npm - @h2loop/uav - Versions diffs - 1.2.0 → 1.2.1 - Mend

@h2loop/uav 1.2.0 → 1.2.1

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Files changed (8) hide show

package/README.md +17 -16
package/USAGE.md +47 -30
package/bridge/requirements.txt +5 -1
package/mcp.json +1 -7
package/package.json +1 -1
package/plugins/index.js +26 -26
package/skills/uav/SKILL.md +4 -1
package/skills/uav/references/tuning.md +4 -2

package/README.md CHANGED Viewed

@@ -59,7 +59,9 @@ skills/uav/             # on-demand `uav` skill + references
 data/                   # bundled apm-params.json + built-in defaults
 bridge/                 # optional MAVLink→MCP Python bridge
 plugins/                # BUILT bundle (index.js + worker/) — generated
-mcp.json                # exa + mavlink MCP servers (disabled by default)
+mcp.json                # exa MCP server (disabled by default); mavlink is registered
+                        #   from src/index.ts's config hook — it needs a resolved
+                        #   interpreter + an ABSOLUTE script path, which static JSON can't give
 ```
 ## Run standalone
@@ -235,30 +237,29 @@ project KG.
 A local Python stdio server. Read-only tools: `read_params`, `param_get`, `param_get_all`,
 `get_messages`, `tail_telemetry`, `get_flight_mode`, `get_status`. The write tier
-(`param_set` / `param_set_batch`) is **off by default** — see below.
+(`param_set` / `param_set_batch`) is **on by default** so tune→push→retest works out of the
+box — see below.
 **Requires:**
-- Python ≥ 3.10 with `pymavlink>=2.4.49` and `mcp[cli]>=1.0.0` installed. The pack does **not**
+- Python ≥ 3.10 with `pymavlink>=2.4.49` and `mcp[cli]>=1.0.0,<2` installed. The pack does **not**
   auto-provision a venv — install the deps yourself: `pip install -r bridge/requirements.txt`
   (ideally into a venv), and point the command's `python3` at that interpreter.
 - A reachable MAVLink endpoint (e.g. `udp:127.0.0.1:14550` from SITL or a telemetry radio),
   or a `.tlog`/`.log` file for offline replay.
 - The `bridge/` directory ships with the plugin (the `mcp.json` references it).
-Enable per-project in your Hydron config. **Param writes are OFF by default** (the bridge
-defaults to `--read-only`). To enable the tune→push→retest write tier, the command must pass
-**both** `--no-read-only` **and** `--allow-param-write`. ⚠ this lets the agent write params to
-a **live vehicle** — prefer SITL/bench.
-```jsonc
-"mcp": {
-  "mavlink": {
-    "enabled": true,
-    "command": ["python3", "<plugin-path>/bridge/uav_mavlink_bridge.py",
-                "--connect", "udp:127.0.0.1:14550",
-                "--no-read-only", "--allow-param-write"]
-  }
-}
+Ships **enabled**, with param writes **on** — the command passes `--no-read-only`
+`--allow-param-write`, so `param_set` / `param_set_batch` are registered and the tuning loop
+works with no configuration. ⚠ this lets the agent write params to a **live vehicle** — prefer
+SITL/bench. To ship read-only, drop both flags.
+No `--connect` is passed, so the target comes from the **`MAVLINK_CONNECT`** env var, falling
+back to `udp:127.0.0.1:14550`:
+```bash
+export MAVLINK_CONNECT=serial:/dev/ttyUSB0:57600      # COM3:57600 on Windows
 ```
+Don't put it in the server's `environment` block — Hydron spreads that *over* `process.env`, so
+it would shadow your export instead of defaulting to it.
 Connect-target forms: `udp:HOST:PORT` (default `udp:127.0.0.1:14550` = SITL/MAVProxy) |
 `tcp:HOST:PORT` | `serial:/dev/ttyUSB0:BAUD` | `/path/log.tlog` (offline replay); can also be

package/USAGE.md CHANGED Viewed

@@ -12,7 +12,7 @@ covers getting it running on **macOS, Linux, and Windows**, validating it works,
 - **Bun** — *only* needed to build the bundle from source or run the pack's tests; **not**
   needed to use a published pack.
 - **Python ≥ 3.10** — *only* for the optional live MAVLink bridge (`pymavlink>=2.4.49` +
-  `mcp[cli]>=1.0.0`). The pack does **not** auto-provision a venv; you install the deps
+  `mcp[cli]>=1.0.0,<2`). The pack does **not** auto-provision a venv; you install the deps
   yourself (see §6). Plain `.bin` log analysis needs no Python.
 - *Optional:* `export EXA_API_KEY=…` for web grounding of bounds.
 - **macOS, Linux, and Windows are all native** — no WSL required. The pack resolves the Python
@@ -127,50 +127,67 @@ See `skills/uav/references/project-config.md` for the full list (`uav-thresholds
 A **MAVLink→MCP bridge**: a local Python stdio server Hydron spawns so the agent can query a
 live vehicle / SITL / log replay. Read-only tools: `get_status`, `get_flight_mode`,
 `read_params`, `param_get`, `param_get_all`, `get_messages`, `tail_telemetry`. The **write**
-tools `param_set`/`param_set_batch` are **off by default** (see the ⚠ note below).
+tools `param_set`/`param_set_batch` are **on by default**, so tune→push→retest works out of
+the box (see the ⚠ note below to turn them off).
-### Install the Python deps yourself
+### Install the Python deps (the only manual step)
 The pack does **not** auto-provision a venv. The bridge needs Python ≥ 3.10 with
-`pymavlink>=2.4.49` and `mcp[cli]>=1.0.0`:
+`pymavlink>=2.4.49` and `mcp[cli]>=1.0.0,<2`:
 ```bash
 pip install -r bridge/requirements.txt     # ideally into a venv
 ```
-Then point the `mavlink` command's first element at that interpreter. **This is the one place
-the interpreter is not auto-detected** — `mcp.json` is static config that Hydron spawns
-directly, so it ships the POSIX default `python3`. On Windows change it to `python` (or the
-venv's full `…\Scripts\python.exe`); everywhere else an absolute venv path is the safest value.
-### Enable and configure (per-project in opencode.jsonc)
-The `mavlink` server ships in `mcp.json` **disabled by default**. Enable it per-project:
-```jsonc
-"mcp": {
-  "mavlink": {
-    "enabled": true,
-    "command": ["python3", "<plugin-path>/bridge/uav_mavlink_bridge.py",
-                "--connect", "udp:127.0.0.1:14550"]
-  }
-}
+> The `<2` bound is required, not cosmetic: the MCP Python SDK **removed `mcp.server.fastmcp`
+> in 2.x**, so the bridge fails at import on `mcp>=2`. Verified working on 1.29.0.
+You do **not** need to edit any command. The plugin registers the `mavlink` server itself at
+startup, resolving:
+- **the interpreter** — via the same probe-by-execution resolver the `.tlog`/`.ulog` decoders
+  use, so `python3` / `python` / the Windows `py -3` launcher are all handled and Windows'
+  Microsoft-Store alias stubs are rejected. Pin a specific one with `UAV_PYTHON` (e.g. a venv:
+  `export UAV_PYTHON=/path/.venv/bin/python`, or `…\Scripts\python.exe` on Windows).
+- **the script path** — absolute, inside the installed plugin bundle. This matters: Hydron
+  spawns local MCP servers with the cwd set to *your project*, so a bundle-relative path can
+  never resolve. That is why the server is no longer declared in `mcp.json`.
+If no usable Python is found the server is not registered at all; if Python is found but can't
+`import mcp, pymavlink`, it is registered **disabled** — so you see it listed rather than
+getting a failed server on every launch. Check with `hydron mcp list`.
+### Point it at your vehicle
+The `mavlink` server is registered **enabled**, with param writes on, so nothing needs enabling.
+The one thing you may need to change is the connect target.
+The command passes **no** `--connect`, so the bridge falls back to its own default —
+which reads the **`MAVLINK_CONNECT`** environment variable, then `udp:127.0.0.1:14550`. So for
+anything other than local SITL/MAVProxy, just export the target:
+```bash
+export MAVLINK_CONNECT=serial:/dev/ttyUSB0:57600      # or COM3:57600 on Windows
 ```
 Connect-target forms: `udp:HOST:PORT` (default `udp:127.0.0.1:14550` = SITL/MAVProxy) |
 `tcp:HOST:PORT` | `serial:/dev/ttyUSB0:BAUD` (on Windows a COM port, e.g. `COM3` or
-`COM3:57600`) | `/path/log.tlog` (offline replay). Can also be set via the `MAVLINK_CONNECT`
-env on the server.
+`COM3:57600`) | `/path/log.tlog` (offline replay).
+> Set it in the environment, **not** in the server's `environment` block: Hydron spawns local
+> MCP servers with `{...process.env, ...environment}`, so a server-level entry *shadows* your
+> export rather than acting as a default. That is why the plugin sets neither.
 > **"Connected" ≠ a live vehicle.** The panel shows `mavlink Connected` once the bridge *process*
 > starts. The tools only return data while something is **actually publishing MAVLink** at the
 > connect target. With no source, calls return empty / time out (`-32001`). Start your SITL/vehicle
 > (or leave it — log analysis via `uav_analyze` doesn't need the live bridge).
-> **Param writes are OFF by default.** The bridge defaults to `--read-only`. To enable the
-> tune→push→retest write tier (`param_set` / `param_set_batch`), the command must pass **both**
-> `--no-read-only` **and** `--allow-param-write`:
-> ```jsonc
-> "command": ["python3", "<plugin-path>/bridge/uav_mavlink_bridge.py",
->             "--connect", "udp:127.0.0.1:14550",
->             "--no-read-only", "--allow-param-write"]
+> **⚠ Param writes are ON by default.** The shipped command passes `--no-read-only`
+> `--allow-param-write`, which registers the tune→push→retest write tier (`param_set` /
+> `param_set_batch`). This lets the agent **write parameters to a live vehicle**. Prefer
+> SITL/bench, and point `MAVLINK_CONNECT` at a real airframe only when you intend that.
+>
+> To ship read-only, remove both flags from the `config` hook in `src/index.ts` — the bridge's own defaults are
+> `read_only=True` / `allow_param_write=False`, and the write tools are then never registered:
+> ```ts
+> command: [...py, script],   // no --no-read-only / --allow-param-write
 > ```
-> ⚠ this lets the agent **write parameters to a live vehicle** — prefer SITL/bench, and point
-> `--connect` at a real airframe only when you intend that.
+> Reads (`param_get`, `param_get_all`, `read_params`, telemetry) are unaffected either way.
 ---

package/bridge/requirements.txt CHANGED Viewed

@@ -1,2 +1,6 @@
 pymavlink>=2.4.49
-mcp[cli]>=1.0.0
+# Pinned below 2.0: the MCP Python SDK removed `mcp.server.fastmcp` in 2.x (FastMCP is gone,
+# replaced by a different MCPServer API), so this bridge fails at import on mcp>=2. The
+# unpinned `>=1.0.0` silently floated into that breaking major. Porting to the 2.x server API
+# is a separate change; until then this range is the supported one (verified on 1.29.0).
+mcp[cli]>=1.0.0,<2

package/mcp.json CHANGED Viewed

@@ -4,12 +4,6 @@
     "url": "https://mcp.exa.ai/mcp",
     "headers": { "x-api-key": "${EXA_API_KEY}" },
     "enabled": false
-  },
-  "mavlink": {
-    "type": "local",
-    "enabled": false,
-    "command": ["python3", "./bridge/uav_mavlink_bridge.py", "--connect", "udp:127.0.0.1:14550"],
-    "environment": { "MAVLINK_DIALECT": "ardupilotmega" },
-    "timeout": 10000
   }
 }

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@h2loop/uav",
-  "version": "1.2.0",
+  "version": "1.2.1",
   "description": "UAV domain pack for Hydron — ArduPilot/PX4 flight-log intelligence (analyze, triage, compare, tune)",
   "type": "module",
   "private": false,

package/plugins/index.js CHANGED Viewed

@@ -1,46 +1,46 @@
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q("hover",Z.thresholds);if(!C(Z,"CTUN","ThH"))return q("hover",Z.thresholds,"CTUN missing ThH column");let Q=$?.band??[0.25,0.75],[J,X]=Q,Y=j(Z,'SELECT AVG("ThH") FROM "CTUN"'),K=Y===null?!1:Y<J||Y>X;return P({check:"hover",thresholds:Z.thresholds,failed:K,failSeverity:"HIGH",value:Y,threshold_used:X,source:$?.source,detail:`mean hover throttle ${(Y??0).toFixed(3)} vs band [${J}, ${X}]`})},G$=2000,a0=(Z)=>{if(!QZ(Z.vehicleType))return q("rcou",Z.thresholds,`n/a for ${Z.vehicleType} (control surfaces, not motor mix)`);if(!Z.hasTable("RCOU"))return q("rcou",Z.thresholds);let $=k(Z,"RCOU"),Q=[];for(let Y=1;Y<=8;Y++)if($.has(`C${Y}`))Q.push(`C${Y}`);if(Q.length===0)return q("rcou",Z.thresholds,"RCOU has no C1..C8 channels");let J=-1/0,X=[];for(let Y of Q){let K=j(Z,`SELECT MAX(${S(Y)}) FROM "RCOU"`);if(K===null)continue;if(K>J)J=K;if(K>=G$)X.push(`${Y}=${K}`)}if(J===-1/0)J=0;return P({check:"rcou",thresholds:Z.thresholds,failed:X.length>0,failSeverity:"HIGH",value:J,threshold_used:G$,detail:X.length>0?`motor output(s) pegged at max: ${X.join(", ")}`:void 0})},DZ=1000,jZ=2000,s0=(Z)=>{if(!Z.hasTable("RCIN"))return q("rcin",Z.thresholds);if(!C(Z,"RCIN","C3"))return q("rcin",Z.thresholds,"RCIN missing C3 column");let $=j(Z,'SELECT MIN("C3") FROM "RCIN"'),Q=j(Z,'SELECT MAX("C3") FROM "RCIN"'),J=$!==null&&$<DZ||Q!==null&&Q>jZ,X=Q;if($!==null&&$<DZ)X=$;return P({check:"rcin",thresholds:Z.thresholds,failed:J,failSeverity:"HIGH",value:X,threshold_used:jZ,detail:`RCIN C3 range [${$??"\u2014"}, ${Q??"\u2014"}] vs [${DZ}, ${jZ}]`})},t0=(Z)=>{let $=Z.thresholds.vibration;if(!Z.hasTable("VIBE"))return q("vibration",Z.thresholds);let Q=k(Z,"VIBE"),J=["VibeX","VibeY","VibeZ"].filter((V)=>Q.has(V));if(J.length===0)return q("vibration",Z.thresholds,"VIBE has no VibeX/Y/Z columns");let X=$?.max_ms2??30,Y={},K=-1/0;for(let V of J){let H=j(Z,`SELECT MAX(${S(V)}) FROM 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$=Z.thresholds.ekf,Q=W$(Z,["XKF3","NKF3"]);if(!Q)return q("ekf",Z.thresholds);let J=k(Z,Q),X=["IVN","IVE","IVD","IVT","IPN","IPE","IPD"].filter((G)=>J.has(G));if(X.length===0)return q("ekf",Z.thresholds,`${Q} has no IVN/IVE/IVD/IVT/IPN/IPE/IPD columns`);let Y=$?.max_ratio??0.5,K=-1/0;for(let G of X){let W=j(Z,`SELECT MAX(ABS(${S(G)})) FROM ${S(Q)}`);if(W!==null&&W>K)K=W}if(K===-1/0)K=0;return P({check:"ekf",thresholds:Z.thresholds,failed:K>Y,failSeverity:"HIGH",value:K,threshold_used:Y,source:$?.source,detail:`peak innovation ${K} (${Q}: ${X.join("/")})`})},J8=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return q("min_cell_voltage",Z.thresholds);if(!C(Z,"BAT","Volt"))return q("min_cell_voltage",Z.thresholds,"BAT missing Volt column");let Q=$?.min_cell_v??3.3,J=j(Z,'SELECT MAX("Volt") FROM "BAT"'),X=j(Z,'SELECT MIN("Volt") FROM "BAT"');if(J===null||X===null||J<=0)return q("min_cell_voltage",Z.thresholds,"BAT.Volt has no usable values");let Y=Math.max(1,Math.round(J/4.2)),K=X/Y;return P({check:"min_cell_voltage",thresholds:Z.thresholds,failed:K<Q,failSeverity:"CRITICAL",value:K,threshold_used:Q,source:$?.source,detail:`${Y}S pack (MAX pack ${J.toFixed(2)}V), min cell ${K.toFixed(3)}V vs floor ${Q}V`})},Q8=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return q("voltage_sag",Z.thresholds);if(!C(Z,"BAT","VoltR")||!C(Z,"BAT","Volt"))return q("voltage_sag",Z.thresholds,"BAT missing VoltR/Volt columns");let Q=$?.max_sag_v??2,J=j(Z,'SELECT MAX("VoltR"-"Volt") FROM "BAT"');return P({check:"voltage_sag",thresholds:Z.thresholds,failed:J!==null&&J>Q,failSeverity:"HIGH",value:J,threshold_used:Q,source:$?.source,detail:`peak sag ${(J??0).toFixed(2)}V (VoltR-Volt) vs ${Q}V`})},X8=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return q("over_current",Z.thresholds);if(!C(Z,"BAT","Curr"))return q("over_current",Z.thresholds,"BAT missing Curr column");let Q=$?.max_current_a??200,J=j(Z,'SELECT MAX("Curr") FROM "BAT"');return P({check:"over_current",thresholds:Z.thresholds,failed:J!==null&&J>Q,failSeverity:"HIGH",value:J,threshold_used:Q,source:$?.source,detail:`peak current ${(J??0).toFixed(1)}A vs ${Q}A`})},Y8=(Z)=>{let $=Z.thresholds.battery;if(!Z.hasTable("BAT"))return q("internal_resistance",Z.thresholds);if(!C(Z,"BAT","Res"))return q("internal_resistance",Z.thresholds,"BAT missing Res column");let Q=j(Z,'SELECT MAX("Res") FROM "BAT"');if(Q===null||Q===0)return q("internal_resistance",Z.thresholds,"BAT.Res all zero/absent (not reported)");let J=$?.res_min_current_a??5,Y=C(Z,"BAT","Curr")?j(Z,`SELECT MAX("Res") FROM "BAT" WHERE "Curr" >= ${J}`):Q;if(Y===null)return q("internal_resistance",Z.thresholds,`no BAT samples at Curr \u2265 ${J} A \u2014 Res only valid under load (max raw ${Q.toFixed(3)}\u03A9 is a low-current artifact)`);let K=$?.max_res_ohm??0.03;return P({check:"internal_resistance",thresholds:Z.thresholds,failed:Y>K,failSeverity:"HIGH",value:Y,threshold_used:K,source:$?.source,detail:`peak internal resistance ${Y.toFixed(4)}\u03A9 (at Curr \u2265 ${J} A) vs ${K}\u03A9`})},K8=(Z)=>{let $=Z.thresholds.power;if(!Z.hasTable("POWR"))return q("board_brownout",Z.thresholds);if(!C(Z,"POWR","Vcc"))return q("board_brownout",Z.thresholds,"POWR missing Vcc column");let Q=$?.min_vcc_v??4.5,J=j(Z,'SELECT MIN("Vcc") FROM "POWR"');return P({check:"board_brownout",thresholds:Z.thresholds,failed:J!==null&&J<Q,failSeverity:"CRITICAL",value:J,threshold_used:Q,source:$?.source,detail:`min board Vcc ${(J??0).toFixed(3)}V vs floor ${Q}V`})},G8=(Z)=>{let $=Z.thresholds.rate;if(!Z.hasTable("RATE"))return q("rate_tracking",Z.thresholds);let Q=k(Z,"RATE"),X=[["RDes","R"],["PDes","P"],["YDes","Y"]].filter(([W,z])=>Q.has(W)&&Q.has(z));if(X.length===0)return q("rate_tracking",Z.thresholds,"RATE has no RDes/R, PDes/P, YDes/Y pairs");let Y=$?.max_err_dps??50,K=-1/0,G="";for(let[W,z]of X){let B=j(Z,`SELECT MAX(ABS(${S(W)}-${S(z)})) FROM "RATE"`);if(B!==null&&B>K)K=B,G=W.replace("Des","")}if(K===-1/0)K=0;return P({check:"rate_tracking",thresholds:Z.thresholds,failed:K>Y,failSeverity:"HIGH",value:K,threshold_used:Y,source:$?.source,detail:`peak rate-tracking error ${K.toFixed(2)} deg/s (axis ${G||"?"}) vs ${Y} deg/s`})},W8=(Z)=>{let $=Z.thresholds.gps;if(!Z.hasTable("GPA"))return q("gps_accuracy",Z.thresholds);if(!C(Z,"GPA","HAcc"))return q("gps_accuracy",Z.thresholds,"GPA missing HAcc column");let Q=$?.hacc_max_m??5,J=j(Z,'SELECT MAX("HAcc") FROM "GPA"');return P({check:"gps_accuracy",thresholds:Z.thresholds,failed:J!==null&&J>Q,failSeverity:"HIGH",value:J,threshold_used:Q,source:$?.source,detail:`peak horizontal accuracy ${(J??0).toFixed(2)}m vs ${Q}m`})},z8=(Z)=>{let $=Z.thresholds.ekf,Q=W$(Z,["XKF4","NKF4"]);if(!Q)return q("ekf_variance",Z.thresholds);let J=k(Z,Q),X=["SV","SP","SH","SM"].filter((B)=>J.has(B));if(X.length===0)return q("ekf_variance",Z.thresholds,`${Q} has no SV/SP/SH/SM columns`);let Y=$?.max_variance??1,K=-1/0,G="";for(let B of X){let V=j(Z,`SELECT MAX(${S(B)}) FROM ${S(Q)}`);if(V!==null&&V>K)K=V,G=B}if(K===-1/0)K=0;let W=J.has("FS")?j(Z,`SELECT MAX("FS") FROM ${S(Q)}`):null,z=W!==null&&W>0?` | EKF failsafe set (FS MAX=${W})`:"";return P({check:"ekf_variance",thresholds:Z.thresholds,failed:K>Y,failSeverity:"HIGH",value:K,threshold_used:Y,source:$?.source,detail:`peak EKF variance ${K.toFixed(3)} (${Q}: ${G||X.join("/")}) vs ${Y}${z}`})},B8=(Z)=>{let $=Z.thresholds.mag;if(!Z.hasTable("MAG"))return q("mag_offsets",Z.thresholds);let Q=k(Z,"MAG"),J=["OfsX","OfsY","OfsZ"].filter((G)=>Q.has(G));if(J.length===0)return q("mag_offsets",Z.thresholds,"MAG has no OfsX/OfsY/OfsZ columns");let X=$?.max_offset??600,Y=-1/0,K="";for(let G of J){let W=j(Z,`SELECT MAX(ABS(${S(G)})) FROM 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q("thrust_margin",Z.thresholds,`n/a for ${Z.vehicleType} (lift/T:W is a rotorcraft metric)`);if(!Z.hasTable("MOTB"))return q("thrust_margin",Z.thresholds);let $=k(Z,"MOTB");if(!$.has("FailFlags")&&!($.has("ThrOut")&&$.has("LiftMax")))return q("thrust_margin",Z.thresholds,"MOTB missing FailFlags and ThrOut/LiftMax columns");let Q=$.has("FailFlags")?j(Z,'SELECT MAX("FailFlags") FROM "MOTB"')??0:0,J=null;if($.has("ThrOut")&&$.has("LiftMax")){let G=j(Z,'SELECT AVG("ThrOut") FROM "MOTB"'),W=j(Z,'SELECT AVG("LiftMax") FROM "MOTB"');if(G!==null&&W!==null&&W>0)J=G/W}let X=J!==null&&J>0.5,Y=Q>0,K=`MOTB FailFlags MAX=${Q}`+(J!==null?`, mean ThrOut/LiftMax ${J.toFixed(2)} (low-margin > 0.5)`:"")+(Y?" \u2014 THRUST-LOSS flagged":X?" \u2014 low thrust margin":"");return P({check:"thrust_margin",thresholds:Z.thresholds,failed:Y||X,failSeverity:"HIGH",value:J,threshold_used:0.5,detail:K})},H8=(Z)=>{let $=Z.thresholds.imu;if(!Z.hasTable("IMU"))return q("imu_health",Z.thresholds);let Q=k(Z,"IMU"),J=["EG","EA"].filter((G)=>Q.has(G));if(J.length===0)return q("imu_health",Z.thresholds,"IMU has no EG/EA error-count columns");let X=$?.max_err??0,Y=-1/0,K="";for(let G of J){let W=j(Z,`SELECT MAX(${S(G)}) FROM "IMU"`);if(W!==null&&W>Y)Y=W,K=G}if(Y===-1/0)Y=0;return P({check:"imu_health",thresholds:Z.thresholds,failed:Y>X,failSeverity:"HIGH",value:Y,threshold_used:X,source:$?.source,detail:`max IMU error count ${Y} (${K||J.join("/")}) vs ${X}`})},L8=(Z)=>{let $=Z.thresholds.imu;if(!Z.hasTable("IMU"))return q("imu_consistency",Z.thresholds);let Q=k(Z,"IMU");if(!Q.has("I"))return q("imu_consistency",Z.thresholds,"IMU has no instance column I");let J=["AccX","AccY","AccZ"].filter((N)=>Q.has(N)),X=["GyrX","GyrY","GyrZ"].filter((N)=>Q.has(N));if(J.length===0&&X.length===0)return q("imu_consistency",Z.thresholds,"IMU has no Acc*/Gyr* columns");let Y=[...J,...X].map((N)=>`AVG(${S(N)}) ${S(N)}`).join(", "),K=Z.db.query(`SELECT "I" AS "I", ${Y} FROM "IMU" GROUP BY "I"`).all();if(K.length<2)return q("imu_consistency",Z.thresholds,`only ${K.length} IMU instance \u2014 nothing to cross-check`);let G=(N)=>{let _=K.map((D)=>Number(D[N])).filter((D)=>Number.isFinite(D));return _.length>=2?Math.max(..._)-Math.min(..._):0},W=0,z="";for(let N of J){let _=G(N);if(_>W)W=_,z=N}let B=0,V="";for(let N of X){let _=G(N);if(_>B)B=_,V=N}let U=$?.accel_consistency_max??0.7,H=$?.gyro_consistency_max??0.3,E=W>U,T=B>H,L=E||T,A=W/U>=B/H?W:B,O=W/U>=B/H?U:H,F=L?`INCONSISTENT \u2014 ${E?`accel ${z} spread ${W.toFixed(3)} m/s\xB2 > ${U}`:""}${E&&T?"; ":""}${T?`gyro ${V} spread ${B.toFixed(3)} rad/s > ${H}`:""}`:`IMUs consistent \u2014 max inter-instance bias spread: accel ${W.toFixed(3)} m/s\xB2 (<${U}), gyro ${B.toFixed(3)} rad/s (<${H}); relative differences between instances are within healthy tolerance`;return P({check:"imu_consistency",thresholds:Z.thresholds,failed:L,failSeverity:"HIGH",value:A,threshold_used:O,source:{kind:"rule-of-thumb",ref:"IMU inconsistency tolerance (~ArduPilot arming limits)"},detail:F})},O8=(Z)=>{if(!Z.hasTable("ERR"))return q("err_events",Z.thresholds);if(!C(Z,"ERR","Subsys")||!C(Z,"ERR","ECode"))return q("err_events",Z.thresholds,"ERR present but Subsys/ECode columns absent");let $=Z.thresholds.battery?.err_subsys??6,Q=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(),J=0,X=[];for(let Y of Q)J+=Number(Y.n),X.push(`Subsys=${Y.subsys} ECode=${Y.ecode} \xD7${Y.n}`);return P({check:"err_events",thresholds:Z.thresholds,failed:J>0,failSeverity:"HIGH",value:J,threshold_used:0,detail:J>0?`${J} non-battery ERR event(s): ${X.join(", ")}`:"no non-battery ERR events"})},A8=new Set([6,9]),q8=(Z)=>{if(!Z.hasTable("MODE"))return q("mode_changes",Z.thresholds);if(!C(Z,"MODE","ModeNum"))return q("mode_changes",Z.thresholds,"MODE missing ModeNum column");let $=Z.db.query('SELECT "ModeNum" AS modenum FROM "MODE"').all(),Q=$.length,J=Q>0?Q-1:0,X=new Map,Y=!1;for(let G of $){let W=Number(G.modenum);if(X.set(W,(X.get(W)??0)+1),A8.has(W))Y=!0}let K=[...X.entries()].sort((G,W)=>G[0]-W[0]).map(([G,W])=>`Mode${G}\xD7${W}`).join(", ");return P({check:"mode_changes",thresholds:Z.thresholds,failed:Y,failSeverity:"HIGH",value:J,threshold_used:0,detail:`${J} mode change(s); timeline: ${K||"\u2014"}`+(Y?" \u2014 emergency mode (RTL/LAND) entered":"")})},E8=(Z)=>{let $=Z.thresholds.airspeed;if(!K$(Z.vehicleType))return q("airspeed",Z.thresholds,`n/a for ${Z.vehicleType} (no fixed-wing airspeed)`);if(!Z.hasTable("ARSP"))return q("airspeed",Z.thresholds,"no ARSP (airspeed) data");if(!C(Z,"ARSP","Airspeed"))return q("airspeed",Z.thresholds,"ARSP missing Airspeed column");let Q=$?.stall_min_ms??8,J={kind:"rule-of-thumb",ref:"default stall floor"};if(Z.hasTable("PARM")){let Y=j(Z,`SELECT "Value" FROM "PARM" WHERE "Name"='ARSPD_FBW_MIN' LIMIT 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-`)}var n6=["# UAV domain pack active","","This project uses the Hydron UAV pack for ArduPilot/PX4 flight-log intelligence. Handle UAV","work (flight logs, parameters, tuning, telemetry) in whatever mode you are already in \u2014 do","NOT switch to a dedicated agent. The `uav_*` tools are available now: `uav_analyze` (decode +","run the system checks on a .bin/.log/.ulog/.tlog), `uav_query` (read-only SQL over a decoded","flight), `uav_python` (pandas/numpy over its tables \u2014 the tool for any non-trivial","computation), `uav_plot` (charts), `uav_param_audit`, `uav_tune`, `uav_tag`, `uav_finding`,","`uav_export`.","","For the domain rules \u2014 grounding discipline (the guardrails judge, you narrate; cite every","bound's source; never invent a threshold), signal semantics, per-check interpretation, the","tuning playbook, and when to fan work out \u2014 **load the `uav` skill**. Load it as soon as you","start UAV work, not only when narrating results.","","Specialist loops (spawn only for a genuine multi-step drill-down): `uav-investigate`","(open-ended 'why' on one flight), `uav-compare` (cross-flight regression), `uav-verify`","(adversarially pressure-test a proposed anomaly)."].join(`
-`),c6=async(Z)=>{let $=Z.directory,Q=Z.project?.id!=null?String(Z.project.id):"local";return{"experimental.chat.system.transform":async(J,X)=>{X.system.push(n6)},tool:{uav_analyze:R({description:"Analyze one ArduPilot/PX4 flight log (.bin): decode, run the UAV system checks, persist the observation locally, and (if a prior flight for the same airframe exists) compute the param/finding diff. Returns a ranked anomaly report. Verdicts come from deterministic guardrails, not the model.",args:{path:R.schema.string().describe("Absolute path to the .bin DataFlash log")},async execute(J){let{report:X}=await m$(J.path,{projectDir:$,workspace:Q});return m6(X)}}),uav_query:R({description:"Ask an ad-hoc SQL question over a single decoded flight's message tables (one table per message type, e.g. VIBE, ATT, BAT, ERR, CTUN, RCOU). Read-only: SELECT/WITH only, single statement, capped at 10k rows. Use the table/column names from the ArduPilot log. Findings produced this way are exploratory (tier:user), not part of the regression record.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),query:R.schema.string().describe("read-only SQL (SELECT/WITH) over the flight's message tables")},async execute(J){try{let X=await d$({projectDir:$,workspace:Q,flight_id:J.flight_id,query:J.query});return X$(X)}catch(X){return`uav_query error: ${X instanceof Error?X.message:String(X)}`}}}),uav_compare:R({description:"Compare 2+ ALREADY-ANALYZED flights at once: finding-severity trend (only checks that "+"differ), key-metric trend (vibe_peak, hover_thr, \u2026), and parameter drift across the runs. "+"Analyze each flight first with uav_analyze. Memory-light \u2014 compares the stored per-flight "+"summaries, NOT the raw logs, so four 1 GB flights compare cheaply. Returns a markdown report.",args:{flight_ids:R.schema.array(R.schema.string()).describe("2+ flight_ids from prior uav_analyze runs, in the order to display")},async execute(J){try{let{markdown:X}=await l$({projectDir:$,workspace:Q,flight_ids:J.flight_ids});return X}catch(X){return`uav_compare error: ${X instanceof Error?X.message:String(X)}`}}}),uav_param_audit:R({description:"Audit a flight's ArduPilot parameters for safety-critical settings (arming checks, battery/radio failsafes), out-of-range tuning values, and consistency (cell-count vs failsafe voltages, frame/notch). Deterministic; bounds come from param-rules.yaml + built-in defaults. (uav_analyze already includes this; use this for a standalone param re-audit of a stored flight.)",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze")},async execute(J){try{let X=await p6($,Q,J.flight_id);return A$(XZ(X,{configDir:$}))}catch(X){return`uav_param_audit error: ${X instanceof Error?X.message:String(X)}`}}}),uav_tune:R({description:"Compute an FFT over a flight's gyro/vibration data, find the dominant vibration peak, and recommend ArduPilot harmonic-notch params (INS_HNTCH_ENABLE/FREQ/BW/REF/HMNCS) with their verified ranges. "+"Recommendation only \u2014 review before applying; pushing params is a separate gated step.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze")},async execute(J){try{let X=await c(await HZ($,Q,J.flight_id),{configDir:$});return l6(i$(X))}catch(X){return`uav_tune error: ${X instanceof Error?X.message:String(X)}`}}}),uav_tag:R({description:"Tag a stored flight with test-profile / campaign labels (e.g. 'notch-v2', 'windy', 'post-prop-balance') for the param-history / run-tracking record. Returns the flight's full tag set.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),tags:R.schema.array(R.schema.string()).describe("one or more tags to add")},async execute(J){try{let X=await w$({projectDir:$,workspace:Q,flight_id:J.flight_id,tags:J.tags});return`tagged ${J.flight_id}: [${X.join(", ")}]`}catch(X){return`uav_tag error: ${X instanceof Error?X.message:String(X)}`}}}),uav_finding:R({description:`Store or list a flight's findings. Findings from uav_analyze are deterministic; THIS tool records the conclusions YOU reach during an investigation so they attach to the flight.
+`)}var $0=(Z)=>Z==="CRITICAL"?2:Z==="HIGH"?1:0;function n6(Z){if(!Z.length)return"(no findings stored for this flight yet)";let $=Z.filter((Y)=>Y.origin!=="agent"),Q=Z.filter((Y)=>Y.origin==="agent"),J=(Y)=>`  ${Y.origin==="agent"?`[agent ${Y.id}]`:"[deterministic]"} ${Y.severity}/${Y.verdict} ${Y.check}${Y.detail?` \u2014 ${Y.detail}`:""}`,X=[`${Z.length} finding(s) stored:`];return X.push(`Deterministic (${$.length}):`,...$.map(J)),X.push(`Agent-authored (${Q.length}):`,...Q.length?Q.map(J):["  (none)"]),X.push("","Before adding, judge whether your finding is ALREADY represented above (same root cause, even if phrased differently). Add only if genuinely new; pass supersedes_id to replace a stale one."),X.join(`
+`)}async function c6(Z,$,Q){let J=g(Z,".hydron","observations",$),X=await Q0(J).catch(()=>{throw Error(`No observation store at ${J}. Run uav_analyze first.`)});for(let Y of X){let K=g(J,Y,`${Q}.json`);try{let W=JSON.parse(await X0(K,"utf8"));if(Array.isArray(W?.params))return W.params}catch(W){if(W.code==="ENOENT")continue;throw W}}throw Error(`flight_id ${Q} not found in the observation store. Run uav_analyze first.`)}async function HZ(Z,$,Q){let J=g(Z,".hydron","observations",$),X=await Q0(J).catch(()=>{throw Error(`No observation store at ${J}. Run uav_analyze first.`)});for(let Y of X)try{let W=JSON.parse(await X0(g(J,Y,`${Q}.json`),"utf8"))?.episode?.attrs?.source_path;if(typeof W==="string"&&W)return W}catch(K){if(K.code==="ENOENT")continue;throw K}throw Error(`flight_id ${Q} not found (or no source_path). Run uav_analyze first.`)}function i6(Z){if(Z.dominant_peak_hz==null)return`No notch recommendation: ${Z.rationale}`;let $=[`Dominant vibration peak: ${Z.dominant_peak_hz.toFixed(1)} Hz`,Z.rationale,"","Recommended harmonic-notch params:"];for(let Q of Z.params){let J=Q.range?` (range ${Q.range[0]}\u2013${Q.range[1]})`:"",X=Q.source?` [${Q.source.kind}${Q.source.ref?`: ${Q.source.ref}`:""}]`:"";$.push(`  ${Q.name} = ${Q.value}${J}${X}`)}return $.push("","Review before applying. Push via the gated MAVLink param link, then tag the retest."),$.join(`
+`)}var o6=["# UAV domain pack active","","This project uses the Hydron UAV pack for ArduPilot/PX4 flight-log intelligence. Handle UAV","work (flight logs, parameters, tuning, telemetry) in whatever mode you are already in \u2014 do","NOT switch to a dedicated agent. The `uav_*` tools are available now: `uav_analyze` (decode +","run the system checks on a .bin/.log/.ulog/.tlog), `uav_query` (read-only SQL over a decoded","flight), `uav_python` (pandas/numpy over its tables \u2014 the tool for any non-trivial","computation), `uav_plot` (charts), `uav_param_audit`, `uav_tune`, `uav_tag`, `uav_finding`,","`uav_export`.","","For the domain rules \u2014 grounding discipline (the guardrails judge, you narrate; cite every","bound's source; never invent a threshold), signal semantics, per-check interpretation, the","tuning playbook, and when to fan work out \u2014 **load the `uav` skill**. Load it as soon as you","start UAV work, not only when narrating results.","","Specialist loops (spawn only for a genuine multi-step drill-down): `uav-investigate`","(open-ended 'why' on one flight), `uav-compare` (cross-flight regression), `uav-verify`","(adversarially pressure-test a proposed anomaly)."].join(`
+`),J0=d6(p6(import.meta.url)),r6=[g(J0,"..","bridge","uav_mavlink_bridge.py"),g(J0,"..","..","bridge","uav_mavlink_bridge.py")];function a6(){return r6.find((Z)=>Y0(Z))}async function s6(Z){try{return await Bun.spawn([...Z,"-c","import mcp, pymavlink"],{stdout:"ignore",stderr:"ignore",stdin:"ignore"}).exited===0}catch{return!1}}var t6=async(Z)=>{let $=Z.directory,Q=Z.project?.id!=null?String(Z.project.id):"local";return{config:async(J)=>{let X=a6();if(!X)return;let Y=await EZ();if(!Y)return;J.mcp={...J.mcp,mavlink:{type:"local",command:[...Y,X,"--no-read-only","--allow-param-write"],environment:{MAVLINK_DIALECT:"ardupilotmega"},enabled:await s6(Y),timeout:1e4}}},"experimental.chat.system.transform":async(J,X)=>{X.system.push(o6)},tool:{uav_analyze:D({description:"Analyze one ArduPilot/PX4 flight log (.bin): decode, run the UAV system checks, persist the observation locally, and (if a prior flight for the same airframe exists) compute the param/finding diff. Returns a ranked anomaly report. Verdicts come from deterministic guardrails, not the model.",args:{path:D.schema.string().describe("Absolute path to the .bin DataFlash log")},async execute(J){let{report:X}=await d$(J.path,{projectDir:$,workspace:Q});return l6(X)}}),uav_query:D({description:"Ask an ad-hoc SQL question over a single decoded flight's message tables (one table per message type, e.g. VIBE, ATT, BAT, ERR, CTUN, RCOU). Read-only: SELECT/WITH only, single statement, capped at 10k rows. Use the table/column names from the ArduPilot log. Findings produced this way are exploratory (tier:user), not part of the regression record.",args:{flight_id:D.schema.string().describe("flight_id from a prior uav_analyze"),query:D.schema.string().describe("read-only SQL (SELECT/WITH) over the flight's message tables")},async execute(J){try{let X=await p$({projectDir:$,workspace:Q,flight_id:J.flight_id,query:J.query});return Y$(X)}catch(X){return`uav_query error: ${X instanceof Error?X.message:String(X)}`}}}),uav_compare:D({description:"Compare 2+ ALREADY-ANALYZED flights at once: finding-severity trend (only checks that "+"differ), key-metric trend (vibe_peak, hover_thr, \u2026), and parameter drift across the runs. "+"Analyze each flight first with uav_analyze. Memory-light \u2014 compares the stored per-flight "+"summaries, NOT the raw logs, so four 1 GB flights compare cheaply. Returns a markdown report.",args:{flight_ids:D.schema.array(D.schema.string()).describe("2+ flight_ids from prior uav_analyze runs, in the order to display")},async execute(J){try{let{markdown:X}=await n$({projectDir:$,workspace:Q,flight_ids:J.flight_ids});return X}catch(X){return`uav_compare error: ${X instanceof Error?X.message:String(X)}`}}}),uav_param_audit:D({description:"Audit a flight's ArduPilot parameters for safety-critical settings (arming checks, battery/radio failsafes), out-of-range tuning values, and consistency (cell-count vs failsafe voltages, frame/notch). Deterministic; bounds come from param-rules.yaml + built-in defaults. (uav_analyze already includes this; use this for a standalone param re-audit of a stored flight.)",args:{flight_id:D.schema.string().describe("flight_id from a prior uav_analyze")},async execute(J){try{let X=await c6($,Q,J.flight_id);return q$(XZ(X,{configDir:$}))}catch(X){return`uav_param_audit error: ${X instanceof Error?X.message:String(X)}`}}}),uav_tune:D({description:"Compute an FFT over a flight's gyro/vibration data, find the dominant vibration peak, and recommend ArduPilot harmonic-notch params (INS_HNTCH_ENABLE/FREQ/BW/REF/HMNCS) with their verified ranges. "+"Recommendation only \u2014 review before applying; pushing params is a separate gated step.",args:{flight_id:D.schema.string().describe("flight_id from a prior uav_analyze")},async execute(J){try{let X=await c(await HZ($,Q,J.flight_id),{configDir:$});return i6(o$(X))}catch(X){return`uav_tune error: ${X instanceof Error?X.message:String(X)}`}}}),uav_tag:D({description:"Tag a stored flight with test-profile / campaign labels (e.g. 'notch-v2', 'windy', 'post-prop-balance') for the param-history / run-tracking record. Returns the flight's full tag set.",args:{flight_id:D.schema.string().describe("flight_id from a prior uav_analyze"),tags:D.schema.array(D.schema.string()).describe("one or more tags to add")},async execute(J){try{let X=await y$({projectDir:$,workspace:Q,flight_id:J.flight_id,tags:J.tags});return`tagged ${J.flight_id}: [${X.join(", ")}]`}catch(X){return`uav_tag error: ${X instanceof Error?X.message:String(X)}`}}}),uav_finding:D({description:`Store or list a flight's findings. Findings from uav_analyze are deterministic; THIS tool records the conclusions YOU reach during an investigation so they attach to the flight.
 `+`\u2022 op:"list" \u2014 show every stored finding (deterministic + agent). ALWAYS call this first.
-`+'\u2022 op:"add" \u2014 append a NEW agent finding. Only add after listing and judging it is not already '+"represented (same root cause, even if worded differently). To replace one you now consider stale, "+"pass supersedes_id. A finding must cite the ABSOLUTE bound it breached (in detail) \u2014 not 'N\xD7 the "+"other instances'. The store refuses an exact-id rewrite but does NOT dedup semantically; that is your call.",args:{op:R.schema.enum(["list","add"]).describe("list existing findings, or add a new one"),flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),title:R.schema.string().optional().describe("add: short label, e.g. 'IMU2 accel-Y divergence'"),severity:R.schema.enum(["OK","HIGH","CRITICAL"]).optional().describe("add: magnitude (default HIGH)"),detail:R.schema.string().optional().describe("add: the grounded evidence + the ABSOLUTE bound it breached and that bound's source"),value:R.schema.number().optional().describe("add: measured metric, if any"),threshold_used:R.schema.number().optional().describe("add: the absolute bound it was judged against"),supersedes_id:R.schema.string().optional().describe("add: id of an existing finding this replaces")},async execute(J){try{if(J.op==="list")return d6(await y$({projectDir:$,workspace:Q,flight_id:J.flight_id}));if(!J.title)return"uav_finding error: title is required to add a finding";let X=J.severity??"HIGH",Y={check:J.title,severity:X,verdict:X==="OK"?"PASS":"FAIL",tier:"user",origin:"agent",value:J.value??null,threshold_used:J.threshold_used??null,ruleset_version:"",detail:J.detail,id:`a-${Date.now().toString(36)}-${Math.random().toString(36).slice(2,6)}`,created_at:new Date().toISOString()},K=await v$({projectDir:$,workspace:Q,flight_id:J.flight_id,finding:Y,supersedesId:J.supersedes_id});return K.added?`stored agent finding ${K.id} on ${J.flight_id} (${K.total} findings total)`+(J.supersedes_id?` \u2014 superseded ${J.supersedes_id}`:""):`not stored (${K.reason}); ${K.total} findings already on ${J.flight_id}`}catch(X){return`uav_finding error: ${X instanceof Error?X.message:String(X)}`}}}),uav_python:R({description:"Run a Python snippet (pandas + numpy) over a flight's decoded data \u2014 THE tool for any non-trivial "+"analysis: binning, correlation, scoring/ranking windows, regression, FFT, custom stats. The message "+"tables are available as `load('VIBE')`, `load('ATT')`, `load('BAT')`, \u2026 (each a DataFrame; TimeUS is \xB5s "+"since boot). `print()` your results. Use this INSTEAD of multiple uav_query calls or doing arithmetic "+"in your head \u2014 the numbers must come from code you actually run.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),code:R.schema.string().describe("Python; use load('TABLE') for DataFrames, print() results")},async execute(J){try{let X=u($,".hydron","pycache",J.flight_id);if(!x6(X)){let W=await c(await HZ($,Q,J.flight_id),{configDir:$});await bZ(W,X)}let{stdout:Y,ok:K,tables:G}=await e$(X,J.code);return K?Y||"(snippet ran, no output \u2014 did you print()?)":`python exited non-zero:
+`+'\u2022 op:"add" \u2014 append a NEW agent finding. Only add after listing and judging it is not already '+"represented (same root cause, even if worded differently). To replace one you now consider stale, "+"pass supersedes_id. A finding must cite the ABSOLUTE bound it breached (in detail) \u2014 not 'N\xD7 the "+"other instances'. The store refuses an exact-id rewrite but does NOT dedup semantically; that is your call.",args:{op:D.schema.enum(["list","add"]).describe("list existing findings, or add a new one"),flight_id:D.schema.string().describe("flight_id from a prior uav_analyze"),title:D.schema.string().optional().describe("add: short label, e.g. 'IMU2 accel-Y divergence'"),severity:D.schema.enum(["OK","HIGH","CRITICAL"]).optional().describe("add: magnitude (default HIGH)"),detail:D.schema.string().optional().describe("add: the grounded evidence + the ABSOLUTE bound it breached and that bound's source"),value:D.schema.number().optional().describe("add: measured metric, if any"),threshold_used:D.schema.number().optional().describe("add: the absolute bound it was judged against"),supersedes_id:D.schema.string().optional().describe("add: id of an existing finding this replaces")},async execute(J){try{if(J.op==="list")return n6(await k$({projectDir:$,workspace:Q,flight_id:J.flight_id}));if(!J.title)return"uav_finding error: title is required to add a finding";let X=J.severity??"HIGH",Y={check:J.title,severity:X,verdict:X==="OK"?"PASS":"FAIL",tier:"user",origin:"agent",value:J.value??null,threshold_used:J.threshold_used??null,ruleset_version:"",detail:J.detail,id:`a-${Date.now().toString(36)}-${Math.random().toString(36).slice(2,6)}`,created_at:new Date().toISOString()},K=await h$({projectDir:$,workspace:Q,flight_id:J.flight_id,finding:Y,supersedesId:J.supersedes_id});return K.added?`stored agent finding ${K.id} on ${J.flight_id} (${K.total} findings total)`+(J.supersedes_id?` \u2014 superseded ${J.supersedes_id}`:""):`not stored (${K.reason}); ${K.total} findings already on ${J.flight_id}`}catch(X){return`uav_finding error: ${X instanceof Error?X.message:String(X)}`}}}),uav_python:D({description:"Run a Python snippet (pandas + numpy) over a flight's decoded data \u2014 THE tool for any non-trivial "+"analysis: binning, correlation, scoring/ranking windows, regression, FFT, custom stats. The message "+"tables are available as `load('VIBE')`, `load('ATT')`, `load('BAT')`, \u2026 (each a DataFrame; TimeUS is \xB5s "+"since boot). `print()` your results. Use this INSTEAD of multiple uav_query calls or doing arithmetic "+"in your head \u2014 the numbers must come from code you actually run.",args:{flight_id:D.schema.string().describe("flight_id from a prior uav_analyze"),code:D.schema.string().describe("Python; use load('TABLE') for DataFrames, print() results")},async execute(J){try{let X=g($,".hydron","pycache",J.flight_id);if(!Y0(X)){let G=await c(await HZ($,Q,J.flight_id),{configDir:$});await fZ(G,X)}let{stdout:Y,ok:K,tables:W}=await Z0(X,J.code);return K?Y||"(snippet ran, no output \u2014 did you print()?)":`python exited non-zero:
 ${Y}
-(tables available: ${G.join(", ")})`}catch(X){return`uav_python error: ${X instanceof Error?X.message:String(X)}`}}}),uav_export:R({description:"Export a decoded flight to one CSV per message type (PlotJuggler-importable) into a directory, so the lab's existing PlotJuggler validation flow isn't disrupted. Returns the output directory + file count.",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),out_dir:R.schema.string().describe("absolute output directory for the CSVs")},async execute(J){try{let X=await c(await HZ($,Q,J.flight_id),{configDir:$});return`exported ${(await bZ(X,J.out_dir)).length} CSV file(s) to ${J.out_dir} (PlotJuggler-importable)`}catch(X){return`uav_export error: ${X instanceof Error?X.message:String(X)}`}}}),uav_plot:R({description:"Chart flight signals as an SVG that renders in the editor. Use for ANY plot/chart/graph/visualise "+`request \u2014 never hand-write SQL via uav_query for visualisation. Three modes:
+(tables available: ${W.join(", ")})`}catch(X){return`uav_python error: ${X instanceof Error?X.message:String(X)}`}}}),uav_export:D({description:"Export a decoded flight to one CSV per message type (PlotJuggler-importable) into a directory, so the lab's existing PlotJuggler validation flow isn't disrupted. Returns the output directory + file count.",args:{flight_id:D.schema.string().describe("flight_id from a prior uav_analyze"),out_dir:D.schema.string().describe("absolute output directory for the CSVs")},async execute(J){try{let X=await c(await HZ($,Q,J.flight_id),{configDir:$});return`exported ${(await fZ(X,J.out_dir)).length} CSV file(s) to ${J.out_dir} (PlotJuggler-importable)`}catch(X){return`uav_export error: ${X instanceof Error?X.message:String(X)}`}}}),uav_plot:D({description:"Chart flight signals as an SVG that renders in the editor. Use for ANY plot/chart/graph/visualise "+`request \u2014 never hand-write SQL via uav_query for visualisation. Three modes:
 `+'\u2022 timeseries (default): signals vs time. Supports DERIVED expressions, e.g. "ATT.DesRoll - ATT.Roll" '+`(tracking error), "CTUN.ThH * 100". Multiple signals overlay.
 `+"\u2022 xy: one signal vs another (time-aligned) \u2014 correlations, e.g. x=BAT.Curr y=BAT.Volt (sag/IR), "+`x=RCOU.C1 y=VIBE.VibeZ (vibe vs throttle \u2014 motor output, NOT CTUN.ThH which is the constant hover estimate).
 `+`\u2022 fft: magnitude spectrum (Hz) of a signal \u2014 vibration peaks, e.g. signals=["IMU.GyrX"] or ["VIBE.VibeZ"].
-`+"Signals/exprs use TABLE.COLUMN (VIBE.VibeZ, ATT.DesRoll, BAT.Volt, RCOU.C1, XKF3.IVN, \u2026).",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),mode:R.schema.enum(["timeseries","xy","fft"]).optional().describe("default timeseries"),signals:R.schema.array(R.schema.string()).optional().describe('timeseries/fft: signals or derived exprs, e.g. ["ATT.DesRoll - ATT.Roll"] or ["IMU.GyrX"]'),x:R.schema.string().optional().describe("xy mode: x-axis signal, e.g. BAT.Curr"),y:R.schema.string().optional().describe("xy mode: y-axis signal, e.g. BAT.Volt"),title:R.schema.string().optional().describe("optional chart title")},async execute(J){try{let X=await c(await HZ($,Q,J.flight_id),{configDir:$}),{svg:Y,plotted:K,missing:G}=s$(X,{mode:J.mode,signals:J.signals,x:J.x,y:J.y,title:J.title});if(!K.length)return`uav_plot: nothing plottable (${G.join(", ")||"no signals given"}) for flight ${J.flight_id}`;let W=u($,".hydron","plots");await u6(W,{recursive:!0});let z=(J.mode??"ts")+"_"+K.join("_").replace(/[^A-Za-z0-9._-]/g,"-").slice(0,50),B=u(W,`${J.flight_id}__${z}.svg`);await g6(B,Y);let V=`data:image/svg+xml;base64,${Buffer.from(Y).toString("base64")}`,U=G.length?`
-_(no data for: ${G.join(", ")})_`:"",H=[...J.signals??[],J.x,J.y].filter((L)=>!!L),E=t$(H.length?H:K),T=E.length?`
+`+"Signals/exprs use TABLE.COLUMN (VIBE.VibeZ, ATT.DesRoll, BAT.Volt, RCOU.C1, XKF3.IVN, \u2026).",args:{flight_id:D.schema.string().describe("flight_id from a prior uav_analyze"),mode:D.schema.enum(["timeseries","xy","fft"]).optional().describe("default timeseries"),signals:D.schema.array(D.schema.string()).optional().describe('timeseries/fft: signals or derived exprs, e.g. ["ATT.DesRoll - ATT.Roll"] or ["IMU.GyrX"]'),x:D.schema.string().optional().describe("xy mode: x-axis signal, e.g. BAT.Curr"),y:D.schema.string().optional().describe("xy mode: y-axis signal, e.g. BAT.Volt"),title:D.schema.string().optional().describe("optional chart title")},async execute(J){try{let X=await c(await HZ($,Q,J.flight_id),{configDir:$}),{svg:Y,plotted:K,missing:W}=t$(X,{mode:J.mode,signals:J.signals,x:J.x,y:J.y,title:J.title});if(!K.length)return`uav_plot: nothing plottable (${W.join(", ")||"no signals given"}) for flight ${J.flight_id}`;let G=g($,".hydron","plots");await m6(G,{recursive:!0});let z=(J.mode??"ts")+"_"+K.join("_").replace(/[^A-Za-z0-9._-]/g,"-").slice(0,50),B=g(G,`${J.flight_id}__${z}.svg`);await x6(B,Y);let V=`data:image/svg+xml;base64,${Buffer.from(Y).toString("base64")}`,U=W.length?`
+_(no data for: ${W.join(", ")})_`:"",H=[...J.signals??[],J.x,J.y].filter((L)=>!!L),F=e$(H.length?H:K),T=F.length?`
-`+E.map((L)=>`> \u2139\uFE0F ${L}`).join(`
+`+F.map((L)=>`> \u2139\uFE0F ${L}`).join(`
 `):"";return`![${K.join(", ")}](${V})
-Chart saved: ${B}  (\u2318\u21E7V to preview)${U}${T}`}catch(X){return`uav_plot error: ${X instanceof Error?X.message:String(X)}`}}})}}},xJ=c6;export{xJ as default};
+Chart saved: ${B}  (\u2318\u21E7V to preview)${U}${T}`}catch(X){return`uav_plot error: ${X instanceof Error?X.message:String(X)}`}}})}}},oJ=t6;export{oJ as default};

package/skills/uav/SKILL.md CHANGED Viewed

@@ -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 CHANGED Viewed

@@ -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.