Summary
Adds an opt-in material-receive task to the shared owned quadcopter mission engine. The task declares a fixed pad, a finite 100..60,000 ms wait and an optional counted alternate landing route. It creates its scoped pending command on entry so qualified ground contact inhibits the first motor control frame while waiting for receipt.
Contact, pad position and speed interlocks apply before command/ACK progression. Receipt still needs exact event/task/operation/container/reference correlation and fresh in-window capture. Foreign, late, rejected or uncertain outcomes cannot start normal takeoff or retry intake. Sparse ACK positions now fail validation instead of bypassing distance checks through NaN; accepted dense traces replay normally.
Refs #25. This receiving-task prerequisite builds on pending station #101 and published browser observations #100. It does not implement the actual intake receipt port or two-peer custody coordinator. Those, finite failure/cancellation/uncertainty scenarios and the bounded fleet CLI remain open.
Evidence
- Genuine red tests reproduced unsupported receiving, 0.8 N per motor on the first intake frame and false receipt confirmation with missing ACK coordinates. Each passes after the corresponding implementation.
- Seven receiving cases with 2,560 assertions include a real empty receiving body under scoped raw sensors, estimation and live authority, with no ACK, zero commanded/actual motors and no phantom parcel mass; valid/replayed ACKs, contact/pad/speed refusal, exact expiry, counted alternatives, reserve/graph bounds and sparse/nonfinite coordinates.
- Final regression: 109 passed, zero failed, 15,821 assertions across nine files. Six complete default 12-second vehicle reports remained byte-identical to the qualified intake baseline.
- Native Buddy Pickier lint, app/runtime types and docs build passed. Generated docs: 98 pages, 7,589 local links, 98 assets and no missing targets.
- Independent Spec and Standards reviews passed on all eight unchanged source files in round 2. Full local suite was not launched below the retained 4 GB free-space floor; exact-source full CI must qualify main publication.
Merge Danger
Door: two-way. No schema or physical wire changes.
Blast Radius: shared mission ACK validation and opt-in quad receiving. Existing valid operation/report shapes are preserved. Sparse malformed ACKs are intentionally rejected across operations. An ACK supplied by a caller is not mechanical intake evidence; the eventual coordinator must grant current mechanism authority, transfer the one actual parcel and capture custody before emitting it. No physical actuator endpoint, authenticated identity, measured energy or BVLOS qualification is claimed. Issue #25 remains incomplete.