("-"))continue;let W=/^ruleset_version\s*:\s*(.+)$/.exec(K);if(W){J.ruleset_version=W[1].trim().replace(/^["']|["']$/g,""),X=null;continue}if(/^safety\s*:\s*$/.test(K)){X="safety";continue}if(/^range\s*:\s*$/.test(K)){X="range";continue}let Y=/^([A-Za-z0-9_]+)\s*:\s*\{(.+)\}\s*$/.exec(K);if(Y&&X){let G=Y[1],B=K8(Y[2]);if(X==="safety"){let U=B.min;if(typeof U==="number")J.safety[G]={min:U}}else{let{min:U,max:O,severity:N}=B;if(typeof U==="number"&&typeof O==="number")J.range[G]={min:U,max:O,severity:N==="CRITICAL"?"CRITICAL":"HIGH"}}}}return J}function K8(Z){let $={};for(let J of Z.split(",")){let X=/^\s*([A-Za-z0-9_]+)\s*:\s*(.+?)\s*$/.exec(J);if(!X)continue;let Q=X[1],z=X[2].replace(/^["']|["']$/g,""),K=Number(z);$[Q]=Number.isFinite(K)&&z!==""?K:z}return $}function W8(Z){let $=new Map;for(let J of Z)$.set(J.name.toUpperCase(),J.value);return $}function b(Z){return{check:Z.check,severity:Z.severity,value:Z.value,threshold_used:Z.threshold_used,ruleset_version:Z.ruleset_version,verdict:Z.verdict,tier:"system",source:Z.source,detail:Z.detail}}function K$(Z,$={}){let J=$.configDir?Q8($.configDir):z$(),X=$.ruleset_version??J.ruleset_version,Q=W8(Z),z=J$($.configDir);return[...Y8(Q,J,X),...G8(Q,X),...H8(Q,J,X,z),...U8(Z,null)]}function Y8(Z,$,J){let X=[],Q={kind:"rule-of-thumb"},z=Z.get("ARMING_CHECK");if(z===void 0)X.push(g("param.safety.arming",J,"ARMING_CHECK absent"));else{let B=z!==0;X.push(b({check:"param.safety.arming",severity:B?"OK":"CRITICAL",value:z,threshold_used:$.safety.ARMING_CHECK?.min??1,verdict:B?"PASS":"FAIL",ruleset_version:J,detail:B?"arming checks enabled":"ARMING_CHECK=0 \u2014 ALL pre-arm safety checks are disabled",source:Q}))}let K=Z.get("BATT_LOW_VOLT"),W=Z.get("BATT_CRT_VOLT");if(K===void 0&&W===void 0)X.push(g("param.safety.battery_failsafe",J,"BATT_LOW_VOLT/BATT_CRT_VOLT absent"));else{let B=(K??0)===0&&(W??0)===0;X.push(b({check:"param.safety.battery_failsafe",severity:B?"CRITICAL":"OK",value:B?0:W??K??0,threshold_used:0,verdict:B?"FAIL":"PASS",ruleset_version:J,detail:B?"battery failsafe not configured (BATT_LOW_VOLT and BATT_CRT_VOLT both 0)":"battery failsafe configured",source:Q}))}let Y=Z.get("FS_THR_ENABLE");if(Y===void 0)X.push(g("param.safety.radio_failsafe",J,"FS_THR_ENABLE absent"));else{let B=Y!==0;X.push(b({check:"param.safety.radio_failsafe",severity:B?"OK":"HIGH",value:Y,threshold_used:$.safety.FS_THR_ENABLE?.min??1,verdict:B?"PASS":"FAIL",ruleset_version:J,detail:B?"radio failsafe enabled":"FS_THR_ENABLE=0 \u2014 radio/throttle failsafe is OFF",source:Q}))}let G=Z.get("FENCE_ENABLE");if(G===void 0)X.push(g("param.safety.fence",J,"FENCE_ENABLE absent"));else{let B=G!==0;X.push(b({check:"param.safety.fence",severity:B?"OK":"HIGH",value:G,threshold_used:$.safety.FENCE_ENABLE?.min??1,verdict:B?"PASS":"FAIL",ruleset_version:J,detail:B?"geofence enabled":"FENCE_ENABLE=0 \u2014 geofence disabled (advisory)",source:Q}))}return X}function G8(Z,$){let J=[],X={kind:"rule-of-thumb"},Q=Z.get("BATT_CRT_VOLT"),z=B8(Z);if(Q===void 0||Q===0||z===null||z<=0)J.push(g("param.consistency.battery_cells",$,"BATT_CRT_VOLT and a cell-count source required"));else{let G=Q/z,B=G>=3&&G<=3.7;J.push(b({check:"param.consistency.battery_cells",severity:B?"OK":"HIGH",value:UZ(G,3),threshold_used:3,verdict:B?"PASS":"FAIL",ruleset_version:$,detail:B?`per-cell critical voltage ${UZ(G,2)}V across ${z}S looks sane`:`per-cell critical voltage ${UZ(G,2)}V (${z}S) outside [3.0,3.7] \u2014 cell count vs BATT_CRT_VOLT inconsistent`,source:X}))}let K=Z.get("FRAME_CLASS"),W=Z.get("FRAME_TYPE");if(K===void 0&&W===void 0)J.push(g("param.consistency.frame",$,"FRAME_CLASS/FRAME_TYPE absent"));else{let G=(K??0)!==0&&(W??0)!==0;J.push(b({check:"param.consistency.frame",severity:G?"OK":"HIGH",value:K??null,threshold_used:1,verdict:G?"PASS":"FAIL",ruleset_version:$,detail:G?`frame configured (CLASS=${K}, TYPE=${W})`:`frame not fully configured (CLASS=${K??"?"}, TYPE=${W??"?"}) \u2014 must be non-zero for a copter`,source:X}))}let Y=Z.get("INS_HNTCH_ENABLE");if(Y===void 0)J.push(g("param.consistency.notch_filter",$,"INS_HNTCH_ENABLE absent"));else J.push(b({check:"param.consistency.notch_filter",severity:"OK",value:Y,threshold_used:null,verdict:"PASS",ruleset_version:$,detail:Y===0?"harmonic notch filter disabled (INS_HNTCH_ENABLE=0) \u2014 advisory; tune if vibration is high":"harmonic notch filter enabled",source:X}));return J}function B8(Z){for(let J of["BATT_CELLS","BATT_N_CELLS","BATT_CELL_COUNT"]){let X=Z.get(J);if(X!==void 0&&X>0)return Math.round(X)}let $=Z.get("BATT_ARM_VOLT");if($!==void 0&&$>0)return Math.round($/3.6);return null}function H8(Z,$,J,X){let Q=[];for(let[z,K]of Object.entries($.range)){let W=Z.get(z.toUpperCase()),Y=`param.range.${z}`;if(W===void 0){Q.push(g(Y,J,`${z} absent`));continue}let G=X$(z,X),B=G!==void 0&&(typeof G.min==="number"||typeof G.max==="number"),U=B&&typeof G.min==="number"?Math.max(K.min,G.min):K.min,O=B&&typeof G.max==="number"?Math.min(K.max,G.max):K.max,N=B&&typeof G.min==="number"?G.min:K.min,P=B&&typeof G.max==="number"?G.max:K.max,_=B?{kind:"datasheet",ref:"apm.pdef.xml"}:{kind:"tuned"},j=W>=U&&W<=O;Q.push(b({check:Y,severity:j?"OK":K.severity,value:W,threshold_used:j?P:W<U?N:P,verdict:j?"PASS":"FAIL",ruleset_version:J,detail:j?`${z}=${W} within [${N},${P}]${B?" (apm.pdef.xml)":""}`:`${z}=${W} outside [${N},${P}]${B?" (apm.pdef.xml)":""}`,source:_}))}return Q}function U8(Z,$){return[]}function g(Z,$,J){return b({check:Z,severity:"OK",value:null,threshold_used:null,verdict:"SKIP",ruleset_version:$,detail:J})}function UZ(Z,$){let J=10**$;return Math.round(Z*J)/J}var W$=M(()=>{Q$()});import{existsSync as V8,readFileSync as L8}from"fs";import{join as O8}from"path";function N8(){return{ruleset_version:"v1",vibration:{field:"VibeX|VibeY|VibeZ",max_ms2:30,source:{kind:"rule-of-thumb"}},clipping:{field:"Clip",max:0},battery:{err_subsys:6,err_ecode:1,min_cell_v:3.3,max_sag_v:2,max_current_a:200,max_res_ohm:0.03,res_min_current_a:5,source:{kind:"rule-of-thumb"}},attitude:{fields:"DesRoll-Roll,DesPitch-Pitch",max_deg:5,window_samples:10},altitude:{field:"DAlt-Alt",max_m:2},hover:{field:"ThH",band:[0.25,0.75]},ekf:{fields:"IVN,IVE,IVD",max_ratio:0.5,max_variance:1},mag:{field:"Health",min:1,late_align_s:30,max_offset:600},gps:{field:"NSats",min:6,hdop_max:2,hacc_max_m:5},power:{min_vcc_v:4.5,source:{kind:"rule-of-thumb"}},rate:{max_err_dps:50,source:{kind:"rule-of-thumb"}},esc:{max_temp_c:90,source:{kind:"rule-of-thumb"}},imu:{max_err:0,accel_consistency_max:0.7,gyro_consistency_max:0.3,source:{kind:"rule-of-thumb"}},airspeed:{stall_min_ms:8,source:{kind:"rule-of-thumb"}}}}function G$(Z){let $=N8(),J=O8(Z,".hydron","uav-thresholds.yaml");if(!V8(J))return $;try{let X=j8(L8(J,"utf8"));return B$($,X)}catch{return $}}function B$(Z,$){let J={...Z};for(let[X,Q]of Object.entries($)){let z=J[X];if(Q&&typeof Q==="object"&&!Array.isArray(Q)&&z&&typeof z==="object"&&!Array.isArray(z))J[X]=B$(z,Q);else J[X]=Q}return J}function Y$(Z){let $=!1,J=!1;for(let X=0;X<Z.length;X++){let Q=Z[X];if(Q==="'"&&!J)$=!$;else if(Q==='"'&&!$)J=!J;else if(Q==="#"&&!$&&!J)return Z.slice(0,X)}return Z}function H$(Z,$){let J=[],X=0,Q=!1,z=!1,K=0;for(let W=0;W<Z.length;W++){let Y=Z[W];if(Y==="'"&&!z)Q=!Q;else if(Y==='"'&&!Q)z=!z;else if(!Q&&!z){if(Y==="["||Y==="{")X++;else if(Y==="]"||Y==="}")X--;else if(Y===$&&X===0)J.push(Z.slice(K,W)),K=W+1}}return J.push(Z.slice(K)),J}function n(Z){let $=Z.trim();if($==="")return"";if(/^-?\d+(\.\d+)?$/.test($))return Number($);if($==="true")return!0;if($==="false")return!1;if($.startsWith("[")&&$.endsWith("]")){let J=$.slice(1,-1).trim();return J?H$(J,",").map(n):[]}if($.startsWith("{")&&$.endsWith("}"))return U$($);return $.replace(/^["']|["']$/g,"")}function U$(Z){let $=Z.trim().replace(/^\{/,"").replace(/\}$/,""),J={};for(let X of H$($,",")){let Q=X.indexOf(":");if(Q<0)continue;let z=X.slice(0,Q).trim().replace(/^["']|["']$/g,"");if(z)J[z]=n(X.slice(Q+1))}return J}function j8(Z){let $={},J=Z.split(/\r?\n/),X=0;while(X<J.length){let Q=Y$(J[X]);if(X++,!Q.trim()||/^\s/.test(Q))continue;let z=/^([A-Za-z0-9_]+):\s*(.*)$/.exec(Q);if(!z)continue;let K=z[1],W=z[2].trim();if(W.startsWith("{"))$[K]=U$(W);else if(W!=="")$[K]=n(W);else{let Y={};while(X<J.length){let G=Y$(J[X]);if(!G.trim()){X++;continue}if(!/^\s/.test(G))break;X++;let B=/^\s+([A-Za-z0-9_]+):\s*(.*)$/.exec(G);if(B&&B[2].trim()!=="")Y[B[1]]=n(B[2])}$[K]=Y}}return $}var V$=()=>{};function T(Z,$){let J=$.toLowerCase();return Z.columns.findIndex((X)=>X.toLowerCase()===J)}function h(Z){if(typeof Z==="number")return Number.isFinite(Z)?Z:null;if(typeof Z==="bigint")return Number(Z);if(typeof Z==="string"){let $=Number(Z);return Number.isFinite($)?$:null}return null}function q8(Z){if(typeof Z==="bigint")return Z;if(typeof Z==="number"&&Number.isFinite(Z))return BigInt(Math.trunc(Z));if(typeof Z==="string"&&/^-?\d+$/.test(Z.trim()))try{return BigInt(Z.trim())}catch{return null}return null}function f(Z){if(Z===null||Z===void 0)return null;if(typeof Z==="string")return Z;return String(Z)}function i(Z){return`"${Z.replace(/"/g,'""')}"`}function NZ(Z,$){try{return!!Z.query("SELECT 1 FROM sqlite_master WHERE type='table' AND name = ?").get($)}catch{return!1}}function jZ(Z,$){try{let J=Z.query(`PRAGMA table_info(${i($)})`).all();return new Set(J.map((X)=>X.name))}catch{return new Set}}function c(Z,$){try{let J=Z.query($).get();if(!J)return null;let X=Object.values(J)[0];if(X===null||X===void 0)return null;let Q=typeof X==="bigint"?Number(X):Number(X);return Number.isFinite(Q)?Q:null}catch{return null}}function A8(Z){for(let $ of["ATT","GPS","VIBE","CTUN","IMU"])if(NZ(Z,$)&&jZ(Z,$).has("TimeUS")){let J=c(Z,`SELECT COUNT(*) AS c FROM ${i($)}`);if(J===null||J<=0)continue;let X=c(Z,`SELECT (MAX("TimeUS") - MIN("TimeUS")) AS d FROM ${i($)}`);if(X!==null)return X/1e6}return null}function F8(Z){if(!NZ(Z,"VIBE"))return null;let $=jZ(Z,"VIBE"),J=["VibeX","VibeY","VibeZ"].filter((Q)=>$.has(Q));if(J.length===0)return null;let X=J.map((Q)=>`SELECT MAX(${i(Q)}) AS m FROM "VIBE"`).join(" UNION ALL ");return c(Z,`SELECT MAX(m) AS m FROM (${X})`)}function D8(Z){if(!NZ(Z,"CTUN")||!jZ(Z,"CTUN").has("ThH"))return null;return c(Z,'SELECT AVG("ThH") AS m FROM "CTUN"')}function VZ(Z,$){let J=Z.tables.PARM;if(!J)return null;let X=T(J,"Name"),Q=T(J,"Value");if(X<0||Q<0)return null;let z=$.toLowerCase();for(let K of J.rows)if(f(K[X])?.toLowerCase()===z)return h(K[Q]);return null}function OZ(Z,$){let J=Z.tables.MSG;if(!J)return null;let X=T(J,"Message")>=0?T(J,"Message"):T(J,"Msg");if(X<0)return null;for(let Q of J.rows){let z=f(Q[X]);if(z&&$.test(z))return z}return null}function P8(Z){let $=Z.tables.MSG;if(!$)return null;let J=T($,"Message")>=0?T($,"Message"):T($,"Msg");if(J<0)return null;for(let X of $.rows){let Q=f(X[J]),z=Q&&R8.exec(Q.trim());if(z){let[,K,W,Y,G]=z;return{id:`${W}${Y}${G}`.toUpperCase(),name:`${K}-${W.toUpperCase()}`}}}return null}function T8(Z){let $=P8(Z),J=VZ(Z,"SYSID_THISMAV"),X,Q;if($)X=$.id,Q=$.name;else if(J!==null)X=`sysid-${J}`,Q=OZ(Z,/ArduCopter|ArduPlane|ArduPilot|board/i)??X;else{let W=OZ(Z,/ArduCopter|ArduPlane|ArduPilot|ChibiOS|board/i);X=W??"unknown",Q=W??X}let z,K=VZ(Z,"Q_ENABLE");if(K!==null&&K>=1)z="QuadPlane";else{let W=VZ(Z,"FRAME_CLASS");if(W!==null)z=E8[W]??`class_${W}`}return{kind:"airframe",external_id:X,attrs:{name:Q,frame:z}}}function _8(Z){let $=Z.tables.GPS;if(!$)return null;let J=T($,"GWk"),X=T($,"GMS");if(J<0||X<0)return null;let Q=315964800000,z=18000,K=null;for(let Y of $.rows){let G=h(Y[J]),B=h(Y[X]);if(G===null||B===null||G<=0)continue;let U=Q+G*7*24*3600*1000+B-z;if(K===null||U<K)K=U}if(K===null)return null;let W=new Date(K);return Number.isNaN(W.getTime())?null:W.toISOString()}function I8(Z,$,J){let X=OZ(Z,/ArduCopter|ArduPlane|ArduPilot/);return{kind:"analysis",source_hash:J,logged_at:_8(Z),attrs:{firmware:X??null,duration_s:A8($),pilot_id:null,rc_id:null}}}function S8(Z){let $=Z.tables.PARM;if(!$)return[];let J=T($,"Name"),X=T($,"Value");if(J<0||X<0)return[];let Q=T($,"Default"),z=[];for(let K of $.rows){let W=f(K[J]);if(!W)continue;let Y=h(K[X]);if(Y===null)continue;let G={name:W,value:Y};if(Q>=0){let B=h(K[Q]);G.default=B}z.push(G)}return z}function LZ(Z,$){let J=T(Z,"TimeUS");if(J<0)return 0n;return q8($[J])??0n}function M8(Z){let $=[],J=Z.tables.ERR;if(J){let z=T(J,"Subsys"),K=T(J,"ECode");for(let W of J.rows)$.push({at:LZ(J,W),type:"ERR",payload:{Subsys:z>=0?h(W[z]):null,ECode:K>=0?h(W[K]):null}})}let X=Z.tables.MODE;if(X){let z=T(X,"TimeUS");for(let K of X.rows){let W={};X.columns.forEach((Y,G)=>{if(G===z)return;W[Y]=h(K[G])??f(K[G])}),$.push({at:LZ(X,K),type:"MODE",payload:W})}}let Q=Z.tables.MSG;if(Q){let z=T(Q,"Message")>=0?T(Q,"Message"):T(Q,"Msg");for(let K of Q.rows)$.push({at:LZ(Q,K),type:"MSG",payload:{text:z>=0?f(K[z]):null}})}return $}function C8(Z,$){let J=[],X=F8($);if(X!==null)J.push({name:"vibe_peak",value:X,unit:"m/s/s"});let Q=Z.tables.ERR;if(Q){let K=T(Q,"Subsys"),W=T(Q,"ECode");if(K>=0&&W>=0){let Y=0;for(let G of Q.rows)if(h(G[K])===6&&h(G[W])===1)Y++;J.push({name:"failsafe_count",value:Y})}}let z=D8($);if(z!==null)J.push({name:"hover_thr",value:z});return J}function L$(Z,$,J){return{entity:T8(Z),episode:I8(Z,$,J.sourceHash),params:S8(Z),events:M8(Z),measurements:C8(Z,$)}}var E8,R8;var O$=M(()=>{E8={0:"Undefined",1:"Quad",2:"Hexa",3:"Octa",4:"OctaQuad",5:"Y6",6:"Heli",7:"Tri",8:"SingleCopter",9:"CoaxCopter",10:"BiCopter",11:"Heli_Dual",12:"DodecaHexa",13:"HeliQuad",14:"Deca",15:"Scripting"};R8=/^([A-Za-z][A-Za-z0-9_+\-]*)\s+([0-9A-Fa-f]{8})\s+([0-9A-Fa-f]{8})\s+([0-9A-Fa-f]{8})\b/});import{mkdir as w8,readFile as qZ,writeFile as j$,readdir as q$,stat as y8}from"fs/promises";import{dirname as rJ,join as u}from"path";function A$(Z,$,J){return u(Z,".hydron","observations",$,r(J))}function r(Z){return Z.replace(/[^A-Za-z0-9._-]/g,"_")||"unknown"}function k8(Z,$){return typeof $==="bigint"?$.toString():$}function F$(Z){if(Array.isArray(Z.events))Z.events=Z.events.map(($)=>{let J=$.at,X;if(typeof J==="bigint")X=J;else if(typeof J==="string"&&/^-?\d+$/.test(J))X=BigInt(J);else if(typeof J==="number")X=BigInt(Math.trunc(J));else X=0n;return{...$,at:X}});return Z}function v8(Z){let $=Z.findings??[],J=$.filter((K)=>K.verdict==="FAIL").length,X=$.filter((K)=>K.severity==="CRITICAL"&&K.verdict==="FAIL").length,Q="OK";for(let K of $)if(N$[K.severity]>N$[Q])Q=K.severity;let z=(K)=>Z.measurements?.find((W)=>W.name===K)?.value??null;return{source_hash:Z.episode.source_hash,logged_at:Z.episode.logged_at,ruleset_version:Z.ruleset_version,anomalies:J,critical:X,vibe_peak:z("vibe_peak"),failsafe_count:z("failsafe_count"),worst_severity:Q,...Z.tags&&Z.tags.length>0?{tags:Z.tags}:{}}}async function h8(Z){let $;try{$=await qZ(Z,"utf8")}catch{return[]}let J=[];for(let X of $.split(`
+`)){let Q=X.trim();if(!Q)continue;try{J.push(JSON.parse(Q))}catch{}}return J}async function b8(Z,$){let J=u(Z,"index.jsonl"),X=await h8(J),Q=v8($),z=X.filter((K)=>K.source_hash!==Q.source_hash);z.push(Q),await j$(J,z.map((K)=>JSON.stringify(K)).join(`
 `)+`
-`,"utf8")}async function q$(Z,J){let $=O$(J.projectDir,J.workspace,Z.entity.external_id);await R8($,{recursive:!0});let X=f($,`${i(Z.episode.source_hash)}.json`);return await L$(X,JSON.stringify(Z,P8,2),"utf8"),await _8($,Z),X}async function j$(Z){let J=O$(Z.projectDir,Z.workspace,Z.sysid),$;try{$=await V$(J)}catch{return null}let X=`${i(Z.excludeSourceHash)}.json`,Q=$.filter((z)=>z.endsWith(".json")&&z!==X),Y=null;for(let z of Q){let K=f(J,z),W;try{let V=await OZ(K,"utf8");W=N$(JSON.parse(V))}catch{continue}let G=0;try{G=(await D8(K)).mtimeMs}catch{}let B=W.episode?.logged_at?Date.parse(W.episode.logged_at):NaN,L=Number.isNaN(B)?-1/0:B;if(Y===null||L>Y.loggedAt||L===Y.loggedAt&&G>Y.mtime)Y={doc:W,loggedAt:L,mtime:G}}return Y?.doc??null}async function I8(Z,J,$){let X=f(Z,".hydron","observations",J),Q=`${i($)}.json`,Y;try{Y=await V$(X)}catch{return null}for(let z of Y){let K=f(X,z,Q),W;try{let G=await OZ(K,"utf8");W=N$(JSON.parse(G))}catch{continue}return{path:K,doc:W}}return null}async function A$(Z){let J=await I8(Z.projectDir,Z.workspace,Z.flight_id);if(!J)return[];return(J.doc.findings??[]).filter(($)=>$.origin==="agent")}var U$;var F$=M(()=>{U$={OK:0,HIGH:1,CRITICAL:2}});function S8(Z,J){let $=new Map;for(let Q of Z)$.set(Q.name,Q.value);let X=[];for(let Q of J){let Y=$.get(Q.name);if(Y===void 0)continue;if(Y!==Q.value)X.push({name:Q.name,old:Y,new:Q.value})}return X}function M8(Z,J){return S8(Z.params??[],J.params??[])}function C8(Z,J){let $=new Map;for(let Q of Z.findings??[])if(Q.tier==="system")$.set(Q.check,Q);let X=[];for(let Q of J.findings??[]){if(Q.tier!=="system")continue;let Y=$.get(Q.check);if(!Y)continue;if(Y.severity!==Q.severity)X.push({check:Q.check,old:Y.severity,new:Q.severity})}return X}function R$(Z,J){return{param_changes:M8(Z,J),finding_changes:C8(Z,J)}}var E$={};jZ(E$,{analyzeFlight:()=>g8});import{createHash as w8}from"crypto";import{open as P$,stat as y8}from"fs/promises";import{resolve as k8}from"path";async function h8(Z){let J=await P$(Z,"r");try{let $=Buffer.alloc(2);return await J.read($,0,2,0),$[0]===D$[0]&&$[1]===D$[1]}finally{await J.close()}}async function v8(Z){let J=await P$(Z,"r");try{let $=w8("sha256"),X=Buffer.alloc(1048576),Q=0;for(;;){let{bytesRead:Y}=await J.read(X,0,X.length,Q);if(Y===0)break;$.update(X.subarray(0,Y)),Q+=Y}return $.digest("hex").slice(0,16)}finally{await J.close()}}function b8(Z){let J=Z.filter((Q)=>Q.verdict==="FAIL").length,$=Z.filter((Q)=>Q.severity==="CRITICAL"&&Q.verdict==="FAIL").length,X=Z.filter((Q)=>Q.verdict==="PASS").length;return{total:Z.length,passed:X,anomalies:J,critical:$}}async function g8(Z,J){if(await y8(Z),!await h8(Z))throw Error(`Not an ArduPilot DataFlash .bin (missing 0xA3 0x95 header): ${Z}`);let $=await v8(Z),X=Y$(J.configDir??J.projectDir),{log:Q,db:Y,cleanup:z}=await x(Z,$,{configDir:J.configDir??J.projectDir});try{let K=B$(Q,Y,{sourceHash:$});K.episode.attrs.source_path=k8(Z);let W=lZ(Q);K.episode.attrs.vehicle_type=W;let G=rZ(Y,X,{vehicleType:W});G=[...G,...J$(K.params,{configDir:J.configDir??J.projectDir,ruleset_version:X.ruleset_version})];let B=await A$({projectDir:J.projectDir,workspace:J.workspace,flight_id:$});G=[...G,...B];let L={schema_version:1,entity:K.entity,episode:K.episode,params:K.params,findings:G,events:K.events,measurements:K.measurements,ruleset_version:X.ruleset_version},V=await j$({projectDir:J.projectDir,workspace:J.workspace,sysid:K.entity.external_id,excludeSourceHash:$}),A=await q$(L,{projectDir:J.projectDir,workspace:J.workspace}),D={flight_id:$,vehicle_id:K.entity.external_id,metadata:{airframe:K.entity.attrs.name??K.entity.external_id,firmware:K.episode.attrs.firmware??null,duration_s:K.episode.attrs.duration_s??null},partial_decode:Q.partial,decoded_until:Q.decodedUntil,checks:G,summary:b8(G),ruleset_version:X.ruleset_version};if(V){let{param_changes:E,finding_changes:H}=R$(V,L);D.comparison={prior_flight_id:V.episode.source_hash,param_changes:E,finding_changes:H,narration:{claims:[]}}}return{report:D,doc:L,episodePath:A}}finally{z()}}var D$;var T$=M(()=>{QZ();oZ();X$();G$();H$();F$();D$=[163,149]});var S$={};jZ(S$,{sanitizeQuery:()=>I$,runUavQuery:()=>m8,renderQueryResult:()=>p8});import{readdir as f8,readFile as u8}from"fs/promises";import{join as _$}from"path";async function x8(Z,J,$){let X=_$(Z,".hydron","observations",J),Q;try{Q=await f8(X)}catch{throw Error(`No observation store at ${X}. Run uav_analyze first.`)}for(let Y of Q){let z=_$(X,Y,`${$}.json`);try{let W=JSON.parse(await u8(z,"utf8"))?.episode?.attrs?.source_path;if(typeof W==="string"&&W)return W;throw Error(`Episode ${$} has no source_path; re-run uav_analyze to record it.`)}catch(K){if(K.code==="ENOENT")continue;throw K}}throw Error(`flight_id ${$} not found in the observation store. Run uav_analyze first.`)}function I$(Z){let J=Z.trim();J=J.replace(/^```(?:sql)?\s*/i,"").replace(/\s*```$/,"").trim();for(;;){let Q=J;if(J=J.replace(/^--[^\n]*\n?/,"").replace(/^\/\*[\s\S]*?\*\//,"").trimStart(),J===Q)break}if(J=J.replace(/;\s*$/,""),J.includes(";"))throw Error("Only a single statement is allowed (no ';').");let $=J.replace(/^\(+\s*/,"");if(!(/^\s*(select|with|values)\b/i.test($)||/^\s*explain\b/i.test(J)||/^\s*pragma\s+(table_info|table_list|table_xinfo|index_list|index_info|index_xinfo|database_list|collation_list|function_list|pragma_list)\b/i.test(J)))throw Error("uav_query is read-only: use SELECT/WITH/VALUES (comments & ```fences ok), EXPLAIN, or a read PRAGMA (table_info/table_list/index_*). For heavier analysis use Python via bash, not SQL.");if(/\b(insert|update|delete|drop|create|alter|attach|detach|replace|reindex|vacuum)\b/i.test(J))throw Error("Write/DDL keyword detected \u2014 uav_query is read-only.");if(!/\blimit\b/i.test(J))J+=` LIMIT ${c}`;return J}async function m8(Z){let J=I$(Z.query),$=await x8(Z.projectDir,Z.workspace,Z.flight_id),{db:X,cleanup:Q}=await x($,Z.flight_id);try{X.exec?.("PRAGMA query_only = ON");let z=X.query(J).all(),K=z.length?Object.keys(z[0]):[],G=z.slice(0,c).map((B)=>K.map((L)=>B[L]));return{columns:K,rows:G,truncated:z.length>c}}finally{Q()}}function p8(Z){if(!Z.columns.length)return"(no rows)";let J=Z.columns.join(" | "),$=Z.rows.slice(0,50).map((Q)=>Q.map((Y)=>typeof Y==="bigint"?Y.toString():String(Y)).join(" | ")).join(`
+`,"utf8")}async function D$(Z,$){let J=A$($.projectDir,$.workspace,Z.entity.external_id);await w8(J,{recursive:!0});let X=u(J,`${r(Z.episode.source_hash)}.json`);return await j$(X,JSON.stringify(Z,k8,2),"utf8"),await b8(J,Z),X}async function E$(Z){let $=A$(Z.projectDir,Z.workspace,Z.sysid),J;try{J=await q$($)}catch{return null}let X=`${r(Z.excludeSourceHash)}.json`,Q=J.filter((K)=>K.endsWith(".json")&&K!==X),z=null;for(let K of Q){let W=u($,K),Y;try{let O=await qZ(W,"utf8");Y=F$(JSON.parse(O))}catch{continue}let G=0;try{G=(await y8(W)).mtimeMs}catch{}let B=Y.episode?.logged_at?Date.parse(Y.episode.logged_at):NaN,U=Number.isNaN(B)?-1/0:B;if(z===null||U>z.loggedAt||U===z.loggedAt&&G>z.mtime)z={doc:Y,loggedAt:U,mtime:G}}return z?.doc??null}async function g8(Z,$,J){let X=u(Z,".hydron","observations",$),Q=`${r(J)}.json`,z;try{z=await q$(X)}catch{return null}for(let K of z){let W=u(X,K,Q),Y;try{let G=await qZ(W,"utf8");Y=F$(JSON.parse(G))}catch{continue}return{path:W,doc:Y}}return null}async function R$(Z){let $=await g8(Z.projectDir,Z.workspace,Z.flight_id);if(!$)return[];return($.doc.findings??[]).filter((J)=>J.origin==="agent")}var N$;var P$=M(()=>{N$={OK:0,HIGH:1,CRITICAL:2}});function f8(Z,$){let J=new Map;for(let Q of Z)J.set(Q.name,Q.value);let X=[];for(let Q of $){let z=J.get(Q.name);if(z===void 0)continue;if(z!==Q.value)X.push({name:Q.name,old:z,new:Q.value})}return X}function u8(Z,$){return f8(Z.params??[],$.params??[])}function x8(Z,$){let J=new Map;for(let Q of Z.findings??[])if(Q.tier==="system")J.set(Q.check,Q);let X=[];for(let Q of $.findings??[]){if(Q.tier!=="system")continue;let z=J.get(Q.check);if(!z)continue;if(z.severity!==Q.severity)X.push({check:Q.check,old:z.severity,new:Q.severity})}return X}function T$(Z,$){return{param_changes:u8(Z,$),finding_changes:x8(Z,$)}}var S$={};DZ(S$,{analyzeFlight:()=>c8});import{createHash as m8}from"crypto";import{open as I$,stat as p8}from"fs/promises";import{resolve as d8}from"path";async function l8(Z){let $=await I$(Z,"r");try{let J=Buffer.alloc(2);return await $.read(J,0,2,0),J[0]===_$[0]&&J[1]===_$[1]}finally{await $.close()}}async function n8(Z){let $=await I$(Z,"r");try{let J=m8("sha256"),X=Buffer.alloc(1048576),Q=0;for(;;){let{bytesRead:z}=await $.read(X,0,X.length,Q);if(z===0)break;J.update(X.subarray(0,z)),Q+=z}return J.digest("hex").slice(0,16)}finally{await $.close()}}function i8(Z){let $=Z.filter((Q)=>Q.verdict==="FAIL").length,J=Z.filter((Q)=>Q.severity==="CRITICAL"&&Q.verdict==="FAIL").length,X=Z.filter((Q)=>Q.verdict==="PASS").length;return{total:Z.length,passed:X,anomalies:$,critical:J}}async function c8(Z,$){if(await p8(Z),!await l8(Z))throw Error(`Not an ArduPilot DataFlash .bin (missing 0xA3 0x95 header): ${Z}`);let J=await n8(Z),X=G$($.configDir??$.projectDir),{log:Q,db:z,cleanup:K}=await m(Z,J,{configDir:$.configDir??$.projectDir});try{let W=L$(Q,z,{sourceHash:J});W.episode.attrs.source_path=d8(Z);let Y=rZ(Q);W.episode.attrs.vehicle_type=Y;let G=tZ(z,X,{vehicleType:Y});G=[...G,...K$(W.params,{configDir:$.configDir??$.projectDir,ruleset_version:X.ruleset_version})];let B=await R$({projectDir:$.projectDir,workspace:$.workspace,flight_id:J});G=[...G,...B];let U={schema_version:1,entity:W.entity,episode:W.episode,params:W.params,findings:G,events:W.events,measurements:W.measurements,ruleset_version:X.ruleset_version},O=await E$({projectDir:$.projectDir,workspace:$.workspace,sysid:W.entity.external_id,excludeSourceHash:J}),N=await D$(U,{projectDir:$.projectDir,workspace:$.workspace}),P={flight_id:J,vehicle_id:W.entity.external_id,metadata:{airframe:W.entity.attrs.name??W.entity.external_id,firmware:W.episode.attrs.firmware??null,duration_s:W.episode.attrs.duration_s??null},partial_decode:Q.partial,decoded_until:Q.decodedUntil,checks:G,summary:i8(G),ruleset_version:X.ruleset_version};if(O){let{param_changes:_,finding_changes:j}=T$(O,U);P.comparison={prior_flight_id:O.episode.source_hash,param_changes:_,finding_changes:j,narration:{claims:[]}}}return{report:P,doc:U,episodePath:N}}finally{K()}}var _$;var M$=M(()=>{WZ();eZ();W$();V$();O$();P$();_$=[163,149]});var y$={};DZ(y$,{sanitizeQuery:()=>w$,runUavQuery:()=>a8,renderQueryResult:()=>t8});import{readdir as r8,readFile as o8}from"fs/promises";import{join as C$}from"path";async function s8(Z,$,J){let X=C$(Z,".hydron","observations",$),Q;try{Q=await r8(X)}catch{throw Error(`No observation store at ${X}. Run uav_analyze first.`)}for(let z of Q){let K=C$(X,z,`${J}.json`);try{let Y=JSON.parse(await o8(K,"utf8"))?.episode?.attrs?.source_path;if(typeof Y==="string"&&Y)return Y;throw Error(`Episode ${J} has no source_path; re-run uav_analyze to record it.`)}catch(W){if(W.code==="ENOENT")continue;throw W}}throw Error(`flight_id ${J} not found in the observation store. Run uav_analyze first.`)}function w$(Z){let $=Z.trim();$=$.replace(/^```(?:sql)?\s*/i,"").replace(/\s*```$/,"").trim();for(;;){let Q=$;if($=$.replace(/^--[^\n]*\n?/,"").replace(/^\/\*[\s\S]*?\*\//,"").trimStart(),$===Q)break}if($=$.replace(/;\s*$/,""),$.includes(";"))throw Error("Only a single statement is allowed (no ';').");let J=$.replace(/^\(+\s*/,"");if(!(/^\s*(select|with|values)\b/i.test(J)||/^\s*explain\b/i.test($)||/^\s*pragma\s+(table_info|table_list|table_xinfo|index_list|index_info|index_xinfo|database_list|collation_list|function_list|pragma_list)\b/i.test($)))throw Error("uav_query is read-only: use SELECT/WITH/VALUES (comments & ```fences ok), EXPLAIN, or a read PRAGMA (table_info/table_list/index_*). For heavier analysis use Python via bash, not SQL.");if(/\b(insert|update|delete|drop|create|alter|attach|detach|replace|reindex|vacuum)\b/i.test($))throw Error("Write/DDL keyword detected \u2014 uav_query is read-only.");if(!/\blimit\b/i.test($))$+=` LIMIT ${o}`;return $}async function a8(Z){let $=w$(Z.query),J=await s8(Z.projectDir,Z.workspace,Z.flight_id),{db:X,cleanup:Q}=await m(J,Z.flight_id);try{X.exec?.("PRAGMA query_only = ON");let K=X.query($).all(),W=K.length?Object.keys(K[0]):[],G=K.slice(0,o).map((B)=>W.map((U)=>B[U]));return{columns:W,rows:G,truncated:K.length>o}}finally{Q()}}function t8(Z){if(!Z.columns.length)return"(no rows)";let $=Z.columns.join(" | "),J=Z.rows.slice(0,50).map((Q)=>Q.map((z)=>typeof z==="bigint"?z.toString():String(z)).join(" | ")).join(`
 `),X=Z.rows.length>50?`
 \u2026 ${Z.rows.length-50} more rows`:Z.truncated?`
-(capped at ${c} rows)`:"";return`${J}
-${$}${X}`}var c=1e4;var M$=M(()=>{QZ()});self.onmessage=async(Z)=>{let J=Z.data;try{let $;if(J.op==="analyze"){let{analyzeFlight:X}=await Promise.resolve().then(() => (T$(),E$));$=await X(J.binPath,J.opts)}else if(J.op==="query"){let{runUavQuery:X}=await Promise.resolve().then(() => (M$(),S$));$=await X(J.opts)}else throw Error("unknown worker op");self.postMessage({ok:!0,result:$})}catch($){self.postMessage({ok:!1,error:$ instanceof Error?$.message:String($)})}};
+(capped at ${o} rows)`:"";return`${$}
+${J}${X}`}var o=1e4;var k$=M(()=>{WZ()});self.onmessage=async(Z)=>{let $=Z.data;try{let J;if($.op==="analyze"){let{analyzeFlight:X}=await Promise.resolve().then(() => (M$(),S$));J=await X($.binPath,$.opts)}else if($.op==="query"){let{runUavQuery:X}=await Promise.resolve().then(() => (k$(),y$));J=await X($.opts)}else throw Error("unknown worker op");self.postMessage({ok:!0,result:J})}catch(J){self.postMessage({ok:!1,error:J instanceof Error?J.message:String(J)})}};

package/skills/uav/SKILL.md

@@ -46,7 +46,10 @@ never to author a verdict from raw numbers.
   genuinely new (`supersedes_id` to replace a stale one). Only ABSOLUTE-bound findings the
   deterministic checks did not already cover — never a relative-only one.
 - **Bench / live vehicle** → `serial_*` (watch/drive the FC console) and the `mavlink` MCP
-  (read params/telemetry; gated param writes) when a link is configured.
+  (read params/telemetry; `param_set`/`param_set_batch`) when a link is configured. ⚠ param
+  writes are **enabled by default and go to whatever is on the connect target — possibly a real
+  airframe**. Always state the exact param + old→new value and get explicit confirmation before
+  writing; never batch-write a tuning set without the user agreeing to it first.
 
 ## Load the reference that matches the task
 

package/skills/uav/references/tuning.md

@@ -65,8 +65,10 @@ These params are **starting values**, not a verified tune. They must be reviewed
 human (or the gating subagent) before they touch a vehicle. Critically, this module
 only *recommends* — it has no path to a flight controller.
 
-**Pushing params is a separate, gated action.** `/uav-tune` (or the `uav_tune` tool) only
+**Pushing params is a separate, explicit action.** `/uav-tune` (or the `uav_tune` tool) only
 recommends — confirm the recommendation against the airframe and check the ranges, then
-write parameters over the gated MAVLink param link (`--allow-param-write`). After applying,
+write parameters over the MAVLink param link (`param_set` / `param_set_batch`, available by
+default). ⚠ that link writes to whatever is on the connect target, which may be a **live
+vehicle**: state each param and its old→new value and get explicit confirmation first. After applying,
 re-fly and re-run `recommendNotch` on the new
 log to confirm the peak dropped — the same FFT→notch loop, closed automatically.