The fixed-wing profile has no vertical lift or hover control. Add an original, fictional lift-and-cruise body and a hover development profile on the owned sensor, estimator, mission, authority and independent output-lease runtime.
- Four lagged/slew-limited lift rotors, independent pusher and wing forces, atomic integration and collective-priority allocation.
- Shared lift feedback preserves original quad defaults. VTOL receives qualified raw gyro and estimated pose, with validation before contact/pause neutral decisions and latched faults.
- Vertical takeoff, nearby hover waypoint and contact-gated landing; distinct sensor, RC, kill and host-loss campaigns with isolated sessions.
- Native
vtol:hoverin Buddy and the copied standalone CLI, explicit outcome/exit semantics, CI coverage and documented hover-only scope.
Validation: the full local Buddy suite passes 1,578 tests, 27 skips, zero failures and 489,990 assertions across 204 files. HEAD, all tracked source pins and the Bun executable remained unchanged. Buddy lint, application/runtime types, docs build and roadmap/parity gates pass. All seven Buddy scenarios match reports from an actual copied executable outside the checkout; short and unsupported cruise inputs retain failure exits. Independent Spec and Standards reviews pass for each pinned milestone. Exact-head Linux CI passed all five jobs, with 1,564 tests, 41 skips, zero failures and 489,967 assertions. Both Linux standalone VTOL campaigns passed. Published to main in source-identical integration commit 48f411c.
This is a prerequisite for #12, which remains open. Front/cruise/back controllers, correlated mode outcomes in the runtime, hybrid energy, abort/recovery and the common VTOL mission workspace remain unimplemented. Native board control, measured coefficients, HIL and physical flight remain separate gates. Neutral outputs do not establish a safe emergency landing.