@h2loop/uav 1.2.0 → 1.2.2

package/plugins/worker/worker-entry.js

@@ -1,11 +1,7 @@
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R({check:"ekf_variance",thresholds:Z.thresholds,failed:K>z,failSeverity:"HIGH",value:K,threshold_used:z,source:$?.source,detail:`peak EKF variance ${K.toFixed(3)} (${J}: ${W||Q.join("/")}) vs ${z}${G}`})},x0=(Z)=>{let $=Z.thresholds.mag;if(!Z.hasTable("MAG"))return H("mag_offsets",Z.thresholds);let J=k(Z,"MAG"),X=["OfsX","OfsY","OfsZ"].filter((W)=>J.has(W));if(X.length===0)return H("mag_offsets",Z.thresholds,"MAG has no OfsX/OfsY/OfsZ columns");let Q=$?.max_offset??600,z=-1/0,K="";for(let W of X){let Y=A(Z,`SELECT MAX(ABS(${C(W)})) FROM "MAG"`);if(Y!==null&&Y>z)z=Y,K=W}if(z===-1/0)z=0;return R({check:"mag_offsets",thresholds:Z.thresholds,failed:z>Q,failSeverity:"HIGH",value:z,threshold_used:Q,source:$?.source,detail:`peak mag offset ${z.toFixed(0)} (${K||X.join("/")}) vs ${Q}`})},m0=(Z)=>{let $=Z.thresholds.esc;if(!Z.hasTable("ESC"))return H("esc_health",Z.thresholds);let J=k(Z,"ESC"),X=["Temp","MotTemp"].filter((U)=>J.has(U));if(X.length===0&&!J.has("Err"))return 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R({check:"mode_changes",thresholds:Z.thresholds,failed:z,failSeverity:"HIGH",value:X,threshold_used:0,detail:`${X} mode change(s); timeline: ${K||"\u2014"}`+(z?" \u2014 emergency mode (RTL/LAND) entered":"")})},r0=(Z)=>{let $=Z.thresholds.airspeed;if(!oZ(Z.vehicleType))return H("airspeed",Z.thresholds,`n/a for ${Z.vehicleType} (no fixed-wing airspeed)`);if(!Z.hasTable("ARSP"))return H("airspeed",Z.thresholds,"no ARSP (airspeed) data");if(!I(Z,"ARSP","Airspeed"))return H("airspeed",Z.thresholds,"ARSP missing Airspeed column");let J=$?.stall_min_ms??8,X={kind:"rule-of-thumb",ref:"default stall floor"};if(Z.hasTable("PARM")){let z=A(Z,`SELECT "Value" FROM "PARM" WHERE "Name"='ARSPD_FBW_MIN' LIMIT 1`);if(z!==null&&z>0)J=z,X={kind:"datasheet",ref:"ARSPD_FBW_MIN"}}let Q=A(Z,'SELECT MIN("Airspeed") FROM "ARSP" WHERE "Airspeed" > 2');if(Q===null)return H("airspeed",Z.thresholds,"no airborne airspeed samples");return 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"RCOU"`);if(o===null)continue;if(o>r)r=o;if(o>=ze)s.push(`${i}=${o}`)}if(r===-1/0)r=0;return A({check:"rcou",thresholds:e.thresholds,failed:s.length>0,failSeverity:"HIGH",value:r,threshold_used:ze,detail:s.length>0?`motor output(s) pegged at max: ${s.join(", ")}`:void 0})},le=1000,ue=2000,kn=(e)=>{if(!e.hasTable("RCIN"))return d("rcin",e.thresholds);if(!C(e,"RCIN","C3"))return d("rcin",e.thresholds,"RCIN missing C3 column");let t=_(e,'SELECT MIN("C3") FROM "RCIN"'),n=_(e,'SELECT MAX("C3") FROM "RCIN"'),r=t!==null&&t<le||n!==null&&n>ue,s=n;if(t!==null&&t<le)s=t;return A({check:"rcin",thresholds:e.thresholds,failed:r,failSeverity:"HIGH",value:s,threshold_used:ue,detail:`RCIN C3 range [${t??"\u2014"}, ${n??"\u2014"}] vs [${le}, ${ue}]`})},Tn=(e)=>{let t=e.thresholds.vibration;if(!e.hasTable("VIBE"))return d("vibration",e.thresholds);let n=D(e,"VIBE"),r=["VibeX","VibeY","VibeZ"].filter((f)=>n.has(f));if(r.length===0)return d("vibration",e.thresholds,"VIBE has no VibeX/Y/Z columns");let s=t?.max_ms2??30,i={},o=-1/0;for(let f of r){let g=_(e,`SELECT MAX(${I(f)}) FROM "VIBE"`)??0;if(i[f]=g,g>o)o=g}if(o===-1/0)o=0;let a=["Clip","Clip0","Clip1","Clip2"].filter((f)=>n.has(f)),c=0;for(let f of a){let p=_(e,`SELECT MAX(${I(f)}) FROM "VIBE"`);if(p!==null&&p>c)c=p}let l=a.length>0?` | clipping MAX=${c}${c>0?" (CLIP EVENTS)":""}`:"",u=Sn(i,o,c);return A({check:"vibration",thresholds:e.thresholds,failed:o>=s,failSeverity:"HIGH",value:o,threshold_used:s,source:t?.source,detail:`peak vibe ${o} m/s\xB2 (axes ${r.join("/")})${l}${u}`})},Cn=(e)=>{let t=e.thresholds.mag;if(!e.hasTable("MAG"))return d("mag",e.thresholds);if(!C(e,"MAG","Health"))return d("mag",e.thresholds,"MAG missing Health column");let n=t?.min??1,r=_(e,'SELECT MIN("Health") FROM "MAG"');return A({check:"mag",thresholds:e.thresholds,failed:r!==null&&r<n,failSeverity:"HIGH",value:r,threshold_used:n,source:t?.source})},Rn=(e)=>{let t=e.thresholds.ekf,n=Ye(e,["XKF3","NKF3"]);if(!n)return d("ekf",e.thresholds);let r=D(e,n),s=["IVN","IVE","IVD","IVT","IPN","IPE","IPD"].filter((a)=>r.has(a));if(s.length===0)return d("ekf",e.thresholds,`${n} 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=_(e,`SELECT MAX(ABS(${I(a)})) FROM ${I(n)}`);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 ${o} (${n}: ${s.join("/")})`})},Mn=(e)=>{let t=e.thresholds.battery;if(!e.hasTable("BAT"))return d("min_cell_voltage",e.thresholds);if(!C(e,"BAT","Volt"))return d("min_cell_voltage",e.thresholds,"BAT missing Volt column");let n=t?.min_cell_v??3.3,r=_(e,'SELECT MAX("Volt") FROM "BAT"'),s=_(e,'SELECT MIN("Volt") FROM "BAT"');if(r===null||s===null||r<=0)return d("min_cell_voltage",e.thresholds,"BAT.Volt has no usable values");let i=Math.max(1,Math.round(r/4.2)),o=s/i;return A({check:"min_cell_voltage",thresholds:e.thresholds,failed:o<n,failSeverity:"CRITICAL",value:o,threshold_used:n,source:t?.source,detail:`${i}S pack (MAX pack ${r.toFixed(2)}V), min cell ${o.toFixed(3)}V vs floor ${n}V`})},In=(e)=>{let t=e.thresholds.battery;if(!e.hasTable("BAT"))return d("voltage_sag",e.thresholds);if(!C(e,"BAT","VoltR")||!C(e,"BAT","Volt"))return d("voltage_sag",e.thresholds,"BAT missing VoltR/Volt columns");let n=t?.max_sag_v??2,r=_(e,'SELECT MAX("VoltR"-"Volt") FROM "BAT"');return A({check:"voltage_sag",thresholds:e.thresholds,failed:r!==null&&r>n,failSeverity:"HIGH",value:r,threshold_used:n,source:t?.source,detail:`peak sag ${(r??0).toFixed(2)}V (VoltR-Volt) vs ${n}V`})},Fn=(e)=>{let t=e.thresholds.battery;if(!e.hasTable("BAT"))return d("over_current",e.thresholds);if(!C(e,"BAT","Curr"))return d("over_current",e.thresholds,"BAT missing Curr column");let n=t?.max_current_a??200,r=_(e,'SELECT MAX("Curr") FROM "BAT"');return A({check:"over_current",thresholds:e.thresholds,failed:r!==null&&r>n,failSeverity:"HIGH",value:r,threshold_used:n,source:t?.source,detail:`peak current ${(r??0).toFixed(1)}A vs ${n}A`})},Pn=(e)=>{let t=e.thresholds.battery;if(!e.hasTable("BAT"))return d("internal_resistance",e.thresholds);if(!C(e,"BAT","Res"))return d("internal_resistance",e.thresholds,"BAT missing Res column");let n=_(e,'SELECT MAX("Res") FROM "BAT"');if(n===null||n===0)return d("internal_resistance",e.thresholds,"BAT.Res all zero/absent (not reported)");let r=t?.res_min_current_a??5,i=C(e,"BAT","Curr")?_(e,`SELECT MAX("Res") FROM "BAT" WHERE "Curr" >= ${r}`):n;if(i===null)return d("internal_resistance",e.thresholds,`no BAT samples at Curr \u2265 ${r} A \u2014 Res only valid under load (max raw ${n.toFixed(3)}\u03A9 is a low-current artifact)`);let o=t?.max_res_ohm??0.03;return 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 ${r} A) vs ${o}\u03A9`})},Dn=(e)=>{let t=e.thresholds.power;if(!e.hasTable("POWR"))return d("board_brownout",e.thresholds);if(!C(e,"POWR","Vcc"))return d("board_brownout",e.thresholds,"POWR missing Vcc column");let n=t?.min_vcc_v??4.5,r=_(e,'SELECT MIN("Vcc") FROM "POWR"');return A({check:"board_brownout",thresholds:e.thresholds,failed:r!==null&&r<n,failSeverity:"CRITICAL",value:r,threshold_used:n,source:t?.source,detail:`min board Vcc ${(r??0).toFixed(3)}V vs floor ${n}V`})},$n=(e)=>{let t=e.thresholds.rate;if(!e.hasTable("RATE"))return d("rate_tracking",e.thresholds);let n=D(e,"RATE"),s=[["RDes","R"],["PDes","P"],["YDes","Y"]].filter(([c,l])=>n.has(c)&&n.has(l));if(s.length===0)return d("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=_(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`})},On=(e)=>{let t=e.thresholds.gps;if(!e.hasTable("GPA"))return d("gps_accuracy",e.thresholds);if(!C(e,"GPA","HAcc"))return d("gps_accuracy",e.thresholds,"GPA missing HAcc column");let n=t?.hacc_max_m??5,r=_(e,'SELECT MAX("HAcc") FROM "GPA"');return A({check:"gps_accuracy",thresholds:e.thresholds,failed:r!==null&&r>n,failSeverity:"HIGH",value:r,threshold_used:n,source:t?.source,detail:`peak horizontal accuracy ${(r??0).toFixed(2)}m vs ${n}m`})},xn=(e)=>{let t=e.thresholds.ekf,n=Ye(e,["XKF4","NKF4"]);if(!n)return d("ekf_variance",e.thresholds);let r=D(e,n),s=["SV","SP","SH","SM"].filter((u)=>r.has(u));if(s.length===0)return d("ekf_variance",e.thresholds,`${n} has no SV/SP/SH/SM columns`);let i=t?.max_variance??1,o=-1/0,a="";for(let u of s){let f=_(e,`SELECT MAX(${I(u)}) FROM ${I(n)}`);if(f!==null&&f>o)o=f,a=u}if(o===-1/0)o=0;let c=r.has("FS")?_(e,`SELECT MAX("FS") FROM ${I(n)}`):null,l=c!==null&&c>0?` | EKF failsafe set (FS MAX=${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 ${o.toFixed(3)} (${n}: ${a||s.join("/")}) vs ${i}${l}`})},Ln=(e)=>{let t=e.thresholds.mag;if(!e.hasTable("MAG"))return d("mag_offsets",e.thresholds);let n=D(e,"MAG"),r=["OfsX","OfsY","OfsZ"].filter((a)=>n.has(a));if(r.length===0)return d("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 r){let c=_(e,`SELECT MAX(ABS(${I(a)})) FROM "MAG"`);if(c!==null&&c>i)i=c,o=a}if(i===-1/0)i=0;return A({check:"mag_offsets",thresholds:e.thresholds,failed:i>s,failSeverity:"HIGH",value:i,threshold_used:s,source:t?.source,detail:`peak mag offset ${i.toFixed(0)} (${o||r.join("/")}) vs ${s}`})},Nn=(e)=>{let t=e.thresholds.esc;if(!e.hasTable("ESC"))return d("esc_health",e.thresholds);let n=D(e,"ESC"),r=["Temp","MotTemp"].filter((f)=>n.has(f));if(r.length===0&&!n.has("Err"))return d("esc_health",e.thresholds,"ESC has no Temp/MotTemp/Err columns");let s=t?.max_temp_c??90,i=-1/0,o="";for(let f of r){let p=_(e,`SELECT MAX(${I(f)}) FROM "ESC"`);if(p!==null&&p>i)i=p,o=f}if(i===-1/0)i=0;let a=n.has("Err")?_(e,'SELECT MAX("Err") FROM "ESC"')??0:0,c=r.length>0&&i>s,l=a>0,u=l?` | ESC Err MAX=${a}`:"";return A({check:"esc_health",thresholds:e.thresholds,failed:c||l,failSeverity:"HIGH",value:i,threshold_used:s,source:t?.source,detail:`peak ESC temp ${i.toFixed(1)}\xB0C (${o||"n/a"}) vs ${s}\xB0C${u}`})},Hn=(e)=>{if(!X(e.vehicleType))return d("thrust_margin",e.thresholds,`n/a for ${e.vehicleType} (lift/T:W is a rotorcraft metric)`);if(!e.hasTable("MOTB"))return d("thrust_margin",e.thresholds);let t=D(e,"MOTB");if(!t.has("FailFlags")&&!(t.has("ThrOut")&&t.has("LiftMax")))return d("thrust_margin",e.thresholds,"MOTB missing FailFlags and ThrOut/LiftMax columns");let n=t.has("FailFlags")?_(e,'SELECT MAX("FailFlags") FROM "MOTB"')??0:0,r=null;if(t.has("ThrOut")&&t.has("LiftMax")){let a=_(e,'SELECT AVG("ThrOut") FROM "MOTB"'),c=_(e,'SELECT AVG("LiftMax") FROM "MOTB"');if(a!==null&&c!==null&&c>0)r=a/c}let s=r!==null&&r>0.5,i=n>0,o=`MOTB FailFlags MAX=${n}`+(r!==null?`, mean ThrOut/LiftMax ${r.toFixed(2)} (low-margin > 0.5)`:"")+(i?" \u2014 THRUST-LOSS flagged":s?" \u2014 low thrust margin":"");return A({check:"thrust_margin",thresholds:e.thresholds,failed:i||s,failSeverity:"HIGH",value:r,threshold_used:0.5,detail:o})},Vn=(e)=>{let t=e.thresholds.imu;if(!e.hasTable("IMU"))return d("imu_health",e.thresholds);let n=D(e,"IMU"),r=["EG","EA"].filter((a)=>n.has(a));if(r.length===0)return d("imu_health",e.thresholds,"IMU has no EG/EA error-count columns");let s=t?.max_err??0,i=-1/0,o="";for(let a of r){let c=_(e,`SELECT MAX(${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||r.join("/")}) vs ${s}`})},Bn=(e)=>{let t=e.thresholds.imu;if(!e.hasTable("IMU"))return d("imu_consistency",e.thresholds);let n=D(e,"IMU");if(!n.has("I"))return d("imu_consistency",e.thresholds,"IMU has no instance column I");let r=["AccX","AccY","AccZ"].filter((b)=>n.has(b)),s=["GyrX","GyrY","GyrZ"].filter((b)=>n.has(b));if(r.length===0&&s.length===0)return d("imu_consistency",e.thresholds,"IMU has no Acc*/Gyr* columns");let i=[...r,...s].map((b)=>`AVG(${I(b)}) ${I(b)}`).join(", "),o=e.db.query(`SELECT "I" AS "I", ${i} FROM "IMU" GROUP BY "I"`).all();if(o.length<2)return d("imu_consistency",e.thresholds,`only ${o.length} IMU instance \u2014 nothing to cross-check`);let a=(b)=>{let w=o.map((E)=>Number(E[b])).filter((E)=>Number.isFinite(E));return w.length>=2?Math.max(...w)-Math.min(...w):0},c=0,l="";for(let b of r){let w=a(b);if(w>c)c=w,l=b}let u=0,f="";for(let b of s){let w=a(b);if(w>u)u=w,f=b}let p=t?.accel_consistency_max??0.7,g=t?.gyro_consistency_max??0.3,k=c>p,S=u>g,y=k||S,h=c/p>=u/g?c:u,m=c/p>=u/g?p:g,v=y?`INCONSISTENT \u2014 ${k?`accel ${l} spread ${c.toFixed(3)} m/s\xB2 > ${p}`:""}${k&&S?"; ":""}${S?`gyro ${f} spread ${u.toFixed(3)} rad/s > ${g}`:""}`:`IMUs consistent \u2014 max inter-instance bias spread: accel ${c.toFixed(3)} m/s\xB2 (<${p}), gyro ${u.toFixed(3)} rad/s (<${g}); relative differences between instances are within healthy tolerance`;return A({check:"imu_consistency",thresholds:e.thresholds,failed:y,failSeverity:"HIGH",value:h,threshold_used:m,source:{kind:"rule-of-thumb",ref:"IMU inconsistency tolerance (~ArduPilot arming limits)"},detail:v})},jn=(e)=>{if(!e.hasTable("ERR"))return d("err_events",e.thresholds);if(!C(e,"ERR","Subsys")||!C(e,"ERR","ECode"))return d("err_events",e.thresholds,"ERR present but Subsys/ECode columns absent");let t=e.thresholds.battery?.err_subsys??6,n=e.db.query(`SELECT "Subsys" AS subsys, "ECode" AS ecode, COUNT(*) AS n FROM "ERR" WHERE "ECode" <> 0 AND "Subsys" <> ${t} GROUP BY "Subsys", "ECode" ORDER BY "Subsys", "ECode"`).all(),r=0,s=[];for(let i of n)r+=Number(i.n),s.push(`Subsys=${i.subsys} ECode=${i.ecode} \xD7${i.n}`);return A({check:"err_events",thresholds:e.thresholds,failed:r>0,failSeverity:"HIGH",value:r,threshold_used:0,detail:r>0?`${r} non-battery ERR event(s): ${s.join(", ")}`:"no non-battery ERR events"})},Un,Gn=(e)=>{if(!e.hasTable("MODE"))return d("mode_changes",e.thresholds);if(!C(e,"MODE","ModeNum"))return d("mode_changes",e.thresholds,"MODE missing ModeNum column");let t=e.db.query('SELECT "ModeNum" AS modenum FROM "MODE"').all(),n=t.length,r=n>0?n-1:0,s=new Map,i=!1;for(let a of t){let c=Number(a.modenum);if(s.set(c,(s.get(c)??0)+1),Un.has(c))i=!0}let o=[...s.entries()].sort((a,c)=>a[0]-c[0]).map(([a,c])=>`Mode${a}\xD7${c}`).join(", ");return A({check:"mode_changes",thresholds:e.thresholds,failed:i,failSeverity:"HIGH",value:r,threshold_used:0,detail:`${r} mode change(s); timeline: ${o||"\u2014"}`+(i?" \u2014 emergency mode (RTL/LAND) entered":"")})},Xn=(e)=>{let t=e.thresholds.airspeed;if(!Ke(e.vehicleType))return d("airspeed",e.thresholds,`n/a for ${e.vehicleType} (no fixed-wing airspeed)`);if(!e.hasTable("ARSP"))return d("airspeed",e.thresholds,"no ARSP (airspeed) data");if(!C(e,"ARSP","Airspeed"))return d("airspeed",e.thresholds,"ARSP missing Airspeed column");let n=t?.stall_min_ms??8,r={kind:"rule-of-thumb",ref:"default stall floor"};if(e.hasTable("PARM")){let i=_(e,`SELECT "Value" FROM "PARM" WHERE "Name"='ARSPD_FBW_MIN' LIMIT 1`);if(i!==null&&i>0)n=i,r={kind:"datasheet",ref:"ARSPD_FBW_MIN"}}let s=_(e,'SELECT MIN("Airspeed") FROM "ARSP" WHERE "Airspeed" > 2');if(s===null)return d("airspeed",e.thresholds,"no airborne airspeed samples");return A({check:"airspeed",thresholds:e.thresholds,failed:s<n,failSeverity:"HIGH",value:s,threshold_used:n,source:r,detail:`min in-flight airspeed ${s.toFixed(1)} m/s vs stall floor ${n} m/s`})},qn;var Ze=M(()=>{Un=new Set([6,9]),qn=[{id:"battery",run:_n},{id:"min_cell_voltage",run:Mn},{id:"voltage_sag",run:In},{id:"over_current",run:Fn},{id:"internal_resistance",run:Pn},{id:"board_brownout",run:Dn},{id:"attitude",run:wn},{id:"rate_tracking",run:$n},{id:"altitude",run:vn},{id:"hover",run:En},{id:"rcou",run:An},{id:"rcin",run:kn},{id:"thrust_margin",run:Hn},{id:"vibration",run:Tn},{id:"imu_health",run:Vn},{id:"imu_consistency",run:Bn},{id:"mag",run:Cn},{id:"mag_offsets",run:Ln},{id:"gps_accuracy",run:On},{id:"ekf",run:Rn},{id:"ekf_variance",run:xn},{id:"esc_health",run:Nn},{id:"airspeed",run:Xn},{id:"err_events",run:jn},{id:"mode_changes",run:Gn}]});import{existsSync as Wn,readFileSync as Jn}from"fs";import{dirname as Kn,join as de}from"path";import{fileURLToPath as zn}from"url";function 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-`,"utf8")}async function D$(Z,$){let J=A$($.projectDir,$.workspace,Z.entity.external_id);await w8(J,{recursive:!0});let X=u(J,`${r(Z.episode.source_hash)}.json`);return await j$(X,JSON.stringify(Z,k8,2),"utf8"),await b8(J,Z),X}async function E$(Z){let $=A$(Z.projectDir,Z.workspace,Z.sysid),J;try{J=await q$($)}catch{return null}let X=`${r(Z.excludeSourceHash)}.json`,Q=J.filter((K)=>K.endsWith(".json")&&K!==X),z=null;for(let K of Q){let W=u($,K),Y;try{let O=await qZ(W,"utf8");Y=F$(JSON.parse(O))}catch{continue}let G=0;try{G=(await y8(W)).mtimeMs}catch{}let B=Y.episode?.logged_at?Date.parse(Y.episode.logged_at):NaN,U=Number.isNaN(B)?-1/0:B;if(z===null||U>z.loggedAt||U===z.loggedAt&&G>z.mtime)z={doc:Y,loggedAt:U,mtime:G}}return z?.doc??null}async function g8(Z,$,J){let X=u(Z,".hydron","observations",$),Q=`${r(J)}.json`,z;try{z=await q$(X)}catch{return null}for(let K of z){let W=u(X,K,Q),Y;try{let G=await qZ(W,"utf8");Y=F$(JSON.parse(G))}catch{continue}return{path:W,doc:Y}}return null}async function R$(Z){let $=await g8(Z.projectDir,Z.workspace,Z.flight_id);if(!$)return[];return($.doc.findings??[]).filter((J)=>J.origin==="agent")}var N$;var P$=M(()=>{N$={OK:0,HIGH:1,CRITICAL:2}});function f8(Z,$){let J=new Map;for(let Q of Z)J.set(Q.name,Q.value);let X=[];for(let Q of $){let z=J.get(Q.name);if(z===void 0)continue;if(z!==Q.value)X.push({name:Q.name,old:z,new:Q.value})}return X}function u8(Z,$){return f8(Z.params??[],$.params??[])}function x8(Z,$){let J=new Map;for(let Q of Z.findings??[])if(Q.tier==="system")J.set(Q.check,Q);let X=[];for(let Q of $.findings??[]){if(Q.tier!=="system")continue;let z=J.get(Q.check);if(!z)continue;if(z.severity!==Q.severity)X.push({check:Q.check,old:z.severity,new:Q.severity})}return X}function T$(Z,$){return{param_changes:u8(Z,$),finding_changes:x8(Z,$)}}var S$={};DZ(S$,{analyzeFlight:()=>c8});import{createHash as m8}from"crypto";import{open as I$,stat as p8}from"fs/promises";import{resolve as d8}from"path";async function l8(Z){let $=await I$(Z,"r");try{let J=Buffer.alloc(2);return await $.read(J,0,2,0),J[0]===_$[0]&&J[1]===_$[1]}finally{await $.close()}}async function n8(Z){let $=await I$(Z,"r");try{let J=m8("sha256"),X=Buffer.alloc(1048576),Q=0;for(;;){let{bytesRead:z}=await $.read(X,0,X.length,Q);if(z===0)break;J.update(X.subarray(0,z)),Q+=z}return J.digest("hex").slice(0,16)}finally{await $.close()}}function i8(Z){let $=Z.filter((Q)=>Q.verdict==="FAIL").length,J=Z.filter((Q)=>Q.severity==="CRITICAL"&&Q.verdict==="FAIL").length,X=Z.filter((Q)=>Q.verdict==="PASS").length;return{total:Z.length,passed:X,anomalies:$,critical:J}}async function c8(Z,$){if(await p8(Z),!await l8(Z))throw Error(`Not an ArduPilot DataFlash .bin (missing 0xA3 0x95 header): ${Z}`);let J=await n8(Z),X=G$($.configDir??$.projectDir),{log:Q,db:z,cleanup:K}=await m(Z,J,{configDir:$.configDir??$.projectDir});try{let W=L$(Q,z,{sourceHash:J});W.episode.attrs.source_path=d8(Z);let Y=rZ(Q);W.episode.attrs.vehicle_type=Y;let G=tZ(z,X,{vehicleType:Y});G=[...G,...K$(W.params,{configDir:$.configDir??$.projectDir,ruleset_version:X.ruleset_version})];let B=await R$({projectDir:$.projectDir,workspace:$.workspace,flight_id:J});G=[...G,...B];let U={schema_version:1,entity:W.entity,episode:W.episode,params:W.params,findings:G,events:W.events,measurements:W.measurements,ruleset_version:X.ruleset_version},O=await E$({projectDir:$.projectDir,workspace:$.workspace,sysid:W.entity.external_id,excludeSourceHash:J}),N=await D$(U,{projectDir:$.projectDir,workspace:$.workspace}),P={flight_id:J,vehicle_id:W.entity.external_id,metadata:{airframe:W.entity.attrs.name??W.entity.external_id,firmware:W.episode.attrs.firmware??null,duration_s:W.episode.attrs.duration_s??null},partial_decode:Q.partial,decoded_until:Q.decodedUntil,checks:G,summary:i8(G),ruleset_version:X.ruleset_version};if(O){let{param_changes:_,finding_changes:j}=T$(O,U);P.comparison={prior_flight_id:O.episode.source_hash,param_changes:_,finding_changes:j,narration:{claims:[]}}}return{report:P,doc:U,episodePath:N}}finally{K()}}var _$;var M$=M(()=>{WZ();eZ();W$();V$();O$();P$();_$=[163,149]});var y$={};DZ(y$,{sanitizeQuery:()=>w$,runUavQuery:()=>a8,renderQueryResult:()=>t8});import{readdir as r8,readFile as o8}from"fs/promises";import{join as C$}from"path";async function s8(Z,$,J){let X=C$(Z,".hydron","observations",$),Q;try{Q=await r8(X)}catch{throw Error(`No observation store at ${X}. 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-`),X=Z.rows.length>50?`
-\u2026 ${Z.rows.length-50} more rows`:Z.truncated?`
-(capped at ${o} rows)`:"";return`${$}
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+`,"utf8")}async function vt(e,t){let n=_t(t.projectDir,t.workspace,e.entity.external_id);await Rr(n,{recursive:!0});let r=V(n,`${K(e.episode.source_hash)}.json`);return await yt(r,JSON.stringify(e,Ir,2),"utf8"),await Dr(n,e),r}async function Et(e){let t=_t(e.projectDir,e.workspace,e.sysid),n;try{n=await bt(t)}catch{return null}let r=`${K(e.excludeSourceHash)}.json`,s=n.filter((o)=>o.endsWith(".json")&&o!==r),i=null;for(let o of s){let a=V(t,o),c;try{let p=await be(a,"utf8");c=wt(JSON.parse(p))}catch{continue}let l=0;try{l=(await Mr(a)).mtimeMs}catch{}let u=c.episode?.logged_at?Date.parse(c.episode.logged_at):NaN,f=Number.isNaN(u)?-1/0:u;if(i===null||f>i.loggedAt||f===i.loggedAt&&l>i.mtime)i={doc:c,loggedAt:f,mtime:l}}return i?.doc??null}async function $r(e,t,n){let r=V(e,".hydron","observations",t),s=`${K(n)}.json`,i;try{i=await bt(r)}catch{return null}for(let o of i){let a=V(r,o,s),c;try{let l=await be(a,"utf8");c=wt(JSON.parse(l))}catch{continue}return{path:a,doc:c}}return null}async function At(e){let t=await $r(e.projectDir,e.workspace,e.flight_id);if(!t)return[];return(t.doc.findings??[]).filter((n)=>n.origin==="agent")}var gt;var kt=M(()=>{gt={OK:0,HIGH:1,CRITICAL:2}});function Or(e,t){let n=new Map;for(let s of e)n.set(s.name,s.value);let r=[];for(let s of t){let i=n.get(s.name);if(i===void 0)continue;if(i!==s.value)r.push({name:s.name,old:i,new:s.value})}return r}function xr(e,t){return Or(e.params??[],t.params??[])}function Lr(e,t){let n=new Map;for(let s of e.findings??[])if(s.tier==="system")n.set(s.check,s);let r=[];for(let s of t.findings??[]){if(s.tier!=="system")continue;let i=n.get(s.check);if(!i)continue;if(i.severity!==s.severity)r.push({check:s.check,old:i.severity,new:s.severity})}return r}function Tt(e,t){return{param_changes:xr(e,t),finding_changes:Lr(e,t)}}import{createHash as Nr}from"crypto";import{open as Ct,stat as Hr}from"fs/promises";import{resolve as Vr}from"path";async function Br(e){let t=await Ct(e,"r");try{let n=Buffer.alloc(2);return await t.read(n,0,2,0),n[0]===St[0]&&n[1]===St[1]}finally{await t.close()}}async function jr(e){let t=await Ct(e,"r");try{let n=Nr("sha256"),r=Buffer.alloc(1048576),s=0;for(;;){let{bytesRead:i}=await t.read(r,0,r.length,s);if(i===0)break;n.update(r.subarray(0,i)),s+=i}return n.digest("hex").slice(0,16)}finally{await t.close()}}function Ur(e){let t=e.filter((s)=>s.verdict==="FAIL").length,n=e.filter((s)=>s.severity==="CRITICAL"&&s.verdict==="FAIL").length,r=e.filter((s)=>s.verdict==="PASS").length;return{total:e.length,passed:r,anomalies:t,critical:n}}async function Rt(e,t){if(await Hr(e),!await Br(e))throw Error(`Not an ArduPilot DataFlash .bin (missing 0xA3 0x95 header): ${e}`);let n=await jr(e),r=lt(t.configDir??t.projectDir),{log:s,db:i,cleanup:o}=await j(e,n,{configDir:t.configDir??t.projectDir});try{let a=ht(s,i,{sourceHash:n});a.episode.attrs.source_path=Vr(e);let c=Je(s);a.episode.attrs.vehicle_type=c;let l=Qe(i,r,{vehicleType:c});l=[...l,...ot(a.params,{configDir:t.configDir??t.projectDir,ruleset_version:r.ruleset_version})];let u=await At({projectDir:t.projectDir,workspace:t.workspace,flight_id:n});l=[...l,...u];let f={schema_version:1,entity:a.entity,episode:a.episode,params:a.params,findings:l,events:a.events,measurements:a.measurements,ruleset_version:r.ruleset_version},p=await Et({projectDir:t.projectDir,workspace:t.workspace,sysid:a.entity.external_id,excludeSourceHash:n}),g=await vt(f,{projectDir:t.projectDir,workspace:t.workspace}),k={flight_id:n,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:Ur(l),ruleset_version:r.ruleset_version};if(p){let{param_changes:S,finding_changes:y}=Tt(p,f);k.comparison={prior_flight_id:p.episode.source_hash,param_changes:S,finding_changes:y,narration:{claims:[]}}}return{report:k,doc:f,episodePath:g}}finally{o()}}var St;var Mt=M(()=>{ae();Ze();at();mt();pt();kt();St=[163,149]});import{readdir as Gr,readFile as Xr}from"fs/promises";import{join as It}from"path";async function qr(e,t,n){let r=It(e,".hydron","observations",t),s;try{s=await Gr(r)}catch{throw Error(`No observation store at ${r}. 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package/skills/uav/SKILL.md

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

package/skills/uav/references/tuning.md

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