npm - @h2loop/uav - Versions diffs - 1.2.0 → 1.2.2 - Mend

@h2loop/uav 1.2.0 → 1.2.2

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (9) 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 +36 -36
package/plugins/worker/worker-entry.js +5 -9
package/skills/uav/SKILL.md +4 -1
package/skills/uav/references/tuning.md +4 -2

package/plugins/index.js CHANGED Viewed

@@ -1,46 +1,46 @@
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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(${S(V)}) FROM 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P({check:"internal_resistance",thresholds:Z.thresholds,failed:Y>K,failSeverity:"HIGH",value:Y,threshold_used:K,source:$?.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 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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 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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 $=Z.db.query('SELECT "ModeNum" AS modenum 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r=Kn(e);if(/ArduPlane/i.test(r))return"fixedwing";if(/ArduCopter/i.test(r))return"multirotor";if(ke(e,"FRAME_CLASS")!==null)return"multirotor";if(e.tables.ARSP&&!e.tables.MOTB)return"fixedwing";if(e.tables.MOTB||e.tables.RATE)return"multirotor";return"unknown"}function se(e){return e===void 0||e==="multirotor"||e==="vtol"||e==="unknown"}function ct(e){return e==="fixedwing"||e==="vtol"}function I(e){return`"${e.replace(/"/g,'""')}"`}function k(e,t){let r=e.db.query(t).get();if(!r)return null;let n=Object.values(r)[0];if(n===null||n===void 0)return null;return Number(n)}function P(e,t){try{let r=e.db.query(`PRAGMA table_info(${I(t)})`).all();return new Set(r.map((n)=>n.name))}catch{return new Set}}function R(e,t,r){return P(e,t).has(r)}function ut(e,t){for(let r of t)if(e.hasTable(r))return r;return null}function y(e,t,r){return{check:e,severity:"OK",value:null,threshold_used:null,ruleset_version:t.ruleset_version,verdict:"SKIP",tier:"system",...r?{detail:r}:{}}}function A(e){return{check:e.check,severity:e.failed?e.failSeverity:"OK",value:e.value,threshold_used:e.threshold_used,ruleset_version:e.thresholds.ruleset_version,verdict:e.failed?"FAIL":"PASS",tier:"system",...e.source?{source:e.source}:{},...e.detail?{detail:e.detail}:{}}}var Yn=(e)=>{let t=e.thresholds.battery;if(!e.hasTable("ERR"))return y("battery",e.thresholds);if(!R(e,"ERR","Subsys")||!R(e,"ERR","ECode"))return y("battery",e.thresholds,"ERR present but Subsys/ECode columns absent");let r=t?.err_subsys??6,n=t?.err_ecode??1,s=k(e,`SELECT COUNT(*) FROM "ERR" WHERE "Subsys"=${r} AND "ECode"=${n}`)??0;return A({check:"battery",thresholds:e.thresholds,failed:s>0,failSeverity:"CRITICAL",value:s,threshold_used:0,source:t?.source,detail:s>0?`${s} battery failsafe ERR event(s) (Subsys=${r} ECode=${n})`:void 0})},Jn=(e)=>{let t=e.thresholds.attitude;if(!e.hasTable("ATT"))return y("attitude",e.thresholds);for(let o of["DesRoll","Roll","DesPitch","Pitch"])if(!R(e,"ATT",o))return y("attitude",e.thresholds,`ATT missing column ${o}`);let r=t?.max_deg??5,n=k(e,'SELECT MAX(ABS("DesRoll"-"Roll")) FROM "ATT"'),s=k(e,'SELECT MAX(ABS("DesPitch"-"Pitch")) FROM "ATT"'),i=Math.max(n??0,s??0);return A({check:"attitude",thresholds:e.thresholds,failed:i>r,failSeverity:"HIGH",value:i,threshold_used:r,source:t?.source,detail:`peak roll err ${(n??0).toFixed(2)}\xB0, pitch err ${(s??0).toFixed(2)}\xB0`})},Qn=(e)=>{let t=e.thresholds.altitude;if(!e.hasTable("CTUN"))return y("altitude",e.thresholds);if(!R(e,"CTUN","DAlt")||!R(e,"CTUN","Alt"))return y("altitude",e.thresholds,"CTUN missing DAlt/Alt columns");let r=t?.max_m??2,n=k(e,'SELECT MAX(ABS("DAlt"-"Alt")) FROM "CTUN"');return A({check:"altitude",thresholds:e.thresholds,failed:(n??0)>r,failSeverity:"HIGH",value:n,threshold_used:r,source:t?.source})},Zn=(e)=>{let t=e.thresholds.hover;if(!se(e.vehicleType))return y("hover",e.thresholds,`n/a for ${e.vehicleType} (no hover throttle)`);if(!e.hasTable("CTUN"))return y("hover",e.thresholds);if(!R(e,"CTUN","ThH"))return y("hover",e.thresholds,"CTUN missing ThH column");let r=t?.band??[0.25,0.75],[n,s]=r,i=k(e,'SELECT AVG("ThH") FROM "CTUN"'),o=i===null?!1:i<n||i>s;return A({check:"hover",thresholds:e.thresholds,failed:o,failSeverity:"HIGH",value:i,threshold_used:s,source:t?.source,detail:`mean hover throttle ${(i??0).toFixed(3)} vs band [${n}, ${s}]`})},lt=2000,er=(e)=>{if(!se(e.vehicleType))return y("rcou",e.thresholds,`n/a for ${e.vehicleType} (control surfaces, not motor mix)`);if(!e.hasTable("RCOU"))return y("rcou",e.thresholds);let t=P(e,"RCOU"),r=[];for(let i=1;i<=8;i++)if(t.has(`C${i}`))r.push(`C${i}`);if(r.length===0)return y("rcou",e.thresholds,"RCOU has no C1..C8 channels");let n=-1/0,s=[];for(let i of r){let o=k(e,`SELECT MAX(${I(i)}) FROM "RCOU"`);if(o===null)continue;if(o>n)n=o;if(o>=lt)s.push(`${i}=${o}`)}if(n===-1/0)n=0;return A({check:"rcou",thresholds:e.thresholds,failed:s.length>0,failSeverity:"HIGH",value:n,threshold_used:lt,detail:s.length>0?`motor output(s) pegged at max: ${s.join(", ")}`:void 0})},Ae=1000,Ce=2000,tr=(e)=>{if(!e.hasTable("RCIN"))return y("rcin",e.thresholds);if(!R(e,"RCIN","C3"))return y("rcin",e.thresholds,"RCIN missing C3 column");let t=k(e,'SELECT MIN("C3") FROM "RCIN"'),r=k(e,'SELECT MAX("C3") FROM "RCIN"'),n=t!==null&&t<Ae||r!==null&&r>Ce,s=r;if(t!==null&&t<Ae)s=t;return A({check:"rcin",thresholds:e.thresholds,failed:n,failSeverity:"HIGH",value:s,threshold_used:Ce,detail:`RCIN C3 range [${t??"\u2014"}, ${r??"\u2014"}] vs [${Ae}, ${Ce}]`})},nr=(e)=>{let t=e.thresholds.vibration;if(!e.hasTable("VIBE"))return y("vibration",e.thresholds);let r=P(e,"VIBE"),n=["VibeX","VibeY","VibeZ"].filter((d)=>r.has(d));if(n.length===0)return y("vibration",e.thresholds,"VIBE has no VibeX/Y/Z columns");let s=t?.max_ms2??30,i={},o=-1/0;for(let d of n){let m=k(e,`SELECT MAX(${I(d)}) FROM 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t=e.thresholds.ekf,r=ut(e,["XKF3","NKF3"]);if(!r)return y("ekf",e.thresholds);let n=P(e,r),s=["IVN","IVE","IVD","IVT","IPN","IPE","IPD"].filter((a)=>n.has(a));if(s.length===0)return y("ekf",e.thresholds,`${r} has no IVN/IVE/IVD/IVT/IPN/IPE/IPD columns`);let i=t?.max_ratio??0.5,o=-1/0;for(let a of s){let c=k(e,`SELECT MAX(ABS(${I(a)})) FROM ${I(r)}`);if(c!==null&&c>o)o=c}if(o===-1/0)o=0;return A({check:"ekf",thresholds:e.thresholds,failed:o>i,failSeverity:"HIGH",value:o,threshold_used:i,source:t?.source,detail:`peak innovation ${o} (${r}: ${s.join("/")})`})},or=(e)=>{let t=e.thresholds.battery;if(!e.hasTable("BAT"))return y("min_cell_voltage",e.thresholds);if(!R(e,"BAT","Volt"))return y("min_cell_voltage",e.thresholds,"BAT missing Volt column");let r=t?.min_cell_v??3.3,n=k(e,'SELECT MAX("Volt") FROM "BAT"'),s=k(e,'SELECT MIN("Volt") FROM "BAT"');if(n===null||s===null||n<=0)return y("min_cell_voltage",e.thresholds,"BAT.Volt has no usable values");let i=Math.max(1,Math.round(n/4.2)),o=s/i;return A({check:"min_cell_voltage",thresholds:e.thresholds,failed:o<r,failSeverity:"CRITICAL",value:o,threshold_used:r,source:t?.source,detail:`${i}S pack (MAX pack ${n.toFixed(2)}V), min cell ${o.toFixed(3)}V vs floor ${r}V`})},ar=(e)=>{let t=e.thresholds.battery;if(!e.hasTable("BAT"))return y("voltage_sag",e.thresholds);if(!R(e,"BAT","VoltR")||!R(e,"BAT","Volt"))return y("voltage_sag",e.thresholds,"BAT missing VoltR/Volt columns");let r=t?.max_sag_v??2,n=k(e,'SELECT MAX("VoltR"-"Volt") FROM "BAT"');return A({check:"voltage_sag",thresholds:e.thresholds,failed:n!==null&&n>r,failSeverity:"HIGH",value:n,threshold_used:r,source:t?.source,detail:`peak sag ${(n??0).toFixed(2)}V (VoltR-Volt) vs ${r}V`})},cr=(e)=>{let t=e.thresholds.battery;if(!e.hasTable("BAT"))return y("over_current",e.thresholds);if(!R(e,"BAT","Curr"))return y("over_current",e.thresholds,"BAT missing Curr column");let r=t?.max_current_a??200,n=k(e,'SELECT MAX("Curr") FROM 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A({check:"internal_resistance",thresholds:e.thresholds,failed:i>o,failSeverity:"HIGH",value:i,threshold_used:o,source:t?.source,detail:`peak internal resistance ${i.toFixed(4)}\u03A9 (at Curr \u2265 ${n} A) vs ${o}\u03A9`})},ur=(e)=>{let t=e.thresholds.power;if(!e.hasTable("POWR"))return y("board_brownout",e.thresholds);if(!R(e,"POWR","Vcc"))return y("board_brownout",e.thresholds,"POWR missing Vcc column");let r=t?.min_vcc_v??4.5,n=k(e,'SELECT MIN("Vcc") FROM "POWR"');return A({check:"board_brownout",thresholds:e.thresholds,failed:n!==null&&n<r,failSeverity:"CRITICAL",value:n,threshold_used:r,source:t?.source,detail:`min board Vcc ${(n??0).toFixed(3)}V vs floor ${r}V`})},dr=(e)=>{let t=e.thresholds.rate;if(!e.hasTable("RATE"))return y("rate_tracking",e.thresholds);let r=P(e,"RATE"),s=[["RDes","R"],["PDes","P"],["YDes","Y"]].filter(([c,l])=>r.has(c)&&r.has(l));if(s.length===0)return y("rate_tracking",e.thresholds,"RATE has no RDes/R, PDes/P, YDes/Y pairs");let i=t?.max_err_dps??50,o=-1/0,a="";for(let[c,l]of s){let u=k(e,`SELECT MAX(ABS(${I(c)}-${I(l)})) FROM "RATE"`);if(u!==null&&u>o)o=u,a=c.replace("Des","")}if(o===-1/0)o=0;return A({check:"rate_tracking",thresholds:e.thresholds,failed:o>i,failSeverity:"HIGH",value:o,threshold_used:i,source:t?.source,detail:`peak rate-tracking error ${o.toFixed(2)} deg/s (axis ${a||"?"}) vs ${i} deg/s`})},fr=(e)=>{let t=e.thresholds.gps;if(!e.hasTable("GPA"))return y("gps_accuracy",e.thresholds);if(!R(e,"GPA","HAcc"))return y("gps_accuracy",e.thresholds,"GPA missing HAcc column");let r=t?.hacc_max_m??5,n=k(e,'SELECT MAX("HAcc") FROM "GPA"');return A({check:"gps_accuracy",thresholds:e.thresholds,failed:n!==null&&n>r,failSeverity:"HIGH",value:n,threshold_used:r,source:t?.source,detail:`peak horizontal accuracy ${(n??0).toFixed(2)}m vs ${r}m`})},mr=(e)=>{let t=e.thresholds.ekf,r=ut(e,["XKF4","NKF4"]);if(!r)return y("ekf_variance",e.thresholds);let n=P(e,r),s=["SV","SP","SH","SM"].filter((u)=>n.has(u));if(s.length===0)return y("ekf_variance",e.thresholds,`${r} has no SV/SP/SH/SM columns`);let i=t?.max_variance??1,o=-1/0,a="";for(let u of s){let d=k(e,`SELECT MAX(${I(u)}) FROM ${I(r)}`);if(d!==null&&d>o)o=d,a=u}if(o===-1/0)o=0;let c=n.has("FS")?k(e,`SELECT MAX("FS") FROM ${I(r)}`):null,l=c!==null&&c>0?` | EKF failsafe set (FS MAX=${c})`:"";return A({check:"ekf_variance",thresholds:e.thresholds,failed:o>i,failSeverity:"HIGH",value:o,threshold_used:i,source:t?.source,detail:`peak EKF variance ${o.toFixed(3)} (${r}: ${a||s.join("/")}) vs ${i}${l}`})},hr=(e)=>{let t=e.thresholds.mag;if(!e.hasTable("MAG"))return y("mag_offsets",e.thresholds);let r=P(e,"MAG"),n=["OfsX","OfsY","OfsZ"].filter((a)=>r.has(a));if(n.length===0)return y("mag_offsets",e.thresholds,"MAG has no OfsX/OfsY/OfsZ columns");let s=t?.max_offset??600,i=-1/0,o="";for(let a of n){let c=k(e,`SELECT MAX(ABS(${I(a)})) FROM 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y("thrust_margin",e.thresholds,`n/a for ${e.vehicleType} (lift/T:W is a rotorcraft metric)`);if(!e.hasTable("MOTB"))return y("thrust_margin",e.thresholds);let t=P(e,"MOTB");if(!t.has("FailFlags")&&!(t.has("ThrOut")&&t.has("LiftMax")))return y("thrust_margin",e.thresholds,"MOTB missing FailFlags and ThrOut/LiftMax columns");let r=t.has("FailFlags")?k(e,'SELECT MAX("FailFlags") FROM "MOTB"')??0:0,n=null;if(t.has("ThrOut")&&t.has("LiftMax")){let a=k(e,'SELECT AVG("ThrOut") FROM "MOTB"'),c=k(e,'SELECT AVG("LiftMax") FROM "MOTB"');if(a!==null&&c!==null&&c>0)n=a/c}let s=n!==null&&n>0.5,i=r>0,o=`MOTB FailFlags MAX=${r}`+(n!==null?`, mean ThrOut/LiftMax ${n.toFixed(2)} (low-margin > 0.5)`:"")+(i?" \u2014 THRUST-LOSS flagged":s?" \u2014 low thrust margin":"");return A({check:"thrust_margin",thresholds:e.thresholds,failed:i||s,failSeverity:"HIGH",value:n,threshold_used:0.5,detail:o})},yr=(e)=>{let t=e.thresholds.imu;if(!e.hasTable("IMU"))return y("imu_health",e.thresholds);let r=P(e,"IMU"),n=["EG","EA"].filter((a)=>r.has(a));if(n.length===0)return y("imu_health",e.thresholds,"IMU has no EG/EA error-count columns");let s=t?.max_err??0,i=-1/0,o="";for(let a of n){let c=k(e,`SELECT MAX(${I(a)}) FROM "IMU"`);if(c!==null&&c>i)i=c,o=a}if(i===-1/0)i=0;return A({check:"imu_health",thresholds:e.thresholds,failed:i>s,failSeverity:"HIGH",value:i,threshold_used:s,source:t?.source,detail:`max IMU error count ${i} (${o||n.join("/")}) vs ${s}`})},br=(e)=>{let t=e.thresholds.imu;if(!e.hasTable("IMU"))return y("imu_consistency",e.thresholds);let r=P(e,"IMU");if(!r.has("I"))return y("imu_consistency",e.thresholds,"IMU has no instance column I");let n=["AccX","AccY","AccZ"].filter((v)=>r.has(v)),s=["GyrX","GyrY","GyrZ"].filter((v)=>r.has(v));if(n.length===0&&s.length===0)return y("imu_consistency",e.thresholds,"IMU has no Acc*/Gyr* columns");let i=[...n,...s].map((v)=>`AVG(${I(v)}) ${I(v)}`).join(", "),o=e.db.query(`SELECT "I" AS "I", ${i} FROM "IMU" GROUP BY 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L(e){return{check:e.check,severity:e.severity,value:e.value,threshold_used:e.threshold_used,ruleset_version:e.ruleset_version,verdict:e.verdict,tier:"system",source:e.source,detail:e.detail}}function ie(e,t={}){let r=t.configDir?xr(t.configDir):yt(),n=t.ruleset_version??r.ruleset_version,s=Dr(e),i=ht(t.configDir);return[...Nr(s,r,n),...Lr(s,n),...Hr(s,r,n,i),...Vr(e,null)]}function Nr(e,t,r){let n=[],s={kind:"rule-of-thumb"},i=e.get("ARMING_CHECK");if(i===void 0)n.push(V("param.safety.arming",r,"ARMING_CHECK absent"));else{let u=i!==0;n.push(L({check:"param.safety.arming",severity:u?"OK":"CRITICAL",value:i,threshold_used:t.safety.ARMING_CHECK?.min??1,verdict:u?"PASS":"FAIL",ruleset_version:r,detail:u?"arming checks enabled":"ARMING_CHECK=0 \u2014 ALL pre-arm safety checks are disabled",source:s}))}let o=e.get("BATT_LOW_VOLT"),a=e.get("BATT_CRT_VOLT");if(o===void 0&&a===void 0)n.push(V("param.safety.battery_failsafe",r,"BATT_LOW_VOLT/BATT_CRT_VOLT absent"));else{let u=(o??0)===0&&(a??0)===0;n.push(L({check:"param.safety.battery_failsafe",severity:u?"CRITICAL":"OK",value:u?0:a??o??0,threshold_used:0,verdict:u?"FAIL":"PASS",ruleset_version:r,detail:u?"battery failsafe not configured (BATT_LOW_VOLT and BATT_CRT_VOLT both 0)":"battery failsafe configured",source:s}))}let c=e.get("FS_THR_ENABLE");if(c===void 0)n.push(V("param.safety.radio_failsafe",r,"FS_THR_ENABLE absent"));else{let u=c!==0;n.push(L({check:"param.safety.radio_failsafe",severity:u?"OK":"HIGH",value:c,threshold_used:t.safety.FS_THR_ENABLE?.min??1,verdict:u?"PASS":"FAIL",ruleset_version:r,detail:u?"radio failsafe enabled":"FS_THR_ENABLE=0 \u2014 radio/throttle failsafe is OFF",source:s}))}let l=e.get("FENCE_ENABLE");if(l===void 0)n.push(V("param.safety.fence",r,"FENCE_ENABLE absent"));else{let u=l!==0;n.push(L({check:"param.safety.fence",severity:u?"OK":"HIGH",value:l,threshold_used:t.safety.FENCE_ENABLE?.min??1,verdict:u?"PASS":"FAIL",ruleset_version:r,detail:u?"geofence enabled":"FENCE_ENABLE=0 \u2014 geofence disabled (advisory)",source:s}))}return n}function Lr(e,t){let r=[],n={kind:"rule-of-thumb"},s=e.get("BATT_CRT_VOLT"),i=Or(e);if(s===void 0||s===0||i===null||i<=0)r.push(V("param.consistency.battery_cells",t,"BATT_CRT_VOLT and a cell-count source required"));else{let l=s/i,u=l>=3&&l<=3.7;r.push(L({check:"param.consistency.battery_cells",severity:u?"OK":"HIGH",value:Me(l,3),threshold_used:3,verdict:u?"PASS":"FAIL",ruleset_version:t,detail:u?`per-cell critical voltage ${Me(l,2)}V across ${i}S looks sane`:`per-cell critical voltage ${Me(l,2)}V (${i}S) outside [3.0,3.7] \u2014 cell count vs BATT_CRT_VOLT inconsistent`,source:n}))}let o=e.get("FRAME_CLASS"),a=e.get("FRAME_TYPE");if(o===void 0&&a===void 0)r.push(V("param.consistency.frame",t,"FRAME_CLASS/FRAME_TYPE absent"));else{let l=(o??0)!==0&&(a??0)!==0;r.push(L({check:"param.consistency.frame",severity:l?"OK":"HIGH",value:o??null,threshold_used:1,verdict:l?"PASS":"FAIL",ruleset_version:t,detail:l?`frame configured (CLASS=${o}, TYPE=${a})`:`frame not fully configured (CLASS=${o??"?"}, TYPE=${a??"?"}) \u2014 must be non-zero for a copter`,source:n}))}let c=e.get("INS_HNTCH_ENABLE");if(c===void 0)r.push(V("param.consistency.notch_filter",t,"INS_HNTCH_ENABLE absent"));else r.push(L({check:"param.consistency.notch_filter",severity:"OK",value:c,threshold_used:null,verdict:"PASS",ruleset_version:t,detail:c===0?"harmonic notch filter disabled (INS_HNTCH_ENABLE=0) \u2014 advisory; tune if vibration is high":"harmonic notch filter enabled",source:n}));return r}function Or(e){for(let r of["BATT_CELLS","BATT_N_CELLS","BATT_CELL_COUNT"]){let n=e.get(r);if(n!==void 0&&n>0)return Math.round(n)}let t=e.get("BATT_ARM_VOLT");if(t!==void 0&&t>0)return Math.round(t/3.6);return null}function Hr(e,t,r,n){let s=[];for(let[i,o]of Object.entries(t.range)){let a=e.get(i.toUpperCase()),c=`param.range.${i}`;if(a===void 0){s.push(V(c,r,`${i} absent`));continue}let l=gt(i,n),u=l!==void 0&&(typeof l.min==="number"||typeof l.max==="number"),d=u&&typeof l.min==="number"?Math.max(o.min,l.min):o.min,f=u&&typeof l.max==="number"?Math.min(o.max,l.max):o.max,m=u&&typeof l.min==="number"?l.min:o.min,b=u&&typeof l.max==="number"?l.max:o.max,w=u?{kind:"datasheet",ref:"apm.pdef.xml"}:{kind:"tuned"},h=a>=d&&a<=f;s.push(L({check:c,severity:h?"OK":o.severity,value:a,threshold_used:h?b:a<d?m:b,verdict:h?"PASS":"FAIL",ruleset_version:r,detail:h?`${i}=${a} within [${m},${b}]${u?" (apm.pdef.xml)":""}`:`${i}=${a} outside [${m},${b}]${u?" (apm.pdef.xml)":""}`,source:w}))}return s}function Vr(e,t){return[]}function V(e,t,r){return L({check:e,severity:"OK",value:null,threshold_used:null,verdict:"SKIP",ruleset_version:t,detail:r})}function Me(e,t){let r=10**t;return Math.round(e*r)/r}function bt(e){if(e.length===0)return"Parameter audit: no findings.";let t=(c)=>{if(c.verdict==="SKIP")return"\u2013";if(c.verdict==="PASS")return"\u2713";return c.severity==="CRITICAL"?"\u2717 CRIT":"\u2717 HIGH"},r=e.filter((c)=>c.verdict==="FAIL"),n=e.filter((c)=>c.verdict==="PASS"),s=e.filter((c)=>c.verdict==="SKIP"),i=r.filter((c)=>c.severity==="CRITICAL").length,o=[];o.push(`Parameter audit \u2014 ${e.length} checks: ${n.length} pass, ${r.length} fail (${i} critical), ${s.length} skipped`);let a=[...e].sort((c,l)=>pt(c)-pt(l));for(let c of a){let l=c.detail?` \u2014 ${c.detail}`:"";o.push(`  ${t(c).padEnd(7)} ${c.check}${l}`)}return o.join(`
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Gr(){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 wt(e){let t=Gr(),r=Br(e,".hydron","uav-thresholds.yaml");if(!jr(r))return 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r=t.doc.findings??[],n={...e.finding,origin:e.finding.origin??"agent",ruleset_version:e.finding.ruleset_version||t.doc.ruleset_version};if(n.id&&r.some((s)=>s.id===n.id))return{added:!1,id:n.id,total:r.length,reason:"id already present"};if(e.supersedesId){let s=r.findIndex((i)=>i.id===e.supersedesId);if(s>=0)r.splice(s,1)}return r.push(n),t.doc.findings=r,await le(t.path,JSON.stringify(t.doc,Ne,2),"utf8"),await Le(Ct(t.path),t.doc),{added:!0,id:n.id??"",total:r.length}}function ls(e,t){let r=new Map;for(let s of e)r.set(s.name,s.value);let n=[];for(let s of t){let i=r.get(s.name);if(i===void 0)continue;if(i!==s.value)n.push({name:s.name,old:i,new:s.value})}return n}function us(e,t){return ls(e.params??[],t.params??[])}function ds(e,t){let r=new Map;for(let s of e.findings??[])if(s.tier==="system")r.set(s.check,s);let n=[];for(let s of t.findings??[]){if(s.tier!=="system")continue;let i=r.get(s.check);if(!i)continue;if(i.severity!==s.severity)n.push({check:s.check,old:i.severity,new:s.severity})}return n}function Lt(e,t){return{param_changes:us(e,t),finding_changes:ds(e,t)}}function Ot(e){let t=e.map((d)=>d.episode?.source_hash??"?"),r=e.map((d)=>{let f=new Map;for(let m of d.params??[])f.set(m.name,m.value);return f}),n=[],s=new Set;for(let d of r)for(let f of d.keys())s.add(f);for(let d of s){let f=r.map((w)=>w.has(d)?w.get(d):null),m=f.filter((w)=>w!==null),b=new Set(m).size>1||f.some((w)=>w===null);if(m.length>0&&b)n.push({name:d,values:f})}n.sort((d,f)=>d.name.localeCompare(f.name));let i=e.map((d)=>{let f=new Map;for(let m of d.findings??[])if(m.tier==="system")f.set(m.check,{severity:m.severity,verdict:m.verdict});return f}),o=[],a=new Set;for(let d of i)for(let f of d.keys())a.add(f);for(let d of a){let f=i.map((b)=>b.get(d)?.severity??"OK"),m=i.map((b)=>b.get(d)?.verdict??"SKIP");if(new Set(f).size>1)o.push({check:d,severities:f,verdicts:m})}o.sort((d,f)=>d.check.localeCompare(f.check));let c=e.map((d)=>{let f=new Map;for(let m of d.measurements??[])f.set(m.name,m.value);return f}),l=[],u=new Set;for(let d of c)for(let f of d.keys())u.add(f);for(let d of u)l.push({name:d,values:c.map((f)=>f.has(d)?f.get(d):null)});return l.sort((d,f)=>d.name.localeCompare(f.name)),{flights:t,param_drift:n,finding_trend:o,metric_trend:l}}var Ht=[163,149];async function gs(e){let t=await Vt(e,"r");try{let r=Buffer.alloc(2);return await t.read(r,0,2,0),r[0]===Ht[0]&&r[1]===Ht[1]}finally{await t.close()}}async function ps(e){let t=await Vt(e,"r");try{let r=fs("sha256"),n=Buffer.alloc(1048576),s=0;for(;;){let{bytesRead:i}=await t.read(n,0,n.length,s);if(i===0)break;r.update(n.subarray(0,i)),s+=i}return r.digest("hex").slice(0,16)}finally{await t.close()}}function ys(e){let t=e.filter((s)=>s.verdict==="FAIL").length,r=e.filter((s)=>s.severity==="CRITICAL"&&s.verdict==="FAIL").length,n=e.filter((s)=>s.verdict==="PASS").length;return{total:e.length,passed:n,anomalies:t,critical:r}}async function jt(e,t){if(await ms(e),!await gs(e))throw Error(`Not an ArduPilot DataFlash .bin (missing 0xA3 0x95 header): ${e}`);let r=await ps(e),n=wt(t.configDir??t.projectDir),{log:s,db:i,cleanup:o}=await K(e,r,{configDir:t.configDir??t.projectDir});try{let a=St(s,i,{sourceHash:r});a.episode.attrs.source_path=hs(e);let c=at(s);a.episode.attrs.vehicle_type=c;let l=dt(i,n,{vehicleType:c});l=[...l,...ie(a.params,{configDir:t.configDir??t.projectDir,ruleset_version:n.ruleset_version})];let u=await Dt({projectDir:t.projectDir,workspace:t.workspace,flight_id:r});l=[...l,...u];let d={schema_version:1,entity:a.entity,episode:a.episode,params:a.params,findings:l,events:a.events,measurements:a.measurements,ruleset_version:n.ruleset_version},f=await It({projectDir:t.projectDir,workspace:t.workspace,sysid:a.entity.external_id,excludeSourceHash:r}),m=await $t(d,{projectDir:t.projectDir,workspace:t.workspace}),b={flight_id:r,vehicle_id:a.entity.external_id,metadata:{airframe:a.entity.attrs.name??a.entity.external_id,firmware:a.episode.attrs.firmware??null,duration_s:a.episode.attrs.duration_s??null},partial_decode:s.partial,decoded_until:s.decodedUntil,checks:l,summary:ys(l),ruleset_version:n.ruleset_version};if(f){let{param_changes:w,finding_changes:h}=Lt(f,d);b.comparison={prior_flight_id:f.episode.source_hash,param_changes:w,finding_changes:h,narration:{claims:[]}}}return{report:b,doc:d,episodePath:m}}finally{o()}}var bs=new URL(import.meta.url).pathname.endsWith(".js"),_s=bs?new URL("./worker/worker-entry.js",import.meta.url).href:new URL("./worker-entry.ts",import.meta.url).href;function Ut(e){return new Promise((t,r)=>{let n;try{n=new Worker(_s,{type:"module"})}catch(i){r(i);return}let s=(i)=>{try{n.terminate()}catch{}i()};n.onmessage=(i)=>{let{ok:o,result:a,error:c}=i.data;s(()=>o?t(a):r(Error(c??"worker failed")))},n.onerror=(i)=>s(()=>r(Error(i.message??"worker error"))),n.postMessage(e)})}async function Bt(e,t){try{return await Ut({op:"analyze",binPath:e,opts:t})}catch{return jt(e,t)}}async function Gt(e){try{return await Ut({op:"query",opts:e})}catch{return it(e)}}async function qt(e){let t=[],r=[];for(let s of e.flight_ids){let i=await xt({projectDir:e.projectDir,workspace:e.workspace,flight_id:s});if(i)t.push(i);else r.push(s)}if(t.length<2)throw Error(`need \u22652 analyzed flights to compare (found ${t.length}). Run uav_analyze on each first.`+(r.length?` Not in store: ${r.join(", ")}.`:""));let n=Ot(t);return{multi:n,markdown:ws(n,t,r),missing:r}}var zt=(e)=>e===null?"\u2014":Number.isInteger(e)?String(e):e.toFixed(3);function ws(e,t,r){let n=t.map((a,c)=>`${a.entity?.attrs?.name??a.entity?.external_id??`flight${c+1}`} (${(a.episode?.source_hash??"?").slice(0,8)})`),s=`| metric | ${n.join(" | ")} |`,i=`| --- | ${n.map(()=>"---").join(" | ")} |`,o=[`# Flight comparison (${t.length} flights)`];if(r.length)o.push(`> not found (skipped): ${r.join(", ")}`);if(o.push(`
+## Finding-severity trend (only checks that differ)`),e.finding_trend.length===0)o.push("_no system check changed severity across these flights_");else{o.push(s,i);for(let a of e.finding_trend)o.push(`| ${a.check} | ${a.severities.join(" | ")} |`)}if(o.push(`
+## Key-metric trend`),e.metric_trend.length===0)o.push("_no measurements recorded_");else{o.push(s,i);for(let a of e.metric_trend)o.push(`| ${a.name} | ${a.values.map(zt).join(" | ")} |`)}if(o.push(`
+## Parameter drift (only params that changed) \u2014 ${e.param_drift.length} changed`),e.param_drift.length>0){o.push(s,i);for(let a of e.param_drift.slice(0,50))o.push(`| ${a.name} | ${a.values.map(zt).join(" | ")} |`);if(e.param_drift.length>50)o.push(`
+\u2026 ${e.param_drift.length-50} more changed params`)}return o.join(`
+`)}function vs(e,t){let r=e.length;if(r<=1)return;for(let n=1,s=0;n<r;n++){let i=r>>1;for(;s&i;i>>=1)s^=i;if(s^=i,n<s)[e[n],e[s]]=[e[s],e[n]],[t[n],t[s]]=[t[s],t[n]]}for(let n=2;n<=r;n<<=1){let s=-2*Math.PI/n,i=Math.cos(s),o=Math.sin(s);for(let a=0;a<r;a+=n){let c=1,l=0;for(let u=0;u<n>>1;u++){let d=e[a+u],f=t[a+u],m=e[a+u+(n>>1)],b=t[a+u+(n>>1)],w=m*c-b*l,h=m*l+b*c;e[a+u]=d+w,t[a+u]=f+h,e[a+u+(n>>1)]=d-w,t[a+u+(n>>1)]=f-h;let p=c*i-l*o;l=c*o+l*i,c=p}}}}function Ts(e){let t=1;while(t<e)t<<=1;return t}function Es(e,t){let r=e.length;if(r<4||!(t>0))return{freqs:[],mags:[]};let n=e.reduce((u,d)=>u+d,0)/r,s=Ts(r),i=Array(s).fill(0),o=Array(s).fill(0);for(let u=0;u<r;u++){let d=0.5*(1-Math.cos(2*Math.PI*u/(r-1)));i[u]=(e[u]-n)*d}vs(i,o);let a=s>>1,c=Array(a),l=Array(a);for(let u=0;u<a;u++)c[u]=u*t/s,l[u]=Math.hypot(i[u],o[u]);return{freqs:c,mags:l}}function Ss(e,t){return e.columns.indexOf(t)}function q(e,t){let r=Ss(e,t);if(r<0)return[];let n=[];for(let s of e.rows){let i=s[r],o=typeof i==="bigint"?Number(i):typeof i==="number"?i:Number(i);if(Number.isFinite(o))n.push(o)}return n}function Wt(e){if(e.length===0)return 0;let t=e.reduce((n,s)=>n+s,0)/e.length,r=0;for(let n of e){let s=n-t;r+=s*s}return r}function Xt(e,t){if(t){let s=q(e,t).filter((i)=>i>0);if(s.length>0){let i=s.reduce((o,a)=>o+a,0)/s.length;if(i>0)return{hz:i,src:`${t} column (${i.toFixed(0)} Hz)`}}}let r=q(e,"TimeUS");if(r.length>=2){let n=[];for(let s=1;s<r.length;s++){let i=r[s]-r[s-1];if(i>0)n.push(i)}if(n.length>0){n.sort((i,o)=>i-o);let s=n[n.length>>1];if(s>0){let i=1e6/s;return{hz:i,src:`TimeUS deltas (median dt ${s.toFixed(0)} \xB5s \u2192 ${i.toFixed(0)} Hz)`}}}}return{hz:0,src:"no sample rate available"}}function ks(e){let t=e.tables.IMU;if(t&&t.rows.length>=4){let n=[{col:"GyrX",label:"GyrX"},{col:"GyrY",label:"GyrY"},{col:"GyrZ",label:"GyrZ"}],s=null;for(let i of n){let o=q(t,i.col);if(o.length<4)continue;let a=Wt(o);if(!s||a>s.energy)s={samples:o,axis:i.label,energy:a}}if(s&&s.energy>0){let{hz:i,src:o}=Xt(t,"GHz");if(i>0)return{samples:s.samples,sampleRateHz:i,axis:s.axis,rateSource:o}}}let r=e.tables.VIBE;if(r&&r.rows.length>=4){let n=[{col:"VibeX",label:"VibeX"},{col:"VibeY",label:"VibeY"},{col:"VibeZ",label:"VibeZ"}],s=null;for(let i of n){let o=q(r,i.col);if(o.length<4)continue;let a=Wt(o);if(!s||a>s.energy)s={samples:o,axis:i.label,energy:a}}if(s&&s.energy>0){let{hz:i,src:o}=Xt(r);if(i>0)return{samples:s.samples,sampleRateHz:i,axis:s.axis,rateSource:o}}}return null}function As(e,t,r,n){let[s,i]=n,o=[];for(let a=1;a<t.length-1;a++){let c=e[a];if(c<s||c>i)continue;if(t[a]>=t[a-1]&&t[a]>=t[a+1])o.push({freq_hz:c,magnitude:t[a],axis:r})}if(o.length===0){let a=-1;for(let c=0;c<t.length;c++){let l=e[c];if(l<s||l>i)continue;if(a<0||t[c]>t[a])a=c}if(a>=0)o.push({freq_hz:e[a],magnitude:t[a],axis:r})}return o.sort((a,c)=>c.magnitude-a.magnitude),o}function z(e,t,r){return Math.max(t,Math.min(r,e))}var de={dominant_peak_hz:null,peaks:[],params:[],rationale:"insufficient gyro/vibe data"};function Cs(e){let t=e.tables.ESC;if(t&&q(t,"RPM").some((r)=>r>0))return{mode:3,label:"ESC telemetry"};if(e.tables.RPM)return{mode:2,label:"RPM sensor"};return{mode:1,label:"throttle-based"}}function Kt(e,t){try{let r=t?.band_hz??[20,200],n=ks(e);if(!n)return de;let{freqs:s,mags:i}=Es(n.samples,n.sampleRateHz);if(s.length===0)return de;let o=As(s,i,n.axis,r);if(o.length===0)return de;let a=o[0].freq_hz,c=o.slice(0,3),l={kind:"rule-of-thumb",ref:"ArduPilot harmonic notch tuning"},u=Cs(e),d=1,f;if(u.mode===1){let _=e.tables.CTUN,v=_?q(_,"ThH").filter((T)=>T>=0&&T<=1):[];if(v.length>0)d=v.reduce((T,S)=>T+S,0)/v.length,f=`throttle-based (MODE 1): INS_HNTCH_REF = avg(CTUN.ThH) = ${d.toFixed(3)} (hover throttle)`;else f="throttle-based (MODE 1) but no CTUN.ThH \u2014 INS_HNTCH_REF defaulted to 1.0 (set it to your hover throttle)"}else f=`${u.label} (MODE ${u.mode}): the notch tracks measured RPM directly \u2014 INS_HNTCH_REF = 1.0 and INS_HNTCH_FREQ is the low-RPM floor. 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Recommend a harmonic notch centred at ${m} Hz with bandwidth ${b} Hz `+"(\u2248 half the centre, a standard starting width) and the 1st+2nd harmonics "+`(HMNCS=3), tracked ${f}.${h} Review before applying; these are starting values to refine against a post-change FFT.`;return{dominant_peak_hz:a,peaks:c,params:w,rationale:g}}catch{return de}}import{mkdir as Rs,writeFile as Ms}from"fs/promises";import{join as $s}from"path";function Is(e){if(e===null||e===void 0)return"";if(typeof e==="bigint")return e.toString();let t=String(e);return/[",\n]/.test(t)?`"${t.replace(/"/g,'""')}"`:t}async function Oe(e,t){await Rs(t,{recursive:!0});let r=[];for(let[n,s]of Object.entries(e.tables)){if(!s.rows.length)continue;let i=s.columns.join(","),o=s.rows.map((c)=>c.map(Is).join(",")).join(`
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+vs prior flight ${e.comparison.prior_flight_id}:`);for(let s of e.comparison.param_changes)t.push(`  param ${s.name}: ${s.old} \u2192 ${s.new}`);for(let s of e.comparison.finding_changes)t.push(`  finding ${s.check}: ${s.old} \u2192 ${s.new}`);if(!e.comparison.param_changes.length&&!e.comparison.finding_changes.length)t.push("  (no changes)")}else t.push(`
+(first flight for this airframe \u2014 no prior to compare)`);return t.join(`
+`)}var nn=(e)=>e==="CRITICAL"?2:e==="HIGH"?1:0;function Ws(e){if(!e.length)return"(no findings stored for this flight yet)";let t=e.filter((i)=>i.origin!=="agent"),r=e.filter((i)=>i.origin==="agent"),n=(i)=>`  ${i.origin==="agent"?`[agent ${i.id}]`:"[deterministic]"} ${i.severity}/${i.verdict} ${i.check}${i.detail?` \u2014 ${i.detail}`:""}`,s=[`${e.length} finding(s) stored:`];return s.push(`Deterministic (${t.length}):`,...t.map(n)),s.push(`Agent-authored (${r.length}):`,...r.length?r.map(n):["  (none)"]),s.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."),s.join(`
+`)}async function Xs(e,t,r){let n=H(e,".hydron","observations",t),s=await sn(n).catch(()=>{throw Error(`No observation store at ${n}. Run uav_analyze first.`)});for(let i of s){let o=H(n,i,`${r}.json`);try{let a=JSON.parse(await on(o,"utf8"));if(Array.isArray(a?.params))return a.params}catch(a){if(a.code==="ENOENT")continue;throw a}}throw Error(`flight_id ${r} not found in the observation store. Run uav_analyze first.`)}async function he(e,t,r){let n=H(e,".hydron","observations",t),s=await sn(n).catch(()=>{throw Error(`No observation store at ${n}. Run uav_analyze first.`)});for(let i of s)try{let a=JSON.parse(await on(H(n,i,`${r}.json`),"utf8"))?.episode?.attrs?.source_path;if(typeof a==="string"&&a)return a}catch(o){if(o.code==="ENOENT")continue;throw o}throw Error(`flight_id ${r} not found (or no source_path). Run uav_analyze first.`)}function Ks(e){if(e.dominant_peak_hz==null)return`No notch recommendation: ${e.rationale}`;let t=[`Dominant vibration peak: ${e.dominant_peak_hz.toFixed(1)} Hz`,e.rationale,"","Recommended harmonic-notch params:"];for(let r of e.params){let n=r.range?` (range ${r.range[0]}\u2013${r.range[1]})`:"",s=r.source?` [${r.source.kind}${r.source.ref?`: ${r.source.ref}`:""}]`:"";t.push(`  ${r.name} = ${r.value}${n}${s}`)}return t.push("","Review before applying. Push via the gated MAVLink param link, then tag the retest."),t.join(`
+`)}var Ys=["# 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(`
+`),rn=Gs(zs(import.meta.url)),Js=[H(rn,"..","bridge","uav_mavlink_bridge.py"),H(rn,"..","..","bridge","uav_mavlink_bridge.py")];function Qs(){return Js.find((e)=>an(e))}async function Zs(e){try{return await Bun.spawn([...e,"-c","import mcp, pymavlink"],{stdout:"ignore",stderr:"ignore",stdin:"ignore"}).exited===0}catch{return!1}}var ei=async(e)=>{let t=e.directory,r=e.project?.id!=null?String(e.project.id):"local";return{config:async(n)=>{let s=Qs();if(!s)return;let i=await we();if(!i)return;n.mcp={...n.mcp,mavlink:{type:"local",command:[...i,s,"--no-read-only","--allow-param-write"],environment:{MAVLINK_DIALECT:"ardupilotmega"},enabled:await Zs(i),timeout:1e4}}},"experimental.chat.system.transform":async(n,s)=>{s.system.push(Ys)},tool:{uav_analyze:E({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:E.schema.string().describe("Absolute path to the .bin DataFlash log")},async execute(n){let{report:s}=await Bt(n.path,{projectDir:t,workspace:r});return qs(s)}}),uav_query:E({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:E.schema.string().describe("flight_id from a prior uav_analyze"),query:E.schema.string().describe("read-only SQL (SELECT/WITH) over the flight's message tables")},async execute(n){try{let s=await Gt({projectDir:t,workspace:r,flight_id:n.flight_id,query:n.query});return ot(s)}catch(s){return`uav_query error: ${s instanceof Error?s.message:String(s)}`}}}),uav_compare:E({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:E.schema.array(E.schema.string()).describe("2+ flight_ids from prior uav_analyze runs, in the order to display")},async execute(n){try{let{markdown:s}=await qt({projectDir:t,workspace:r,flight_ids:n.flight_ids});return s}catch(s){return`uav_compare error: ${s instanceof Error?s.message:String(s)}`}}}),uav_param_audit:E({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:E.schema.string().describe("flight_id from a prior uav_analyze")},async execute(n){try{let s=await Xs(t,r,n.flight_id);return bt(ie(s,{configDir:t}))}catch(s){return`uav_param_audit error: ${s instanceof Error?s.message:String(s)}`}}}),uav_tune:E({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:E.schema.string().describe("flight_id from a prior uav_analyze")},async execute(n){try{let s=await W(await he(t,r,n.flight_id),{configDir:t});return Ks(Kt(s))}catch(s){return`uav_tune error: ${s instanceof Error?s.message:String(s)}`}}}),uav_tag:E({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:E.schema.string().describe("flight_id from a prior uav_analyze"),tags:E.schema.array(E.schema.string()).describe("one or more tags to add")},async execute(n){try{let s=await Ft({projectDir:t,workspace:r,flight_id:n.flight_id,tags:n.tags});return`tagged ${n.flight_id}: [${s.join(", ")}]`}catch(s){return`uav_tag error: ${s instanceof Error?s.message:String(s)}`}}}),uav_finding:E({description:`Store or list a flight's findings. Findings from uav_analyze are deterministic; THIS tool records the conclusions YOU reach during an investigation so they attach to the flight.
 `+`\u2022 op:"list" \u2014 show every stored finding (deterministic + agent). ALWAYS call this first.
-`+'\u2022 op:"add" \u2014 append a NEW agent finding. Only add after listing and judging it is not already '+"represented (same root cause, even if worded differently). To replace one you now consider stale, "+"pass supersedes_id. A finding must cite the ABSOLUTE bound it breached (in detail) \u2014 not 'N\xD7 the "+"other instances'. The store refuses an exact-id rewrite but does NOT dedup semantically; that is your call.",args:{op:R.schema.enum(["list","add"]).describe("list existing findings, or add a new one"),flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),title:R.schema.string().optional().describe("add: short label, e.g. 'IMU2 accel-Y divergence'"),severity:R.schema.enum(["OK","HIGH","CRITICAL"]).optional().describe("add: magnitude (default HIGH)"),detail:R.schema.string().optional().describe("add: the grounded evidence + the ABSOLUTE bound it breached and that bound's source"),value:R.schema.number().optional().describe("add: measured metric, if any"),threshold_used:R.schema.number().optional().describe("add: the absolute bound it was judged against"),supersedes_id:R.schema.string().optional().describe("add: id of an existing finding this replaces")},async execute(J){try{if(J.op==="list")return d6(await y$({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$(X,J.code);return K?Y||"(snippet ran, no output \u2014 did you print()?)":`python exited non-zero:
-${Y}
+`+'\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:E.schema.enum(["list","add"]).describe("list existing findings, or add a new one"),flight_id:E.schema.string().describe("flight_id from a prior uav_analyze"),title:E.schema.string().optional().describe("add: short label, e.g. 'IMU2 accel-Y divergence'"),severity:E.schema.enum(["OK","HIGH","CRITICAL"]).optional().describe("add: magnitude (default HIGH)"),detail:E.schema.string().optional().describe("add: the grounded evidence + the ABSOLUTE bound it breached and that bound's source"),value:E.schema.number().optional().describe("add: measured metric, if any"),threshold_used:E.schema.number().optional().describe("add: the absolute bound it was judged against"),supersedes_id:E.schema.string().optional().describe("add: id of an existing finding this replaces")},async execute(n){try{if(n.op==="list")return Ws(await Pt({projectDir:t,workspace:r,flight_id:n.flight_id}));if(!n.title)return"uav_finding error: title is required to add a finding";let s=n.severity??"HIGH",i={check:n.title,severity:s,verdict:s==="OK"?"PASS":"FAIL",tier:"user",origin:"agent",value:n.value??null,threshold_used:n.threshold_used??null,ruleset_version:"",detail:n.detail,id:`a-${Date.now().toString(36)}-${Math.random().toString(36).slice(2,6)}`,created_at:new Date().toISOString()},o=await Nt({projectDir:t,workspace:r,flight_id:n.flight_id,finding:i,supersedesId:n.supersedes_id});return o.added?`stored agent finding ${o.id} on ${n.flight_id} (${o.total} findings total)`+(n.supersedes_id?` \u2014 superseded ${n.supersedes_id}`:""):`not stored (${o.reason}); ${o.total} findings already on ${n.flight_id}`}catch(s){return`uav_finding error: ${s instanceof Error?s.message:String(s)}`}}}),uav_python:E({description:"Run a Python snippet (pandas + numpy) over a flight's decoded data \u2014 THE tool for any non-trivial "+"analysis: binning, correlation, scoring/ranking windows, regression, FFT, custom stats. The message "+"tables are available as `load('VIBE')`, `load('ATT')`, `load('BAT')`, \u2026 (each a DataFrame; TimeUS is \xB5s "+"since boot). `print()` your results. Use this INSTEAD of multiple uav_query calls or doing arithmetic "+"in your head \u2014 the numbers must come from code you actually run.",args:{flight_id:E.schema.string().describe("flight_id from a prior uav_analyze"),code:E.schema.string().describe("Python; use load('TABLE') for DataFrames, print() results")},async execute(n){try{let s=H(t,".hydron","pycache",n.flight_id);if(!an(s)){let c=await W(await he(t,r,n.flight_id),{configDir:t});await Oe(c,s)}let{stdout:i,ok:o,tables:a}=await tn(s,n.code);return o?i||"(snippet ran, no output \u2014 did you print()?)":`python exited non-zero:
+${i}
-(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: ${a.join(", ")})`}catch(s){return`uav_python error: ${s instanceof Error?s.message:String(s)}`}}}),uav_export:E({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:E.schema.string().describe("flight_id from a prior uav_analyze"),out_dir:E.schema.string().describe("absolute output directory for the CSVs")},async execute(n){try{let s=await W(await he(t,r,n.flight_id),{configDir:t});return`exported ${(await Oe(s,n.out_dir)).length} CSV file(s) to ${n.out_dir} (PlotJuggler-importable)`}catch(s){return`uav_export error: ${s instanceof Error?s.message:String(s)}`}}}),uav_plot:E({description:"Chart flight signals as an SVG that renders in the editor. Use for ANY plot/chart/graph/visualise "+`request \u2014 never hand-write SQL via uav_query for visualisation. Three modes:
 `+'\u2022 timeseries (default): signals vs time. Supports DERIVED expressions, e.g. "ATT.DesRoll - ATT.Roll" '+`(tracking error), "CTUN.ThH * 100". Multiple signals overlay.
 `+"\u2022 xy: one signal vs another (time-aligned) \u2014 correlations, e.g. x=BAT.Curr y=BAT.Volt (sag/IR), "+`x=RCOU.C1 y=VIBE.VibeZ (vibe vs throttle \u2014 motor output, NOT CTUN.ThH which is the constant hover estimate).
 `+`\u2022 fft: magnitude spectrum (Hz) of a signal \u2014 vibration peaks, e.g. signals=["IMU.GyrX"] or ["VIBE.VibeZ"].
-`+"Signals/exprs use TABLE.COLUMN (VIBE.VibeZ, ATT.DesRoll, BAT.Volt, RCOU.C1, XKF3.IVN, \u2026).",args:{flight_id:R.schema.string().describe("flight_id from a prior uav_analyze"),mode:R.schema.enum(["timeseries","xy","fft"]).optional().describe("default timeseries"),signals:R.schema.array(R.schema.string()).optional().describe('timeseries/fft: signals or derived exprs, e.g. ["ATT.DesRoll - ATT.Roll"] or ["IMU.GyrX"]'),x:R.schema.string().optional().describe("xy mode: x-axis signal, e.g. BAT.Curr"),y:R.schema.string().optional().describe("xy mode: y-axis signal, e.g. BAT.Volt"),title:R.schema.string().optional().describe("optional chart title")},async execute(J){try{let X=await c(await HZ($,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:E.schema.string().describe("flight_id from a prior uav_analyze"),mode:E.schema.enum(["timeseries","xy","fft"]).optional().describe("default timeseries"),signals:E.schema.array(E.schema.string()).optional().describe('timeseries/fft: signals or derived exprs, e.g. ["ATT.DesRoll - ATT.Roll"] or ["IMU.GyrX"]'),x:E.schema.string().optional().describe("xy mode: x-axis signal, e.g. BAT.Curr"),y:E.schema.string().optional().describe("xy mode: y-axis signal, e.g. BAT.Volt"),title:E.schema.string().optional().describe("optional chart title")},async execute(n){try{let s=await W(await he(t,r,n.flight_id),{configDir:t}),{svg:i,plotted:o,missing:a}=Zt(s,{mode:n.mode,signals:n.signals,x:n.x,y:n.y,title:n.title});if(!o.length)return`uav_plot: nothing plottable (${a.join(", ")||"no signals given"}) for flight ${n.flight_id}`;let c=H(t,".hydron","plots");await Bs(c,{recursive:!0});let l=(n.mode??"ts")+"_"+o.join("_").replace(/[^A-Za-z0-9._-]/g,"-").slice(0,50),u=H(c,`${n.flight_id}__${l}.svg`);await Us(u,i);let d=`data:image/svg+xml;base64,${Buffer.from(i).toString("base64")}`,f=a.length?`
+_(no data for: ${a.join(", ")})_`:"",m=[...n.signals??[],n.x,n.y].filter((h)=>!!h),b=en(m.length?m:o),w=b.length?`
-`+E.map((L)=>`> \u2139\uFE0F ${L}`).join(`
-`):"";return`![${K.join(", ")}](${V})
+`+b.map((h)=>`> \u2139\uFE0F ${h}`).join(`
+`):"";return`![${o.join(", ")}](${d})
-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: ${u}  (\u2318\u21E7V to preview)${f}${w}`}catch(s){return`uav_plot error: ${s instanceof Error?s.message:String(s)}`}}})}}},Jo=ei;export{Jo as default};