@totemsdk/act-mavlink 0.0.0-stage → 0.1.0

package/LICENSE

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package/NOTICE

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+Totem SDK
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+------
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+Licensed under the Apache License, Version 2.0.
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+----
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package/README.md

@@ -1,3 +1,109 @@
-# Temporary Holding Version
+# @totemsdk/act-mavlink
 
-This version is a temporary placeholder for this package. An operational version to replace this has been submitted for review and is awaiting a staged release.
+Governed MAVLink / autonomous-flight profile (RFC-025) for the Totem governed
+action runtime.
+
+`act-mavlink` authorizes a **mission envelope** and lets the autopilot own the
+control loop. It prepares commitment-bound mission commands, derives the
+envelope's speed/duration/altitude effects for RFC-023, and reconciles
+completion from vehicle telemetry — never from a command acknowledgement.
+
+> **Boundary.** This package owns mission authority and evidence only. The wire
+> frames belong to `@totemsdk/edge-mavlink`; stabilization, failsafes and the
+> real-time loop belong to the autopilot. Offboard/velocity control is out of
+> scope.
+
+## Install
+
+```bash
+pnpm add @totemsdk/act-mavlink @totemsdk/act-core
+```
+
+## Use
+
+The MAVLink client is injected through a port (SDK, bridge, or SITL simulator):
+
+```ts
+import { createMavlinkDefinitions, createMavlinkProfile, envelopeDigest } from '@totemsdk/act-mavlink';
+
+const vehicles = [{
+  vehicleId: 'DRONE-1',
+  maxSpeedMetresPerSecond: '15',
+  maxAltitudeMetres: '120',
+  maxDurationSeconds: '1800',
+}];
+
+const profile = createMavlinkProfile({ site: 'site-1', vehicles });
+const definitions = createMavlinkDefinitions({ transport, site: 'site-1', vehicles });
+
+const envelope = {
+  envelopeId: 'survey-1',
+  vehicle: 'DRONE-1',
+  waypoints: [
+    { latitudeDeg: 51.5, longitudeDeg: -0.12, altitudeMetres: 30 },
+    { latitudeDeg: 51.501, longitudeDeg: -0.121, altitudeMetres: 40 },
+  ],
+  maxAltitudeMetres: '120',
+  maxSpeedMetresPerSecond: '12',
+  maxDurationSeconds: '900',
+  geofence: { latitudeDeg: 51.5, longitudeDeg: -0.12, radiusMetres: 1000 },
+};
+
+const digest = envelopeDigest(envelope); // authorize this digest
+```
+
+Register the definitions with `act-core`'s `toEdgeActionDefinition` and the
+profile's resources/interlocks.
+
+## Governed operations
+
+| Kind | Effect | Failure mode | Async |
+|---|---|---|---|
+| `flight:uploadMission` | write | abort (pre-dispatch) | completed |
+| `flight:startMission` | write | fail-safe (return to launch) | accepted → confirmed |
+| `flight:hold` | write | fail-safe (return to launch) | accepted → confirmed |
+| `flight:returnToLaunch` | write | fail-safe (land) | accepted → confirmed |
+| `flight:land` | write | fail-safe (land) | accepted → confirmed |
+| `flight:readTelemetry` | read | fail-silent | completed |
+
+`startMission` requires the authorized `envelopeDigest`; the adapter recomputes
+the digest from the prepared envelope and **fails closed** on any mismatch, so a
+start cannot reference a different plan. Acceptance is never completion:
+`reconcile` reads telemetry and reports `confirmed` only on observed arrival at
+the final waypoint within the tolerance (default 15 m).
+
+## Mission envelope
+
+`validateMissionEnvelope` enforces:
+
+- 1–100 waypoints with valid WGS-84 coordinates;
+- waypoint altitude at or below `maxAltitudeMetres`;
+- positive speed and duration ceilings;
+- every waypoint inside the declared geofence (haversine distance).
+
+The envelope digest is canonical and is bound into the commitment and receipt.
+
+## Conformance
+
+`runMavlinkConformance(transport, { site, vehicles, envelope })` is the
+per-autopilot gate. It checks envelope validity, geofence rejection, mission
+upload/start round-trip, the authorized digest binding, telemetry shape,
+acceptance-vs-completion semantics and safe-state availability. A second
+autopilot must ship as a separately tested profile, not by loosening this one.
+
+## Error taxonomy
+
+`GEOFENCE_BREACH`, `FAILSAFE_TRIGGERED` and battery-critical codes are `safety`
+and command the safe state without retry; mission rejections are `permanent`;
+link timeouts are `transient`; denials are `auth`.
+
+## Known limits
+
+- The client SDK/autopilot foundation is not bundled or version-pinned: the
+  deployment supplies the transport (RFC-025 §9 remains an integration decision).
+- Offboard/velocity control is intentionally excluded; v1 governs bounded
+  missions, not stick inputs.
+- Cancellation is `unknown` until reconciled; a cancel is never treated as zero
+  consumption.
+
+See `docs/rfc/RFC-025-MAVLINK-AUTONOMOUS-FLIGHT-PROFILE.md`.

package/dist/adapter.d.ts

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+/**
+ * RFC-025 §5.3 — governed MAVLink operations.
+ *
+ * `startMission` carries the authorized envelope digest; a start whose
+ * recomputed digest differs from the authorized one fails closed before
+ * dispatch. Acceptance is never completion: `startMission` reconciles through
+ * vehicle telemetry and only reports `confirmed` on observed arrival.
+ */
+import { type IndustrialActionDefinition, type UnitRegistry } from '@totemsdk/act-core';
+import { type MissionEnvelope } from './envelope.js';
+import { type FlightVehicle } from './profile.js';
+import { type MavlinkTransportPort } from './transport.js';
+export interface MavlinkAdapterOptions {
+    transport: MavlinkTransportPort;
+    site: string;
+    vehicles: readonly FlightVehicle[];
+    units?: UnitRegistry;
+    /** Metres from the final waypoint that count as observed arrival. */
+    arrivalToleranceMetres?: number;
+}
+export declare function createMavlinkDefinitions(options: MavlinkAdapterOptions): IndustrialActionDefinition[];
+export type { MissionEnvelope };