inav-toolkit 2.3.0__py3-none-any.whl

inav_toolkit/param_analyzer.py

@@ -0,0 +1,2832 @@
+#!/usr/bin/env python3
+"""
+INAV Parameter Analyzer - Analyze `diff all` output for configuration issues.
+
+Parses INAV CLI `diff all` output and checks for:
+  - Safety issues (beepers, failsafe, voltage limits)
+  - Performance issues (filters, PID settings, motor protocol)
+  - Missing recommended settings for the hardware profile
+  - Cross-reference with blackbox analysis results (optional)
+  - Navigation configuration review
+
+Usage:
+    inav-params diff_all.txt [--frame 10] [--blackbox state.json]
+"""
+
+import argparse
+import json
+import os
+import re
+import sys
+import textwrap
+from datetime import datetime
+
+VERSION = "2.3.0"
+
+
+def _enable_ansi_colors():
+    """Enable ANSI color support. Returns True if colors are available."""
+    if os.environ.get("NO_COLOR") is not None:
+        return False
+    if not hasattr(sys.stdout, "isatty") or not sys.stdout.isatty():
+        return False
+    if sys.platform == "win32":
+        try:
+            import ctypes
+            kernel32 = ctypes.windll.kernel32
+            handle = kernel32.GetStdHandle(-11)
+            mode = ctypes.c_ulong()
+            kernel32.GetConsoleMode(handle, ctypes.byref(mode))
+            kernel32.SetConsoleMode(handle, mode.value | 0x0004)
+            return True
+        except Exception:
+            return False
+    return True
+
+_ANSI_ENABLED = _enable_ansi_colors()
+
+def _colors():
+    """Return (R, B, C, G, Y, RED, DIM) color codes."""
+    if _ANSI_ENABLED:
+        return ("\033[0m", "\033[1m", "\033[96m", "\033[92m",
+                "\033[93m", "\033[91m", "\033[2m")
+    return ("", "", "", "", "", "", "")
+
+def _disable_colors():
+    global _ANSI_ENABLED
+    _ANSI_ENABLED = False
+
+# ─── Severity Levels ─────────────────────────────────────────────────────────
+
+CRITICAL = "CRITICAL"      # Safety risk, could crash or lose the quad
+WARNING = "WARNING"        # Likely performance issue or suboptimal config
+INFO = "INFO"              # Suggestion, nice-to-have
+OK = "OK"                  # Checked and looks good
+
+SEVERITY_ORDER = {CRITICAL: 0, WARNING: 1, INFO: 2, OK: 3}
+
+# ─── INAV Aux Mode IDs (from src/main/fc/rc_modes.h) ────────────────────────
+
+INAV_MODES = {
+    0: "ARM", 1: "ANGLE", 2: "HORIZON", 3: "NAV ALTHOLD",
+    5: "HEADING HOLD", 10: "NAV POSHOLD", 11: "NAV RTH",
+    12: "MANUAL", 13: "NAV WP", 28: "NAV LAUNCH", 45: "TURTLE",
+    47: "OSD ALT", 48: "NAV COURSE HOLD", 53: "MULTI FUNCTION",
+    62: "MIXER PROFILE 2", 63: "MIXER TRANSITION",
+}
+
+# Modes that require GPS
+GPS_MODES = {10, 11, 13, 48}  # POSHOLD, RTH, WP, COURSE HOLD
+# Modes that require baro or althold
+ALT_MODES = {3}  # NAV ALTHOLD
+# Modes that benefit from compass
+COMPASS_MODES = {10, 11, 13, 5}  # POSHOLD, RTH, WP, HEADING HOLD
+
+# Multirotor platform types
+MC_PLATFORMS = {"MULTIROTOR", "TRICOPTER"}
+
+# ─── Known Defaults & Limits ─────────────────────────────────────────────────
+
+# INAV 9.x defaults for multirotor (applied_defaults=5 is "multirotor with GPS")
+INAV9_MC_DEFAULTS = {
+    "looptime": 500,           # 2kHz
+    "gyro_main_lpf_hz": 110,
+    "gyro_main_lpf_type": "PT1",
+    "dterm_lpf_hz": 110,
+    "dterm_lpf_type": "PT1",
+    "dynamic_gyro_notch_q": 250,
+    "dynamic_gyro_notch_min_hz": 80,
+    "mc_p_pitch": 44, "mc_i_pitch": 75, "mc_d_pitch": 25,
+    "mc_p_roll": 40, "mc_i_roll": 75, "mc_d_roll": 25,
+    "mc_p_yaw": 85, "mc_i_yaw": 45, "mc_d_yaw": 0,
+    "mc_iterm_relax": "RP",
+    "d_boost_min": 1.0, "d_boost_max": 1.0,
+    "antigravity_gain": 1.0,
+    "motor_pwm_protocol": "DSHOT300",
+    "blackbox_rate_denom": 1,
+    "failsafe_procedure": "DROP",
+    "nav_rth_altitude": 5000,
+    "nav_mc_hover_thr": 1500,
+}
+
+# Motor pole counts for common motors
+COMMON_MOTOR_POLES = {14: "most standard motors", 12: "some smaller motors"}
+
+# ─── Frame-Specific Starting Profiles ────────────────────────────────────────
+# Conservative baselines for large INAV multirotors.
+# These are intentionally soft - designed to be flyable on first hover,
+# then refined with the blackbox analyzer. Too low is sluggish, too high
+# oscillates. We err on the sluggish side.
+#
+# Sources: community experience, INAV defaults scaling, physics of prop inertia.
+# Prop inertia scales roughly with diameter^4, so a 10" prop has ~4x the inertia
+# of a 7". PID gains must scale down accordingly.
+
+FRAME_PROFILES = {
+    # ── 5-inch baseline ─────────────────────────────────────────────────
+    # Sources:
+    #   - INAV 9 firmware defaults (settings.yaml / pid.c)
+    #   - INAV configurator 5" preset (GitHub issue #167)
+    #   - INAV Settings.md: dterm_lpf "100 should work best with 5-inch"
+    #   - INAV Settings.md: dyn_notch_min "default 150 works best with 5\""
+    5: {
+        "name": "5-inch racer / freestyle",
+        "description": "Standard FPV size. 2306-2207 motors, 4S-6S.",
+        "typical_auw": "350-700g",
+        "typical_motors": "2207, 2306, 2405",
+        "pids": {
+            "mc_p_pitch": 44, "mc_i_pitch": 75, "mc_d_pitch": 28,
+            "mc_cd_pitch": 60,
+            "mc_p_roll": 40, "mc_i_roll": 60, "mc_d_roll": 26,
+            "mc_cd_roll": 60,
+            "mc_p_yaw": 45, "mc_i_yaw": 80, "mc_d_yaw": 0,
+            "mc_cd_yaw": 60,
+        },
+        "filters": {
+            "gyro_main_lpf_hz": 110,
+            "dterm_lpf_hz": 110,
+            "dterm_lpf_type": "PT3",
+            "dynamic_gyro_notch_min_hz": 150,
+            "dynamic_gyro_notch_q": 250,
+            "dynamic_gyro_notch_mode": "3D",
+        },
+        "rates": {
+            "roll_rate": 70,
+            "pitch_rate": 70,
+            "yaw_rate": 60,
+        },
+        "other": {
+            "mc_iterm_relax": "RPY",
+            "mc_iterm_relax_cutoff": 15,
+            "d_boost_min": 0.8,
+            "d_boost_max": 1.2,
+            "antigravity_gain": 2.0,
+            "antigravity_accelerator": 5.0,
+            "tpa_rate": 20,
+            "tpa_breakpoint": 1350,
+            "rate_accel_limit_roll_pitch": 0,
+            "rate_accel_limit_yaw": 0,
+        },
+        "notes": [
+            "Close to INAV 9 defaults. Fine starting point for 5-inch builds.",
+            "Tune from here using blackbox - most 5-inch quads converge quickly.",
+        ],
+    },
+    # ── 7-inch ──────────────────────────────────────────────────────────
+    # Sources:
+    #   - INAV Settings.md: dterm_lpf "80 seems like a gold spot for 7-inch"
+    #   - INAV Settings.md: dyn_notch_min "values around 100 work fine on 7\""
+    #   - Pawel Spychalski's 7" builds (INAV core dev, community baseline)
+    #   - INAV defaults designed for 5-7", minimal changes needed at 7"
+    7: {
+        "name": "7-inch long-range",
+        "description": "Common for long-range builds. 2807-3007 motors, 4S-6S.",
+        "typical_auw": "800-1400g",
+        "typical_motors": "2807, 2907, 3007",
+        "pids": {
+            "mc_p_pitch": 44, "mc_i_pitch": 75, "mc_d_pitch": 25,
+            "mc_cd_pitch": 60,
+            "mc_p_roll": 40, "mc_i_roll": 60, "mc_d_roll": 23,
+            "mc_cd_roll": 60,
+            "mc_p_yaw": 45, "mc_i_yaw": 80, "mc_d_yaw": 0,
+            "mc_cd_yaw": 60,
+        },
+        "filters": {
+            "gyro_main_lpf_hz": 90,
+            "dterm_lpf_hz": 80,
+            "dterm_lpf_type": "PT3",
+            "dynamic_gyro_notch_min_hz": 100,
+            "dynamic_gyro_notch_q": 250,
+            "dynamic_gyro_notch_mode": "3D",
+        },
+        "rates": {
+            "roll_rate": 50,
+            "pitch_rate": 50,
+            "yaw_rate": 40,
+        },
+        "other": {
+            "mc_iterm_relax": "RPY",
+            "mc_iterm_relax_cutoff": 12,
+            "d_boost_min": 0.85,
+            "d_boost_max": 1.15,
+            "antigravity_gain": 2.0,
+            "antigravity_accelerator": 5.0,
+            "tpa_rate": 20,
+            "tpa_breakpoint": 1350,
+            "rate_accel_limit_roll_pitch": 0,
+            "rate_accel_limit_yaw": 0,
+        },
+        "notes": [
+            "INAV defaults are designed for 5-7\". Only minor changes needed.",
+            "Dterm LPF at 80Hz per INAV dev guidance. Dynamic notch min at 100Hz.",
+            "If using triblades, reduce P by 10-15% - they grip harder and respond faster.",
+        ],
+    },
+    # ── 10-inch ─────────────────────────────────────────────────────────
+    # Sources:
+    #   - INAV Settings.md: dyn_notch_min "60-70" for 10", dterm_lpf ~60-70Hz
+    #   - GitHub #9765 (Ivan): starting PIDs 55/75/35 for 7"+, filters -10Hz from 7"
+    #   - IntoFPV forum: P:D ratio ~1:1, iterm_relax_cutoff <10 (5 recommended)
+    #   - Community consensus: frame stiffness 7.5mm arm min, RPM filters critical
+    # Conservative starting point biased toward safe first flight.
+    10: {
+        "name": "10-inch long-range / cruiser",
+        "description": "Long-range with large Li-ion packs. 3507-4010 motors, 4S-6S.",
+        "typical_auw": "1500-2800g",
+        "typical_motors": "3507, 3508, 4008, 4010",
+        "pids": {
+            "mc_p_pitch": 40, "mc_i_pitch": 60, "mc_d_pitch": 30,
+            "mc_cd_pitch": 40,
+            "mc_p_roll": 38, "mc_i_roll": 55, "mc_d_roll": 28,
+            "mc_cd_roll": 40,
+            "mc_p_yaw": 40, "mc_i_yaw": 60, "mc_d_yaw": 0,
+            "mc_cd_yaw": 45,
+        },
+        "filters": {
+            "gyro_main_lpf_hz": 70,
+            "dterm_lpf_hz": 60,
+            "dterm_lpf_type": "PT3",
+            "dynamic_gyro_notch_min_hz": 65,
+            "dynamic_gyro_notch_q": 250,
+            "dynamic_gyro_notch_mode": "3D",
+        },
+        "rates": {
+            "roll_rate": 36,
+            "pitch_rate": 36,
+            "yaw_rate": 30,
+        },
+        "other": {
+            "mc_iterm_relax": "RPY",
+            "mc_iterm_relax_cutoff": 8,
+            "d_boost_min": 0.80,
+            "d_boost_max": 1.20,
+            "antigravity_gain": 2.0,
+            "antigravity_accelerator": 5.0,
+            "tpa_rate": 20,
+            "tpa_breakpoint": 1250,
+            "rate_accel_limit_roll_pitch": 1000,
+            "rate_accel_limit_yaw": 500,
+        },
+        "notes": [
+            "P:D ratio close to 1:1 on 10\" (unlike 5\" where P >> D).",
+            "Lower iterm_relax_cutoff (8) prevents bounce-back on this heavier airframe.",
+            "Rate acceleration limits prevent sudden moves that stress the frame.",
+            "Frame stiffness is critical - 7.5mm carbon arms minimum.",
+            "If heavy (>2.5kg), reduce P by 10% and raise I by 10% for better position hold.",
+            "EZ Tune is an alternative: set ez_filter_hz ~70, lower response/stability.",
+        ],
+    },
+    # ── 12-inch ─────────────────────────────────────────────────────────
+    # Sources:
+    #   - Extrapolated from 10" community data + physics-based scaling
+    #   - GitHub #9765: 16" Tarot flew P=44/I=45/D=36, gyro=50, dterm=40
+    #   - Noise frequencies shift down proportionally with prop diameter
+    #   - INAV Settings.md: accel limits ~360-500 dps^2 for heavy multirotors
+    12: {
+        "name": "12-inch heavy lifter",
+        "description": "Heavy lift, cine, long endurance. 4510-5010 motors, 6S-12S.",
+        "typical_auw": "2500-5000g",
+        "typical_motors": "4510, 4515, 5010, 5015",
+        "pids": {
+            "mc_p_pitch": 32, "mc_i_pitch": 50, "mc_d_pitch": 25,
+            "mc_cd_pitch": 30,
+            "mc_p_roll": 30, "mc_i_roll": 45, "mc_d_roll": 23,
+            "mc_cd_roll": 30,
+            "mc_p_yaw": 35, "mc_i_yaw": 50, "mc_d_yaw": 0,
+            "mc_cd_yaw": 35,
+        },
+        "filters": {
+            "gyro_main_lpf_hz": 55,
+            "dterm_lpf_hz": 45,
+            "dterm_lpf_type": "PT3",
+            "dynamic_gyro_notch_min_hz": 45,
+            "dynamic_gyro_notch_q": 250,
+            "dynamic_gyro_notch_mode": "3D",
+        },
+        "rates": {
+            "roll_rate": 28,
+            "pitch_rate": 28,
+            "yaw_rate": 22,
+        },
+        "other": {
+            "mc_iterm_relax": "RPY",
+            "mc_iterm_relax_cutoff": 5,
+            "d_boost_min": 0.75,
+            "d_boost_max": 1.25,
+            "antigravity_gain": 2.5,
+            "antigravity_accelerator": 5.0,
+            "tpa_rate": 15,
+            "tpa_breakpoint": 1300,
+            "rate_accel_limit_roll_pitch": 500,
+            "rate_accel_limit_yaw": 250,
+        },
+        "notes": [
+            "Large prop inertia makes overcorrection the main risk, not sluggishness.",
+            "Aerodynamic damping from large props reduces the need for D-term.",
+            "Higher antigravity helps maintain altitude during throttle changes with heavy payloads.",
+            "Acceleration limits are essential - sudden rate demands can flex the frame.",
+            "FC vibration isolation is critical. Use soft-mount or TPU dampers.",
+            "EZ Tune alternative: set ez_filter_hz ~55, lower response/stability.",
+        ],
+    },
+    # ── 15-inch ─────────────────────────────────────────────────────────
+    # Sources:
+    #   - GitHub #9765 (Ivan): gyro filters ~50Hz on 16", PIDs 44/45/36 (tuned)
+    #   - INAV Settings.md: accel limits 360/180 dps^2 for big heavy multirotors
+    #   - Physics: prop inertia ~10x that of 7", motor noise 60-120Hz range
+    #   - Conservative starting point - 16" Tarot flew P=44 but was well-tuned
+    15: {
+        "name": "15-inch heavy lift / cine lifter",
+        "description": "Maximum endurance and payload. 5515-7015 motors, 6S-12S.",
+        "typical_auw": "4000-10000g",
+        "typical_motors": "5515, 6010, 6015, 7015",
+        "pids": {
+            "mc_p_pitch": 28, "mc_i_pitch": 45, "mc_d_pitch": 22,
+            "mc_cd_pitch": 20,
+            "mc_p_roll": 26, "mc_i_roll": 40, "mc_d_roll": 20,
+            "mc_cd_roll": 20,
+            "mc_p_yaw": 30, "mc_i_yaw": 40, "mc_d_yaw": 0,
+            "mc_cd_yaw": 25,
+        },
+        "filters": {
+            "gyro_main_lpf_hz": 45,
+            "dterm_lpf_hz": 35,
+            "dterm_lpf_type": "PT3",
+            "dynamic_gyro_notch_min_hz": 30,
+            "dynamic_gyro_notch_q": 250,
+            "dynamic_gyro_notch_mode": "3D",
+        },
+        "rates": {
+            "roll_rate": 20,
+            "pitch_rate": 20,
+            "yaw_rate": 18,
+        },
+        "other": {
+            "mc_iterm_relax": "RPY",
+            "mc_iterm_relax_cutoff": 5,
+            "d_boost_min": 0.70,
+            "d_boost_max": 1.30,
+            "antigravity_gain": 3.0,
+            "antigravity_accelerator": 5.0,
+            "tpa_rate": 10,
+            "tpa_breakpoint": 1300,
+            "rate_accel_limit_roll_pitch": 360,
+            "rate_accel_limit_yaw": 180,
+        },
+        "notes": [
+            "Prop inertia is enormous. Overcorrection is the main risk, not sluggishness.",
+            "Test in calm conditions first. Wind amplifies any PID issues on large frames.",
+            "Accel limits (360/180 dps^2) per INAV dev guidance for big heavy multirotors.",
+            "FC vibration isolation is critical. Use soft-mount or TPU dampers.",
+            "If oscillation persists, lower P before lowering D - unlike smaller quads.",
+            "Community data: tuned 16\" flew P=44 - room to increase once vibrations are controlled.",
+            "EZ Tune alternative: set ez_filter_hz ~45, lower response/stability significantly.",
+        ],
+    },
+}
+
+# Voltage-specific adjustments (applied on top of frame profile)
+VOLTAGE_ADJUSTMENTS = {
+    "4S": {
+        "description": "4S (14.8-16.8V)",
+        "pid_scale": 1.0,       # baseline
+        "notes": "Standard voltage. No PID adjustment needed.",
+    },
+    "6S": {
+        "description": "6S (22.2-25.2V)",
+        "pid_scale": 0.85,      # motors are punchier, need less P
+        "notes": "Higher voltage means faster motor response. PIDs scaled down ~15%.",
+    },
+    "8S": {
+        "description": "8S (29.6-33.6V)",
+        "pid_scale": 0.75,
+        "notes": "Very fast motor response. PIDs scaled down ~25%. Use care on first flight.",
+    },
+    "12S": {
+        "description": "12S (44.4-50.4V)",
+        "pid_scale": 0.65,
+        "notes": "Extreme voltage. Very conservative PIDs recommended. Motors respond almost instantly.",
+    },
+}
+
+
+# ─── Setup Mode: Generate Starting Config ────────────────────────────────────
+
+def generate_setup_config(frame_inches, voltage="4S", use_case="longrange"):
+    """Generate conservative starting configuration for a given frame size."""
+    if frame_inches not in FRAME_PROFILES:
+        # Find nearest
+        available = sorted(FRAME_PROFILES.keys())
+        nearest = min(available, key=lambda x: abs(x - frame_inches))
+        print(f"  Warning: No profile for {frame_inches}\". Using nearest: {nearest}\"")
+        frame_inches = nearest
+
+    profile = FRAME_PROFILES[frame_inches]
+    v_adj = VOLTAGE_ADJUSTMENTS.get(voltage, VOLTAGE_ADJUSTMENTS["4S"])
+    scale = v_adj["pid_scale"]
+
+    # Scale PIDs by voltage
+    pids = {}
+    for k, v in profile["pids"].items():
+        if v == 0:
+            # Respect explicit zeros (e.g. yaw D = 0 on multirotors)
+            pids[k] = 0
+        elif k.startswith("mc_p_") or k.startswith("mc_d_") or k.startswith("mc_cd_"):
+            pids[k] = max(5, round(v * scale))
+        elif k.startswith("mc_i_"):
+            # I-term scales less with voltage - it's about steady-state
+            pids[k] = max(20, round(v * (1.0 + (scale - 1.0) * 0.3)))
+        else:
+            pids[k] = v
+
+    config = {
+        "frame": frame_inches,
+        "voltage": voltage,
+        "profile": profile,
+        "v_adj": v_adj,
+        "pids": pids,
+        "filters": dict(profile["filters"]),
+        "rates": dict(profile.get("rates", {})),
+        "other": dict(profile["other"]),
+    }
+
+    return config
+
+
+def print_setup_report(config):
+    """Print the setup configuration as a readable report with CLI commands."""
+    R, B, C, G, Y, _RED, DIM = _colors()
+
+    profile = config["profile"]
+    frame = config["frame"]
+    voltage = config["voltage"]
+
+    print(f"\n{B}{C}{'='*70}{R}")
+    print(f"{B}{C}  INAV Starting Configuration - {frame}-inch ({voltage}){R}")
+    print(f"{B}{C}{'='*70}{R}")
+    print(f"  {DIM}{profile['description']}{R}")
+    print(f"  {DIM}Typical AUW: {profile['typical_auw']} | Motors: {profile['typical_motors']}{R}")
+
+    if config["v_adj"]["pid_scale"] != 1.0:
+        pct = (1.0 - config["v_adj"]["pid_scale"]) * 100
+        print(f"  {Y}Voltage adjustment: {voltage} -> PIDs reduced ~{pct:.0f}%{R}")
+
+    print(f"\n{B}{C}{'-'*70}{R}")
+    print(f"  {B}IMPORTANT:{R}")
+    print(f"  {DIM}These are CONSERVATIVE starting values - safe for first hover.{R}")
+    print(f"  {DIM}The quad may feel sluggish. That's intentional.{R}")
+    print(f"  {DIM}Fly, log blackbox data, then use the blackbox analyzer to refine.{R}")
+    print(f"{B}{C}{'-'*70}{R}")
+
+    # PID table
+    pids = config["pids"]
+    has_cd = any(k.startswith("mc_cd_") for k in pids)
+    if has_cd:
+        print(f"\n  {B}STARTING PIDs:{R}")
+        print(f"             {'P':>5}  {'I':>5}  {'D':>5}  {'CD':>5}")
+        for axis in ("roll", "pitch", "yaw"):
+            p = pids.get(f"mc_p_{axis}", "-")
+            i = pids.get(f"mc_i_{axis}", "-")
+            d = pids.get(f"mc_d_{axis}", "-")
+            cd = pids.get(f"mc_cd_{axis}", "-")
+            print(f"    {axis.capitalize():6}   {p:>5}  {i:>5}  {d:>5}  {cd:>5}")
+    else:
+        print(f"\n  {B}STARTING PIDs:{R}")
+        print(f"             {'P':>5}  {'I':>5}  {'D':>5}")
+        for axis in ("roll", "pitch", "yaw"):
+            p = pids.get(f"mc_p_{axis}", "-")
+            i = pids.get(f"mc_i_{axis}", "-")
+            d = pids.get(f"mc_d_{axis}", "-")
+            print(f"    {axis.capitalize():6}   {p:>5}  {i:>5}  {d:>5}")
+
+    # Filters
+    f = config["filters"]
+    print(f"\n  {B}FILTERS:{R}")
+    print(f"    Gyro LPF:           {f['gyro_main_lpf_hz']}Hz")
+    dterm_lpf = f.get("dterm_lpf_hz")
+    dterm_type = f.get("dterm_lpf_type", "")
+    if dterm_lpf:
+        type_str = f" ({dterm_type})" if dterm_type else ""
+        print(f"    D-term LPF:         {dterm_lpf}Hz{type_str}")
+    print(f"    Dynamic notch:      {f['dynamic_gyro_notch_mode']} (Q={f['dynamic_gyro_notch_q']}, min={f['dynamic_gyro_notch_min_hz']}Hz)")
+
+    # Rates
+    rates = config.get("rates", {})
+    if rates:
+        rr = rates.get("roll_rate", "?")
+        pr = rates.get("pitch_rate", "?")
+        yr = rates.get("yaw_rate", "?")
+        # INAV rates are in deca-degrees/sec, so rate 36 = 360 deg/s
+        print(f"\n  {B}RATES:{R}")
+        print(f"    Roll:  {rr} ({rr*10} deg/s)  |  Pitch:  {pr} ({pr*10} deg/s)  |  Yaw:  {yr} ({yr*10} deg/s)")
+
+    # Other settings
+    print(f"\n  {B}RECOMMENDED SETTINGS:{R}")
+    o = config["other"]
+    relax_cutoff = o.get("mc_iterm_relax_cutoff")
+    cutoff_str = f" (cutoff: {relax_cutoff})" if relax_cutoff else ""
+    print(f"    I-term relax:       {o['mc_iterm_relax']}{cutoff_str}")
+    print(f"    D-boost:            {o['d_boost_min']:.2f} - {o['d_boost_max']:.2f}")
+    print(f"    Antigravity:        {o['antigravity_gain']:.1f} (accel: {o['antigravity_accelerator']:.1f})")
+    print(f"    TPA:                {o['tpa_rate']}% above {o['tpa_breakpoint']}")
+
+    accel_rp = o.get("rate_accel_limit_roll_pitch", 0)
+    accel_y = o.get("rate_accel_limit_yaw", 0)
+    if accel_rp > 0 or accel_y > 0:
+        rp_str = f"{accel_rp} dps^2" if accel_rp > 0 else "OFF"
+        y_str = f"{accel_y} dps^2" if accel_y > 0 else "OFF"
+        print(f"    Accel limits:       Roll/Pitch: {rp_str}  |  Yaw: {y_str}")
+
+    # Notes
+    if profile["notes"]:
+        print(f"\n  {B}NOTES:{R}")
+        for note in profile["notes"]:
+            print(f"    {DIM}* {note}{R}")
+
+    if config["v_adj"]["notes"]:
+        print(f"    {DIM}* {config['v_adj']['notes']}{R}")
+
+    # CLI commands
+    print(f"\n{B}{C}{'-'*70}{R}")
+    print(f"  {B}INAV CLI - paste into Configurator CLI tab:{R}")
+    print(f"{B}{C}{'-'*70}{R}")
+    print()
+
+    all_settings = {}
+    all_settings.update(config["pids"])
+    all_settings.update(config["filters"])
+    all_settings.update(config.get("rates", {}))
+    all_settings.update(config["other"])
+
+    for k, v in all_settings.items():
+        if isinstance(v, float):
+            print(f"    {G}set {k} = {v:.3f}{R}")
+        else:
+            print(f"    {G}set {k} = {v}{R}")
+    print(f"    {G}save{R}")
+
+    print(f"\n{B}{C}{'='*70}{R}\n")
+
+
+def print_setup_json(config):
+    """Output setup config as JSON."""
+    output = {
+        "frame_inches": config["frame"],
+        "voltage": config["voltage"],
+        "profile_name": config["profile"]["name"],
+        "description": config["profile"]["description"],
+        "pids": config["pids"],
+        "filters": config["filters"],
+        "rates": config.get("rates", {}),
+        "other": config["other"],
+        "notes": config["profile"]["notes"],
+        "voltage_notes": config["v_adj"]["notes"],
+    }
+    print(json.dumps(output, indent=2))
+
+
+# ─── Parser ──────────────────────────────────────────────────────────────────
+
+def parse_diff_all(text):
+    """Parse INAV `diff all` output into structured data."""
+    result = {
+        "version": None,
+        "board": None,
+        "build_date": None,
+        "git_hash": None,
+        "master": {},           # global settings
+        "control_profiles": {},  # {1: {settings}, 2: {settings}, ...}
+        "mixer_profiles": {},
+        "battery_profiles": {},
+        "active_control_profile": 1,
+        "active_mixer_profile": 1,
+        "active_battery_profile": 1,
+        "features": [],
+        "features_disabled": [],
+        "beepers_disabled": [],
+        "beepers_enabled": [],
+        "blackbox_enabled": [],
+        "blackbox_disabled": [],
+        "serial_ports": {},
+        "aux_modes": [],
+        "motor_mix": [],
+        "raw_text": text,
+    }
+
+    current_section = "master"
+    current_profile_type = None
+    current_profile_num = 1
+
+    for line in text.splitlines():
+        line = line.strip()
+        if not line or line.startswith("#"):
+            # Check for version comment
+            m = re.match(r"#\s*INAV/(\S+)\s+([\d.]+)\s+(.*?)(?:\s*/\s*(.*))?$", line)
+            if m:
+                result["board"] = m.group(1)
+                result["version"] = m.group(2)
+                rest = m.group(3)
+                # Extract date and git hash
+                dm = re.search(r"(\w+ \d+ \d{4})", rest)
+                if dm:
+                    result["build_date"] = dm.group(1)
+                gm = re.search(r"\(([0-9a-f]+)\)", rest)
+                if gm:
+                    result["git_hash"] = gm.group(1)
+            continue
+
+        # Feature lines
+        if line.startswith("feature "):
+            feat = line[8:].strip()
+            if feat.startswith("-"):
+                result["features_disabled"].append(feat[1:])
+            else:
+                result["features"].append(feat)
+            continue
+
+        # Beeper lines
+        if line.startswith("beeper "):
+            beep = line[7:].strip()
+            if beep.startswith("-"):
+                result["beepers_disabled"].append(beep[1:])
+            else:
+                result["beepers_enabled"].append(beep)
+            continue
+
+        # Blackbox field selection
+        if line.startswith("blackbox "):
+            bb = line[9:].strip()
+            if bb.startswith("-"):
+                result["blackbox_disabled"].append(bb[1:])
+            else:
+                result["blackbox_enabled"].append(bb)
+            continue
+
+        # Serial port config
+        m = re.match(r"serial\s+(\d+)\s+(.*)", line)
+        if m:
+            result["serial_ports"][int(m.group(1))] = m.group(2).strip()
+            continue
+
+        # Aux mode
+        m = re.match(r"aux\s+(\d+)\s+(\d+)\s+(\d+)\s+(\d+)\s+(\d+)", line)
+        if m:
+            result["aux_modes"].append({
+                "index": int(m.group(1)),
+                "mode_id": int(m.group(2)),
+                "channel": int(m.group(3)),
+                "range_low": int(m.group(4)),
+                "range_high": int(m.group(5)),
+            })
+            continue
+
+        # Motor mix
+        m = re.match(r"mmix\s+(\d+)\s+([\d.-]+)\s+([\d.-]+)\s+([\d.-]+)\s+([\d.-]+)", line)
+        if m:
+            result["motor_mix"].append({
+                "index": int(m.group(1)),
+                "throttle": float(m.group(2)),
+                "roll": float(m.group(3)),
+                "pitch": float(m.group(4)),
+                "yaw": float(m.group(5)),
+            })
+            continue
+
+        # Profile switches
+        m = re.match(r"(control_profile|mixer_profile|battery_profile)\s+(\d+)", line)
+        if m:
+            current_profile_type = m.group(1)
+            current_profile_num = int(m.group(2))
+            section_map = {
+                "control_profile": "control_profiles",
+                "mixer_profile": "mixer_profiles",
+                "battery_profile": "battery_profiles",
+            }
+            current_section = section_map[current_profile_type]
+            if current_profile_num not in result[current_section]:
+                result[current_section][current_profile_num] = {}
+            continue
+
+        # Channel map
+        m = re.match(r"map\s+(\w+)", line)
+        if m:
+            result["master"]["channel_map"] = m.group(1)
+            continue
+
+        # Set commands
+        m = re.match(r"set\s+(\S+)\s*=\s*(.*)", line)
+        if m:
+            key = m.group(1).strip()
+            val = m.group(2).strip()
+            # Try to parse numeric values
+            parsed_val = _parse_value(val)
+
+            if current_section == "master":
+                result["master"][key] = parsed_val
+            else:
+                result[current_section][current_profile_num][key] = parsed_val
+            continue
+
+        # Active profile restore
+        if line.startswith("control_profile") and "restore" not in line:
+            m = re.match(r"control_profile\s+(\d+)", line)
+            if m:
+                result["active_control_profile"] = int(m.group(1))
+        if line.startswith("mixer_profile") and "restore" not in line:
+            m = re.match(r"mixer_profile\s+(\d+)", line)
+            if m:
+                result["active_mixer_profile"] = int(m.group(1))
+        if line.startswith("battery_profile") and "restore" not in line:
+            m = re.match(r"battery_profile\s+(\d+)", line)
+            if m:
+                result["active_battery_profile"] = int(m.group(1))
+
+    return result
+
+
+def _parse_value(val):
+    """Parse a value string into int, float, or string."""
+    if val.upper() in ("ON", "TRUE", "YES"):
+        return True
+    if val.upper() in ("OFF", "FALSE", "NO"):
+        return False
+    try:
+        return int(val)
+    except ValueError:
+        pass
+    try:
+        return float(val)
+    except ValueError:
+        pass
+    return val
+
+
+def get_active_control(parsed):
+    """Get the active control profile settings merged with master."""
+    n = parsed["active_control_profile"]
+    profile = parsed["control_profiles"].get(n, {})
+    return profile
+
+
+def get_active_battery(parsed):
+    """Get the active battery profile settings."""
+    n = parsed["active_battery_profile"]
+    return parsed["battery_profiles"].get(n, {})
+
+
+def get_active_mixer(parsed):
+    """Get the active mixer profile settings."""
+    n = parsed["active_mixer_profile"]
+    return parsed["mixer_profiles"].get(n, {})
+
+
+def get_setting(parsed, key, default=None):
+    """Get a setting value, checking active profile first then master."""
+    profile = get_active_control(parsed)
+    if key in profile:
+        return profile[key]
+    if key in parsed["master"]:
+        return parsed["master"][key]
+    return default
+
+
+# ─── Rule Engine ─────────────────────────────────────────────────────────────
+
+class Finding:
+    def __init__(self, severity, category, title, detail, setting=None,
+                 current=None, recommended=None, cli_fix=None):
+        self.severity = severity
+        self.category = category
+        self.title = title
+        self.detail = detail
+        self.setting = setting
+        self.current = current
+        self.recommended = recommended
+        self.cli_fix = cli_fix
+
+    def __repr__(self):
+        return f"<{self.severity} {self.category}: {self.title}>"
+
+
+def run_all_checks(parsed, frame_inches=None, blackbox_state=None):
+    """Run all configuration checks and return list of Findings."""
+    findings = []
+
+    findings.extend(check_safety(parsed))
+    findings.extend(check_motors_protocol(parsed))
+    findings.extend(check_filters(parsed, frame_inches))
+    findings.extend(check_pid_config(parsed, frame_inches))
+    findings.extend(check_navigation(parsed, frame_inches))
+    findings.extend(check_gps(parsed))
+    findings.extend(check_blackbox(parsed))
+    findings.extend(check_battery(parsed))
+    findings.extend(check_rx(parsed))
+    findings.extend(check_general(parsed))
+
+    if blackbox_state:
+        findings.extend(check_crossref_blackbox(parsed, blackbox_state))
+
+    # Sort by severity
+    findings.sort(key=lambda f: SEVERITY_ORDER.get(f.severity, 99))
+    return findings
+
+
+# ─── Safety Checks ───────────────────────────────────────────────────────────
+
+def check_safety(parsed):
+    findings = []
+
+    # Beeper configuration
+    critical_beepers = ["BAT_CRIT_LOW", "BAT_LOW", "RX_LOST", "RX_LOST_LANDING", "HW_FAILURE"]
+    disabled = parsed["beepers_disabled"]
+    missing_critical = [b for b in critical_beepers if b in disabled]
+
+    if missing_critical:
+        findings.append(Finding(
+            CRITICAL, "Safety", "Critical beeper warnings disabled",
+            f"These beepers are disabled: {', '.join(missing_critical)}. "
+            f"You will get no audible warning for low battery, signal loss, or hardware failure. "
+            f"This is extremely dangerous - a silent low battery can cause a crash with no warning.",
+            setting="beeper",
+            current=f"{len(missing_critical)} critical beepers off",
+            recommended="Enable at minimum BAT_CRIT_LOW, BAT_LOW, RX_LOST",
+            cli_fix="\n".join(f"beeper {b}" for b in missing_critical)))
+
+    all_disabled = len(disabled) > 20  # practically all beepers off
+    if all_disabled:
+        findings.append(Finding(
+            WARNING, "Safety", "Almost all beepers disabled",
+            f"{len(disabled)} beepers are disabled. While some are cosmetic (ARMING, SYSTEM_INIT), "
+            f"consider enabling at least the safety-related ones.",
+            setting="beeper",
+            current=f"{len(disabled)} disabled"))
+
+    # Failsafe
+    fs_proc = get_setting(parsed, "failsafe_procedure", "DROP")
+    if fs_proc == "DROP" or fs_proc == 0:
+        findings.append(Finding(
+            WARNING, "Safety", "Failsafe set to DROP",
+            "On signal loss, the quad will disarm and drop from the sky. "
+            "For a GPS-equipped quad, RTH failsafe is much safer.",
+            setting="failsafe_procedure",
+            current="DROP",
+            recommended="RTH",
+            cli_fix="set failsafe_procedure = RTH"))
+    elif fs_proc == "RTH" or fs_proc == 2:
+        findings.append(Finding(
+            OK, "Safety", "Failsafe set to RTH",
+            "Good - the quad will attempt to return home on signal loss.",
+            setting="failsafe_procedure",
+            current="RTH"))
+
+    fs_min_dist = get_setting(parsed, "failsafe_min_distance", 0)
+    fs_min_proc = get_setting(parsed, "failsafe_min_distance_procedure", "DROP")
+    if fs_min_dist > 0 and (fs_min_proc == "LAND" or fs_min_proc == 1):
+        findings.append(Finding(
+            OK, "Safety", f"Failsafe min distance: {fs_min_dist/100:.0f}m → LAND",
+            f"If within {fs_min_dist/100:.0f}m when signal is lost, the quad will land instead of RTH. Good.",
+            setting="failsafe_min_distance"))
+    elif fs_min_dist == 0 and (fs_proc == "RTH" or fs_proc == 2):
+        findings.append(Finding(
+            INFO, "Safety", "No failsafe minimum distance set",
+            "Consider setting failsafe_min_distance so the quad lands instead of RTH when close to home. "
+            "RTH from 5 meters away can be unpredictable.",
+            setting="failsafe_min_distance",
+            recommended="set failsafe_min_distance = 1000",
+            cli_fix="set failsafe_min_distance = 1000\nset failsafe_min_distance_procedure = LAND"))
+
+    # DSHOT beeper as alternative
+    dshot_beeper = get_setting(parsed, "dshot_beeper_enabled", True)
+    motor_protocol = get_setting(parsed, "motor_pwm_protocol", "")
+    if isinstance(motor_protocol, str) and "DSHOT" in motor_protocol.upper():
+        if dshot_beeper is False:
+            if all_disabled or missing_critical:
+                findings.append(Finding(
+                    WARNING, "Safety", "DSHOT beeper also disabled",
+                    "With physical beeper warnings off AND DSHOT beeper disabled, "
+                    "you have no way to find the quad if it lands in tall grass. "
+                    "DSHOT beeper uses the motors to beep - it's your last-resort finder.",
+                    setting="dshot_beeper_enabled",
+                    current="OFF",
+                    recommended="ON",
+                    cli_fix="set dshot_beeper_enabled = ON"))
+
+    return findings
+
+
+# ─── Motor & Protocol Checks ────────────────────────────────────────────────
+
+def check_motors_protocol(parsed):
+    findings = []
+    protocol = get_setting(parsed, "motor_pwm_protocol", "")
+    protocol_str = str(protocol).upper()
+
+    is_dshot = "DSHOT" in protocol_str
+    if is_dshot:
+        findings.append(Finding(
+            OK, "Motors", f"Motor protocol: {protocol}",
+            "DSHOT digital protocol - good for consistent motor response.",
+            setting="motor_pwm_protocol",
+            current=str(protocol)))
+    else:
+        findings.append(Finding(
+            WARNING, "Motors", f"Motor protocol: {protocol}",
+            "Not using DSHOT. Digital protocols (DSHOT300/600) give more consistent "
+            "motor timing and enable features like DSHOT beeper.",
+            setting="motor_pwm_protocol",
+            current=str(protocol),
+            recommended="DSHOT300 or DSHOT600",
+            cli_fix="set motor_pwm_protocol = DSHOT300"))
+
+    # RPM filter - INAV uses ESC telemetry wire (not bidirectional DSHOT)
+    rpm_filter = get_setting(parsed, "rpm_gyro_filter_enabled", None)
+
+    # Check if ESC telemetry is configured on any serial port
+    # Serial function 4096 = ESC telemetry (ESC_SENSOR)
+    has_esc_telemetry = any(
+        "4096" in conf for conf in parsed["serial_ports"].values()
+    )
+
+    if rpm_filter is True and not has_esc_telemetry:
+        findings.append(Finding(
+            CRITICAL, "Motors", "RPM filter enabled but no ESC telemetry port configured",
+            "INAV's RPM filter requires ESC telemetry data via a dedicated wire from the ESC "
+            "to a UART RX pin. No serial port is configured for ESC telemetry (function 4096). "
+            "Without RPM data, the filter has nothing to work with and may cause instability.",
+            setting="rpm_gyro_filter_enabled",
+            current="ON",
+            recommended="Connect ESC telemetry wire and configure port, or disable RPM filter",
+            cli_fix="set rpm_gyro_filter_enabled = OFF"))
+    elif rpm_filter is True and has_esc_telemetry:
+        findings.append(Finding(
+            OK, "Motors", "RPM filter enabled with ESC telemetry",
+            "RPM filter is active and ESC telemetry port is configured. "
+            "This provides precise motor noise tracking.",
+            setting="rpm_gyro_filter_enabled",
+            current="ON"))
+
+    # Motor stop on low
+    motorstop = get_setting(parsed, "motorstop_on_low", True)
+    mixer = get_active_mixer(parsed)
+    motorstop = mixer.get("motorstop_on_low", motorstop)
+    if motorstop is False:
+        findings.append(Finding(
+            OK, "Motors", "Motor stop on low throttle: OFF",
+            "Motors keep spinning at idle - good for flight stability.",
+            setting="motorstop_on_low"))
+
+    # Throttle idle
+    battery = get_active_battery(parsed)
+    idle = battery.get("throttle_idle", get_setting(parsed, "throttle_idle", 5.0))
+    if isinstance(idle, (int, float)):
+        if idle < 3.0:
+            findings.append(Finding(
+                WARNING, "Motors", f"Throttle idle very low: {idle}%",
+                "Very low idle may cause desync on some ESCs, especially with high cell count. "
+                "5-8% is typical for multirotor.",
+                setting="throttle_idle",
+                current=f"{idle}%",
+                recommended="5.0",
+                cli_fix="set throttle_idle = 5.000"))
+        elif idle > 10.0:
+            findings.append(Finding(
+                INFO, "Motors", f"Throttle idle high: {idle}%",
+                "High idle wastes battery but can help with prop wash handling. "
+                "5-8% is typical.",
+                setting="throttle_idle",
+                current=f"{idle}%"))
+
+    return findings
+
+
+# ─── Filter Checks ───────────────────────────────────────────────────────────
+
+def check_filters(parsed, frame_inches=None):
+    findings = []
+
+    gyro_lpf = get_setting(parsed, "gyro_main_lpf_hz", 110)
+    dyn_notch_q = get_setting(parsed, "dynamic_gyro_notch_q", 250)
+    dyn_notch_mode = get_setting(parsed, "dynamic_gyro_notch_mode", "3D")
+    dyn_notch_min = get_setting(parsed, "dynamic_gyro_notch_min_hz", 80)
+    kalman_q = get_setting(parsed, "setpoint_kalman_q", 100)
+
+    # EZ Tune detection
+    # ez_enabled controls whether EZ Tune actively computes PIDs.
+    # ez_ parameters may exist in diff even when EZ Tune is disabled (residual from past use).
+    profile = get_active_control(parsed)
+    ez_enabled = profile.get("ez_enabled", get_setting(parsed, "ez_enabled", None))
+    ez_filter = profile.get("ez_filter_hz", get_setting(parsed, "ez_filter_hz", None))
+
+    # EZ Tune is active only if ez_enabled is explicitly ON
+    # If ez_enabled is not in the diff, it's at default (OFF)
+    using_ez = ez_enabled is True
+
+    if using_ez:
+        findings.append(Finding(
+            WARNING, "Filters", f"EZ Tune active (ez_filter_hz = {ez_filter})",
+            "EZ Tune computes PID and filter values from its own parameters (ez_response, "
+            "ez_damping, etc). Manual PID changes via CLI or blackbox analyzer recommendations "
+            "will be OVERWRITTEN on reboot. To apply blackbox tuning: either adjust EZ Tune "
+            "parameters (ez_response, ez_damping, ez_stability), or disable EZ Tune "
+            "and set PIDs manually.",
+            setting="ez_enabled",
+            current="ON",
+            recommended="Disable to use manual PIDs",
+            cli_fix="set ez_enabled = OFF"))
+    elif ez_filter is not None and ez_enabled is None:
+        # ez_ params exist but ez_enabled not in diff (default OFF) - just informational
+        findings.append(Finding(
+            INFO, "Filters", "EZ Tune parameters present but EZ Tune appears disabled",
+            f"Residual EZ Tune parameters found (ez_filter_hz={ez_filter}) but ez_enabled "
+            f"is not set (default OFF). These values are not being used. If you want to clean "
+            f"up, you can leave them - they have no effect while EZ Tune is disabled.",
+            setting="ez_filter_hz",
+            current=f"{ez_filter} (inactive)"))
+
+    # Gyro LPF
+    if isinstance(gyro_lpf, (int, float)):
+        if frame_inches and frame_inches >= 8:
+            if gyro_lpf > 80:
+                findings.append(Finding(
+                    WARNING, "Filters", f"Gyro LPF at {gyro_lpf}Hz - high for {frame_inches}-inch",
+                    f"Large props generate noise at lower frequencies. For {frame_inches}-inch, "
+                    f"gyro LPF between 40-80Hz is typical. Higher values let more motor noise "
+                    f"reach the PID controller.",
+                    setting="gyro_main_lpf_hz",
+                    current=str(gyro_lpf),
+                    recommended="40-80",
+                    cli_fix=f"set gyro_main_lpf_hz = 65"))
+            else:
+                findings.append(Finding(
+                    OK, "Filters", f"Gyro LPF at {gyro_lpf}Hz - reasonable for {frame_inches}-inch",
+                    "Filter cutoff is in the expected range for this prop size.",
+                    setting="gyro_main_lpf_hz",
+                    current=str(gyro_lpf)))
+        elif frame_inches and frame_inches <= 5:
+            if gyro_lpf < 80:
+                findings.append(Finding(
+                    INFO, "Filters", f"Gyro LPF at {gyro_lpf}Hz - conservative for {frame_inches}-inch",
+                    "This is quite low for a small quad. You might be losing responsiveness. "
+                    "90-150Hz is typical for 5-inch unless you have vibration issues.",
+                    setting="gyro_main_lpf_hz",
+                    current=str(gyro_lpf)))
+
+    # Dynamic notch
+    if dyn_notch_mode and str(dyn_notch_mode).upper() not in ("OFF", "0", "FALSE"):
+        findings.append(Finding(
+            OK, "Filters", f"Dynamic notch filter: {dyn_notch_mode} (Q={dyn_notch_q}, min={dyn_notch_min}Hz)",
+            "Dynamic notch tracks motor noise peaks in real-time.",
+            setting="dynamic_gyro_notch_mode",
+            current=f"{dyn_notch_mode}"))
+
+        if isinstance(dyn_notch_min, (int, float)) and frame_inches is not None:
+            # INAV docs: 150 for 5", 100 for 7", 60-70 for 10"
+            expected_max = {5: 180, 7: 120, 10: 80, 12: 60, 15: 45}
+            nearest_size = min(expected_max.keys(), key=lambda x: abs(x - frame_inches))
+            max_thresh = expected_max[nearest_size]
+            if frame_inches >= 8 and dyn_notch_min > max_thresh:
+                rec = max_thresh - 10
+                findings.append(Finding(
+                    INFO, "Filters", f"Dynamic notch min_hz = {dyn_notch_min}Hz - may miss low-freq noise",
+                    f"Large props can produce harmonics below {dyn_notch_min}Hz. "
+                    f"INAV docs recommend lower values for {frame_inches}-inch. "
+                    f"Consider lowering to {rec}-{max_thresh}Hz.",
+                    setting="dynamic_gyro_notch_min_hz",
+                    current=str(dyn_notch_min),
+                    recommended=f"{rec}-{max_thresh}",
+                    cli_fix=f"set dynamic_gyro_notch_min_hz = {rec}"))
+    else:
+        findings.append(Finding(
+            WARNING, "Filters", "Dynamic notch filter is OFF",
+            "The dynamic notch filter tracks motor noise harmonics in real-time. "
+            "Without it, you rely entirely on the lowpass filter which also adds phase lag. "
+            "Strongly recommended for all INAV multirotor builds.",
+            setting="dynamic_gyro_notch_mode",
+            current="OFF",
+            recommended="3D",
+            cli_fix="set dynamic_gyro_notch_mode = 3D"))
+
+    # D-term LPF
+    dterm_lpf = get_setting(parsed, "dterm_lpf_hz", 110)
+    if isinstance(dterm_lpf, (int, float)) and frame_inches:
+        # Expected ranges per frame size from INAV dev guidance and community data
+        expected = {5: (90, 150), 7: (70, 100), 10: (45, 75), 12: (35, 60), 15: (25, 45)}
+        nearest = min(expected.keys(), key=lambda x: abs(x - frame_inches))
+        low, high = expected[nearest]
+        if dterm_lpf > high + 20:
+            findings.append(Finding(
+                WARNING, "Filters", f"D-term LPF at {dterm_lpf}Hz - high for {frame_inches}-inch",
+                f"Large props generate lower-frequency noise that feeds through D-term. "
+                f"For {frame_inches}-inch, {low}-{high}Hz is typical. "
+                f"High D-term filtering lets motor noise through and causes hot motors.",
+                setting="dterm_lpf_hz",
+                current=str(dterm_lpf),
+                recommended=f"{low}-{high}",
+                cli_fix=f"set dterm_lpf_hz = {(low + high) // 2}"))
+        elif dterm_lpf < low - 15:
+            findings.append(Finding(
+                INFO, "Filters", f"D-term LPF at {dterm_lpf}Hz - conservative for {frame_inches}-inch",
+                f"This adds more phase lag than needed. For {frame_inches}-inch, {low}-{high}Hz "
+                f"is typical. Higher values reduce delay and improve prop wash handling.",
+                setting="dterm_lpf_hz",
+                current=str(dterm_lpf)))
+
+    # Setpoint Kalman
+    if isinstance(kalman_q, (int, float)):
+        if kalman_q > 300:
+            findings.append(Finding(
+                INFO, "Filters", f"Setpoint Kalman Q={kalman_q} - very aggressive",
+                "High Kalman Q means less smoothing on the setpoint. "
+                "This can make the quad feel very snappy but also amplify RC noise.",
+                setting="setpoint_kalman_q",
+                current=str(kalman_q)))
+
+    return findings
+
+
+# ─── PID Configuration Checks ───────────────────────────────────────────────
+
+def check_pid_config(parsed, frame_inches=None):
+    findings = []
+    profile = get_active_control(parsed)
+    pnum = parsed["active_control_profile"]
+
+    # Check if EZ Tune is active in this profile
+    ez_active = profile.get("ez_enabled", get_setting(parsed, "ez_enabled", None)) is True
+    ez_note = " EZ Tune does NOT control this setting - it needs to be set manually." if ez_active else ""
+
+    # I-term relax
+    iterm_relax = profile.get("mc_iterm_relax", get_setting(parsed, "mc_iterm_relax", "RP"))
+    other_profiles_have_rpy = False
+    for n, p in parsed["control_profiles"].items():
+        if n != pnum and p.get("mc_iterm_relax") == "RPY":
+            other_profiles_have_rpy = True
+            break
+
+    if str(iterm_relax).upper() == "RP" and other_profiles_have_rpy:
+        findings.append(Finding(
+            WARNING, "PID", f"Active profile {pnum} uses iterm_relax=RP, other profiles use RPY",
+            "I-term relax on yaw (RPY) reduces I-term windup during fast yaw moves, "
+            "preventing yaw bounce-back. Your other profiles have RPY enabled but the active one doesn't. "
+            f"This looks like a configuration oversight.{ez_note}",
+            setting="mc_iterm_relax",
+            current="RP",
+            recommended="RPY",
+            cli_fix="set mc_iterm_relax = RPY"))
+    elif str(iterm_relax).upper() == "RP":
+        findings.append(Finding(
+            INFO, "PID", "I-term relax is RP (roll/pitch only)",
+            "Consider RPY if you experience yaw bounce-back on fast rotations.",
+            setting="mc_iterm_relax",
+            current="RP",
+            recommended="RPY"))
+
+    # I-term relax cutoff - critical for large quads
+    relax_cutoff = profile.get("mc_iterm_relax_cutoff",
+                               get_setting(parsed, "mc_iterm_relax_cutoff", 15))
+    if isinstance(relax_cutoff, (int, float)) and frame_inches and frame_inches >= 9:
+        if relax_cutoff > 10:
+            recommended_cutoff = 8 if frame_inches <= 10 else 5
+            findings.append(Finding(
+                WARNING, "PID",
+                f"I-term relax cutoff = {relax_cutoff} - high for {frame_inches}-inch",
+                f"Large quads need lower iterm_relax_cutoff to prevent bounce-back. "
+                f"The default of 15 works for 5\", but {frame_inches}\" builds "
+                f"need {recommended_cutoff} or lower. High cutoff lets I-term build "
+                f"during maneuvers, causing overshoot on heavy airframes.{ez_note}",
+                setting="mc_iterm_relax_cutoff",
+                current=str(relax_cutoff),
+                recommended=str(recommended_cutoff),
+                cli_fix=f"set mc_iterm_relax_cutoff = {recommended_cutoff}"))
+
+    # D-boost
+    d_boost_min = profile.get("d_boost_min", get_setting(parsed, "d_boost_min", 1.0))
+    d_boost_max = profile.get("d_boost_max", get_setting(parsed, "d_boost_max", 1.0))
+    other_profiles_have_dboost = False
+    for n, p in parsed["control_profiles"].items():
+        if n != pnum and (p.get("d_boost_min", 1.0) != 1.0 or p.get("d_boost_max", 1.0) != 1.0):
+            other_profiles_have_dboost = True
+            break
+
+    if d_boost_min == 1.0 and d_boost_max == 1.0 and other_profiles_have_dboost:
+        findings.append(Finding(
+            WARNING, "PID", f"Active profile {pnum} has no D-boost, other profiles do",
+            "D-boost dynamically adjusts D-term based on setpoint changes - it gives more D during "
+            "fast maneuvers (reduces overshoot) and less during straight flight (less noise). "
+            "Your other profiles have it configured but the active one uses defaults. "
+            f"Likely a configuration oversight.{ez_note}",
+            setting="d_boost_min / d_boost_max",
+            current="1.0 / 1.0 (disabled)",
+            recommended="0.8 / 1.2 (like your other profiles)",
+            cli_fix="set d_boost_min = 0.800\nset d_boost_max = 1.200"))
+
+    # Antigravity
+    antigrav = profile.get("antigravity_gain", get_setting(parsed, "antigravity_gain", 1.0))
+    other_have_antigrav = any(
+        p.get("antigravity_gain", 1.0) != 1.0
+        for n, p in parsed["control_profiles"].items() if n != pnum
+    )
+
+    if antigrav == 1.0 and other_have_antigrav:
+        findings.append(Finding(
+            WARNING, "PID", f"Active profile {pnum} has no antigravity, other profiles do",
+            "Antigravity boosts I-term during rapid throttle changes to counteract the "
+            "altitude drop/gain when you punch or chop throttle. Your other profiles have it "
+            f"but the active one doesn't.{ez_note}",
+            setting="antigravity_gain",
+            current="1.0 (disabled)",
+            recommended="2.0 (like your other profiles)",
+            cli_fix="set antigravity_gain = 2.000\nset antigravity_accelerator = 5.000"))
+
+    # TPA
+    tpa_rate = profile.get("tpa_rate", get_setting(parsed, "tpa_rate", 0))
+    tpa_bp = profile.get("tpa_breakpoint", get_setting(parsed, "tpa_breakpoint", 1500))
+    if isinstance(tpa_rate, (int, float)) and tpa_rate > 0:
+        if isinstance(tpa_bp, (int, float)) and tpa_bp < 1300:
+            findings.append(Finding(
+                INFO, "PID", f"TPA breakpoint at {tpa_bp} - quite low",
+                f"TPA starts reducing PID gains at throttle {tpa_bp}. This means gains start "
+                f"dropping early. For aggressive flying, 1350-1500 is more common.",
+                setting="tpa_breakpoint",
+                current=str(tpa_bp),
+                recommended="1350-1500"))
+
+    # Rate acceleration limits - important for large quads
+    if frame_inches and frame_inches >= 9:
+        accel_rp = get_setting(parsed, "rate_accel_limit_roll_pitch", 0)
+        accel_yaw = get_setting(parsed, "rate_accel_limit_yaw", 0)
+        if isinstance(accel_rp, (int, float)) and accel_rp == 0:
+            rec = 500 if frame_inches <= 10 else 360
+            findings.append(Finding(
+                INFO, "PID",
+                f"No roll/pitch acceleration limit set for {frame_inches}-inch quad",
+                f"Large quads benefit from rate acceleration limits to prevent sudden "
+                f"rate demands that stress the frame and overwhelm the motors. "
+                f"INAV devs recommend ~360 dps^2 for big heavy multirotors. "
+                f"A value around {rec} is a good starting point for {frame_inches}\".{ez_note}",
+                setting="rate_accel_limit_roll_pitch",
+                current="0 (unlimited)",
+                recommended=str(rec),
+                cli_fix=f"set rate_accel_limit_roll_pitch = {rec}"))
+
+    # EZ Tune cross-check (only relevant if EZ Tune is actually active)
+    if ez_active:
+        ez_damping = profile.get("ez_damping", get_setting(parsed, "ez_damping", 100))
+        if isinstance(ez_damping, (int, float)) and ez_damping > 120:
+            findings.append(Finding(
+                INFO, "PID", f"EZ Tune damping = {ez_damping} (high)",
+                "High EZ damping means more D-term. This can help with overshoot but "
+                "also amplifies noise. If blackbox shows clean gyro, this is fine.",
+                setting="ez_damping",
+                current=str(ez_damping)))
+
+    return findings
+
+
+# ─── Navigation Checks ───────────────────────────────────────────────────────
+
+def check_navigation(parsed, frame_inches=None):
+    findings = []
+
+    rth_alt = get_setting(parsed, "nav_rth_altitude", 5000)
+    hover_thr = get_setting(parsed, "nav_mc_hover_thr", 1500)
+    profile = get_active_control(parsed)
+
+    # Safehome
+    has_safehome = any("safehome" in line.lower() and "set" in line.lower()
+                       for line in parsed["raw_text"].splitlines()
+                       if not line.strip().startswith("#"))
+    if not has_safehome:
+        findings.append(Finding(
+            INFO, "Navigation", "No safehome configured",
+            "Safehome lets you define alternative landing points for RTH. "
+            "If you fly at a regular location, setting a safehome ensures the quad "
+            "returns to a safe landing spot even if the home point drifted.",
+            setting="safehome",
+            recommended="Configure via Configurator Mission tab"))
+
+    # RTH altitude
+    if isinstance(rth_alt, (int, float)):
+        alt_m = rth_alt / 100
+        if alt_m > 100:
+            findings.append(Finding(
+                WARNING, "Navigation", f"RTH altitude: {alt_m:.0f}m - very high",
+                "High RTH altitude means longer return time and more battery used. "
+                "Also may exceed legal altitude limits in many countries (120m/400ft).",
+                setting="nav_rth_altitude",
+                current=f"{alt_m:.0f}m",
+                recommended="30-60m"))
+        elif alt_m < 15:
+            findings.append(Finding(
+                WARNING, "Navigation", f"RTH altitude: {alt_m:.0f}m - quite low",
+                "Low RTH altitude risks collision with trees, buildings, or terrain. "
+                "30-50m is typical for safe RTH.",
+                setting="nav_rth_altitude",
+                current=f"{alt_m:.0f}m",
+                recommended="30-50m"))
+        else:
+            findings.append(Finding(
+                OK, "Navigation", f"RTH altitude: {alt_m:.0f}m",
+                "Reasonable RTH altitude.",
+                setting="nav_rth_altitude",
+                current=f"{alt_m:.0f}m"))
+
+    # Hover throttle
+    battery = get_active_battery(parsed)
+    hover = battery.get("nav_mc_hover_thr", hover_thr)
+    if isinstance(hover, (int, float)):
+        if hover > 1600:
+            findings.append(Finding(
+                WARNING, "Navigation", f"Hover throttle: {hover} - high",
+                "Hover throttle above 1600 means the quad is heavy relative to motor power. "
+                "Altitude hold and nav may be sluggish because there's limited headroom for correction.",
+                setting="nav_mc_hover_thr",
+                current=str(hover),
+                recommended="1200-1500"))
+        elif hover < 1100:
+            findings.append(Finding(
+                INFO, "Navigation", f"Hover throttle: {hover} - very low",
+                "This suggests very powerful motors relative to weight. "
+                "Altitude hold may be twitchy. Consider lowering PID gains for nav.",
+                setting="nav_mc_hover_thr",
+                current=str(hover)))
+
+    # ── Frame-aware nav PID checks ──
+    # INAV defaults are tuned for 5" quads. Larger frames have more inertia
+    # and need softer nav PIDs and longer deceleration time. The default
+    # values cause oscillation on deceleration, overshoot on RTH arrival,
+    # and bouncy position hold on 10"+ frames.
+    #
+    # Recommended ranges by frame size:
+    #   5":  pos_p=50-65  vel_p=35-50  vel_d=80-120  decel=100-150
+    #   7":  pos_p=40-55  vel_p=30-40  vel_d=80-120  decel=120-180
+    #   10": pos_p=30-45  vel_p=20-30  vel_d=80-120  decel=180-280
+    #   12": pos_p=25-40  vel_p=15-25  vel_d=80-120  decel=220-350
+    #   15": pos_p=20-35  vel_p=10-20  vel_d=80-120  decel=280-400
+
+    nav_rec = None
+    if frame_inches and frame_inches >= 7:
+        if frame_inches >= 15:
+            nav_rec = {"pos_p_max": 35, "vel_p_max": 20, "decel_min": 280,
+                       "pos_p_rec": 25, "vel_p_rec": 15, "vel_i_rec": 8, "decel_rec": 350}
+        elif frame_inches >= 12:
+            nav_rec = {"pos_p_max": 40, "vel_p_max": 25, "decel_min": 220,
+                       "pos_p_rec": 30, "vel_p_rec": 20, "vel_i_rec": 10, "decel_rec": 280}
+        elif frame_inches >= 10:
+            nav_rec = {"pos_p_max": 45, "vel_p_max": 30, "decel_min": 180,
+                       "pos_p_rec": 40, "vel_p_rec": 25, "vel_i_rec": 10, "decel_rec": 250}
+        elif frame_inches >= 7:
+            nav_rec = {"pos_p_max": 55, "vel_p_max": 40, "decel_min": 120,
+                       "pos_p_rec": 45, "vel_p_rec": 35, "vel_i_rec": 15, "decel_rec": 150}
+
+    # INAV defaults for nav PIDs (these won't appear in diff all if unchanged)
+    INAV_NAV_DEFAULTS = {
+        "nav_mc_pos_xy_p": 65,
+        "nav_mc_vel_xy_p": 40,
+        "nav_mc_vel_xy_i": 15,
+        "nav_mc_pos_deceleration_time": 120,
+        "nav_mc_heading_p": 60,
+    }
+
+    pos_p = profile.get("nav_mc_pos_xy_p",
+                        get_setting(parsed, "nav_mc_pos_xy_p", INAV_NAV_DEFAULTS["nav_mc_pos_xy_p"]))
+    vel_p = profile.get("nav_mc_vel_xy_p",
+                        get_setting(parsed, "nav_mc_vel_xy_p", INAV_NAV_DEFAULTS["nav_mc_vel_xy_p"]))
+    vel_i = profile.get("nav_mc_vel_xy_i",
+                        get_setting(parsed, "nav_mc_vel_xy_i", INAV_NAV_DEFAULTS["nav_mc_vel_xy_i"]))
+    decel = get_setting(parsed, "nav_mc_pos_deceleration_time",
+                        INAV_NAV_DEFAULTS["nav_mc_pos_deceleration_time"])
+    heading_p = profile.get("nav_mc_heading_p",
+                            get_setting(parsed, "nav_mc_heading_p", INAV_NAV_DEFAULTS["nav_mc_heading_p"]))
+
+    if nav_rec:
+        is_default_pos = (pos_p == INAV_NAV_DEFAULTS["nav_mc_pos_xy_p"])
+        is_default_vel = (vel_p == INAV_NAV_DEFAULTS["nav_mc_vel_xy_p"])
+        is_default_decel = (decel == INAV_NAV_DEFAULTS["nav_mc_pos_deceleration_time"])
+        default_note = " (INAV default - tuned for 5-inch)"
+
+        # Frame-aware checks
+        if pos_p is not None and isinstance(pos_p, (int, float)):
+            if pos_p > nav_rec["pos_p_max"]:
+                val_note = default_note if is_default_pos else ""
+                findings.append(Finding(
+                    WARNING, "Navigation",
+                    f"Position P = {pos_p}{val_note} - too aggressive for {frame_inches}-inch",
+                    f"On {frame_inches}-inch with more "
+                    f"inertia, high position P causes overshoot and oscillation on RTH arrival "
+                    f"and position hold. The quad overshoots the target position, corrects back, "
+                    f"overshoots again.",
+                    setting="nav_mc_pos_xy_p",
+                    current=str(pos_p),
+                    recommended=str(nav_rec["pos_p_rec"]),
+                    cli_fix=f"set nav_mc_pos_xy_p = {nav_rec['pos_p_rec']}"))
+
+        if vel_p is not None and isinstance(vel_p, (int, float)):
+            if vel_p > nav_rec["vel_p_max"]:
+                val_note = default_note if is_default_vel else ""
+                findings.append(Finding(
+                    WARNING, "Navigation",
+                    f"Velocity XY P = {vel_p}{val_note} - too aggressive for {frame_inches}-inch",
+                    f"Controls how hard the quad brakes when decelerating. "
+                    f"On {frame_inches}-inch, the quad can't stop as fast due to momentum, "
+                    f"so high velocity P causes oscillation in the direction of travel when "
+                    f"stopping or changing direction.",
+                    setting="nav_mc_vel_xy_p",
+                    current=str(vel_p),
+                    recommended=str(nav_rec["vel_p_rec"]),
+                    cli_fix=f"set nav_mc_vel_xy_p = {nav_rec['vel_p_rec']}"))
+
+        if decel is not None and isinstance(decel, (int, float)):
+            if decel < nav_rec["decel_min"]:
+                val_note = default_note if is_default_decel else ""
+                findings.append(Finding(
+                    WARNING, "Navigation",
+                    f"Deceleration time = {decel} ({decel/100:.1f}s){val_note} - too short for {frame_inches}-inch",
+                    f"This controls how quickly the quad tries to stop from cruise speed. "
+                    f"A {frame_inches}-inch has much more "
+                    f"momentum and needs more distance/time to decelerate smoothly. "
+                    f"Too short causes overshoot and oscillation on RTH and position hold transitions.",
+                    setting="nav_mc_pos_deceleration_time",
+                    current=f"{decel} ({decel/100:.1f}s)",
+                    recommended=f"{nav_rec['decel_rec']} ({nav_rec['decel_rec']/100:.1f}s)",
+                    cli_fix=f"set nav_mc_pos_deceleration_time = {nav_rec['decel_rec']}"))
+    else:
+        # Generic checks (no frame size or small frame)
+        if pos_p is not None and isinstance(pos_p, (int, float)):
+            if pos_p > 50:
+                findings.append(Finding(
+                    WARNING, "Navigation", f"Position hold P = {pos_p} - aggressive",
+                    "High position P gain can cause oscillation in position hold and RTH. "
+                    "The quad overcorrects, overshoots, and oscillates around the target position.",
+                    setting="nav_mc_pos_xy_p",
+                    current=str(pos_p),
+                    recommended="20-35",
+                    cli_fix=f"set nav_mc_pos_xy_p = 30"))
+            elif pos_p < 15:
+                findings.append(Finding(
+                    INFO, "Navigation", f"Position hold P = {pos_p} - conservative",
+                    "Low position P may result in slow corrections and drifting in wind.",
+                    setting="nav_mc_pos_xy_p",
+                    current=str(pos_p)))
+
+    if heading_p is not None and isinstance(heading_p, (int, float)):
+        if heading_p > 60:
+            findings.append(Finding(
+                INFO, "Navigation", f"Nav heading P = {heading_p} - high",
+                "High heading P during navigation can cause yaw oscillation. "
+                "Default is 60, consider lowering if you see heading wobble during RTH.",
+                setting="nav_mc_heading_p",
+                current=str(heading_p)))
+
+    return findings
+
+
+# ─── GPS Checks ──────────────────────────────────────────────────────────────
+
+def check_gps(parsed):
+    findings = []
+
+    has_gps = "GPS" in parsed["features"]
+    if not has_gps:
+        if any(get_setting(parsed, k) for k in ["nav_rth_altitude", "failsafe_procedure"]
+               if get_setting(parsed, k) in ("RTH", 2)):
+            findings.append(Finding(
+                CRITICAL, "GPS", "GPS feature not enabled but RTH failsafe configured",
+                "Failsafe is set to RTH but GPS is not enabled. The quad cannot navigate home.",
+                setting="feature GPS",
+                current="disabled",
+                recommended="enabled",
+                cli_fix="feature GPS"))
+        return findings
+
+    findings.append(Finding(
+        OK, "GPS", "GPS enabled",
+        "GPS feature is active.",
+        setting="feature GPS"))
+
+    # Multi-constellation
+    galileo = get_setting(parsed, "gps_ublox_use_galileo", False)
+    beidou = get_setting(parsed, "gps_ublox_use_beidou", False)
+    glonass = get_setting(parsed, "gps_ublox_use_glonass", False)
+
+    constellations = ["GPS"]  # always on
+    if galileo: constellations.append("Galileo")
+    if beidou: constellations.append("BeiDou")
+    if glonass: constellations.append("GLONASS")
+
+    if len(constellations) >= 3:
+        findings.append(Finding(
+            OK, "GPS", f"Multi-constellation: {', '.join(constellations)}",
+            "Multiple GNSS constellations improve fix quality and satellite count.",
+            setting="gps_ublox_use_*"))
+    elif len(constellations) == 1:
+        findings.append(Finding(
+            INFO, "GPS", "Only GPS constellation enabled",
+            "Enabling Galileo and/or GLONASS improves fix quality with more visible satellites.",
+            setting="gps_ublox_use_galileo",
+            recommended="ON",
+            cli_fix="set gps_ublox_use_galileo = ON"))
+
+    # Compass
+    mag_hw = get_setting(parsed, "mag_hardware", None)
+    align_mag = get_setting(parsed, "align_mag", "DEFAULT")
+    if mag_hw and str(mag_hw).upper() not in ("NONE", "0", "FALSE"):
+        findings.append(Finding(
+            OK, "GPS", f"Compass: {mag_hw} (alignment: {align_mag})",
+            "Compass is configured. Critical for accurate heading in GPS modes.",
+            setting="mag_hardware"))
+
+        # Compass calibration quality check
+        mag_gains = []
+        for axis in ("x", "y", "z"):
+            g = get_setting(parsed, f"maggain_{axis}", None)
+            if g is not None and isinstance(g, (int, float)):
+                mag_gains.append(g)
+        if len(mag_gains) == 3:
+            spread = (max(mag_gains) - min(mag_gains)) / max(max(mag_gains), 1) * 100
+            if spread > 40:
+                findings.append(Finding(
+                    WARNING, "GPS",
+                    f"Compass calibration may be poor (gain spread: {spread:.0f}%)",
+                    f"Mag gains: X={mag_gains[0]}, Y={mag_gains[1]}, Z={mag_gains[2]}. "
+                    f"A spread above 30-40% suggests the compass calibration was done near "
+                    f"metallic objects or with motor interference. Poor compass cal causes "
+                    f"toilet-bowling in position hold and erratic RTH heading. "
+                    f"Recalibrate outdoors, away from metal, with motors off.",
+                    setting="maggain_x/y/z",
+                    current=f"X={mag_gains[0]} Y={mag_gains[1]} Z={mag_gains[2]}",
+                    recommended="Recalibrate compass outdoors"))
+            elif spread > 25:
+                findings.append(Finding(
+                    INFO, "GPS",
+                    f"Compass gain spread: {spread:.0f}% - borderline",
+                    f"Mag gains: X={mag_gains[0]}, Y={mag_gains[1]}, Z={mag_gains[2]}. "
+                    f"This is borderline acceptable. If you see heading drift in poshold "
+                    f"or toilet-bowling, recalibrate the compass.",
+                    setting="maggain_x/y/z"))
+
+    elif has_gps:
+        findings.append(Finding(
+            WARNING, "GPS", "No compass configured",
+            "GPS navigation without a compass relies on GPS heading, which only works "
+            "while moving. Hover position hold and slow-speed RTH will have poor heading accuracy.",
+            setting="mag_hardware",
+            recommended="Install and configure a compass"))
+
+    return findings
+
+
+# ─── Blackbox Checks ─────────────────────────────────────────────────────────
+
+def check_blackbox(parsed):
+    findings = []
+
+    bb_denom = get_setting(parsed, "blackbox_rate_denom", 1)
+    if isinstance(bb_denom, (int, float)) and bb_denom > 1:
+        d = int(bb_denom)
+        rate_desc = "half" if d == 2 else f"1/{d}"
+        findings.append(Finding(
+            INFO, "Blackbox", f"Blackbox logging at {rate_desc} rate",
+            f"Recording every {d}{'nd' if d==2 else 'rd' if d==3 else 'th'} sample. "
+            f"This saves flash space but reduces analysis resolution. "
+            f"For PID tuning, 1/1 (full rate) gives the best data. "
+            f"For long flights, 1/2 is a reasonable compromise.",
+            setting="blackbox_rate_denom",
+            current=str(bb_denom),
+            recommended="1 for tuning, 2 for long flights"))
+
+    # Check if essential fields are being logged
+    disabled = parsed["blackbox_disabled"]
+    essential_for_tuning = ["GYRO_RAW", "MOTORS", "RC_COMMAND"]
+    missing = [f for f in essential_for_tuning if f in disabled]
+    if missing:
+        findings.append(Finding(
+            WARNING, "Blackbox", f"Essential blackbox fields disabled: {', '.join(missing)}",
+            "These fields are needed for PID tuning analysis. "
+            "Without them, the blackbox analyzer cannot give accurate recommendations.",
+            setting="blackbox",
+            current=f"{', '.join(missing)} disabled",
+            recommended="Enable all for tuning",
+            cli_fix="\n".join(f"blackbox {f}" for f in missing)))
+
+    # Navigation fields for nav analysis
+    nav_disabled = [f for f in ["NAV_ACC", "NAV_POS"] if f in disabled]
+    if nav_disabled:
+        findings.append(Finding(
+            INFO, "Blackbox", f"Nav blackbox fields disabled: {', '.join(nav_disabled)}",
+            "These fields help analyze navigation performance (position hold, RTH). "
+            "Enable them if you want to analyze nav tuning.",
+            setting="blackbox",
+            current=f"{', '.join(nav_disabled)} disabled"))
+
+    return findings
+
+
+# ─── Battery Checks ──────────────────────────────────────────────────────────
+
+def check_battery(parsed):
+    findings = []
+    battery = get_active_battery(parsed)
+
+    min_cell = battery.get("vbat_min_cell_voltage",
+                           get_setting(parsed, "vbat_min_cell_voltage", 330))
+    warn_cell = battery.get("vbat_warning_cell_voltage",
+                            get_setting(parsed, "vbat_warning_cell_voltage", 350))
+    capacity = battery.get("battery_capacity", get_setting(parsed, "battery_capacity", 0))
+    cap_warn = battery.get("battery_capacity_warning",
+                           get_setting(parsed, "battery_capacity_warning", 0))
+    cap_crit = battery.get("battery_capacity_critical",
+                           get_setting(parsed, "battery_capacity_critical", 0))
+
+    if isinstance(min_cell, (int, float)):
+        min_v = min_cell / 100 if min_cell > 100 else min_cell
+        # Heuristic: large capacity (>7000mAh) + low min voltage often = Li-ion pack
+        likely_lion = (isinstance(capacity, (int, float)) and capacity >= 7000
+                       and min_v < 3.0)
+        if min_v < 3.0:
+            if likely_lion:
+                findings.append(Finding(
+                    INFO, "Battery", f"Minimum cell voltage: {min_v:.2f}V (likely Li-ion)",
+                    f"With {capacity}mAh capacity and {min_v:.2f}V minimum, this looks like a Li-ion "
+                    f"setup (18650/21700). This voltage is appropriate for Li-ion. "
+                    f"If you switch to LiPo, raise this to 3.3V.",
+                    setting="vbat_min_cell_voltage",
+                    current=f"{min_v:.2f}V"))
+            else:
+                findings.append(Finding(
+                    WARNING, "Battery", f"Minimum cell voltage: {min_v:.2f}V - low for LiPo",
+                    "If using LiPo batteries, going below 3.0V per cell causes permanent damage. "
+                    "3.3V is the recommended minimum for LiPo. If you're running Li-ion cells "
+                    "(18650/21700), 2.5-2.8V is normal - you can ignore this warning.",
+                    setting="vbat_min_cell_voltage",
+                    current=f"{min_v:.2f}V",
+                    recommended="330 (3.30V) for LiPo, 270 (2.70V) for Li-ion",
+                    cli_fix="set vbat_min_cell_voltage = 330"))
+        elif min_v < 3.2:
+            findings.append(Finding(
+                INFO, "Battery", f"Minimum cell voltage: {min_v:.2f}V - low side",
+                "Below 3.2V accelerates LiPo wear. 3.3-3.5V is safer.",
+                setting="vbat_min_cell_voltage",
+                current=f"{min_v:.2f}V",
+                recommended="330-350"))
+
+    if isinstance(capacity, (int, float)) and capacity > 0:
+        findings.append(Finding(
+            OK, "Battery", f"Battery capacity: {capacity}mAh",
+            "Capacity-based monitoring is configured.",
+            setting="battery_capacity",
+            current=f"{capacity}mAh"))
+
+        if isinstance(cap_warn, (int, float)) and cap_warn > 0:
+            warn_pct = cap_warn / capacity * 100
+            findings.append(Finding(
+                OK if warn_pct >= 30 else INFO, "Battery",
+                f"Warning at {cap_warn}mAh remaining ({warn_pct:.0f}%)",
+                f"Battery warning triggers at {warn_pct:.0f}% remaining capacity.",
+                setting="battery_capacity_warning"))
+    elif capacity == 0:
+        findings.append(Finding(
+            INFO, "Battery", "No battery capacity set",
+            "Capacity-based monitoring gives more accurate remaining flight time "
+            "than voltage alone. Set battery_capacity to your pack's mAh rating.",
+            setting="battery_capacity",
+            recommended="Set to your battery mAh"))
+
+    return findings
+
+
+# ─── Receiver Checks ─────────────────────────────────────────────────────────
+
+def check_rx(parsed):
+    findings = []
+
+    rx_provider = get_setting(parsed, "serialrx_provider", None)
+    if rx_provider:
+        findings.append(Finding(
+            OK, "Receiver", f"Serial RX: {rx_provider}",
+            f"Using {rx_provider} protocol.",
+            setting="serialrx_provider",
+            current=str(rx_provider)))
+
+    channel_map = parsed["master"].get("channel_map", "AETR")
+    if channel_map != "AETR" and channel_map != "TAER":
+        findings.append(Finding(
+            INFO, "Receiver", f"Channel map: {channel_map}",
+            "Non-standard channel map. Make sure your transmitter matches.",
+            setting="map",
+            current=channel_map))
+
+    return findings
+
+
+# ─── General Checks ──────────────────────────────────────────────────────────
+
+def check_general(parsed):
+    findings = []
+
+    # Craft name
+    name = get_setting(parsed, "name", "")
+    if not name:
+        findings.append(Finding(
+            INFO, "General", "No craft name set",
+            "Setting a name helps identify logs and OSD display.",
+            setting="name",
+            cli_fix='set name = MY_QUAD'))
+
+    # I2C speed
+    i2c = get_setting(parsed, "i2c_speed", "400KHZ")
+    if str(i2c).upper() == "800KHZ":
+        findings.append(Finding(
+            OK, "General", "I2C bus at 800KHz",
+            "Fast I2C reduces sensor read latency.",
+            setting="i2c_speed",
+            current="800KHZ"))
+
+    # Airmode
+    airmode = get_setting(parsed, "airmode_type", "STICK_CENTER")
+    if str(airmode).upper() == "THROTTLE_THRESHOLD":
+        findings.append(Finding(
+            OK, "General", "Airmode: throttle threshold",
+            "Airmode activates above throttle threshold - good for preventing accidental "
+            "motor spin on the ground.",
+            setting="airmode_type",
+            current="THROTTLE_THRESHOLD"))
+
+    return findings
+
+
+# ─── Blackbox Cross-Reference ────────────────────────────────────────────────
+
+def check_crossref_blackbox(parsed, bb_state):
+    """Cross-reference config with blackbox analysis results."""
+    findings = []
+
+    if not isinstance(bb_state, dict):
+        return findings
+
+    actions = bb_state.get("actions", [])
+    config = bb_state.get("config", {})
+    scores = bb_state.get("scores", {})
+
+    overall = scores.get("overall", 0)
+    noise_score = scores.get("noise")
+    pid_score = scores.get("pid")
+
+    if overall > 0:
+        findings.append(Finding(
+            OK if overall >= 75 else WARNING if overall >= 50 else CRITICAL,
+            "Blackbox", f"Last tune quality: {overall:.0f}/100",
+            f"Noise: {noise_score:.0f}, PID: {pid_score:.0f}, Motors: {scores.get('motor', 0):.0f}" if noise_score else "",
+            current=f"{overall:.0f}/100"))
+
+    # Check if EZ Tune is fighting manual PID changes
+    ez_active = get_setting(parsed, "ez_enabled", None) is True
+    if ez_active:
+        bb_roll_p = config.get("roll_p")
+        diff_roll_p = get_active_control(parsed).get("mc_p_roll")
+        if bb_roll_p and diff_roll_p and bb_roll_p != diff_roll_p:
+            findings.append(Finding(
+                WARNING, "Blackbox", "PID values differ between diff and blackbox",
+                f"Roll P in diff: {diff_roll_p}, in last blackbox: {bb_roll_p}. "
+                f"With EZ Tune active, manually set PIDs will be overwritten on reboot. "
+                f"Either tune through EZ Tune parameters or disable EZ Tune (set ez_enabled = OFF).",
+                setting="ez_enabled"))
+
+    return findings
+
+
+# ─── Terminal Output ─────────────────────────────────────────────────────────
+
+# ─── Pre-Flight Sanity Check ─────────────────────────────────────────────────
+# A "will this crash on first flight?" validator.
+# Different from the tuning-focused analysis above — this catches
+# dangerous misconfigurations that can destroy hardware or hurt people.
+
+class SanityItem:
+    """A single pre-flight check result."""
+    FAIL = "FAIL"
+    WARN = "WARN"
+    ASK = "ASK"
+    PASS = "PASS"
+
+    def __init__(self, status, category, message, detail=None, question=None,
+                 recommendation=None, cli_fix=None):
+        self.status = status
+        self.category = category
+        self.message = message
+        self.detail = detail or ""
+        self.question = question       # Interactive confirmation prompt
+        self.recommendation = recommendation
+        self.cli_fix = cli_fix
+        self.user_confirmed = None     # None=not asked, True/False=answer
+
+    def __repr__(self):
+        return f"<{self.status} {self.category}: {self.message}>"
+
+
+def _ask_pilot(question, default_yes=False):
+    """Ask the pilot a yes/no question interactively."""
+    suffix = "[Y/n]" if default_yes else "[y/N]"
+    try:
+        answer = input(f"    ? {question} {suffix} ").strip().lower()
+        if not answer:
+            return default_yes
+        return answer in ("y", "yes")
+    except (EOFError, KeyboardInterrupt):
+        print()
+        return default_yes
+
+
+def _get_assigned_modes(parsed):
+    """Return set of mode IDs that have aux channel assignments."""
+    return {m["mode_id"] for m in parsed["aux_modes"]
+            if m["range_low"] < m["range_high"]}
+
+
+def _has_gps_uart(parsed):
+    """Check if any serial port has GPS function enabled."""
+    for _port_id, config in parsed["serial_ports"].items():
+        parts = config.split()
+        if len(parts) >= 1:
+            try:
+                func_mask = int(parts[0])
+                if func_mask & 2:  # GPS function bit
+                    return True
+            except ValueError:
+                pass
+    return False
+
+
+def _has_feature(parsed, feat_name):
+    """Check if a feature is enabled (present in features list)."""
+    return feat_name.upper() in [f.upper() for f in parsed["features"]]
+
+
+def _has_feature_disabled(parsed, feat_name):
+    """Check if a feature is explicitly disabled."""
+    return feat_name.upper() in [f.upper() for f in parsed.get("features_disabled", [])]
+
+
+def _detect_frame_from_name(parsed):
+    """Try to detect frame size from craft name."""
+    name = get_setting(parsed, "name", "")
+    if not name:
+        return None
+    name_upper = str(name).upper()
+    for size in [15, 12, 10, 7, 5]:
+        if str(size) in name_upper:
+            return size
+    return None
+
+
+def _detect_motor_count(parsed):
+    """Detect motor count from motor_mix or platform type."""
+    if parsed["motor_mix"]:
+        return max(m["index"] for m in parsed["motor_mix"]) + 1
+    # Infer from platform_type
+    platform = get_setting(parsed, "platform_type", "")
+    platform_map = {
+        "QUADX": 4, "QUAD": 4, "QUADP": 4,
+        "HEX6": 6, "HEXX": 6, "HEXH": 6, "HEX6X": 6,
+        "OCTOX8": 8, "OCTOFLATX": 8, "OCTOFLATP": 8,
+        "Y6": 6,
+        "TRI": 3, "TRICOPTER": 3,
+    }
+    mixer = get_setting(parsed, "mixer_preset", "")
+    if isinstance(mixer, str):
+        for key, count in platform_map.items():
+            if key in mixer.upper():
+                return count
+    return None
+
+
+def run_sanity_check(parsed, frame_inches=None, interactive=True):
+    """Run pre-flight sanity checks. Returns list of SanityItems."""
+    items = []
+
+    # Auto-detect frame size if not provided
+    if frame_inches is None:
+        frame_inches = _detect_frame_from_name(parsed)
+
+    assigned_modes = _get_assigned_modes(parsed)
+    has_gps = _has_gps_uart(parsed)
+    motor_count = _detect_motor_count(parsed)
+    profile = get_active_control(parsed)
+
+    # ── 1. ARMING ────────────────────────────────────────────────────────
+    if 0 not in assigned_modes:
+        items.append(SanityItem(
+            SanityItem.FAIL, "Arming",
+            "No ARM switch assigned",
+            "Without an ARM mode on an aux channel, the aircraft cannot be armed "
+            "(or worse, may arm unexpectedly if using stick commands).",
+            recommendation="Assign ARM to an AUX channel in the Modes tab"))
+    else:
+        arm_modes = [m for m in parsed["aux_modes"] if m["mode_id"] == 0]
+        for am in arm_modes:
+            rng = am["range_high"] - am["range_low"]
+            if rng > 800:
+                items.append(SanityItem(
+                    SanityItem.WARN, "Arming",
+                    f"ARM range is very wide ({am['range_low']}-{am['range_high']})",
+                    "A wide ARM range increases the risk of accidental arming.",
+                    recommendation="Use a narrow range like 1800-2100"))
+            else:
+                items.append(SanityItem(
+                    SanityItem.PASS, "Arming",
+                    "ARM switch assigned"))
+
+    # ── 2. MOTOR OUTPUT ──────────────────────────────────────────────────
+    output_enabled = get_setting(parsed, "motor_pwm_protocol", "")
+    # In INAV, motor output is disabled by default until you enable it in Outputs tab.
+    # The feature MOTOR_STOP / output is controlled differently.
+    # If we see no motor protocol at all or DISABLED, that's a problem.
+    if output_enabled == "DISABLED" or output_enabled == "" or output_enabled == 0:
+        items.append(SanityItem(
+            SanityItem.FAIL, "Motor Output",
+            "Motor output appears DISABLED",
+            "INAV disables motor output by default as a safety measure. "
+            "Motors will not spin until you enable output in the Outputs tab.",
+            recommendation="In Configurator: Outputs tab → enable motor output, select DSHOT protocol"))
+
+    # ── 3. MOTOR DIRECTION ───────────────────────────────────────────────
+    motor_inverted = get_setting(parsed, "motor_direction_inverted", False)
+    if motor_inverted:
+        items.append(SanityItem(
+            SanityItem.ASK, "Motors",
+            "Motor direction is INVERTED (props-out configuration)",
+            "motor_direction_inverted = ON means the FC expects reversed motor spin "
+            "(props-out). If your motors spin the normal way (props-in), the quad "
+            "will yaw violently and flip on takeoff.",
+            question="Are you running props-out (reversed) motor direction?",
+            recommendation="If props-in, set motor_direction_inverted = OFF",
+            cli_fix="set motor_direction_inverted = OFF"))
+    else:
+        items.append(SanityItem(
+            SanityItem.PASS, "Motors",
+            "Motor direction: standard (props-in)"))
+
+    # ── 4. FAILSAFE ──────────────────────────────────────────────────────
+    fs_proc = get_setting(parsed, "failsafe_procedure", "DROP")
+    if fs_proc == "DROP" or fs_proc == 0:
+        items.append(SanityItem(
+            SanityItem.FAIL, "Failsafe",
+            "Failsafe procedure is DROP",
+            "On signal loss, the aircraft will disarm and freefall from any altitude. "
+            "This is the default but extremely dangerous for any altitude flight.",
+            recommendation="Set failsafe to RTH if you have GPS, or LAND",
+            cli_fix="set failsafe_procedure = RTH"))
+    elif (fs_proc == "RTH" or fs_proc == 2) and not has_gps:
+        items.append(SanityItem(
+            SanityItem.FAIL, "Failsafe",
+            "Failsafe set to RTH but no GPS configured",
+            "RTH failsafe requires GPS. Without it, the aircraft will fall back "
+            "to emergency landing which may not work correctly.",
+            recommendation="Configure GPS on a UART, or change failsafe to LAND"))
+    elif fs_proc == "RTH" or fs_proc == 2:
+        items.append(SanityItem(
+            SanityItem.PASS, "Failsafe",
+            "Failsafe set to RTH with GPS available"))
+
+    # Failsafe throttle + airmode
+    airmode = get_setting(parsed, "airmode_type", "")
+    fs_throttle = get_setting(parsed, "failsafe_throttle", 1000)
+    if isinstance(fs_throttle, (int, float)) and fs_throttle <= 1050:
+        if airmode and str(airmode).upper() != "STICK_CENTER":
+            items.append(SanityItem(
+                SanityItem.WARN, "Failsafe",
+                f"Low failsafe throttle ({fs_throttle}) with airmode enabled",
+                "Airmode keeps PID corrections active even at zero throttle. "
+                "Combined with low failsafe throttle, this can cause the aircraft "
+                "to tumble during emergency landing instead of descending smoothly.",
+                recommendation="Consider raising failsafe_throttle to hover level"))
+
+    # ── 5. BATTERY ───────────────────────────────────────────────────────
+    batt_profile = get_active_battery(parsed)
+    vmin = batt_profile.get("bat_voltage_cell_min", get_setting(parsed, "bat_voltage_cell_min", 330))
+    vmax = batt_profile.get("bat_voltage_cell_max", get_setting(parsed, "bat_voltage_cell_max", 420))
+    vwarn = batt_profile.get("bat_voltage_cell_warning", get_setting(parsed, "bat_voltage_cell_warning", 350))
+
+    if isinstance(vmin, (int, float)) and isinstance(vmax, (int, float)):
+        if vmin >= vmax:
+            items.append(SanityItem(
+                SanityItem.FAIL, "Battery",
+                f"Cell min voltage ({vmin/100:.2f}V) >= max ({vmax/100:.2f}V)",
+                "Battery voltage limits are inverted or equal. "
+                "The aircraft will think the battery is always critical."))
+        elif vmin < 250 or vmin > 380:
+            items.append(SanityItem(
+                SanityItem.WARN, "Battery",
+                f"Unusual cell min voltage: {vmin/100:.2f}V",
+                "Normal range is 2.80-3.50V for LiPo, 2.50-2.80V for Li-ion.",
+                question="Is this voltage correct for your battery type?"))
+        else:
+            items.append(SanityItem(
+                SanityItem.PASS, "Battery",
+                f"Battery limits: {vmin/100:.2f}V min, {vmax/100:.2f}V max"))
+
+    # No battery monitoring
+    if _has_feature_disabled(parsed, "VBAT"):
+        items.append(SanityItem(
+            SanityItem.FAIL, "Battery",
+            "Battery voltage monitoring is DISABLED",
+            "Without voltage monitoring, you will have no low battery warning "
+            "and no battery-related failsafe. The aircraft will fly until "
+            "the battery cuts out, causing an uncontrolled crash.",
+            recommendation="Enable VBAT feature",
+            cli_fix="feature VBAT"))
+
+    # ── 6. GPS & NAVIGATION ──────────────────────────────────────────────
+    nav_modes_assigned = assigned_modes & GPS_MODES
+    nav_mode_names = [INAV_MODES.get(m, f"Mode {m}") for m in nav_modes_assigned]
+
+    if nav_modes_assigned and not has_gps:
+        items.append(SanityItem(
+            SanityItem.FAIL, "Navigation",
+            f"Nav modes assigned but no GPS configured: {', '.join(nav_mode_names)}",
+            "These modes require GPS to function. Without GPS, activating them "
+            "will cause unpredictable behavior or no effect at all.",
+            recommendation="Configure GPS on a UART in the Ports tab"))
+    elif nav_modes_assigned and has_gps:
+        items.append(SanityItem(
+            SanityItem.PASS, "Navigation",
+            f"GPS configured for nav modes: {', '.join(nav_mode_names)}"))
+
+    if has_gps and not nav_modes_assigned and 11 not in assigned_modes:
+        items.append(SanityItem(
+            SanityItem.WARN, "Navigation",
+            "GPS configured but no NAV RTH mode assigned",
+            "You have GPS hardware configured but no return-to-home switch. "
+            "RTH is valuable as an emergency recovery option.",
+            recommendation="Assign NAV RTH to an AUX channel"))
+
+    # ALTHOLD without baro
+    alt_modes_assigned = assigned_modes & ALT_MODES
+    # Check for baro - it's usually a hardware feature, not always in diff
+    baro_hardware = get_setting(parsed, "baro_hardware", "")
+    if alt_modes_assigned and baro_hardware and str(baro_hardware).upper() == "NONE":
+        items.append(SanityItem(
+            SanityItem.FAIL, "Navigation",
+            "NAV ALTHOLD assigned but barometer is disabled",
+            "Altitude hold requires a barometer. Without it, altitude control "
+            "will not work and the aircraft may climb or descend uncontrollably.",
+            recommendation="Enable barometer hardware or remove ALTHOLD mode"))
+
+    # POSHOLD/RTH without compass
+    compass_modes_assigned = assigned_modes & COMPASS_MODES
+    compass_mode_names = [INAV_MODES.get(m, f"Mode {m}") for m in compass_modes_assigned]
+    mag_hardware = get_setting(parsed, "mag_hardware", "")
+    mag_disabled = (isinstance(mag_hardware, str) and mag_hardware.upper() == "NONE") or mag_hardware == 0
+    if compass_modes_assigned and mag_disabled:
+        items.append(SanityItem(
+            SanityItem.WARN, "Navigation",
+            f"Compass disabled but nav modes assigned: {', '.join(compass_mode_names)}",
+            "INAV can fly nav modes without compass using GPS-derived heading, "
+            "but position hold performance is reduced and toilet-bowl patterns "
+            "are more likely, especially at low speed.",
+            question="Are you intentionally flying without compass?"))
+
+    # Hover throttle at default
+    hover_thr = get_setting(parsed, "nav_mc_hover_thr", 1500)
+    if isinstance(hover_thr, (int, float)) and hover_thr == 1500:
+        if nav_modes_assigned:
+            items.append(SanityItem(
+                SanityItem.ASK, "Navigation",
+                "Hover throttle is at default (1500)",
+                "The default hover throttle may not match your aircraft. "
+                "If too low, the aircraft will sink in altitude hold. "
+                "If too high, it will climb.",
+                question="Have you calibrated the hover throttle for this aircraft?",
+                recommendation="Hover the aircraft, note the throttle value, "
+                "set nav_mc_hover_thr to that value"))
+
+    # ── 7. PIDS ──────────────────────────────────────────────────────────
+    p_roll = get_setting(parsed, "mc_p_roll", profile.get("mc_p_roll", 40))
+    p_pitch = get_setting(parsed, "mc_p_pitch", profile.get("mc_p_pitch", 44))
+    d_roll = get_setting(parsed, "mc_d_roll", profile.get("mc_d_roll", 25))
+    d_pitch = get_setting(parsed, "mc_d_pitch", profile.get("mc_d_pitch", 25))
+
+    # Zero P = no stabilization
+    if isinstance(p_roll, (int, float)) and isinstance(p_pitch, (int, float)):
+        if p_roll == 0 or p_pitch == 0:
+            items.append(SanityItem(
+                SanityItem.FAIL, "PIDs",
+                f"P-term is ZERO (roll={p_roll}, pitch={p_pitch})",
+                "With P=0 the aircraft has no stabilization on that axis. "
+                "It will be completely uncontrollable.",
+                recommendation="Set P values to at least 20"))
+
+    # Extremely high PIDs
+    if isinstance(p_roll, (int, float)) and isinstance(p_pitch, (int, float)):
+        if p_roll > 100 or p_pitch > 100:
+            items.append(SanityItem(
+                SanityItem.FAIL, "PIDs",
+                f"P-term is extremely high (roll={p_roll}, pitch={p_pitch})",
+                "P values above 100 will cause violent oscillation on any airframe. "
+                "The aircraft will shake itself apart on takeoff.",
+                recommendation="Reduce P to a sane starting point for your frame size"))
+
+    # PID mismatch with detected frame size
+    if frame_inches and frame_inches in FRAME_PROFILES:
+        fp = FRAME_PROFILES[frame_inches]
+        expected_p = fp["pids"].get("mc_p_roll", 40)
+
+        if isinstance(p_roll, (int, float)):
+            # Check if PIDs are way off for this frame size
+            # A 10" frame with 5" PIDs (40-44) is too aggressive
+            # A 5" frame with 15" PIDs (26) is too sluggish
+            if frame_inches >= 10 and p_roll >= 44:
+                # Looks like 5"/7" defaults on a big frame
+                items.append(SanityItem(
+                    SanityItem.ASK, "PIDs",
+                    f"PIDs look aggressive for a {frame_inches}-inch frame "
+                    f"(P_roll={p_roll}, expected ~{expected_p})",
+                    f"These PID values are typical for a 5-7 inch quad. On a "
+                    f"{frame_inches}-inch frame, this will likely cause violent "
+                    f"oscillation due to higher prop inertia.",
+                    question=f"Is this actually a {frame_inches}-inch frame?",
+                    recommendation=f"Use inav-params --setup {frame_inches} for starting PIDs",
+                    cli_fix=f"# Run: inav-params --setup {frame_inches}"))
+            elif frame_inches <= 5 and p_roll < 25:
+                items.append(SanityItem(
+                    SanityItem.ASK, "PIDs",
+                    f"PIDs look very low for a {frame_inches}-inch frame "
+                    f"(P_roll={p_roll}, expected ~{expected_p})",
+                    "Very low PIDs on a small frame will make it feel mushy and unresponsive.",
+                    question=f"Is this actually a {frame_inches}-inch frame?"))
+
+    if isinstance(p_roll, (int, float)) and isinstance(p_pitch, (int, float)):
+        if not (p_roll == 0 or p_pitch == 0) and not (p_roll > 100 or p_pitch > 100):
+            items.append(SanityItem(
+                SanityItem.PASS, "PIDs",
+                f"PIDs in reasonable range (P_roll={p_roll}, P_pitch={p_pitch})"))
+
+    # ── 8. RATES ─────────────────────────────────────────────────────────
+    roll_rate = get_setting(parsed, "roll_rate",
+                            profile.get("roll_rate", 40))
+    pitch_rate = get_setting(parsed, "pitch_rate",
+                             profile.get("pitch_rate", 40))
+    yaw_rate = get_setting(parsed, "yaw_rate",
+                           profile.get("yaw_rate", 30))
+
+    for axis, rate in [("Roll", roll_rate), ("Pitch", pitch_rate), ("Yaw", yaw_rate)]:
+        if isinstance(rate, (int, float)):
+            if rate == 0:
+                items.append(SanityItem(
+                    SanityItem.FAIL, "Rates",
+                    f"{axis} rate is ZERO",
+                    f"With rate=0, the aircraft cannot rotate on the {axis.lower()} axis. "
+                    "It will be uncontrollable.",
+                    recommendation=f"Set {axis.lower()}_rate to at least 20"))
+            elif rate > 120:  # 1200 dps — extreme
+                items.append(SanityItem(
+                    SanityItem.WARN, "Rates",
+                    f"{axis} rate is extremely high ({rate} = {rate*10}dps)",
+                    "Very high rates make the aircraft extremely twitchy and hard to control. "
+                    "Most pilots use 200-700dps for multirotors.",
+                    question=f"Is {rate*10}dps {axis.lower()} rate intentional?"))
+
+    # ── 9. FILTERS ───────────────────────────────────────────────────────
+    gyro_lpf = get_setting(parsed, "gyro_main_lpf_hz", 110)
+    dterm_lpf = get_setting(parsed, "dterm_lpf_hz", 110)
+    looptime = get_setting(parsed, "looptime", 500)
+
+    if isinstance(looptime, (int, float)) and looptime > 0:
+        sample_rate = 1_000_000 / looptime
+        nyquist = sample_rate / 2
+
+        if isinstance(gyro_lpf, (int, float)):
+            if gyro_lpf == 0:
+                items.append(SanityItem(
+                    SanityItem.WARN, "Filters",
+                    "Gyro LPF is DISABLED (0 Hz)",
+                    "Running with no gyro low-pass filter passes all noise directly "
+                    "to the PID controller. Unless you have very clean motors and "
+                    "a well-built frame, this will cause motor heating and oscillation.",
+                    question="Are you intentionally running without gyro LPF?"))
+            elif gyro_lpf > nyquist:
+                items.append(SanityItem(
+                    SanityItem.FAIL, "Filters",
+                    f"Gyro LPF ({gyro_lpf}Hz) is above Nyquist ({nyquist:.0f}Hz)",
+                    "The filter cutoff is higher than what the sample rate can represent. "
+                    "This provides no filtering and may cause aliasing artifacts.",
+                    recommendation=f"Lower gyro_main_lpf_hz below {nyquist:.0f}"))
+
+        if isinstance(dterm_lpf, (int, float)):
+            if dterm_lpf == 0:
+                items.append(SanityItem(
+                    SanityItem.WARN, "Filters",
+                    "D-term LPF is DISABLED (0 Hz)",
+                    "D-term amplifies noise by design. Without filtering, motor "
+                    "heating and high-frequency oscillation are very likely.",
+                    question="Are you intentionally running without D-term LPF?"))
+
+    if isinstance(gyro_lpf, (int, float)) and gyro_lpf > 0:
+        if frame_inches and frame_inches in FRAME_PROFILES:
+            expected_lpf = FRAME_PROFILES[frame_inches]["filters"]["gyro_main_lpf_hz"]
+            if gyro_lpf > expected_lpf * 2:
+                items.append(SanityItem(
+                    SanityItem.WARN, "Filters",
+                    f"Gyro LPF ({gyro_lpf}Hz) seems high for {frame_inches}-inch "
+                    f"(expected ~{expected_lpf}Hz)",
+                    "Higher filter cutoff passes more noise. Large frames need lower cutoffs "
+                    "because they vibrate at lower frequencies."))
+        else:
+            items.append(SanityItem(
+                SanityItem.PASS, "Filters",
+                f"Gyro LPF at {gyro_lpf}Hz"))
+
+    # ── 10. RECEIVER ─────────────────────────────────────────────────────
+    rx_type = get_setting(parsed, "serialrx_provider", None)
+    has_rx_uart = False
+    for _port_id, config in parsed["serial_ports"].items():
+        parts = config.split()
+        if len(parts) >= 1:
+            try:
+                func_mask = int(parts[0])
+                if func_mask & 64:  # Serial RX function bit
+                    has_rx_uart = True
+            except ValueError:
+                pass
+
+    if not has_rx_uart and rx_type is not None:
+        # Might be using SPI RX or other non-serial receiver
+        items.append(SanityItem(
+            SanityItem.PASS, "Receiver",
+            f"Receiver protocol: {rx_type}"))
+    elif has_rx_uart:
+        items.append(SanityItem(
+            SanityItem.PASS, "Receiver",
+            f"Serial receiver configured" + (f" ({rx_type})" if rx_type else "")))
+    else:
+        items.append(SanityItem(
+            SanityItem.WARN, "Receiver",
+            "No serial receiver UART detected in diff",
+            "This may be normal if using SPI RX (like on AIO boards) or "
+            "if the receiver is on default UART2 (not shown in diff)."))
+
+    # ── 11. BOARD ALIGNMENT ──────────────────────────────────────────────
+    align_roll = get_setting(parsed, "align_board_roll", 0)
+    align_pitch = get_setting(parsed, "align_board_pitch", 0)
+    align_yaw = get_setting(parsed, "align_board_yaw", 0)
+
+    has_alignment = False
+    for axis_name, val in [("roll", align_roll), ("pitch", align_pitch), ("yaw", align_yaw)]:
+        if isinstance(val, (int, float)) and val != 0:
+            has_alignment = True
+            degrees = val / 10.0  # INAV stores in decidegrees
+            if abs(degrees) > 0 and abs(degrees) not in (90, 180, 270):
+                items.append(SanityItem(
+                    SanityItem.ASK, "Board Alignment",
+                    f"Board alignment {axis_name} = {degrees:.1f} degrees",
+                    "Non-standard board alignment. Common values are 0, 90, 180, 270. "
+                    "Wrong alignment will cause the FC to fight you — stabilization "
+                    "will push the aircraft the wrong way.",
+                    question=f"Is your FC rotated {degrees:.1f} degrees on {axis_name}?"))
+            elif abs(degrees) in (90, 180, 270):
+                items.append(SanityItem(
+                    SanityItem.PASS, "Board Alignment",
+                    f"Board rotated {degrees:.0f}° on {axis_name}"))
+
+    if not has_alignment:
+        items.append(SanityItem(
+            SanityItem.PASS, "Board Alignment",
+            "Standard orientation (no rotation)"))
+
+    # ── 12. OSD / VIDEO ──────────────────────────────────────────────────
+    osd_video = get_setting(parsed, "osd_video_system", "")
+    if isinstance(osd_video, str) and osd_video.upper() not in ("", "AUTO"):
+        # Has specific video system configured
+        items.append(SanityItem(
+            SanityItem.PASS, "OSD",
+            f"OSD video system: {osd_video}"))
+
+    # ── 13. BEEPER SAFETY ────────────────────────────────────────────────
+    critical_beepers = ["BAT_CRIT_LOW", "BAT_LOW", "RX_LOST", "RX_LOST_LANDING"]
+    disabled = parsed.get("beepers_disabled", [])
+    missing_critical = [b for b in critical_beepers if b in disabled]
+    if missing_critical:
+        items.append(SanityItem(
+            SanityItem.WARN, "Safety",
+            f"Critical beepers disabled: {', '.join(missing_critical)}",
+            "You will have no audible warning for low battery or signal loss.",
+            recommendation="Enable critical beepers",
+            cli_fix="\n".join(f"beeper {b}" for b in missing_critical)))
+    else:
+        items.append(SanityItem(
+            SanityItem.PASS, "Safety",
+            "Critical beepers enabled"))
+
+    # ── 14. TRICOPTER SERVO ──────────────────────────────────────────────
+    platform = get_setting(parsed, "platform_type", "")
+    if isinstance(platform, str) and "TRI" in platform.upper():
+        # Check servo direction
+        items.append(SanityItem(
+            SanityItem.ASK, "Platform",
+            "Tricopter detected — verify tail servo direction",
+            "Tricopters need the tail servo to push in the correct direction "
+            "for yaw authority. An inverted servo will cause uncontrollable yaw.",
+            question="Have you verified the tail servo moves correctly for yaw "
+            "in the Configurator Outputs tab?"))
+
+    # ── 15. HEX/OCTO MOTOR ORDER ────────────────────────────────────────
+    if motor_count and motor_count >= 6:
+        platform_name = "Hexacopter" if motor_count == 6 else "Octocopter"
+        items.append(SanityItem(
+            SanityItem.ASK, "Platform",
+            f"{platform_name} detected ({motor_count} motors)",
+            f"With {motor_count} motors, correct motor order and spin direction "
+            "are critical. Verify in the Configurator Outputs tab that each motor "
+            "matches the diagram.",
+            question=f"Have you verified all {motor_count} motor positions and spin directions?"))
+
+    # ── 16. FLIGHT MODES ─────────────────────────────────────────────────
+    has_stabilized = assigned_modes & {1, 2}  # ANGLE or HORIZON
+    if not has_stabilized and 12 not in assigned_modes:
+        # No stabilized mode and no manual mode — only ARM
+        items.append(SanityItem(
+            SanityItem.WARN, "Modes",
+            "No flight mode switch assigned (ANGLE/HORIZON)",
+            "Without a flight mode on a switch, the aircraft defaults to "
+            "ACRO/rate mode which requires advanced piloting skills. "
+            "Most pilots want at least ANGLE mode for recovery.",
+            question="Are you an experienced ACRO pilot?"))
+    elif has_stabilized:
+        mode_names = [INAV_MODES.get(m, "") for m in assigned_modes & {1, 2}]
+        items.append(SanityItem(
+            SanityItem.PASS, "Modes",
+            f"Stabilized mode available: {', '.join(mode_names)}"))
+
+    return items
+
+
+def print_sanity_report(items, parsed, interactive=True):
+    """Print the interactive pre-flight sanity check report."""
+    R, B, C, G, Y, RED, DIM = _colors()
+
+    print(f"\n  {B}{'=' * 55}{R}")
+    print(f"  {B}  INAV Pre-Flight Sanity Check v{VERSION}{R}")
+    print(f"  {B}{'=' * 55}{R}")
+
+    # Aircraft identification
+    name = get_setting(parsed, "name", "")
+    board = parsed.get("board", "")
+    version = parsed.get("version", "")
+    platform = get_setting(parsed, "platform_type", "")
+
+    print(f"\n  {B}AIRCRAFT{R}")
+    if name:
+        print(f"    Craft name:  {C}{name}{R}")
+    if board:
+        print(f"    Board:       {board}")
+    if version:
+        print(f"    Firmware:    INAV {version}")
+    if platform:
+        print(f"    Platform:    {platform}")
+    print()
+
+    # Group items by category
+    categories = []
+    seen = set()
+    for item in items:
+        if item.category not in seen:
+            categories.append(item.category)
+            seen.add(item.category)
+
+    n_fail = 0
+    n_warn = 0
+    n_ask_unconfirmed = 0
+    n_pass = 0
+
+    for category in categories:
+        cat_items = [i for i in items if i.category == category]
+        print(f"  {B}{category}{R}")
+
+        for item in cat_items:
+            if item.status == SanityItem.PASS:
+                print(f"    {G}✓{R} {item.message}")
+                n_pass += 1
+
+            elif item.status == SanityItem.FAIL:
+                print(f"    {RED}✗ FAIL:{R} {item.message}")
+                if item.detail:
+                    for line in textwrap.wrap(item.detail, 68):
+                        print(f"      {DIM}{line}{R}")
+                if item.recommendation:
+                    print(f"      {Y}→ {item.recommendation}{R}")
+                if item.cli_fix:
+                    print(f"      {C}CLI: {item.cli_fix}{R}")
+                n_fail += 1
+
+            elif item.status == SanityItem.WARN:
+                print(f"    {Y}⚠ WARNING:{R} {item.message}")
+                if item.detail:
+                    for line in textwrap.wrap(item.detail, 68):
+                        print(f"      {DIM}{line}{R}")
+                if item.question and interactive:
+                    confirmed = _ask_pilot(item.question)
+                    item.user_confirmed = confirmed
+                    if confirmed:
+                        print(f"      {G}→ Acknowledged by pilot{R}")
+                    else:
+                        print(f"      {RED}→ Pilot says NO — review this before flying{R}")
+                        n_fail += 1
+                        continue
+                elif item.recommendation:
+                    print(f"      {Y}→ {item.recommendation}{R}")
+                if item.cli_fix:
+                    print(f"      {C}CLI: {item.cli_fix}{R}")
+                n_warn += 1
+
+            elif item.status == SanityItem.ASK:
+                print(f"    {C}? CONFIRM:{R} {item.message}")
+                if item.detail:
+                    for line in textwrap.wrap(item.detail, 68):
+                        print(f"      {DIM}{line}{R}")
+                if item.question and interactive:
+                    confirmed = _ask_pilot(item.question)
+                    item.user_confirmed = confirmed
+                    if confirmed:
+                        print(f"      {G}→ Confirmed{R}")
+                        n_pass += 1
+                    else:
+                        print(f"      {RED}→ NOT confirmed — fix this before flying{R}")
+                        if item.recommendation:
+                            print(f"      {Y}→ {item.recommendation}{R}")
+                        if item.cli_fix:
+                            print(f"      {C}CLI: {item.cli_fix}{R}")
+                        n_fail += 1
+                else:
+                    # Non-interactive: treat ASK as warning
+                    if item.recommendation:
+                        print(f"      {Y}→ {item.recommendation}{R}")
+                    n_ask_unconfirmed += 1
+
+        print()
+
+    # ── VERDICT ──────────────────────────────────────────────────────────
+    print(f"  {B}{'=' * 55}{R}")
+    print(f"  {B}  PRE-FLIGHT VERDICT{R}")
+    print(f"  {B}{'=' * 55}{R}")
+
+    if n_fail > 0:
+        print(f"    {RED}✗{R} {n_fail} CRITICAL issue{'s' if n_fail > 1 else ''} — must fix before flying")
+    if n_warn > 0:
+        print(f"    {Y}⚠{R} {n_warn} WARNING{'s' if n_warn > 1 else ''} — review recommended")
+    if n_ask_unconfirmed > 0:
+        print(f"    {C}?{R} {n_ask_unconfirmed} item{'s' if n_ask_unconfirmed > 1 else ''} need{'s' if n_ask_unconfirmed == 1 else ''} pilot confirmation (use --check without --no-interactive)")
+    if n_pass > 0:
+        print(f"    {G}✓{R} {n_pass} check{'s' if n_pass > 1 else ''} passed")
+
+    print()
+    if n_fail > 0:
+        print(f"    {RED}{B}██ NO-GO ██{R}")
+        print(f"    {RED}Fix critical issues and run --check again.{R}")
+    elif n_warn > 0 or n_ask_unconfirmed > 0:
+        print(f"    {Y}{B}██ CONDITIONAL ██{R}")
+        print(f"    {Y}Review warnings before flying.{R}")
+    else:
+        print(f"    {G}{B}██ GO ██{R}")
+        print(f"    {G}All checks passed. Fly safe!{R}")
+    print()
+
+    return n_fail
+
+
+def _pull_diff_from_device(device_path, no_color=False):
+    """Connect to FC via MSP and pull diff all. Returns (text, info) or exits."""
+    R, B, C, G, Y, RED, DIM = _colors()
+
+    try:
+        from inav_toolkit.msp import auto_detect_fc, INAVDevice
+    except ImportError:
+        from msp import auto_detect_fc, INAVDevice
+
+    print(f"  {B}Connecting to FC...{R}", end=" ", flush=True)
+
+    if device_path == "auto":
+        dev, info = auto_detect_fc()
+        if not dev:
+            print(f"\n  {RED}ERROR: No INAV flight controller found.{R}")
+            sys.exit(1)
+    else:
+        dev = INAVDevice(device_path)
+        dev.open()
+        info = dev.get_info()
+
+    fc_name = info.get("craft_name", "Unknown")
+    fw_ver = info.get("fw_version", "?")
+    board = info.get("board_id", "?")
+    print(f"{C}{board}{R} — {fc_name} — INAV {fw_ver}")
+
+    print(f"  Pulling configuration...", end=" ", flush=True)
+    try:
+        diff_text = dev.get_diff_all(timeout=15.0)
+        print(f"done ({len(diff_text.splitlines())} lines)")
+    except Exception as e:
+        print(f"\n  {RED}ERROR: Failed to pull diff: {e}{R}")
+        dev.close()
+        sys.exit(1)
+
+    dev.close()
+    return diff_text
+
+
+# ─── Reporting ───────────────────────────────────────────────────────────────
+
+def print_report(parsed, findings, frame_inches=None):
+    R, B, C, G, Y, RED, DIM = _colors()
+
+    sev_color = {CRITICAL: RED, WARNING: Y, INFO: C, OK: G}
+    sev_icon = {CRITICAL: "✗", WARNING: "⚠", INFO: "ℹ", OK: "✓"}
+
+    print(f"\n{B}{C}{'═'*70}{R}")
+    print(f"{B}{C}  INAV Parameter Analyzer v{VERSION}{R}")
+    print(f"{B}{C}{'═'*70}{R}")
+
+    # Header info
+    if parsed["version"]:
+        print(f"  {DIM}Firmware: INAV {parsed['version']} | Board: {parsed['board']}{R}")
+    name = get_setting(parsed, "name", "")
+    if name:
+        print(f"  {DIM}Craft: {name}{R}")
+    if frame_inches:
+        print(f"  {DIM}Profile: {frame_inches}-inch{R}")
+    pnum = parsed["active_control_profile"]
+    print(f"  {DIM}Active control profile: {pnum}{R}")
+
+    # Summary counts
+    counts = {CRITICAL: 0, WARNING: 0, INFO: 0, OK: 0}
+    for f in findings:
+        counts[f.severity] = counts.get(f.severity, 0) + 1
+
+    print(f"\n  {B}SUMMARY:{R}")
+    if counts[CRITICAL]:
+        print(f"    {RED}{B}{counts[CRITICAL]} CRITICAL{R} - fix before flying")
+    if counts[WARNING]:
+        print(f"    {Y}{B}{counts[WARNING]} WARNING{R} - should address")
+    if counts[INFO]:
+        print(f"    {C}{counts[INFO]} suggestions{R}")
+    if counts[OK]:
+        print(f"    {G}{counts[OK]} checks passed{R}")
+
+    # Group findings by category
+    categories = {}
+    for f in findings:
+        if f.category not in categories:
+            categories[f.category] = []
+        categories[f.category].append(f)
+
+    # Print non-OK findings first, grouped by category
+    has_issues = any(f.severity != OK for f in findings)
+    if has_issues:
+        print(f"\n{B}{C}{'─'*70}{R}")
+        print(f"  {B}FINDINGS:{R}")
+        print(f"{B}{C}{'─'*70}{R}")
+
+        for cat, cat_findings in categories.items():
+            issues = [f for f in cat_findings if f.severity != OK]
+            if not issues:
+                continue
+            print(f"\n  {B}{cat}{R}")
+            for f in issues:
+                sc = sev_color[f.severity]
+                icon = sev_icon[f.severity]
+                print(f"    {sc}{B}{icon}{R} {B}{f.title}{R}")
+                for line in textwrap.wrap(f.detail, width=62):
+                    print(f"      {DIM}{line}{R}")
+                if f.current:
+                    print(f"      {DIM}Current: {f.current}{R}")
+                if f.recommended:
+                    print(f"      {DIM}Recommended: {f.recommended}{R}")
+
+    # CLI fixes
+    fixes = [f for f in findings if f.cli_fix and f.severity in (CRITICAL, WARNING)]
+    if fixes:
+        print(f"\n{B}{C}{'─'*70}{R}")
+        print(f"  {B}SUGGESTED CLI FIXES:{R}")
+        print(f"{B}{C}{'─'*70}{R}")
+        print()
+        for f in fixes:
+            print(f"  {DIM}# {f.title}{R}")
+            for cmd in f.cli_fix.split("\n"):
+                print(f"    {G}{cmd}{R}")
+            print()
+        print(f"    {G}save{R}")
+
+    # OK items (compact)
+    ok_items = [f for f in findings if f.severity == OK]
+    if ok_items:
+        print(f"\n{B}{C}{'─'*70}{R}")
+        print(f"  {B}PASSED:{R}")
+        for f in ok_items:
+            print(f"    {G}✓{R} {DIM}{f.title}{R}")
+
+    print(f"\n{B}{C}{'═'*70}{R}\n")
+
+
+# ─── Main ────────────────────────────────────────────────────────────────────
+
+def main():
+    parser = argparse.ArgumentParser(
+        description=f"INAV Parameter Analyzer v{VERSION} - Check diff all for issues",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog=textwrap.dedent("""\
+            Modes:
+              Analysis (default):  inav-params diff_all.txt --frame 10
+              Setup:               inav-params --setup 10 --voltage 6S
+              Sanity check:        inav-params --check diff_all.txt
+              Sanity check (USB):  inav-params --check --device auto
+            
+            Supported frame sizes: 5, 7, 10, 12, 15 inches
+            Supported voltages: 4S, 6S, 8S, 12S
+        """))
+    parser.add_argument("--version", action="version", version=f"inav-params {VERSION}")
+    parser.add_argument("difffile", nargs="?", default=None,
+                        help="INAV `diff all` output (.txt file or stdin)")
+    parser.add_argument("--frame", type=int, metavar="INCHES",
+                        help="Frame size in inches (affects filter/PID recommendations)")
+    parser.add_argument("--blackbox", metavar="STATE_JSON",
+                        help="Blackbox analyzer state.json for cross-reference")
+    parser.add_argument("--json", action="store_true",
+                        help="Output findings as JSON")
+    parser.add_argument("--setup", type=int, metavar="INCHES",
+                        help="Generate starting configuration for a new quad (7/10/12/15)")
+    parser.add_argument("--voltage", type=str, metavar="CELLS", default="4S",
+                        help="Battery voltage for --setup (4S/6S/8S/12S, default: 4S)")
+    parser.add_argument("--check", action="store_true",
+                        help="Pre-flight sanity check mode - catches dangerous misconfigurations")
+    parser.add_argument("--device", type=str, metavar="PORT", default=None,
+                        help="FC serial port for --check mode (use 'auto' to scan)")
+    parser.add_argument("--no-interactive", action="store_true",
+                        help="Skip interactive questions in --check mode")
+    parser.add_argument("--no-color", action="store_true",
+                        help="Disable colored terminal output.")
+    parser.add_argument("--lang", metavar="LANG",
+                        help="Language for output (en, pt_BR, es). "
+                             "Auto-detects from INAV_LANG env var or system locale.")
+    args = parser.parse_args()
+
+    # Initialize localization
+    try:
+        from inav_toolkit.i18n import set_locale, detect_locale
+    except ImportError:
+        try:
+            from i18n import set_locale, detect_locale
+        except ImportError:
+            set_locale = detect_locale = None
+    if set_locale and detect_locale:
+        lang = getattr(args, 'lang', None) or detect_locale()
+        set_locale(lang)
+
+    if args.no_color:
+        _disable_colors()
+
+    # ─── Sanity check mode ─────────────────────────────────────────────
+    if args.check:
+        if args.device:
+            text = _pull_diff_from_device(args.device, args.no_color)
+        elif args.difffile:
+            if args.difffile == "-":
+                text = sys.stdin.read()
+            else:
+                if not os.path.isfile(args.difffile):
+                    print(f"ERROR: File not found: {args.difffile}")
+                    sys.exit(1)
+                with open(args.difffile, "r", errors="replace") as f:
+                    text = f.read()
+        else:
+            parser.error("--check requires a diff file or --device")
+
+        parsed = parse_diff_all(text)
+        interactive = not args.no_interactive
+        items = run_sanity_check(parsed, frame_inches=args.frame,
+                                 interactive=interactive)
+
+        if args.json:
+            output = [{
+                "status": i.status,
+                "category": i.category,
+                "message": i.message,
+                "detail": i.detail,
+                "recommendation": i.recommendation,
+                "cli_fix": i.cli_fix,
+                "user_confirmed": i.user_confirmed,
+            } for i in items]
+            print(json.dumps(output, indent=2))
+        else:
+            n_fail = print_sanity_report(items, parsed, interactive=interactive)
+            sys.exit(1 if n_fail > 0 else 0)
+        return
+    args = parser.parse_args()
+
+    if args.no_color:
+        _disable_colors()
+
+    # ─── Setup mode ───────────────────────────────────────────────────────
+    if args.setup:
+        if not args.json:
+            print(f"\n  ▲ INAV Parameter Analyzer v{VERSION}")
+            print(f"  Mode: Starting configuration")
+
+        voltage = args.voltage.upper()
+        if not voltage.endswith("S"):
+            voltage = voltage + "S"
+
+        config = generate_setup_config(args.setup, voltage=voltage)
+
+        if args.json:
+            print_setup_json(config)
+        else:
+            print_setup_report(config)
+
+        # If a diff file was also provided, show what would change
+        if args.difffile and os.path.isfile(args.difffile):
+            with open(args.difffile, "r", errors="replace") as f:
+                text = f.read()
+            parsed = parse_diff_all(text)
+            profile = get_active_control(parsed)
+
+            R, B, C, G, Y, _RED, DIM = _colors()
+            print(f"  {B}COMPARISON WITH CURRENT CONFIG ({args.difffile}):{R}")
+            print(f"             {'Current':>8} {'Suggested':>10} {'Change':>8}")
+
+            all_new = {}
+            all_new.update(config["pids"])
+            all_new.update(config["filters"])
+            all_new.update(config["other"])
+
+            for k, new_val in sorted(all_new.items()):
+                cur = profile.get(k, get_setting(parsed, k, None))
+                if cur is not None and cur != new_val:
+                    if isinstance(cur, (int, float)) and isinstance(new_val, (int, float)):
+                        diff = new_val - cur
+                        sign = "+" if diff > 0 else ""
+                        color = G if abs(diff) < abs(cur) * 0.05 else Y
+                        print(f"    {k:26} {cur:>8} {new_val:>10} {color}{sign}{diff}{R}")
+                    else:
+                        print(f"    {k:26} {str(cur):>8} {str(new_val):>10}")
+
+            print()
+        return
+
+    # ─── Analysis mode ────────────────────────────────────────────────────
+    if not args.difffile:
+        parser.error("diff file is required (or use --setup INCHES)")
+
+    # Load diff all
+    if args.difffile == "-":
+        text = sys.stdin.read()
+    else:
+        if not os.path.isfile(args.difffile):
+            print(f"ERROR: File not found: {args.difffile}")
+            sys.exit(1)
+        with open(args.difffile, "r", errors="replace") as f:
+            text = f.read()
+
+    if not args.json:
+        print(f"\n  ▲ INAV Parameter Analyzer v{VERSION}")
+        print(f"  Loading: {args.difffile}")
+
+    parsed = parse_diff_all(text)
+
+    if not args.json:
+        if parsed["version"]:
+            print(f"  Firmware: INAV {parsed['version']} on {parsed['board']}")
+        name = get_setting(parsed, "name", "")
+        if name:
+            print(f"  Craft: {name}")
+
+    # Load blackbox state if provided
+    bb_state = None
+    if args.blackbox:
+        try:
+            with open(args.blackbox) as f:
+                bb_state = json.load(f)
+            if not args.json:
+                print(f"  Blackbox state: {args.blackbox}")
+        except Exception as e:
+            if not args.json:
+                print(f"  ⚠ Could not load blackbox state: {e}")
+
+    # Run checks
+    findings = run_all_checks(parsed, frame_inches=args.frame, blackbox_state=bb_state)
+
+    if args.json:
+        output = [{
+            "severity": f.severity,
+            "category": f.category,
+            "title": f.title,
+            "detail": f.detail,
+            "setting": f.setting,
+            "current": f.current,
+            "recommended": f.recommended,
+            "cli_fix": f.cli_fix,
+        } for f in findings]
+        print(json.dumps(output, indent=2))
+    else:
+        print_report(parsed, findings, frame_inches=args.frame)
+
+
+if __name__ == "__main__":
+    main()