@h2loop/uav 1.2.2 → 1.2.4

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@h2loop/uav",
-  "version": "1.2.2",
+  "version": "1.2.4",
   "description": "UAV domain pack for Hydron — ArduPilot/PX4 flight-log intelligence (analyze, triage, compare, tune)",
   "type": "module",
   "private": false,

package/plugins/index.js

@@ -1,7 +1,7 @@
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 vs prior flight ${e.comparison.prior_flight_id}:`);for(let s of e.comparison.param_changes)t.push(`  param ${s.name}: ${s.old} \u2192 ${s.new}`);for(let s of e.comparison.finding_changes)t.push(`  finding ${s.check}: ${s.old} \u2192 ${s.new}`);if(!e.comparison.param_changes.length&&!e.comparison.finding_changes.length)t.push("  (no changes)")}else t.push(`
@@ -28,7 +28,7 @@ vs prior flight ${e.comparison.prior_flight_id}:`);for(let s of e.comparison.par
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 `)}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.
+`),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",windowsHide:!0}).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: ${s instanceof Error?s.message:String(s)}`}}}),uav_finding:E({description:`Store or list a flight's findings. Findings from uav_analyze are deterministic; THIS tool records the conclusions YOU reach during an investigation so they attach to the flight.
 `+`\u2022 op:"list" \u2014 show every stored finding (deterministic + agent). ALWAYS call this first.
 `+'\u2022 op:"add" \u2014 append a NEW agent finding. Only add after listing and judging it is not already '+"represented (same root cause, even if worded differently). To replace one you now consider stale, "+"pass supersedes_id. A finding must cite the ABSOLUTE bound it breached (in detail) \u2014 not 'N\xD7 the "+"other instances'. The store refuses an exact-id rewrite but does NOT dedup semantically; that is your call.",args:{op:E.schema.enum(["list","add"]).describe("list existing findings, or add a new one"),flight_id:E.schema.string().describe("flight_id from a prior uav_analyze"),title:E.schema.string().optional().describe("add: short label, e.g. 'IMU2 accel-Y divergence'"),severity:E.schema.enum(["OK","HIGH","CRITICAL"]).optional().describe("add: magnitude (default HIGH)"),detail:E.schema.string().optional().describe("add: the grounded evidence + the ABSOLUTE bound it breached and that bound's source"),value:E.schema.number().optional().describe("add: measured metric, if any"),threshold_used:E.schema.number().optional().describe("add: the absolute bound it was judged against"),supersedes_id:E.schema.string().optional().describe("add: id of an existing finding this replaces")},async execute(n){try{if(n.op==="list")return Ws(await Pt({projectDir:t,workspace:r,flight_id:n.flight_id}));if(!n.title)return"uav_finding error: title is required to add a finding";let s=n.severity??"HIGH",i={check:n.title,severity:s,verdict:s==="OK"?"PASS":"FAIL",tier:"user",origin:"agent",value:n.value??null,threshold_used:n.threshold_used??null,ruleset_version:"",detail:n.detail,id:`a-${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}

package/plugins/worker/worker-entry.js

@@ -1,7 +1,7 @@
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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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t=e.thresholds.attitude;if(!e.hasTable("ATT"))return d("attitude",e.thresholds);for(let o of["DesRoll","Roll","DesPitch","Pitch"])if(!C(e,"ATT",o))return d("attitude",e.thresholds,`ATT missing column ${o}`);let n=t?.max_deg??5,r=_(e,'SELECT MAX(ABS("DesRoll"-"Roll")) FROM "ATT"'),s=_(e,'SELECT MAX(ABS("DesPitch"-"Pitch")) FROM "ATT"'),i=Math.max(r??0,s??0);return A({check:"attitude",thresholds:e.thresholds,failed:i>n,failSeverity:"HIGH",value:i,threshold_used:n,source:t?.source,detail:`peak roll err ${(r??0).toFixed(2)}\xB0, pitch err ${(s??0).toFixed(2)}\xB0`})},vn=(e)=>{let t=e.thresholds.altitude;if(!e.hasTable("CTUN"))return d("altitude",e.thresholds);if(!C(e,"CTUN","DAlt")||!C(e,"CTUN","Alt"))return d("altitude",e.thresholds,"CTUN missing DAlt/Alt columns");let n=t?.max_m??2,r=_(e,'SELECT MAX(ABS("DAlt"-"Alt")) FROM "CTUN"');return A({check:"altitude",thresholds:e.thresholds,failed:(r??0)>n,failSeverity:"HIGH",value:r,threshold_used:n,source:t?.source})},En=(e)=>{let t=e.thresholds.hover;if(!X(e.vehicleType))return d("hover",e.thresholds,`n/a for ${e.vehicleType} (no hover throttle)`);if(!e.hasTable("CTUN"))return d("hover",e.thresholds);if(!C(e,"CTUN","ThH"))return d("hover",e.thresholds,"CTUN missing ThH column");let n=t?.band??[0.25,0.75],[r,s]=n,i=_(e,'SELECT AVG("ThH") FROM "CTUN"'),o=i===null?!1:i<r||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 ${(i??0).toFixed(3)} vs band [${r}, ${s}]`})},ze=2000,An=(e)=>{if(!X(e.vehicleType))return d("rcou",e.thresholds,`n/a for ${e.vehicleType} (control surfaces, not motor mix)`);if(!e.hasTable("RCOU"))return d("rcou",e.thresholds);let t=D(e,"RCOU"),n=[];for(let i=1;i<=8;i++)if(t.has(`C${i}`))n.push(`C${i}`);if(n.length===0)return d("rcou",e.thresholds,"RCOU has no C1..C8 channels");let r=-1/0,s=[];for(let i of n){let o=_(e,`SELECT MAX(${I(i)}) FROM 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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:"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 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