@h2loop/uav 1.2.1 → 1.2.2

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@h2loop/uav",
-  "version": "1.2.1",
+  "version": "1.2.2",
   "description": "UAV domain pack for Hydron — ArduPilot/PX4 flight-log intelligence (analyze, triage, compare, tune)",
   "type": "module",
   "private": false,

package/plugins/index.js

@@ -1,46 +1,46 @@
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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})},jZ=1000,PZ=2000,e0=(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&&$<jZ||Q!==null&&Q>PZ,X=Q;if($!==null&&$<jZ)X=$;return P({check:"rcin",thresholds:Z.thresholds,failed:J,failSeverity:"HIGH",value:X,threshold_used:PZ,detail:`RCIN C3 range [${$??"\u2014"}, ${Q??"\u2014"}] vs [${jZ}, ${PZ}]`})},Z8=(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`})},G8=(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`})},z8=(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(([G,z])=>Q.has(G)&&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")&&$.has("LiftMax")){let W=j(Z,'SELECT AVG("ThrOut") FROM "MOTB"'),G=j(Z,'SELECT AVG("LiftMax") FROM "MOTB"');if(W!==null&&G!==null&&G>0)J=W/G}let X=J!==null&&J>0.5,Y=Q>0,K=`MOTB FailFlags MAX=${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})},O8=(Z)=>{let $=Z.thresholds.imu;if(!Z.hasTable("IMU"))return q("imu_health",Z.thresholds);let Q=k(Z,"IMU"),J=["EG","EA"].filter((W)=>Q.has(W));if(J.length===0)return q("imu_health",Z.thresholds,"IMU has no EG/EA error-count columns");let X=$?.max_err??0,Y=-1/0,K="";for(let W of J){let G=j(Z,`SELECT MAX(${S(W)}) FROM "IMU"`);if(G!==null&&G>Y)Y=G,K=W}if(Y===-1/0)Y=0;return P({check:"imu_health",thresholds:Z.thresholds,failed:Y>X,failSeverity:"HIGH",value:Y,threshold_used:X,source:$?.source,detail:`max IMU error count ${Y} (${K||J.join("/")}) vs ${X}`})},A8=(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", ${Y} FROM "IMU" GROUP BY 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r=Kn(e);if(/ArduPlane/i.test(r))return"fixedwing";if(/ArduCopter/i.test(r))return"multirotor";if(ke(e,"FRAME_CLASS")!==null)return"multirotor";if(e.tables.ARSP&&!e.tables.MOTB)return"fixedwing";if(e.tables.MOTB||e.tables.RATE)return"multirotor";return"unknown"}function se(e){return e===void 0||e==="multirotor"||e==="vtol"||e==="unknown"}function ct(e){return e==="fixedwing"||e==="vtol"}function I(e){return`"${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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-`)}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: ${X instanceof Error?X.message:String(X)}`}}}),uav_finding:D({description:`Store or list a flight's findings. Findings from uav_analyze are deterministic; THIS tool records the conclusions YOU reach during an investigation so they attach to the flight.
+${u.trim()}`:"")).trim().slice(0,12000),ok:d===0,tables:n}}import{existsSync as an}from"fs";async function W(e,t){let r=te(e,ee(t?.configDir));if(r){let{out:s,cleanup:i}=await ne(e,r);try{return await W(s)}finally{await i()}}let n=e.toLowerCase();if(n.endsWith(".bin"))return X(e);if(n.endsWith(".ulog"))return Z(e);if(n.endsWith(".tlog")||n.endsWith(".log"))return U(e);return X(e).catch(()=>U(e))}function qs(e){let t=[];if(e.partial_decode)t.push(`\u26A0\uFE0F  PARTIAL DECODE \u2014 log truncated at TimeUS=${e.decoded_until}. Post-cut checks were SKIPPED.`);t.push(`Flight ${e.flight_id} \xB7 ${e.metadata.airframe}`+(e.metadata.firmware?` \xB7 ${e.metadata.firmware}`:"")+(e.metadata.duration_s?` \xB7 ${Math.round(e.metadata.duration_s/60)}min`:"")),t.push(`Checks: ${e.summary.total} run \xB7 ${e.summary.passed} clean \xB7 ${e.summary.anomalies} anomalies (${e.summary.critical} critical) \xB7 ruleset ${e.ruleset_version}`);let r=e.checks.filter((s)=>s.verdict==="FAIL").sort((s,i)=>nn(i.severity)-nn(s.severity));for(let s of r){let i=s.source?` [${s.source.kind}${s.source.ref?`: ${s.source.ref}`:""}]`:"";t.push(`  ${s.severity.padEnd(8)} ${s.check}: value=${s.value??"\u2014"} vs threshold=${s.threshold_used??"\u2014"}${i}`)}let n=e.checks.filter((s)=>s.verdict==="SKIP").map((s)=>s.check);if(n.length)t.push(`  (skipped \u2014 data absent: ${n.join(", ")})`);if(e.comparison){t.push(`
+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: ${s instanceof Error?s.message:String(s)}`}}}),uav_finding:E({description:`Store or list a flight's findings. Findings from uav_analyze are deterministic; THIS tool records the conclusions YOU reach during an investigation so they attach to the flight.
 `+`\u2022 op:"list" \u2014 show every stored finding (deterministic + agent). ALWAYS call this first.
-`+'\u2022 op:"add" \u2014 append a NEW agent finding. Only add after listing and judging it is not already '+"represented (same root cause, even if worded differently). To replace one you now consider stale, "+"pass supersedes_id. A finding must cite the ABSOLUTE bound it breached (in detail) \u2014 not 'N\xD7 the "+"other instances'. The store refuses an exact-id rewrite but does NOT dedup semantically; that is your call.",args:{op:D.schema.enum(["list","add"]).describe("list existing findings, or add a new one"),flight_id:D.schema.string().describe("flight_id from a prior uav_analyze"),title:D.schema.string().optional().describe("add: short label, e.g. 'IMU2 accel-Y divergence'"),severity:D.schema.enum(["OK","HIGH","CRITICAL"]).optional().describe("add: magnitude (default HIGH)"),detail:D.schema.string().optional().describe("add: the grounded evidence + the ABSOLUTE bound it breached and that bound's source"),value:D.schema.number().optional().describe("add: measured metric, if any"),threshold_used:D.schema.number().optional().describe("add: the absolute bound it was judged against"),supersedes_id:D.schema.string().optional().describe("add: id of an existing finding this replaces")},async execute(J){try{if(J.op==="list")return n6(await k$({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:
-${Y}
+`+'\u2022 op:"add" \u2014 append a NEW agent finding. Only add after listing and judging it is not already '+"represented (same root cause, even if worded differently). To replace one you now consider stale, "+"pass supersedes_id. A finding must cite the ABSOLUTE bound it breached (in detail) \u2014 not 'N\xD7 the "+"other instances'. The store refuses an exact-id rewrite but does NOT dedup semantically; that is your call.",args:{op:E.schema.enum(["list","add"]).describe("list existing findings, or add a new one"),flight_id:E.schema.string().describe("flight_id from a prior uav_analyze"),title:E.schema.string().optional().describe("add: short label, e.g. 'IMU2 accel-Y divergence'"),severity:E.schema.enum(["OK","HIGH","CRITICAL"]).optional().describe("add: magnitude (default HIGH)"),detail:E.schema.string().optional().describe("add: the grounded evidence + the ABSOLUTE bound it breached and that bound's source"),value:E.schema.number().optional().describe("add: measured metric, if any"),threshold_used:E.schema.number().optional().describe("add: the absolute bound it was judged against"),supersedes_id:E.schema.string().optional().describe("add: id of an existing finding this replaces")},async execute(n){try{if(n.op==="list")return Ws(await Pt({projectDir:t,workspace:r,flight_id:n.flight_id}));if(!n.title)return"uav_finding error: title is required to add a finding";let s=n.severity??"HIGH",i={check:n.title,severity:s,verdict:s==="OK"?"PASS":"FAIL",tier:"user",origin:"agent",value:n.value??null,threshold_used:n.threshold_used??null,ruleset_version:"",detail:n.detail,id:`a-${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: ${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:
+(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: ${s instanceof Error?s.message:String(s)}`}}}),uav_plot:E({description:"Chart flight signals as an SVG that renders in the editor. Use for ANY plot/chart/graph/visualise "+`request \u2014 never hand-write SQL via uav_query for visualisation. Three modes:
 `+'\u2022 timeseries (default): signals vs time. Supports DERIVED expressions, e.g. "ATT.DesRoll - ATT.Roll" '+`(tracking error), "CTUN.ThH * 100". Multiple signals overlay.
 `+"\u2022 xy: one signal vs another (time-aligned) \u2014 correlations, e.g. x=BAT.Curr y=BAT.Volt (sag/IR), "+`x=RCOU.C1 y=VIBE.VibeZ (vibe vs throttle \u2014 motor output, NOT CTUN.ThH which is the constant hover estimate).
 `+`\u2022 fft: magnitude spectrum (Hz) of a signal \u2014 vibration peaks, e.g. signals=["IMU.GyrX"] or ["VIBE.VibeZ"].
-`+"Signals/exprs use TABLE.COLUMN (VIBE.VibeZ, ATT.DesRoll, BAT.Volt, RCOU.C1, XKF3.IVN, \u2026).",args:{flight_id:D.schema.string().describe("flight_id from a prior uav_analyze"),mode:D.schema.enum(["timeseries","xy","fft"]).optional().describe("default timeseries"),signals:D.schema.array(D.schema.string()).optional().describe('timeseries/fft: signals or derived exprs, e.g. ["ATT.DesRoll - ATT.Roll"] or ["IMU.GyrX"]'),x:D.schema.string().optional().describe("xy mode: x-axis signal, e.g. BAT.Curr"),y:D.schema.string().optional().describe("xy mode: y-axis signal, e.g. BAT.Volt"),title:D.schema.string().optional().describe("optional chart title")},async execute(J){try{let X=await c(await HZ($,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?`
+`+"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?`
 
-`+F.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)}`}}})}}},oJ=t6;export{oJ 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};

package/plugins/worker/worker-entry.js

@@ -1,11 +1,7 @@
 // @bun
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Install Python >= 3.8 and make sure `python3` "+"(macOS/Linux) or `python` (Windows \u2014 tick \u201CAdd python.exe to PATH\u201D in the installer) runs "+"from a terminal, or set UAV_PYTHON to the interpreter's full path."});import{fileURLToPath as J0}from"url";function kZ(Z){return typeof Z==="object"&&Z!==null&&"_summary"in Z}function z0(Z){if(typeof Z==="bigint")return Z;if(typeof Z==="number"&&Number.isFinite(Z))return BigInt(Math.trunc(Z));if(typeof Z==="string"&&/^-?\d+$/.test(Z))return BigInt(Z);return 0n}async function JZ(Z){let $=await d();if(await Bun.spawn([...$,"-c","import pymavlink"],{stdout:"ignore",stderr:"ignore"}).exited!==0)throw Error(`pymavlink not found \u2014 ${$.join(" ")} -m pip install pymavlink`);let X=Bun.spawn([...$,X0,Z],{stdout:"pipe",stderr:"pipe"}),Q=new Map,z={},K=!1,W=null,Y=null,G=!1;function B(L){let V=Q.get(L);if(!V)V={columns:[],colIndex:new Map,rows:[]},Q.set(L,V);return V}function U(L){let V=L.t,D=B(V),q=L.f;for(let E of Object.keys(q))if(!D.colIndex.has(E))D.colIndex.set(E,D.columns.length),D.columns.push(E);let F=Array(D.columns.length).fill(null);for(let E of Object.keys(q)){let w=D.colIndex.get(E),S=q[E],y=Q0.has(E)?z0(S):S;if(F[w]=y,E==="TimeUS"&&typeof y==="bigint")Y=y}D.rows.push(F)}let O=new TextDecoder,N="";for await(let L of X.stdout){N+=O.decode(L,{stream:!0});let V;while((V=N.indexOf(`
-`))!==-1){let D=N.slice(0,V);if(N=N.slice(V+1),D.length===0)continue;let q;try{q=JSON.parse(D)}catch{K=!0;continue}if(kZ(q)){G=!0;for(let[F,E]of Object.entries(q._summary.counts))z[F]=E;if(q._summary.partial)K=!0}else U(q)}}N+=O.decode();let P=N.trim();if(P.length>0)try{let L=JSON.parse(P);if(kZ(L)){G=!0;for(let[V,D]of Object.entries(L._summary.counts))z[V]=D;if(L._summary.partial)K=!0}else U(L)}catch{K=!0}let _=await X.exited;if(_!==0){if(!G){let L=(await new Response(X.stderr).text()).trim();throw Error(`pymavlink decode failed (exit ${_})${L?`: ${L}`:""}`)}K=!0}if(!G)K=!0;if(K)W=Y;let j={};for(let[L,V]of Q)j[L]={columns:V.columns,rows:V.rows};for(let[L,V]of Q)if(z[L]===void 0)z[L]=V.rows.length;return{partial:K,decodedUntil:W,tables:j,messageCounts:z}}var X0,Q0;var vZ=M(()=>{$Z();X0=J0(new URL("./mavdump.py",import.meta.url)),Q0=new Set(["TimeUS","TimeMS"])});import{fileURLToPath as K0}from"url";function G0(Z){return typeof Z==="object"&&Z!==null&&"_summary"in Z}function B0(Z){if(typeof Z==="bigint")return Z;if(typeof Z==="number"&&Number.isFinite(Z))return BigInt(Math.trunc(Z));if(typeof Z==="string"&&/^-?\d+$/.test(Z))return BigInt(Z);return 0n}async function H0(Z){let $=()=>Bun.spawn([...Z,"-c","import pyulog"],{stdout:"ignore",stderr:"ignore"}).exited;if(await $()===0)return;if(await Bun.spawn([...Z,"-m","pip","install","--quiet","pyulog"],{stdout:"ignore",stderr:"ignore"}).exited,await $()!==0)throw Error(`pyulog not found \u2014 ${Z.join(" ")} -m pip install pyulog`)}async function hZ(Z){let $=await d();await H0($);let J=Bun.spawn([...$,W0,Z],{stdout:"pipe",stderr:"pipe"}),X=new Map,Q={},z=!1,K=null,W=null,Y=!1;function G(L){let V=X.get(L);if(!V)V={columns:[],colIndex:new Map,rows:[]},X.set(L,V);return V}function B(L){let V=L.t,D=G(V),q=L.f;for(let E of Object.keys(q))if(!D.colIndex.has(E))D.colIndex.set(E,D.columns.length),D.columns.push(E);let F=Array(D.columns.length).fill(null);for(let E of Object.keys(q)){let w=D.colIndex.get(E),S=q[E],y=Y0.has(E)?B0(S):S;if(F[w]=y,E==="timestamp"&&typeof y==="bigint")W=y}D.rows.push(F)}function U(L){if(L.length===0)return;let V;try{V=JSON.parse(L)}catch{z=!0;return}if(G0(V)){Y=!0;for(let[D,q]of Object.entries(V._summary.counts))Q[D]=q;if(V._summary.partial)z=!0}else B(V)}let O=new TextDecoder,N="";for await(let L of J.stdout){N+=O.decode(L,{stream:!0});let V;while((V=N.indexOf(`
-`))!==-1)U(N.slice(0,V)),N=N.slice(V+1)}N+=O.decode();let P=N.trim();if(P.length>0)U(P);let _=await J.exited;if(_!==0){if(!Y){let L=(await new Response(J.stderr).text()).trim();throw Error(`ulog decode failed (exit ${_})${L?`: ${L}`:""}`)}z=!0}if(!Y)z=!0;if(z)K=W;let j={};for(let[L,V]of X)j[L]={columns:V.columns,rows:V.rows};for(let[L,V]of X)if(Q[L]===void 0)Q[L]=V.rows.length;return{partial:z,decodedUntil:K,tables:j,messageCounts:Q}}var W0,Y0;var bZ=M(()=>{$Z();W0=K0(new URL("./ulog.py",import.meta.url)),Y0=new Set(["timestamp","timestamp_sample"])});import{existsSync as gZ,readFileSync as U0}from"fs";import{mkdtemp as V0,rm as L0}from"fs/promises";import{tmpdir as O0}from"os";import{basename as XZ,join as QZ}from"path";function fZ(Z){if(!Z)return[];let $=QZ(Z,".hydron","uav-format-converters.json");if(!gZ($))return[];try{let J=JSON.parse(U0($,"utf8"));return Array.isArray(J.converters)?J.converters.filter((X)=>X&&X.match&&X.command):[]}catch{return[]}}function uZ(Z,$){for(let J of $)try{if(new RegExp(J.match,"i").test(Z))return J}catch{}return null}async function xZ(Z,$){let J=await V0(QZ(O0(),"uav-convert-")),X=XZ(Z).replace(/\.[^.]+$/,""),Q=QZ(J,X+($.produces??".bin")),z=$.command.replaceAll("{input}",Z).replaceAll("{output}",Q),K=()=>L0(J,{recursive:!0,force:!0});try{let W=process.platform==="win32"?["cmd.exe","/d","/s","/c",z]:["bash","-lc",z],Y=Bun.spawn(W,{stdout:"pipe",stderr:"pipe"}),G=await Y.exited;if(G!==0){let B=(await new Response(Y.stderr).text()).trim().slice(0,300);throw Error(`format converter failed (exit ${G}) for ${XZ(Z)}: ${B}`)}if(!gZ(Q))throw Error(`format converter produced no output for ${XZ(Z)}`);return{out:Q,cleanup:K}}catch(W){throw await K(),W}}var mZ=()=>{};import{Database as N0}from"bun:sqlite";import{tmpdir as j0}from"os";import{join as q0}from"path";import{existsSync as pZ,unlinkSync as dZ}from"fs";function nZ(Z){let $=q0(j0(),`uav-${Z}-${process.pid}-${A0++}.sqlite`);try{if(pZ($))dZ($)}catch{}let J=new N0($);return J.exec("PRAGMA page_size = 8192"),J.query("PRAGMA journal_mode = MEMORY").get(),J.exec("PRAGMA synchronous = OFF"),J.exec("PRAGMA temp_store = FILE"),J.exec("PRAGMA cache_size = -65536"),{db:J,cleanup(){try{J.close()}catch{}try{if(pZ($))dZ($)}catch{}}}}function KZ(Z){let $=new Map,J=new Map;return{table(X,Q){if($.has(X)||Q.length===0)return;Z.run(`CREATE TABLE ${zZ(X)} (${Q.map(zZ).join(", ")})`);let z=Q.map(()=>"?").join(", ");$.set(X,Z.query(`INSERT INTO ${zZ(X)} VALUES (${z})`)),J.set(X,Q.length)},rows(X,Q){let z=$.get(X),K=J.get(X);if(!z||K===void 0||Q.length===0)return;let W=Z.transaction((Y)=>{for(let G of Y){let B=Array(K);for(let U=0;U<K;U++){let O=G[U];B[U]=O===void 0?null:O}z.run(...B)}});for(let Y=0;Y<Q.length;Y+=lZ)W(Q.slice(Y,Y+lZ))}}}function iZ(Z,$){let J=KZ(Z);for(let[X,Q]of Object.entries($.tables)){if(Q.columns.length===0)continue;if(J.table(X,Q.columns),Q.rows.length)J.rows(X,Q.rows)}}var A0=0,zZ=(Z)=>`"${Z.replace(/"/g,'""')}"`,lZ=5000;var cZ=()=>{};async function 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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 $=Z.thresholds.esc;if(!Z.hasTable("ESC"))return H("esc_health",Z.thresholds);let J=k(Z,"ESC"),X=["Temp","MotTemp"].filter((U)=>J.has(U));if(X.length===0&&!J.has("Err"))return 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R({check:"imu_health",thresholds:Z.thresholds,failed:z>Q,failSeverity:"HIGH",value:z,threshold_used:Q,source:$?.source,detail:`max IMU error count ${z} (${K||X.join("/")}) vs ${Q}`})},l0=(Z)=>{let $=Z.thresholds.imu;if(!Z.hasTable("IMU"))return H("imu_consistency",Z.thresholds);let J=k(Z,"IMU");if(!J.has("I"))return H("imu_consistency",Z.thresholds,"IMU has no instance column I");let X=["AccX","AccY","AccZ"].filter((q)=>J.has(q)),Q=["GyrX","GyrY","GyrZ"].filter((q)=>J.has(q));if(X.length===0&&Q.length===0)return H("imu_consistency",Z.thresholds,"IMU has no Acc*/Gyr* columns");let z=[...X,...Q].map((q)=>`AVG(${C(q)}) ${C(q)}`).join(", "),K=Z.db.query(`SELECT "I" AS "I", ${z} FROM "IMU" GROUP BY "I"`).all();if(K.length<2)return H("imu_consistency",Z.thresholds,`only ${K.length} IMU instance \u2014 nothing to cross-check`);let W=(q)=>{let F=K.map((E)=>Number(E[q])).filter((E)=>Number.isFinite(E));return F.length>=2?Math.max(...F)-Math.min(...F):0},Y=0,G="";for(let q of X){let 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s=t?.max_ms2??30,i={},o=-1/0;for(let f of r){let g=_(e,`SELECT MAX(${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?" 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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 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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 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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 nt(e){if(e){let t=de(e,".hydron","apm-params.json"),n=tt(t);if(n&&n.size>0)return n}for(let t of Yn){let n=tt(t);if(n)return n}return new Map}function rt(e,t){return t.get(e.toUpperCase())}function tt(e){if(!Wn(e))return;try{let t=Jn(e,"utf8"),n=JSON.parse(t);if(!n||typeof n!=="object")return;let r=new Map;for(let[s,i]of Object.entries(n)){if(!s||s.startsWith("_")||typeof i!=="object"||i===null)continue;let o={name:s};if(typeof i.min==="number"&&Number.isFinite(i.min))o.min=i.min;if(typeof i.max==="number"&&Number.isFinite(i.max))o.max=i.max;if(typeof i.units==="string"&&i.units)o.units=i.units;r.set(s.toUpperCase(),o)}return r}catch{return}}var et,Yn;var st=M(()=>{et=Kn(zn(import.meta.url)),Yn=[de(et,"..","data","apm-params.json"),de(et,"..","..","data","apm-params.json")]});import{existsSync as Qn,readFileSync as Zn}from"fs";import{join as er}from"path";function it(){return{ruleset_version:"v1",safety:{ARMING_CHECK:{min:1},FS_THR_ENABLE:{min:1},FENCE_ENABLE:{min:1}},range:{INS_GYRO_FILTER:{min:5,max:80,severity:"HIGH"},ATC_RAT_RLL_P:{min:0,max:0.5,severity:"HIGH"},ATC_RAT_PIT_P:{min:0,max:0.5,severity:"HIGH"},ATC_RAT_YAW_P:{min:0,max:1,severity:"HIGH"},MOT_SPIN_ARM:{min:0,max:0.2,severity:"HIGH"},MOT_SPIN_MIN:{min:0,max:0.3,severity:"HIGH"},RTL_ALT:{min:200,max:1e4,severity:"HIGH"},WPNAV_SPEED:{min:50,max:2000,severity:"HIGH"}}}}function tr(e){let t=it(),n=er(e,".hydron","param-rules.yaml");if(!Qn(n))return t;try{let r=Zn(n,"utf8");return nr(t,r)}catch{return t}}function nr(e,t){let n={ruleset_version:e.ruleset_version,safety:{...e.safety},range:{...e.range}},r=null;for(let s of t.split(/\r?\n/)){let o=s.replace(/#.*$/,"").trim();if(!o||o.startsWith("-"))continue;let a=/^ruleset_version\s*:\s*(.+)$/.exec(o);if(a){n.ruleset_version=a[1].trim().replace(/^["']|["']$/g,""),r=null;continue}if(/^safety\s*:\s*$/.test(o)){r="safety";continue}if(/^range\s*:\s*$/.test(o)){r="range";continue}let c=/^([A-Za-z0-9_]+)\s*:\s*\{(.+)\}\s*$/.exec(o);if(c&&r){let l=c[1],u=rr(c[2]);if(r==="safety"){let f=u.min;if(typeof f==="number")n.safety[l]={min:f}}else{let{min:f,max:p,severity:g}=u;if(typeof f==="number"&&typeof p==="number")n.range[l]={min:f,max:p,severity:g==="CRITICAL"?"CRITICAL":"HIGH"}}}}return n}function rr(e){let t={};for(let n of e.split(",")){let r=/^\s*([A-Za-z0-9_]+)\s*:\s*(.+?)\s*$/.exec(n);if(!r)continue;let s=r[1],i=r[2].replace(/^["']|["']$/g,""),o=Number(i);t[s]=Number.isFinite(o)&&i!==""?o:i}return t}function sr(e){let t=new Map;for(let n of e)t.set(n.name.toUpperCase(),n.value);return t}function 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 ot(e,t={}){let n=t.configDir?tr(t.configDir):it(),r=t.ruleset_version??n.ruleset_version,s=sr(e),i=nt(t.configDir);return[...ir(s,n,r),...or(s,r),...cr(s,n,r,i),...lr(e,null)]}function ir(e,t,n){let r=[],s={kind:"rule-of-thumb"},i=e.get("ARMING_CHECK");if(i===void 0)r.push(N("param.safety.arming",n,"ARMING_CHECK absent"));else{let u=i!==0;r.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:n,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)r.push(N("param.safety.battery_failsafe",n,"BATT_LOW_VOLT/BATT_CRT_VOLT absent"));else{let u=(o??0)===0&&(a??0)===0;r.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:n,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)r.push(N("param.safety.radio_failsafe",n,"FS_THR_ENABLE absent"));else{let u=c!==0;r.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:n,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)r.push(N("param.safety.fence",n,"FENCE_ENABLE absent"));else{let u=l!==0;r.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:n,detail:u?"geofence 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l=(o??0)!==0&&(a??0)!==0;n.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:r}))}let c=e.get("INS_HNTCH_ENABLE");if(c===void 0)n.push(N("param.consistency.notch_filter",t,"INS_HNTCH_ENABLE absent"));else n.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:r}));return n}function ar(e){for(let n of["BATT_CELLS","BATT_N_CELLS","BATT_CELL_COUNT"]){let r=e.get(n);if(r!==void 0&&r>0)return Math.round(r)}let t=e.get("BATT_ARM_VOLT");if(t!==void 0&&t>0)return Math.round(t/3.6);return null}function cr(e,t,n,r){let s=[];for(let[i,o]of Object.entries(t.range)){let a=e.get(i.toUpperCase()),c=`param.range.${i}`;if(a===void 0){s.push(N(c,n,`${i} absent`));continue}let l=rt(i,r),u=l!==void 0&&(typeof l.min==="number"||typeof l.max==="number"),f=u&&typeof l.min==="number"?Math.max(o.min,l.min):o.min,p=u&&typeof l.max==="number"?Math.min(o.max,l.max):o.max,g=u&&typeof l.min==="number"?l.min:o.min,k=u&&typeof l.max==="number"?l.max:o.max,S=u?{kind:"datasheet",ref:"apm.pdef.xml"}:{kind:"tuned"},y=a>=f&&a<=p;s.push(L({check:c,severity:y?"OK":o.severity,value:a,threshold_used:y?k:a<f?g:k,verdict:y?"PASS":"FAIL",ruleset_version:n,detail:y?`${i}=${a} within [${g},${k}]${u?" 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mr(){return{ruleset_version:"v1",vibration:{field:"VibeX|VibeY|VibeZ",max_ms2:30,source:{kind:"rule-of-thumb"}},clipping:{field:"Clip",max:0},battery:{err_subsys:6,err_ecode:1,min_cell_v:3.3,max_sag_v:2,max_current_a:200,max_res_ohm:0.03,res_min_current_a:5,source:{kind:"rule-of-thumb"}},attitude:{fields:"DesRoll-Roll,DesPitch-Pitch",max_deg:5,window_samples:10},altitude:{field:"DAlt-Alt",max_m:2},hover:{field:"ThH",band:[0.25,0.75]},ekf:{fields:"IVN,IVE,IVD",max_ratio:0.5,max_variance:1},mag:{field:"Health",min:1,late_align_s:30,max_offset:600},gps:{field:"NSats",min:6,hdop_max:2,hacc_max_m:5},power:{min_vcc_v:4.5,source:{kind:"rule-of-thumb"}},rate:{max_err_dps:50,source:{kind:"rule-of-thumb"}},esc:{max_temp_c:90,source:{kind:"rule-of-thumb"}},imu:{max_err:0,accel_consistency_max:0.7,gyro_consistency_max:0.3,source:{kind:"rule-of-thumb"}},airspeed:{stall_min_ms:8,source:{kind:"rule-of-thumb"}}}}function lt(e){let t=mr(),n=fr(e,".hydron","uav-thresholds.yaml");if(!ur(n))return 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Run uav_analyze first.`)}for(let i of s){let o=It(r,i,`${n}.json`);try{let c=JSON.parse(await Xr(o,"utf8"))?.episode?.attrs?.source_path;if(typeof c==="string"&&c)return c;throw Error(`Episode ${n} has no source_path; re-run uav_analyze to record it.`)}catch(a){if(a.code==="ENOENT")continue;throw a}}throw Error(`flight_id ${n} not found in the observation store. 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For heavier analysis use Python via bash, not SQL.");if(/\b(insert|update|delete|drop|create|alter|attach|detach|replace|reindex|vacuum)\b/i.test(t))throw Error("Write/DDL keyword detected \u2014 uav_query is read-only.");if(!/\blimit\b/i.test(t))t+=` LIMIT ${_e}`;return t}async function Ft(e){let t=Wr(e.query),n=await qr(e.projectDir,e.workspace,e.flight_id),{db:r,cleanup:s}=await j(n,e.flight_id);try{r.exec?.("PRAGMA query_only = ON");let o=r.query(t).all(),a=o.length?Object.keys(o[0]):[],l=o.slice(0,_e).map((u)=>a.map((f)=>u[f]));return{columns:a,rows:l,truncated:o.length>_e}}finally{s()}}var _e=1e4;var Pt=M(()=>{ae()});self.onmessage=async(e)=>{let t=e.data;try{let n;if(t.op==="analyze"){await Promise.resolve().then(() => Mt());n=await Rt(t.binPath,t.opts)}else if(t.op==="query"){await Promise.resolve().then(() => Pt());n=await Ft(t.opts)}else throw Error("unknown worker op");self.postMessage({ok:!0,result:n})}catch(n){self.postMessage({ok:!1,error:n instanceof Error?n.message:String(n)})}};