feat: add VTOL scenario playback to the mission workspace

.github/workflows/ci.ymlmodified+18-0

Changes to .github/workflows/ci.yml

		⋯145 linesShow the 145 lines above this hunk@@ -146,6 +146,24 @@ jobs:
146	146	working-directory: ${{ runner.temp }}
147	147	- run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:hover --scenario host-loss
148	148	working-directory: ${{ runner.temp }}
	149	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:hover --electrical
	150	+ working-directory: ${{ runner.temp }}
	151	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:hover --scenario host-loss --electrical
	152	+ working-directory: ${{ runner.temp }}
	153	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate
	154	+ working-directory: ${{ runner.temp }}
	155	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --electrical
	156	+ working-directory: ${{ runner.temp }}
	157	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario host-loss --phase back --electrical
	158	+ working-directory: ${{ runner.temp }}
	159	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario cruise-pause-resume --electrical
	160	+ working-directory: ${{ runner.temp }}
	161	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario front-abort --electrical
	162	+ working-directory: ${{ runner.temp }}
	163	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario pusher-open-circuit --electrical
	164	+ working-directory: ${{ runner.temp }}
	165	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario back-recovery-hold --electrical
	166	+ working-directory: ${{ runner.temp }}
149	167	- run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone authority:simulate --scenario pi-loss --seconds 4
150	168	working-directory: ${{ runner.temp }}
151	169	- run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone drivers:bench --driver ardupilot --drop-first-ack

README.mdmodified+9-4

Changes to README.md

		⋯60 linesShow the 60 lines above this hunk@@ -61,7 +61,7 @@ See [public-safety collection and remaining scope](docs/public-safety.md). Physi
61	61
62	62	## Owned vehicle missions
63	63
64		-Open `/missions` to select quadcopter, fixed-wing, ground, surface or subsea simulation. One workspace shows
	64	+Open `/missions` to select quadcopter, fixed-wing, VTOL, ground, surface or subsea simulation. One workspace shows
65	65	plans, energy budgets, estimated routes, decision playback, payload requests and correlated modeled
66	66	acknowledgements. Host loss shows the last host snapshot separately from independent board expiry.
67	67
		⋯10 linesShow the 10 lines above this hunk@@ -78,9 +78,14 @@ outputs remain inhibited. Read the [shared contract](docs/vehicles.md), [air mod
78	78
79	79	`./buddy vtol:hover` separately exercises [VTOL development](docs/vehicles-vtol.md):
80	80	vertical takeoff, a nearby hover waypoint and contact-gated landing. The TypeScript library also
81		-includes a bounded modeled front/cruise/back experiment with stable-phase pause and resume. The
82		-command stays hover-only. Plans can explicitly declare bounded hover-and-land transition recovery.
83		-Complete recovery/abort envelopes, hybrid energy qualification and a selectable VTOL mission workspace remain open.
	81	+includes a bounded modeled front/cruise/back experiment with stable-phase pause and resume.
	82	+`./buddy vtol:simulate` runs its nominal route through vertical landing and reports the qualified
	83	+mode observations. Named scenarios expose phase-bound sensor/manual/host loss, cruise pause/resume,
	84	+declared front/back abort and recovery, pusher open-circuit timeout and global endurance expiry.
	85	+Add `--electrical` to either command for fictional propulsion/battery load and delayed energy measurements.
	86	+Plans can explicitly declare bounded hover-and-land transition recovery. Complete recovery/abort envelopes
	87	+and measured hybrid energy qualification remain open. The VTOL workspace selects the same 14 named
	88	+cases, fault phases and optional electrical model, with captured mode and battery playback.
84	89
85	90	## Simulated carried load
86	91

app/Commands/VtolHover.tsmodified+2-1

Changes to app/Commands/VtolHover.ts

		⋯8 linesShow the 8 lines above this hunk@@ -9,10 +9,11 @@ export default defineCommand({
9	9	options: {
10	10	'--scenario <name>': { description: vtolHoverScenarios.join(', '), default: 'hover' },
11	11	'--seconds <n>': { description: 'Maximum virtual duration, 2..180 seconds', default: '60' },
	12	+ '--electrical': { description: 'Use modeled electrical load, battery loss and delayed energy measurements', default: false },
12	13	},
13	14	handle(options) {
14	15	try {
15		- const result = runVehicleSimulation(createVtolHoverProfile(options.scenario), { scenario: options.scenario, seconds: Number(options.seconds) })
	16	+ const result = runVehicleSimulation(createVtolHoverProfile(options.scenario, { electrical: options.electrical }), { scenario: options.scenario, seconds: Number(options.seconds) })
16	17	const { trace, path, ...report } = result
17	18	const expectedStatus = options.scenario === 'hover' ? 'completed' : options.scenario === 'host-loss' ? 'host-lost' : 'blocked'
18	19	const observedFlight = path.some(row => row.truthPositionM[2] < -1 && row.actuators.slice(0, 4).some(n => n > 0))

app/Commands/VtolSimulate.tsadded+22-0

Changes to app/Commands/VtolSimulate.ts

		@@ -0,0 +1,22 @@
	1	+import { defineCommand } from '@stacksjs/cli'
	2	+import { print, printError } from '@stacksjs/cli/output'
	3	+import { runVtolSimulation, vtolSimulationPhases, vtolSimulationScenarios } from '../../resources/functions/drone/vehicles/vtol/simulation'
	4	+
	5	+export default defineCommand({
	6	+ name: 'vtol:simulate',
	7	+ description: 'Exercise the fictional owned front/cruise/back/landing route; no physical control',
	8	+ options: {
	9	+ '--scenario <name>': { description: vtolSimulationScenarios.join(', '), default: 'nominal' },
	10	+ '--phase <name>': { description: `Fault injection phase: ${vtolSimulationPhases.join(', ')}; default front` },
	11	+ '--seconds <n>': { description: 'Maximum virtual duration, 2..180 seconds; default 160, or 180 for recovery hold' },
	12	+ '--electrical': { description: 'Use fictional electrical load and delayed battery measurements', default: false },
	13	+ },
	14	+ handle(options) {
	15	+ try {
	16	+ const report = runVtolSimulation(options.scenario, { seconds: options.seconds === undefined ? undefined : Number(options.seconds), electrical: options.electrical, phase: options.phase })
	17	+ print(JSON.stringify(report, (_key, value) => typeof value === 'bigint' ? String(value) : value, 2))
	18	+ if (!report.demonstrationMatched) process.exitCode = 1
	19	+ }
	20	+ catch (error) { printError(error instanceof Error ? error.message : String(error)); process.exitCode = 1 }
	21	+ },
	22	+})

bin/drone.tsmodified+2-0

Changes to bin/drone.ts

		⋯50 linesShow the 50 lines above this hunk@@ -51,6 +51,7 @@ import PatrolReplay from '../app/Commands/PatrolReplay'
51	51	import AntennaBench from '../app/Commands/AntennaBench'
52	52	import AirSimulate from '../app/Commands/AirSimulate'
53	53	import VtolHover from '../app/Commands/VtolHover'
	54	+import VtolSimulate from '../app/Commands/VtolSimulate'
54	55	import GroundSimulate from '../app/Commands/GroundSimulate'
55	56	import SurfaceSimulate from '../app/Commands/SurfaceSimulate'
56	57	import SubseaSimulate from '../app/Commands/SubseaSimulate'
		⋯71 linesShow the 71 lines above this hunk@@ -128,6 +129,7 @@ PatrolReplay(app)
128	129	AntennaBench(app)
129	130	AirSimulate(app)
130	131	VtolHover(app)
	132	+VtolSimulate(app)
131	133	GroundSimulate(app)
132	134	SurfaceSimulate(app)
133	135	SubseaSimulate(app)

docs/index.mdmodified+6-4

Changes to docs/index.md

		⋯50 linesShow the 50 lines above this hunk@@ -51,16 +51,18 @@ profile remains neutral-only. The owned [sensor pipeline](sensors.md),
51	51	journals verified metadata and prepares owned image candidates. Physical board
52	52	installation, persistent boot selection and recovery require separate qualification.
53	53	The [library API](api.md) describes behavior extensions. The
54		-[shared vehicle contract](vehicles.md) covers quadcopter, fixed-wing, ground,
	54	+[shared vehicle contract](vehicles.md) covers quadcopter, fixed-wing, VTOL, ground,
55	55	surface and subsea profiles. [Optional external drivers](drivers.md) have
56	56	[acknowledged protocol services](driver-protocols.md); scripted peers are distinct
57	57	from [firmware SITL](sitl.md) and physical testing.
58	58
59		-The separate [VTOL development guide](vehicles-vtol.md) covers the hover-only command and an
	59	+The separate [VTOL development guide](vehicles-vtol.md) covers the hover-only and full-route commands,
	60	+named fault/operator scenarios, and an
60	61	experimental TypeScript library profile for modeled front transition, cruise, back transition and
61	62	vertical landing, with stable-phase pause/resume and explicitly declared hover-and-land recovery
62		-routes. Complete recovery/abort envelopes, hybrid energy qualification and the common VTOL mission
63		-workspace remain open.
	63	+routes. The common `/missions` workspace selects the same named cases and displays captured mode
	64	+observations and optional battery readings. Complete recovery/abort envelopes and measured hybrid
	65	+energy qualification remain open.
64	66
65	67	## Explore a workflow
66	68

docs/roadmap/feature-coverage.mdmodified+1-1

Changes to docs/roadmap/feature-coverage.md

		⋯15 linesShow the 15 lines above this hunk@@ -16,7 +16,7 @@ means there is no native implementation yet. A protocol-compatible transport is
16	16	| Diagnostics, logs, replay, firmware update and configuration provenance | Owned runtime journal, loss accounting, replay, CLI/viewer and [protected signed preparation, owned candidates, host slots, observed image/session health and fresh-policy rollback](../runtime-updates.md); full mission correlation, key repair, complete storage faults and board install/boot/rollback qualification remain pending | Named parameter read/write with bounded readback in the SITL adapter; no log/FTP services, full-table synchronization or reboot persistence qualification | [#9](https://github.com/stacksjs/drone/issues/9) |
17	17	| Missions, tasks, waypoints, terrain, rally and resume | Owned versioned graph, flat-terrain/fence/rally/energy validation, physics execution, pause/resume, recorded recovery, CLI and stx viewer; correlated durable checkpoints, driver translation and hardware evidence pending | Bounded SITL waypoint upload/download and acknowledged item selection/resume; no arming, automatic flight-mode selection or owned-plan translation | [#10](https://github.com/stacksjs/drone/issues/10) |
18	18	| Avoidance, route planning, precision landing, follow and orbit | Owned modeled range detection, inflated route planning, terrain-clearance/RTL/selected-site landing physics; metric follow/orbit goals; physical calibration and dynamic obstacle campaigns pending | No avoidance/landing integration | [#11](https://github.com/stacksjs/drone/issues/11) |
19		-| Fixed-wing, VTOL, heli, blimp and experimental airframes | Owned fixed-wing runway takeoff/survey/landing, hover-only VTOL command and [experimental VTOL library](../vehicles-vtol.md) with modeled front/cruise/back/vertical landing, stable-phase pause/resume and opt-in hover-and-land recovery; complete recovery/abort envelopes, hybrid energy, native transition CLI/workspace, helicopter, soaring, blimp and other airframe families remain open | Current drivers reject non-quadcopter heartbeats | [#12](https://github.com/stacksjs/drone/issues/12) |
	19	+| Fixed-wing, VTOL, heli, blimp and experimental airframes | Owned fixed-wing runway takeoff/survey/landing, hover-only and full-route VTOL commands with named phase-bound source/manual/host failures, pause/resume, declared abort/recovery, open-circuit timeout and endurance cases, plus shared workspace selection and captured mode/battery playback; [experimental VTOL library](../vehicles-vtol.md) includes fictional electrical load/battery/sensor accounting; complete recovery/abort envelopes, measured hybrid energy, helicopter, soaring, blimp and other airframe families remain open | Current drivers reject non-quadcopter heartbeats | [#12](https://github.com/stacksjs/drone/issues/12) |
20	20	| Rovers, mowing, logistics and materials handling | Owned differential traction/braking, encoder/GNSS odometry, guarded mowing coverage and scoped material-drop simulation; hardware and broader chassis/implements pending | Not exposed | [#13](https://github.com/stacksjs/drone/issues/13) |
21	21	| Surface vessels, bathymetry, water sampling and harbours | Owned planar hull/current/wind, collision inhibition, corrected single-beam export, scoped sample ACK and energy-return simulation; physical survey/sampling and broader hulls pending | Not exposed | [#14](https://github.com/stacksjs/drone/issues/14) |
22	22	| Subsea ROV, depth hold, tether and leak handling | Owned eight-thruster 6DOF physics, pressure/DVL local estimation, depth hold, tether/leak supervision and scoped synthetic camera/sonar evidence; hardware, full hydrodynamics and physical inspection pending | Not exposed | [#15](https://github.com/stacksjs/drone/issues/15) |

docs/vehicles-vtol.mdmodified+172-12

Changes to docs/vehicles-vtol.md

		⋯3 linesShow the 3 lines above this hunk@@ -4,13 +4,14 @@ The owned lift-and-cruise model can execute a **hover-only** mission through the
4	4	estimator, mission, authority and independent output-lease runtime. It takes off vertically, reaches
5	5	a nearby hover waypoint and lands against fresh modeled contact evidence. Wing transitions and
6	6	cruise control are not implemented in this hover profile. A separate experimental library controller
7		-is described below. This development profile is separate from the selectable
8		-profiles in the `/missions` workspace.
	7	+is described below. The `/missions` workspace selects the full-route experiment and its named
	8	+cases; the hover-only command remains a separate experiment.
9	9
10	10	```sh
11	11	./buddy vtol:hover
12	12	./buddy vtol:hover --scenario host-loss
13	13	./buddy vtol:hover --scenario imu-loss
	14	+./buddy vtol:hover --electrical
14	15	```
15	16
16	17	The native Stacks command defaults to 60 virtual seconds. It accepts `hover`, `imu-loss`,
		⋯8 linesShow the 8 lines above this hunk@@ -25,6 +26,7 @@ The copied standalone CLI registers the same command definition:
25	26	```sh
26	27	bun run runtime:cli
27	28	./storage/runtime-build/cli/drone vtol:hover
	29	+./storage/runtime-build/cli/drone vtol:hover --electrical
28	30	```
29	31
30	32	## Model and measurements
		⋯19 linesShow the 19 lines above this hunk@@ -50,8 +52,9 @@ RC takeover, kill and sensor loss revoke shared authority. Host death leaves its
50	52	stale while the independently ticking modeled board expires the output lease.
51	53
52	54	The mission's 50 Wh capacity, 1200 W ceiling and 30% reserve are declared budget inputs for this
53		-fictional hover experiment. They are not identified electrical power, measured endurance or a
54		-complete hybrid energy model. Neutral outputs during an airborne fault do not establish a safe
	55	+fictional hover experiment. The default retains a constant declared-ceiling charge. The optional
	56	+electrical model below supplies fictional propulsion/battery dynamics and delayed energy measurements.
	57	+Neither mode identifies hardware power or measured endurance. Neutral outputs during an airborne fault do not establish a safe
55	58	emergency landing. Physical flight commands remain disabled.
56	59
57	60	## Explicit hover observation in library plans
		⋯13 linesShow the 13 lines above this hunk@@ -71,8 +74,75 @@ new CLI scenario. Existing hover-only recordings keep their prior shapes.
71	74	is a separate development experiment on the same owned runtime. Its nominal mission observes initial
72	75	hover, takes off vertically to 15 m, requests a front transition, flies a cruise leg, requests back
73	76	transition, returns to the back request's capture point, observes settled hover, and lands vertically.
74		-A turning leg also has an actual completed model campaign. This profile is not registered as a CLI
75		-scenario or selectable workspace profile.
	77	+A turning leg also has an actual completed model campaign. The native `vtol:simulate` command runs
	78	+the nominal route and named cases below. The same cases are selectable in `/missions`.
	79	+
	80	+```sh
	81	+./buddy vtol:simulate
	82	+./buddy vtol:simulate --electrical
	83	+./buddy vtol:simulate --scenario host-loss --phase back --electrical
	84	+./buddy vtol:simulate --scenario front-abort --electrical
	85	+./storage/runtime-build/cli/drone vtol:simulate --electrical
	86	+```
	87	+
	88	+The nominal command defaults to 160 virtual seconds and accepts an integer `--seconds` from 2 to 180.
	89	+It reports the existing runtime's actual status and the three qualified initial-hover, cruise and
	90	+back-hover observations, including their event, task, reference and capture epochs. Nominal exit 0 requires
	91	+those ordered confirmations, observed estimated flight, completed landing with qualified modeled
	92	+contact, no runtime fault, neutral board outputs and no active output lease. An incomplete route
	93	+retains its partial observations and status and exits 1. The condensed report omits the full path
	94	+and trace. The library still exposes both for replay and evaluation.
	95	+
	96	+Buddy discovers the typed command natively; the standalone binary registers the same definition.
	97	+`runVtolSimulation(scenario, options)` in `resources/functions/drone/vehicles/vtol/simulation.ts`
	98	+owns the case logic and condensed report for both. Simulation completion does not qualify physical
	99	+transitions, arbitrary flight envelopes or hardware landing.
	100	+
	101	+### Named fault and operator cases
	102	+
	103	+`--scenario` accepts `imu-loss`, `position-loss`, `vehicle-sensor-loss`, `host-loss`, `rc-override`
	104	+and `kill`. These six cases also accept `--phase`, which defaults to `front`:
	105	+
	106	+| Phase | Declared injection epoch | Required pre-injection task |
	107	+| --- | --- | --- |
	108	+| `front` | 13,000 ms | Front transition |
	109	+| `cruise` | 20,000 ms | Cruise leg |
	110	+| `back` | 30,000 ms | Back transition |
	111	+| `landing` | 68,000 ms | Vertical landing |
	112	+
	113	+These are fixed model epochs. The checker verifies the actual task immediately before injection;
	114	+a changed model that reaches another task cannot silently pass under the requested phase name.
	115	+Reports retain final source epochs observed at the controller boundary. Source failures must block
	116	+within 500 ms, with the selected source absent or captured before injection. Position and vehicle
	117	+sensor cases also require the other relevant source epochs to reach injection time. RC and kill require the
	118	+matching authority observation at injection. Host loss requires the independently expired output
	119	+lease and an older host authority snapshot. None can claim mission completion or landing.
	120	+
	121	+The remaining named cases use captured schedules and explicit, counted recovery routes:
	122	+
	123	+| Scenario | Declared behavior | Required final outcome |
	124	+| --- | --- | --- |
	125	+| `cruise-pause-resume` | Pause at 20,000 ms, resume at 40,000 ms in the cruise leg | Completed nominal landing |
	126	+| `front-abort` | Abort at 13,000 ms through front recovery | `aborted`, `vtol-abort-landed` |
	127	+| `back-abort` | Abort at 30,000 ms through back recovery | `aborted`, `vtol-abort-landed` |
	128	+| `front-recover-resume` | Recover at 13,000 ms, resume at 40,000 ms | Completed recovery landing |
	129	+| `back-recover-resume` | Recover at 30,000 ms, resume at 80,000 ms | Completed recovery landing |
	130	+| `pusher-open-circuit` | Remove pusher demand/thrust; let front confirmation time out | Completed recovery landing, no cruise or retry |
	131	+| `back-recovery-hold` | Recover at 30,000 ms with no resume | Blocked by global endurance, no landing |
	132	+
	133	+Recovery cases require the original event, replacement cancellation and source task to match, plus
	134	+the ordered mode confirmations. `operatorEvidence` retains actual actions, tasks before those actions,
	135	+pause and recovery evidence. The hold case defaults to 180 virtual seconds so it reaches the existing
	136	+176,520 ms complete mission allowance. A 160-second run remains duration-exhausted and exits 1.
	137	+The landing task may be queued while paused; it must never run without resume. The open-circuit case
	138	+requires attempted pusher command, zero measured thrust and one front attempt. It does not model
	139	+locked-rotor electrical current.
	140	+
	141	+For a named case, exit 0 means its specific expected outcome matched. It does not turn `blocked`,
	142	+`host-lost` or `aborted` into a completed mission. `completeTransitions` still describes the nominal
	143	+three confirmations. Invalid selectors, `--phase` on a non-fault case, mismatched outcomes or insufficient
	144	+duration exit 1. A duration that excludes a scheduled operator action is rejected before resources
	145	+are created. Custom schedules and recovery graphs remain TypeScript inputs to the shared runtime.
76	146
77	147	The controller receives measured relative airspeed, differential pressure, airflow angles and modeled
78	148	rotor/pusher response, together with the qualified raw gyro and estimated navigation. Delayed airflow
		⋯17 linesShow the 17 lines above this hunk@@ -96,8 +166,8 @@ requires wrapped heading error within 0.1 rad for the complete 500 ms dwell. Hov
96	166	therefore have a finite 45-second ceiling; front requests retain 15 seconds. The original 15-second
97	167	back budget still fails without retry or a claimed landing. This is a virtual task allowance,
98	168	not a wall-clock test timeout. The complete declared mission budget is 131,520 ms, or 43.84 Wh at its
99		-1200 W ceiling, with 100 Wh capacity and 30% reserve. These remain declared planning values, without
100		-a complete hybrid electrical-power law or measured battery identification.
	169	+1200 W ceiling, with 100 Wh capacity and 30% reserve. These remain declared planning values. Select
	170	+the optional electrical law below for modeled consumption; measured battery identification remains open.
101	171
102	172	The experiment keeps the 2 m transition-height deviation, 0.6 rad roll, 0.5 rad pitch and 22 m/s
103	173	speed guards. Its own target range is bounded to 400 m. The quadcopter and hover development kernel's
		⋯43 linesShow the 43 lines above this hunk@@ -147,7 +217,8 @@ and releases outputs. Neither result establishes an airborne landing.
147	217	Task execution time stops during pause. Global endurance and the declared energy charge continue,
148	218	so a later scheduled resume can be preempted by reserve, endurance, health or authority refusal.
149	219	Operator actions never extend the original planning allowance or rearm revoked authority. The
150		-transition library and these actions remain separate from the hover-only CLI and common workspace.
	220	+named presets above expose specific schedules through `vtol:simulate`. Custom schedules remain
	221	+library inputs. The common workspace selects the same named presets without adding live mission control.
151	222
152	223	## Declared transition recovery routes
153	224
		⋯42 linesShow the 42 lines above this hunk@@ -196,7 +267,7 @@ airborne. A separately declared 35-second allowance completes after about 26.94
196	267	the complete 156,520 ms / 52.1733 Wh worst-case plan. A normal 45-second back plus 45-second recovery
197	268	hover and 35-second landing exceeds the unchanged 180-second graph cap and is rejected. The phase
198	269	abort/pause/recover campaigns instead declare 40-second recovery hover and 30-second landing, fitting
199		-176,520 ms / 58.84 Wh. These remain declared 1200 W planning charges, without identified electrical
	270	+176,520 ms / 58.84 Wh. These remain conservative 1200 W planning charges, without identified electrical
200	271	power or measured battery endurance.
201	272
202	273	Sensor loss, reference/clock guards, RC takeover, kill, fence, reserve and global endurance remain
		⋯1 lineShow the 1 line above this hunk@@ -204,12 +275,101 @@ authoritative during recovery. Host loss still produces a stale host snapshot an
204	275	lease expiry. Fault-induced neutral outputs do not become a landing claim. These bounded library
205	276	campaigns do not qualify arbitrary wind, failed lift rotors, every transition state or physical recovery.
206	277
	278	+## Fictional electrical model
	279	+
	280	+Select `--electrical` in either VTOL command, or pass `{ electrical: true }` to
	281	+`createVtolHoverProfile('hover', options)` or `createVtolTransitionProfile(options)` in TypeScript.
	282	+The default/disabled profiles keep their prior reports and declared-ceiling energy accounting.
	283	+Both commands run through Buddy and the copied standalone CLI. The nominal full-route command
	284	+uses the same experimental transition library profile.
	285	+
	286	+Each session owns its electrical state. The plant uses actual lagged individual rotor and pusher
	287	+thrust, with these declared coefficients:
	288	+
	289	+| Source | Fictional law |
	290	+| --- | --- |
	291	+| Each of four lift motors | `4 * thrustN ** 1.5` W |
	292	+| Independent pusher | `5 * thrustN ** 1.5` W |
	293	+| Avionics and idle auxiliaries | 12 W |
	294	+| Each surface | `3 * abs(deflectionRad) / 0.4` W |
	295	+| Open-circuit voltage | 20 to 24 V, linear in remaining chemical energy fraction |
	296	+| Series resistance | 0.04 ohm |
	297	+
	298	+The low-current solution of `loadW = (openCircuitV - currentA * resistanceOhm) * currentA`
	299	+sets terminal voltage and current. Chemical source power is `openCircuitV * currentA`, including
	300	+series loss. The four motors, full pusher and all surfaces together draw 948.023527 W at the load.
	301	+At the minimum open-circuit voltage their chemical source demand is 1060.486740 W, rounded upward
	302	+to a **1061 W envelope**. This is an analytic bound on this fictional law, not a motor/battery rating.
	303	+The 20 to 24 V open-circuit range is a simulation parameter; the hardware list's 4S pack retains
	304	+its own specification.
	305	+
	306	+Before session allocation, the runtime requires a planning ceiling at least this envelope and
	307	+capacity matching the captured plant declaration. Existing longest-path graph validation charges
	308	+the complete declared ceiling across normal and supported failure/recovery/landing routes. With the
	309	+1200 W planning ceiling, the normal route is 43.84 Wh and the declared back-abort route is 58.84 Wh.
	310	+At 50% reserve of 100 Wh, the former fits and the latter is refused before resources are created.
	311	+The front-failure path is shorter than the normal route, so it does not increase that worst-case budget.
	312	+
	313	+The plant integrates chemical source energy on its independent 4 ms steps. Before remaining energy
	314	+cannot fund one complete worst-case step, propulsion demand is cut and latched. Retained motor response
	315	+may coast down; it cannot rearm from a voltage rebound. Auxiliary draw continues to exhaustion.
	316	+Rejected rigid-body integration commits neither body nor electrical state.
	317	+
	318	+Battery data travels through existing delayed, sequence/reference/capture-qualified measurements.
	319	+Energy use rounds upward to micro-watt-hours; current/voltage/load use declared milli-unit quantization.
	320	+The common qualifier rejects missing, nonfinite, inconsistent, over-envelope or decreasing consumption.
	321	+The authority and mission receive a conservative remaining-energy bound after charging the maximum
	322	+source envelope over the measurement's age. A reported supply cutoff withdraws authority even if
	323	+chemical capacity remains. Source loss never substitutes a full battery.
	324	+
	325	+Reports add `energy.model` and `energy.lastObservation`. `energyUsedWh` belongs to its capture epoch;
	326	+`remainingWhLowerBound` and `remainingPercentLowerBound` include the worst-case age charge at
	327	+`observedAtMs`. Host loss leaves this host observation unchanged while independent plant consumption
	328	+and board expiry continue. Mission-policy replay uses the recorded battery observations; it does not
	329	+reconstruct the electrical plant from a mission trace alone.
	330	+
	331	+Actual model campaigns cover combined front demand, all nominal phases, open-circuit pusher timeout, initial/front/back abort
	332	+landing, held recovery/resume, global endurance during pause, supply cutoff, bad battery observations,
	333	+reserve, host loss and independent sessions. The nominal example's front peak is 347.313 W; its
	334	+last captured use is about 4.62 Wh. Neither value predicts aircraft endurance. Motor/propeller advance
	335	+ratio, voltage-dependent thrust, cell temperature/degradation, current-sensor calibration and measured
	336	+capacity remain unmodeled or unqualified. The open-circuit fixture removes pusher demand and thrust;
	337	+it does not model a seized motor's electrical current.
	338	+
	339	+## Mission workspace
	340	+
	341	+Open `/missions`, choose `vtol` and select one of the same 14 named cases as `vtol:simulate`.
	342	+The six source/manual/host faults also expose `front`, `cruise`, `back` and `landing` injection
	343	+phases. The optional electrical checkbox selects the fictional 100 Wh model. Changing the vehicle,
	344	+scenario, fault phase or electrical selection clears the previous recording.
	345	+
	346	+The workspace shows the validated worst-case time and energy allowance, requested modes and counted
	347	+`onFailure` routes before running. Record a case, then move the time cursor to inspect estimated
	348	+position, operator actions, request-bound controller observations and their capture epochs. The mode
	349	+table retains changes and confirmations. The last mode observation includes its age at the cursor;
	350	+it does not assert a continuously measured current phase.
	351	+
	352	+With the electrical model enabled, each row uses the runtime's already qualified sensor capture.
	353	+Used chemical energy, source/load power, current, terminal voltage and the age-charged remaining
	354	+lower bound are displayed with capture and observation times. A missing capture stays missing.
	355	+Host loss freezes host readings while the independent modeled board expires its output lease.
	356	+
	357	+The final outcome and mission state retain their actual meanings. A matched abort case remains
	358	+`blocked` / `aborted`, and the held recovery remains `blocked` by global endurance without a landing
	359	+contact. A named outcome match only checks the modeled demonstration. It does not authorize flight.
	360	+
	361	+Both callers construct the case through `createVtolSimulationCase()` in
	362	+`resources/functions/drone/vehicles/vtol/simulation.ts`. Its `run()` returns the recording and the
	363	+same condensed report used by `runVtolSimulation()`. The presentation adapter exposes estimated
	364	+positions and qualified captures, with no plant-position truth shortcut. Playback does not mutate
	365	+the recorded mission, persist a checkpoint or add a physical control endpoint.
	366	+
207	367	## Remaining implementation
208	368
209	369	[Issue #12](https://github.com/stacksjs/drone/issues/12) remains open. The experimental nominal
210	370	controller and opt-in recovery routes do not establish complete VTOL support. Complete recovery/abort
211		-envelopes, fresh-process restoration, the complete hybrid power/reserve model, native transition CLI and
212		-the common mission workspace still require implementation and qualification. Wind campaigns and
	371	+envelopes, fresh-process restoration and identified hybrid power/voltage/cell behavior still
	372	+require implementation and qualification. Wind campaigns and
213	373	broader mission/envelope coverage remain necessary. Full TECS/soaring, tiltrotor/tailsitter mechanisms,
214	374	helicopters and other airframe families remain separate work. Native board control, measured airframe
215	375	identification, HIL and physical flight require their own evidence.

docs/vehicles.mdmodified+5-4

Changes to docs/vehicles.md

		@@ -1,6 +1,6 @@
1	1	# Owned vehicle runtime
2	2
3		-The fixed-wing, ground, surface and subsea profiles execute through one owned raw sensor, estimator,
	3	+The fixed-wing, VTOL, ground, surface and subsea profiles execute through one owned raw sensor, estimator,
4	4	mission, authority and independent modeled board loop. The existing v1 quadcopter mission remains
5	5	compatible. The new v2 graph explicitly declares a vehicle, arrival speed and settling conditions,
6	6	contact-gated land/stop, scoped payload commands and longest-path energy/time budgets.
		⋯54 linesShow the 54 lines above this hunk@@ -61,11 +61,12 @@ recompute mission replay, reject altered traces and exercise payload uncertainty
61	61	All evidence is owned physics simulation. The Pico neutral-only board image does not run these
62	62	TypeScript controllers. Native board execution, external firmware SITL, HIL and measured physical
63	63	vehicle acceptance remain separate gates. A separate [VTOL development guide](vehicles-vtol.md)
64		-covers the hover-only command and an experimental lift-and-cruise library profile. The latter
	64	+covers the hover-only command and an experimental lift-and-cruise library profile with a native
	65	+`vtol:simulate` command for nominal and named fault/operator scenarios. The latter
65	66	executes a bounded modeled front/cruise/back/vertical-landing route with stable-phase pause and
66	67	resume, plus explicitly declared hover-and-land transition recovery. Complete recovery/abort
67		-envelopes, hybrid energy qualification,
68		-a native transition command and a VTOL selection in the common workspace remain open. Helicopter,
	68	+envelopes and measured hybrid energy qualification remain open. The common workspace now includes
	69	+the same VTOL cases, phase selection, counted recovery edges and captured mode/battery playback. Helicopter,
69	70	soaring, blimp and other airframe families remain explicit roadmap work.
70	71
71	72	Read [air](vehicles-air.md), [ground](vehicles-ground.md), [surface](vehicles-surface.md), [subsea](vehicles-subsea.md),

resources/components/MissionWorkspace.stxmodified+48-4

Changes to resources/components/MissionWorkspace.stx

		⋯2 linesShow the 2 lines above this hunk@@ -3,19 +3,36 @@ import type { MissionWorkspaceProfile, MissionWorkspaceRecording } from '../func
3	3	import { getMissionWorkspaceDefinition, missionWorkspaceProfiles, missionWorkspacePlot, runMissionWorkspace } from '../functions/drone/vehicles/workspace'
4	4	const profile = state<MissionWorkspaceProfile>('quadcopter')
5	5	const scenario = state('nominal')
	6	+const phase = state('front')
	7	+const electrical = state(false)
6	8	const result = state<MissionWorkspaceRecording | null>(null)
7		-const recording = derived(() => result()?.definition.profile === profile() && result()?.definition.scenario === scenario() ? result() : null)
8	9	const offset = state(600)
9	10	const busy = state(false)
10	11	const error = state('')
11	12	const definition = derived(() => {
12	13	const base = getMissionWorkspaceDefinition(profile(), 'nominal')
13		- return base.scenarios.includes(scenario()) ? getMissionWorkspaceDefinition(profile(), scenario()) : base
	14	+ const selected = base.scenarios.includes(scenario()) ? scenario() : 'nominal'
	15	+ if (profile() !== 'vtol') return getMissionWorkspaceDefinition(profile(), selected)
	16	+ const initial = getMissionWorkspaceDefinition('vtol', selected, { electrical: electrical() })
	17	+ return 'vtol' in initial && initial.vtol?.phase ? getMissionWorkspaceDefinition('vtol', selected, { phase: phase(), electrical: electrical() }) : initial
14	18	})
	19	+const vtolDefinition = derived(() => { const d = definition(); return 'vtol' in d ? d.vtol ?? null : null })
	20	+const recording = derived(() => {
	21	+ const r = result(), d = definition()
	22	+ const options = r && 'vtol' in r.definition ? r.definition.vtol : null
	23	+ return r && r.definition.profile === d.profile && r.definition.scenario === d.scenario && (options?.phase ?? null) === (vtolDefinition()?.phase ?? null) && (options?.electrical ?? false) === (vtolDefinition()?.electrical ?? false) ? r : null
	24	+})
	25	+const vtolResult = derived(() => { const r = recording(); return r && 'vtol' in r ? r.vtol ?? null : null })
15	26	const validTime = derived(() => !recording() || Number.isFinite(offset()) && Number.isInteger(offset()) && offset() >= recording()!.minimumTimeMs && offset() <= recording()!.maximumTimeMs && (offset() - recording()!.minimumTimeMs) % 20 === 0)
16	27	const playbackTime = derived(() => validTime() ? offset() : recording()?.minimumTimeMs || 600)
17	28	const rows = derived(() => recording()?.rows.filter(row => row.atMs <= playbackTime()) ?? [])
18	29	const current = derived(() => rows().at(-1) ?? null)
	30	+const modeObservation = derived(() => rows().findLast(row => row.vtol?.observation)?.vtol?.observation ?? null)
	31	+const modeEvents = derived(() => rows().filter((row, index, all) => {
	32	+ const current = row.vtol?.observation, previous = all[index - 1]?.vtol?.observation
	33	+ return current && (!previous || current.eventId !== previous.eventId || current.phase !== previous.phase || current.outcome !== previous.outcome)
	34	+}).map(row => ({ atMs: row.atMs, observation: row.vtol!.observation! })))
	35	+const operatorActions = derived(() => rows().filter(row => row.vtol?.action && row.vtol.action !== 'start'))
19	36	const events = derived(() => recording()?.transitions.filter(row => row.atMs <= playbackTime()) ?? [])
20	37	const requests = derived(() => recording()?.payloads.filter(row => row.issuedAtMs <= playbackTime()) ?? [])
21	38	const acknowledgements = derived(() => rows().filter(row => row.payloadAck).map(row => row.payloadAck!))
		⋯1 lineShow the 1 line above this hunk@@ -23,7 +40,7 @@ const inspectionFrames = derived(() => recording()?.inspection?.frames.filter(fr
23	40	const plot = derived(() => missionWorkspacePlot(definition(), rows()))
24	41	const computation = useTimeout(() => {
25	42	try {
26		- const completed = runMissionWorkspace(profile(), scenario())
	43	+ const completed = runMissionWorkspace(profile(), definition().scenario, vtolDefinition() ? { electrical: electrical(), ...(vtolDefinition()?.phase ? { phase: phase() } : {}) } : {})
27	44	result.set(completed)
28	45	// Mount the playback controls and their dynamic bounds before assigning the value.
29	46	void nextTick(() => { if (result() === completed) offset.set(completed.maximumTimeMs) })
		⋯5 linesShow the 5 lines above this hunk@@ -35,6 +52,7 @@ computation.stop()
35	52	onDestroy(() => computation.stop())
36	53	effect(() => {
37	54	const selectedProfile = profile(), selectedScenario = scenario()
	55	+ phase(); electrical()
38	56	computation.stop(); busy.set(false); result.set(null); error.set(''); offset.set(600)
39	57	if (!getMissionWorkspaceDefinition(selectedProfile, 'nominal').scenarios.includes(selectedScenario)) scenario.set('nominal')
40	58	})
		⋯9 linesShow the 9 lines above this hunk@@ -50,6 +68,8 @@ function vectorLabel(value: number[] | null | undefined) { return value ? value.
50	68	<div class="flex flex-wrap gap-4 items-end mt-8">
51	69	<div><label for="mission-profile" class="block mb-2 text-sm">Vehicle profile</label><select id="mission-profile" x-model="profile" class="px-3 py-3 max-w-full text-neutral-100 bg-neutral-900 border border-neutral-600 rounded focus-visible:outline-emerald-200"><option :for="name in missionWorkspaceProfiles" :value="name">{{ name }}</option></select></div>
52	70	<div><label for="mission-scenario" class="block mb-2 text-sm">Operator scenario</label><select id="mission-scenario" x-model="scenario" class="px-3 py-3 max-w-full text-neutral-100 bg-neutral-900 border border-neutral-600 rounded focus-visible:outline-emerald-200"><option :for="name in definition().scenarios" :value="name">{{ name }}</option></select></div>
	71	+ <div :if="vtolDefinition()?.phases.length"><label for="mission-vtol-phase" class="block mb-2 text-sm">Fault injection phase</label><select id="mission-vtol-phase" x-model="phase" class="px-3 py-3 max-w-full text-neutral-100 bg-neutral-900 border border-neutral-600 rounded focus-visible:outline-emerald-200"><option :for="name in vtolDefinition()?.phases || []" :value="name">{{ name }}</option></select></div>
	72	+ <label :if="profile() === 'vtol'" for="mission-vtol-electrical" class="flex gap-3 items-center py-3 text-sm"><input id="mission-vtol-electrical" type="checkbox" x-model="electrical" class="accent-emerald-200">Modeled electrical load</label>
53	73	<button type="button" @click="execute()" :disabled="busy()" class="px-4 py-3 font-medium text-neutral-950 whitespace-nowrap bg-emerald-200 rounded focus-visible:outline-emerald-200 focus-visible:outline-offset-4 disabled:opacity-60">{{ busy() ? 'Recording…' : 'Run scenario' }}</button>
54	74	<button type="button" @click="reset()" class="px-4 py-3 text-sm whitespace-nowrap border border-neutral-600 rounded focus-visible:outline-emerald-200 focus-visible:outline-offset-4">Clear recording</button>
55	75	</div>
		⋯12 linesShow the 12 lines above this hunk@@ -68,7 +88,7 @@ function vectorLabel(value: number[] | null | undefined) { return value ? value.
68	88	<div><dt class="text-neutral-400">Energy reserve checked</dt><dd class="mt-1">{{ definition().budget.requiredWh.toFixed(2) }} / {{ definition().budget.usableWh.toFixed(2) }} Wh usable</dd></div>
69	89	</dl>
70	90	<h3 class="mt-7 font-semibold text-sm">Tasks and graph edges</h3>
71		- <div class="overflow-x-auto mt-3 max-h-96"><table class="w-full text-left text-xs"><thead class="text-neutral-400"><tr><th scope="col" class="pr-3 py-3">Task</th><th scope="col" class="py-3">Goal / next</th></tr></thead><tbody><tr :for="task in definition().tasks" class="border-b border-neutral-800"><td class="pr-3 py-3 align-top"><span class="font-mono">{{ task.id }}</span><span class="block mt-1 text-neutral-400">{{ task.kind }}</span></td><td class="py-3 break-words"><span :if="task.targetM" class="font-mono">N/E/D {{ vectorLabel(task.targetM) }} m</span><span :if="task.operation" class="block font-mono text-emerald-200">{{ task.operation }} / {{ task.containerId || 'no container' }}</span><span class="block mt-1 text-neutral-400">Next: {{ task.edges.join(' / ') || 'end' }}</span></td></tr></tbody></table></div>
	91	+ <div class="overflow-x-auto mt-3 max-h-96"><table class="w-full text-left text-xs"><thead class="text-neutral-400"><tr><th scope="col" class="pr-3 py-3">Task</th><th scope="col" class="py-3">Goal / next</th></tr></thead><tbody><tr :for="task in definition().tasks" class="border-b border-neutral-800"><td class="pr-3 py-3 align-top"><span class="font-mono">{{ task.id }}</span><span class="block mt-1 text-neutral-400">{{ task.kind }}</span></td><td class="py-3 break-words"><span :if="task.targetM" class="font-mono">N/E/D {{ vectorLabel(task.targetM) }} m</span><span :if="task.operation" class="block font-mono text-emerald-200">{{ task.operation }} / {{ task.containerId || 'no container' }}</span><span :if="task.mode" class="block font-mono text-emerald-200">Requested mode: {{ task.mode }}</span><span :if="task.failureEdge" class="block mt-1 text-amber-200">Counted failure route: {{ task.failureEdge }}</span><span class="block mt-1 text-neutral-400">Next: {{ task.edges.join(' / ') || 'end' }}</span></td></tr></tbody></table></div>
72	92	<p class="mt-4 leading-relaxed text-neutral-400 text-xs">{{ definition().assumptions }}</p>
73	93	</aside>
74	94	<div class="min-w-0">
		⋯22 linesShow the 22 lines above this hunk@@ -97,6 +117,30 @@ function vectorLabel(value: number[] | null | undefined) { return value ? value.
97	117	<div class="flex flex-wrap gap-3 items-end mt-3"><div><label for="mission-time-number" class="block mb-1 text-neutral-400 text-xs">Recorded time / ms</label><input id="mission-time-number" type="number" :min="recording()?.minimumTimeMs || 600" :max="recording()?.maximumTimeMs || 600" step="20" x-model.number="offset" class="px-3 py-2 w-36 bg-neutral-900 border border-neutral-600 rounded focus-visible:outline-emerald-200"></div><button type="button" @click="offset.set(recording()?.minimumTimeMs || 600)" class="px-3 py-2 text-sm border border-neutral-600 rounded focus-visible:outline-emerald-200">Beginning</button><button type="button" @click="offset.set(recording()?.maximumTimeMs || 600)" class="px-3 py-2 text-sm border border-neutral-600 rounded focus-visible:outline-emerald-200">End of recording</button></div>
98	118	<p :if="!validTime()" role="alert" class="mt-3 text-amber-200 text-sm">Enter a recorded time from {{ recording()?.minimumTimeMs }} to {{ recording()?.maximumTimeMs }} ms in 20 ms steps. Showing the beginning until the time is valid.</p>
99	119	<p class="mt-5 break-words font-mono text-neutral-400 text-xs">Estimated N/E/D: {{ vectorLabel(current()?.positionM) }} m</p><p class="mt-2 break-words font-mono text-neutral-400 text-xs">Estimated velocity N/E/D: {{ vectorLabel(current()?.velocityMps) }} m/s</p><p class="mt-2 break-words font-mono text-neutral-400 text-xs">Target N/E/D: {{ vectorLabel(current()?.targetM) }}</p>
	120	+ <section :if="profile() === 'vtol'" aria-labelledby="vtol-evidence-title" class="mt-7 pt-5 border-neutral-700 border-t">
	121	+ <h3 id="vtol-evidence-title" class="font-semibold text-sm">Recorded VTOL evidence</h3>
	122	+ <p class="mt-2 text-neutral-400 text-xs" data-vtol-demonstration>Named outcome check: {{ vtolResult()?.demonstrationMatched ? 'matched' : 'unmatched' }}. Final qualified landing contact: {{ vtolResult()?.landingContact ? 'observed' : 'not observed' }}.</p>
	123	+ <p class="mt-2 leading-relaxed text-neutral-400 text-xs">A matched case can be blocked, aborted or host-lost. These are recorded model observations, not physical flight qualification.</p>
	124	+ <p :if="modeObservation()" class="mt-4 break-words font-mono text-sm" data-vtol-mode>{{ modeObservation()?.phase }} / {{ modeObservation()?.outcome }} / {{ modeObservation()?.taskId }}</p>
	125	+ <p :if="modeObservation()" class="mt-2 break-words font-mono text-neutral-400 text-xs">Last mode observation captured {{ modeObservation()?.capturedAtMs }} ms, sensor capture {{ modeObservation()?.measurementCapturedAtMs }} ms. Age at cursor: {{ playbackTime() - (modeObservation()?.capturedAtMs || 0) }} ms.</p>
	126	+ <p :if="!modeObservation()" class="mt-3 text-neutral-400 text-xs">No recorded mode observation at this time.</p>
	127	+ <p :if="current()?.vtol?.request" class="mt-3 break-all font-mono text-neutral-400 text-xs">Mode request {{ current()?.vtol?.request?.mode }} / {{ current()?.vtol?.request?.eventId }} / expires {{ current()?.vtol?.request?.expiresAtMs }} ms</p>
	128	+ <div :if="vtolDefinition()?.electrical" class="mt-5">
	129	+ <h4 class="font-semibold text-sm">Captured battery reading</h4>
	130	+ <dl :if="current()?.vtol?.battery" class="grid gap-4 grid-cols-2 mt-3 text-xs" data-vtol-battery>
	131	+ <div><dt class="text-neutral-400">Chemical energy used</dt><dd class="mt-1 font-mono">{{ current()?.vtol?.battery?.energyUsedWh.toFixed(3) }} Wh</dd></div>
	132	+ <div><dt class="text-neutral-400">Remaining lower bound</dt><dd class="mt-1 font-mono">{{ current()?.vtol?.battery?.remainingWhLowerBound.toFixed(3) }} Wh / {{ current()?.vtol?.battery?.remainingPercentLowerBound.toFixed(2) }}%</dd></div>
	133	+ <div><dt class="text-neutral-400">Source / load</dt><dd class="mt-1 font-mono">{{ current()?.vtol?.battery?.sourcePowerW.toFixed(2) }} / {{ current()?.vtol?.battery?.loadPowerW.toFixed(2) }} W</dd></div>
	134	+ <div><dt class="text-neutral-400">Terminal / current</dt><dd class="mt-1 font-mono">{{ current()?.vtol?.battery?.terminalV.toFixed(3) }} V / {{ current()?.vtol?.battery?.currentA.toFixed(3) }} A</dd></div>
	135	+ </dl>
	136	+ <p :if="current()?.vtol?.battery" class="mt-3 break-words font-mono text-neutral-400 text-xs">Capture {{ current()?.vtol?.battery?.capturedAtMs }} ms / observed {{ current()?.vtol?.battery?.observedAtMs }} ms / sequence {{ current()?.vtol?.battery?.sequence }} / cutoff {{ current()?.vtol?.battery?.cutoff ? 'latched' : 'clear' }}</p>
	137	+ <p :if="!current()?.vtol?.battery" class="mt-3 text-amber-200 text-xs" data-vtol-battery-missing>No qualified battery capture at this recorded time.</p>
	138	+ <p class="mt-3 leading-relaxed text-neutral-400 text-xs">Fictional 100 Wh pack. The remaining lower bound includes worst-case consumption since capture. Host loss freezes host readings. No measured cell or motor calibration.</p>
	139	+ </div>
	140	+ <p :if="!vtolDefinition()?.electrical" class="mt-4 text-neutral-400 text-xs">Electrical measurements are off. The mission still checks its declared planning power ceiling and reserve.</p>
	141	+ <div :for="row in operatorActions()" class="mt-3 break-words font-mono text-neutral-400 text-xs">Operator {{ row.vtol?.action }} at {{ row.atMs }} ms / {{ row.state }} / {{ row.taskId }}</div>
	142	+ <div class="overflow-x-auto mt-4"><table class="w-full text-left text-xs"><caption class="py-2 text-left text-neutral-400">Mode changes and request-bound acknowledgements</caption><thead class="text-neutral-400"><tr><th scope="col" class="pr-3 py-3">Time / ms</th><th scope="col" class="pr-3 py-3">Request task</th><th scope="col" class="py-3">Phase / outcome</th></tr></thead><tbody><tr :for="row in modeEvents()" class="border-b border-neutral-800" data-vtol-mode-event><td class="pr-3 py-3 font-mono">{{ row.atMs }}</td><td class="pr-3 py-3 break-words font-mono">{{ row.observation.taskId }}</td><td class="py-3 break-words font-mono">{{ row.observation.phase }} / {{ row.observation.outcome }}</td></tr></tbody></table></div>
	143	+ </section>
100	144	<h3 class="mt-7 font-semibold text-sm">Payload events <span class="font-mono text-neutral-400" data-mission-payloads>{{ requests().length }}</span></h3>
101	145	<p :if="!requests().length" class="mt-2 text-neutral-400 text-xs">No payload request at this time.</p>
102	146	<div :for="payload in requests()" class="mt-3 py-3 border-neutral-800 border-t"><p class="break-words font-mono text-xs">{{ payload.operation }} / {{ payload.containerId || 'no container' }} / {{ payload.taskId }}</p><p class="mt-1 break-all text-neutral-400 text-xs">{{ payload.eventId }} / {{ payload.evidence }}</p></div>

resources/functions/drone/vehicles/measurements.tsmodified+37-2

Changes to resources/functions/drone/vehicles/measurements.ts

		@@ -1,9 +1,36 @@
1	1	import type { EstimatorSnapshot } from '../estimation/estimator'
2		-import type { VehicleKind, VehicleMeasurement } from './types'
	2	+import type { VehicleBatteryModel, VehicleBatteryObservation, VehicleKind, VehicleMeasurement, VehicleMissionPlan } from './types'
3	3	export function vehicleReference(estimate: EstimatorSnapshot) { return `${estimate.bootId}:${Object.values(estimate.resets).join(',')}` }
	4	+
	5	+/** Capture a declared source envelope before allocating a simulation session. */
	6	+export function captureVehicleBatteryModel(input: unknown, power: VehicleMissionPlan['power']): VehicleBatteryModel | null {
	7	+ if (input === undefined) return null
	8	+ function invalid(): never { throw new TypeError('Invalid modeled vehicle battery envelope') }
	9	+ if (!input || typeof input !== 'object' || ![Object.prototype, null].includes(Object.getPrototypeOf(input)) || Reflect.ownKeys(input).length !== 3) invalid()
	10	+ const values: Record<string, unknown> = {}
	11	+ for (const key of ['evidence', 'capacityWh', 'maximumSourceW']) {
	12	+ const descriptor = Object.getOwnPropertyDescriptor(input, key)
	13	+ if (!descriptor || !('value' in descriptor)) invalid()
	14	+ values[key] = descriptor.value
	15	+ }
	16	+ const { evidence, capacityWh, maximumSourceW } = values
	17	+ if (evidence !== 'modeled-vehicle-battery-v1' || typeof capacityWh !== 'number' || !Number.isFinite(capacityWh) || capacityWh < 0.01 || capacityWh > 10000 || typeof maximumSourceW !== 'number' || !Number.isFinite(maximumSourceW) || maximumSourceW < 1 || maximumSourceW > 100000) invalid()
	18	+ if (capacityWh !== power.availableWh) throw new RangeError('Mission capacity differs from modeled battery capacity')
	19	+ if (power.maxW < maximumSourceW) throw new RangeError('Vehicle planning power is below modeled source envelope')
	20	+ return Object.freeze({ evidence, capacityWh, maximumSourceW })
	21	+}
	22	+
	23	+/** Qualified capture plus a worst-case age charge, never a current plant-state shortcut. */
	24	+export function observeVehicleBattery(measurement: VehicleMeasurement, model: VehicleBatteryModel, nowMs: number): VehicleBatteryObservation {
	25	+ const energyUsedWh = measurement.values.batteryEnergyUsedWh as number
	26	+ const remainingWhLowerBound = Math.max(0, model.capacityWh - energyUsedWh - model.maximumSourceW * (nowMs - measurement.capturedAtMs) / 3600000)
	27	+ return { evidence: 'modeled-vehicle-battery-v1', observedAtMs: nowMs, capturedAtMs: measurement.capturedAtMs, sequence: measurement.sequence, reference: measurement.reference, energyUsedWh, remainingWhLowerBound, remainingPercentLowerBound: remainingWhLowerBound / model.capacityWh * 100,
	28	+ sourcePowerW: measurement.values.batterySourcePowerW as number, loadPowerW: measurement.values.batteryLoadPowerW as number, currentA: measurement.values.batteryCurrentA as number, terminalV: measurement.values.batteryTerminalV as number, cutoff: measurement.values.batteryCutoff as boolean }
	29	+}
4	30	/** Shared envelope qualification. Domain adapters still validate physical quantities and units. */
5		-export function createVehicleMeasurementQualifier(vehicle: VehicleKind) {
	31	+export function createVehicleMeasurementQualifier(vehicle: VehicleKind, batteryModel?: VehicleBatteryModel) {
6	32	let reference: string | null = null, sequence = 0, captured = -Infinity, signature = '', now = -Infinity
	33	+ let energyUsedWh = 0, batteryCutoff = false
7	34	return {
8	35	qualify(input: VehicleMeasurement | null, atMs: number, expectedReference: string): VehicleMeasurement | null {
9	36	if (!Number.isSafeInteger(atMs) || atMs < 0 || atMs < now) throw new RangeError('Vehicle measurement clock must be monotonic')
		⋯4 linesShow the 4 lines above this hunk@@ -14,6 +41,14 @@ export function createVehicleMeasurementQualifier(vehicle: VehicleKind) {
14	41	for (const [key, value] of Object.entries(m.values)) if (key.length > 80 || !(typeof value === 'boolean' || typeof value === 'string' && value.length <= 160 || typeof value === 'number' && Number.isFinite(value) && Math.abs(value) <= 1e8 || Array.isArray(value) && value.length <= 32 && value.every(n => typeof n === 'number' && Number.isFinite(n) && Math.abs(n) <= 1e8))) throw new TypeError('Invalid vehicle measurement values')
15	42	const encoded = JSON.stringify(m)
16	43	if (reference !== null && (reference !== m.reference || m.sequence < sequence || m.sequence === sequence && encoded !== signature || m.sequence > sequence && m.capturedAtMs <= captured)) throw new TypeError('Replayed vehicle measurement or changed reference')
	44	+ if (batteryModel) {
	45	+ const v = m.values
	46	+ if (v.batteryCapacityWh !== batteryModel.capacityWh || !['batteryEnergyUsedWh', 'batterySourcePowerW', 'batteryLoadPowerW', 'batteryCurrentA', 'batteryTerminalV'].every(key => typeof v[key] === 'number' && Number.isFinite(v[key]) && (v[key] as number) >= 0)
	47	+ || (v.batteryEnergyUsedWh as number) < energyUsedWh || (v.batteryEnergyUsedWh as number) > batteryModel.capacityWh || (v.batterySourcePowerW as number) > batteryModel.maximumSourceW || (v.batteryLoadPowerW as number) > (v.batterySourcePowerW as number) + 0.002
	48	+ || (v.batteryCurrentA as number) > 1000 || (v.batteryTerminalV as number) > 1000 || Math.abs((v.batteryLoadPowerW as number) - (v.batteryCurrentA as number) * (v.batteryTerminalV as number)) > 0.1
	49	+ || v.batteryLoadPowerW === 0 && v.batteryCurrentA !== 0 || typeof v.batteryCutoff !== 'boolean' || batteryCutoff && !v.batteryCutoff) throw new TypeError('Unqualified modeled vehicle battery')
	50	+ energyUsedWh = v.batteryEnergyUsedWh as number; batteryCutoff = v.batteryCutoff
	51	+ }
17	52	reference = m.reference; sequence = m.sequence; captured = m.capturedAtMs; signature = encoded
18	53	return m
19	54	},

resources/functions/drone/vehicles/runtime.tsmodified+13-6

Changes to resources/functions/drone/vehicles/runtime.ts

		@@ -1,12 +1,12 @@
1	1	import type { EstimatorSnapshot } from '../estimation/estimator'
2	2	import type { ImuMeasurement, SensorVector } from '../sensors/types'
3		-import type { VehicleControlOutput, VehicleControllerContext, VehicleMeasurement, VehicleMeasurementPose, VehicleMissionAction, VehicleProfile, VehicleVtolTransitionObservation } from './types'
	3	+import type { VehicleBatteryObservation, VehicleControlOutput, VehicleControllerContext, VehicleMeasurement, VehicleMeasurementPose, VehicleMissionAction, VehicleProfile, VehicleVtolTransitionObservation } from './types'
4	4	import { createPhysicsSensorFeed } from '../controls/sensors'
5	5	import { createEstimator } from '../estimation/estimator'
6	6	import { observeMission } from '../missions/engine'
7	7	import { createVehicleMissionEngine, validateVehicleMission } from '../missions/vehicle'
8	8	import { createVehicleAuthoritySupervisor, createVehicleOutputWatchdog } from '../authority/vehicle'
9		-import { createVehicleMeasurementQualifier, predictVehicleMeasurementPose, vehicleReference } from './measurements'
	9	+import { captureVehicleBatteryModel, createVehicleMeasurementQualifier, observeVehicleBattery, predictVehicleMeasurementPose, vehicleReference } from './measurements'
10	10	type ScheduledMissionAction = { atMs: number, action: Exclude<VehicleMissionAction, 'start'> }
11	11	function captureMissionActions(input: unknown, maximumMs: number): ScheduledMissionAction[] {
12	12	function invalid(): never { throw new TypeError('Invalid vehicle mission action schedule') }
		⋯20 linesShow the 20 lines above this hunk@@ -33,6 +33,7 @@ export function runVehicleSimulation(profileInput: VehicleProfile, options: { sc
33	33	if (!Number.isInteger(seconds) || seconds < 2 || seconds > 180 || scenario !== profileInput.scenario || !profileInput.scenarios.includes(scenario) || profileInput.evidence !== 'modeled-vehicle-profile' || profileInput.physicalFlightEnabled !== false) throw new RangeError('Invalid vehicle simulation profile, scenario or duration')
34	34	const missionActions = captureMissionActions(options.missionActions, seconds * 1000)
35	35	const { plan, worstCaseMs, requiredWh } = validateVehicleMission(profileInput.mission)
	36	+ const batteryModel = captureVehicleBatteryModel(profileInput.batteryModel, plan.power)
36	37	if (profileInput.vehicle !== plan.vehicle || plan.origin.latitudeDeg !== 0 || plan.origin.longitudeDeg !== 0 || plan.origin.ellipsoidHeightM !== 100) throw new TypeError('Vehicle fixture requires its declared 0,0,100 WGS84 origin')
37	38	const hasTransitions = plan.tasks.some(task => task.kind === 'vtol-mode')
38	39	let transitionObservation: VehicleVtolTransitionObservation | null = null
		⋯4 linesShow the 4 lines above this hunk@@ -43,11 +44,12 @@ export function runVehicleSimulation(profileInput: VehicleProfile, options: { sc
43	44	const supervisor = createVehicleAuthoritySupervisor({ bootId: 55n, sessionId: 123n, vehicle: profileInput.vehicle, actuators, fence })
44	45	const board = createVehicleOutputWatchdog({ bootId: 55n, sessionId: 123n, vehicle: profileInput.vehicle, actuators })
45	46	const feed = createPhysicsSensorFeed(0), estimator = createEstimator({ origin: plan.origin, gravityCorrection: 'initialization-only' })
46		- const qualifier = createVehicleMeasurementQualifier(profileInput.vehicle)
	47	+ const qualifier = createVehicleMeasurementQualifier(profileInput.vehicle, batteryModel ?? undefined)
47	48	const observedSensors = { imu: 0, gnss: 0 }, sensorSequences = { imu: 0, gnss: 0 }
48	49	let truth = plant.snapshot(), mission = engine.snapshot()
49	50	let estimate: EstimatorSnapshot = estimator.snapshot(0)
50	51	let measurement: VehicleMeasurement | null = null, measurementPose: VehicleMeasurementPose | null = null
	52	+ let batteryObservation: VehicleBatteryObservation | null = null
51	53	const queue: { measurement: VehicleMeasurement, pose: VehicleMeasurementPose | null }[] = []
52	54	const requested = new Set<string>()
53	55	let status: 'completed' | 'blocked' | 'host-lost' | 'duration-exhausted' = 'duration-exhausted', fault: string | null = null, hostLostAt: number | null = null
		⋯37 linesShow the 37 lines above this hunk@@ -91,14 +93,19 @@ export function runVehicleSimulation(profileInput: VehicleProfile, options: { sc
91	93	try { qualified = qualifier.qualify(measurement, nowMs, reference) }
92	94	catch (error) { fault ??= error instanceof Error ? error.message : 'vehicle-sensor-envelope'; measurementPose = null }
93	95	measurement = qualified
	96	+ if (batteryModel && qualified) {
	97	+ batteryObservation = observeVehicleBattery(qualified, batteryModel, nowMs)
	98	+ if (batteryObservation.cutoff) fault ??= 'modeled-battery-supply-cutoff'
	99	+ }
94	100	if (navigation) estimate = navigation.update(baseEstimate, qualified, nowMs)
95	101	if (nowMs < 600) continue
96		- const b = board.snapshot(), batteryPercent = 100 - plan.power.maxW * Math.max(0, nowMs - 600) / 3600000 / plan.power.availableWh * 100
	102	+ const b = board.snapshot()
	103	+ const batteryPercent = batteryModel ? qualified && batteryObservation && !batteryObservation.cutoff ? batteryObservation.remainingPercentLowerBound : 0 : 100 - plan.power.maxW * Math.max(0, nowMs - 600) / 3600000 / plan.power.availableWh * 100
97	104	const observation = { kind: 'simulation' as const, nowMs, estimate,
98	105	runtime: { bootId: b.bootId, capturedAtMs: nowMs, watchdogHealthy: b.fault === null },
99	106	rc: { capturedAtMs: nowMs, connected: true, armSwitch: true, override: faults.rcOverride ?? false },
100	107	interlocks: { capturedAtMs: qualified?.capturedAtMs ?? nowMs - 1000, killActive: faults.kill ?? false, onGround: qualified?.values.onSurface === true, motorsStopped: qualified?.values.stopped === true },
101		- battery: { capturedAtMs: nowMs, remainingPercent: batteryPercent }, link: { capturedAtMs: nowMs, connected: !faults.linkLost } }
	108	+ battery: { capturedAtMs: batteryModel ? qualified?.capturedAtMs ?? nowMs - 1000 : nowMs, remainingPercent: batteryPercent }, link: { capturedAtMs: nowMs, connected: !faults.linkLost } }
102	109	const send = (action: 'arm' | 'engage' | 'renew' | 'disarm', targetM = mission.targetM) => {
103	110	const s = supervisor.snapshot()
104	111	return supervisor.update(observation, { version: 1, sessionId: s.sessionId, bootId: s.bootId, epoch: s.epoch, sequence: s.sequence + 1, issuedAtMs: nowMs, action, mode: 'position', leaseMs: 100, target: { positionM: targetM ?? [0, 0, 0], yawRad: 0 } })
		⋯38 linesShow the 38 lines above this hunk@@ -143,5 +150,5 @@ export function runVehicleSimulation(profileInput: VehicleProfile, options: { sc
143	150	session.observeIndependent?.(structuredClone(truth), nowMs, [...boardState.actuators], false)
144	151	finalAtMs = nowMs
145	152	}
146		- return { version: 1, evidence: 'owned-vehicle-physics-simulation' as const, physicalFlightEnabled: false as const, boardOutputsInhibited: true as const, vehicle: profileInput.vehicle, scenario, status, fault, navigationEvidence: { observedSensors, datum: estimate.localPosition?.altitudeDatum ?? null, quality: [...estimate.quality], localPositionHealthy: estimate.health.localPosition }, mission, trace: engine.trace(), path, transitions, budget: { worstCaseMs, requiredWh }, authority: supervisor.snapshot(), board: board.snapshot(), finalTruthPositionM: [...truth.positionM] as SensorVector }
	153	+ return { version: 1, evidence: 'owned-vehicle-physics-simulation' as const, physicalFlightEnabled: false as const, boardOutputsInhibited: true as const, vehicle: profileInput.vehicle, scenario, status, fault, navigationEvidence: { observedSensors, datum: estimate.localPosition?.altitudeDatum ?? null, quality: [...estimate.quality], localPositionHealthy: estimate.health.localPosition }, mission, trace: engine.trace(), path, transitions, budget: { worstCaseMs, requiredWh }, authority: supervisor.snapshot(), board: board.snapshot(), finalTruthPositionM: [...truth.positionM] as SensorVector, ...(batteryModel ? { energy: { evidence: 'modeled-vehicle-battery-v1' as const, model: batteryModel, lastObservation: batteryObservation } } : {}) }
147	154	}

resources/functions/drone/vehicles/types.tsmodified+18-0

Changes to resources/functions/drone/vehicles/types.ts

		⋯26 linesShow the 26 lines above this hunk@@ -27,6 +27,22 @@ export interface VehicleMeasurement {
27	27	receivedAtMs: number
28	28	values: Record<string, number | boolean | string | number[]>
29	29	}
	30	+export interface VehicleBatteryModel { evidence: 'modeled-vehicle-battery-v1', capacityWh: number, maximumSourceW: number }
	31	+export interface VehicleBatteryObservation {
	32	+ evidence: 'modeled-vehicle-battery-v1'
	33	+ observedAtMs: number
	34	+ capturedAtMs: number
	35	+ sequence: number
	36	+ reference: string
	37	+ energyUsedWh: number
	38	+ remainingWhLowerBound: number
	39	+ remainingPercentLowerBound: number
	40	+ sourcePowerW: number
	41	+ loadPowerW: number
	42	+ currentA: number
	43	+ terminalV: number
	44	+ cutoff: boolean
	45	+}
30	46	export type VehiclePayloadOperation = 'camera-still' | 'material-drop' | 'water-sample' | 'mower-enable' | 'mower-disable' | 'inspection-capture'
31	47	export interface VehiclePayloadCommand { eventId: string, taskId: string, operation: VehiclePayloadOperation, containerId: string | null, issuedAtMs: number, expiresAtMs: number, positionM: SensorVector, reference: string }
32	48	export interface VehiclePayloadAck { eventId: string, taskId: string, operation: VehiclePayloadOperation, containerId: string | null, capturedAtMs: number, reference: string, positionM: SensorVector, outcome: 'confirmed' | 'rejected' | 'uncertain', metadata?: Record<string, number | string | boolean> }
		⋯93 linesShow the 93 lines above this hunk@@ -126,6 +142,8 @@ export interface VehicleProfile {
126	142	actuators: VehicleActuator[]
127	143	authorityFence: { radiusM: number, minDownM: number, maxDownM: number }
128	144	mission: VehicleMissionPlan
	145	+ /** Optional captured source envelope. Legacy profiles retain declared-ceiling energy accounting. */
	146	+ batteryModel?: VehicleBatteryModel
129	147	scenarios: readonly string[]
130	148	/** Allocate independent mutable state for each execution. Never reuse a session for another run. */
131	149	createSession(): VehicleSession

resources/functions/drone/vehicles/vtol/index.tsmodified+8-3

Changes to resources/functions/drone/vehicles/vtol/index.ts

		@@ -1,11 +1,15 @@
1	1	import type { VehicleProfile } from '../types'
2	2	import { createVtolPlant, vtolModel } from './plant'
3	3	import { createVtolVehicleHoverController } from './controller'
	4	+import { renderVtolElectricalMeasurement, vtolElectricalMaximumW } from './power'
4	5	export const vtolHoverScenarios = Object.freeze(['hover', 'imu-loss', 'position-loss', 'vehicle-sensor-loss', 'host-loss', 'rc-override', 'kill'] as const)
5	6
6	7	/** Development hover mission only. Front/cruise/back transitions remain unimplemented. */
7		-export function createVtolHoverProfile(scenario = 'hover'): VehicleProfile {
	8	+export function createVtolHoverProfile(scenario = 'hover', options: { electrical?: boolean } = {}): VehicleProfile {
8	9	if (!(vtolHoverScenarios as readonly string[]).includes(scenario)) throw new RangeError('Unknown VTOL hover scenario')
	10	+ const electrical = options.electrical
	11	+ if (electrical !== undefined && typeof electrical !== 'boolean') throw new TypeError('Invalid VTOL electrical model selection')
	12	+ const batteryModel = electrical ? Object.freeze({ evidence: 'modeled-vehicle-battery-v1' as const, capacityWh: 50, maximumSourceW: vtolElectricalMaximumW(vtolModel.maxRotorThrustN, vtolModel.maxPusherThrustN) }) : undefined
9	13	return {
10	14	scenario, vehicle: 'vtol', name: 'Owned VTOL hover development', evidence: 'modeled-vehicle-profile', physicalFlightEnabled: false,
11	15	actuators: [
		⋯15 linesShow the 15 lines above this hunk@@ -27,11 +31,12 @@ export function createVtolHoverProfile(scenario = 'hover'): VehicleProfile {
27	31	],
28	32	},
29	33	scenarios: vtolHoverScenarios,
	34	+ ...(batteryModel ? { batteryModel } : {}),
30	35	createSession() {
31		- return { createPlant: createVtolPlant, createController: createVtolVehicleHoverController,
	36	+ return { createPlant: batteryModel ? () => createVtolPlant({ electricalCapacityWh: batteryModel.capacityWh }) : createVtolPlant, createController: createVtolVehicleHoverController,
32	37	renderMeasurement(state, atMs, reference) {
33	38	return { version: 1, evidence: 'modeled-vehicle-sensors', vehicle: 'vtol', sequence: Math.floor(atMs / 20) + 1, reference, capturedAtMs: atMs, receivedAtMs: atMs + 60,
34		- values: { onSurface: state.onSurface, stopped: Math.hypot(...state.velocityMps) <= 0.2, airspeedMps: Math.round((state.details.airspeedMps as number) * 1000) / 1000 } }
	39	+ values: { onSurface: state.onSurface, stopped: Math.hypot(...state.velocityMps) <= 0.2, airspeedMps: Math.round((state.details.airspeedMps as number) * 1000) / 1000, ...renderVtolElectricalMeasurement(state) } }
35	40	},
36	41	}
37	42	},

resources/functions/drone/vehicles/vtol/plant.tsmodified+27-3

Changes to resources/functions/drone/vehicles/vtol/plant.ts

		⋯5 linesShow the 5 lines above this hunk@@ -6,12 +6,18 @@ import { multiplyQuaternion, normalizeQuaternion } from '../../estimation/frames
6	6	import { rotateBodyToNed, rotateNedToBody } from '../../controls/physics'
7	7	import { airAerodynamics, airModel } from '../air/plant'
8	8	import { numericPacket } from './packets'
	9	+import { vtolElectricalLoad, vtolElectricalMaximumW, vtolElectricalModel, vtolElectricalSupply } from './power'
9	10
10	11	/** Fictional lift-and-cruise model. No measured hardware coefficients or flight qualification. */
11	12	export const vtolModel = Object.freeze({ massKg: 2.5, surfaceFrictionCoefficient: 0.5, gravityMps2: 9.80665, maxRotorThrustN: 12, rotorTimeConstantS: 0.06, rotorSlewNPerS: 120, rotorArmProjectionM: 0.4, reactionTorqueM: 0.02, inertiaKgM2: Object.freeze([0.3, 0.4, 0.6] as const), maxPusherThrustN: airModel.maxThrustN, pusherTimeConstantS: 0.08, pusherSlewNPerS: 60, wing: airModel })
12	13
13	14	/** Independent lift rotors and the owned trainer wing/pusher share one rigid body. */
14		-export function createVtolPlant(initial: { positionM?: SensorVector, velocityMps?: SensorVector, quaternionWxyz?: Quaternion, rotorsN?: [number, number, number, number], pusherThrustN?: number } = {}): VehiclePlant {
	15	+export function createVtolPlant(initial: { positionM?: SensorVector, velocityMps?: SensorVector, quaternionWxyz?: Quaternion, rotorsN?: [number, number, number, number], pusherThrustN?: number, electricalCapacityWh?: number, energyUsedWh?: number } = {}): VehiclePlant {
	16	+ const capacityWh = initial.electricalCapacityWh
	17	+ let energyUsedWh = initial.energyUsedWh === undefined ? 0 : initial.energyUsedWh
	18	+ if (capacityWh === undefined && initial.energyUsedWh !== undefined || capacityWh !== undefined && (!Number.isFinite(capacityWh) || capacityWh <= 0 || capacityWh > 10000 || !Number.isFinite(energyUsedWh) || energyUsedWh < 0 || energyUsedWh > capacityWh)) throw new RangeError('Invalid initial VTOL electrical state')
	19	+ const maximumSourceW = capacityWh === undefined ? 0 : vtolElectricalMaximumW(vtolModel.maxRotorThrustN, vtolModel.maxPusherThrustN)
	20	+ let batteryCutoff = capacityWh !== undefined && energyUsedWh === capacityWh, surfacesRad = [0, 0, 0]
15	21	let positionM = numericPacket(initial.positionM === undefined ? [0, 0, 0] : initial.positionM, 3) as SensorVector
16	22	let rotorsN = numericPacket(initial.rotorsN === undefined ? [0, 0, 0, 0] : initial.rotorsN, 4)
17	23	let pusherThrustN = initial.pusherThrustN === undefined ? 0 : initial.pusherThrustN
		⋯2 linesShow the 2 lines above this hunk@@ -20,18 +26,28 @@ export function createVtolPlant(initial: { positionM?: SensorVector, velocityMps
20	26	let quaternionWxyz = normalizeQuaternion(numericPacket(initial.quaternionWxyz === undefined ? [1, 0, 0, 0] : initial.quaternionWxyz, 4) as Quaternion), angularRateRadS: SensorVector = [0, 0, 0]
21	27	if (!validVector(positionM) || !validVector(velocityMps) || positionM[2] > 0 || rotorsN.length !== 4 || rotorsN.some(n => !Number.isFinite(n) || n < 0 || n > vtolModel.maxRotorThrustN) || !Number.isFinite(pusherThrustN) || pusherThrustN < 0 || pusherThrustN > vtolModel.maxPusherThrustN) throw new RangeError('Invalid initial VTOL model')
22	28	let onSurface = positionM[2] === 0
	29	+ function electricalDetails(): VehiclePlantState['details'] {
	30	+ if (capacityWh === undefined) return {}
	31	+ const remainingWh = capacityWh - energyUsedWh
	32	+ const loadW = remainingWh === 0 ? 0 : batteryCutoff ? vtolElectricalModel.auxiliaryW : vtolElectricalLoad(rotorsN, pusherThrustN, surfacesRad)
	33	+ const supply = vtolElectricalSupply(loadW, remainingWh / capacityWh)
	34	+ return { batteryCapacityWh: capacityWh, batteryEnergyUsedWh: energyUsedWh, batteryRemainingWh: remainingWh, batteryLoadPowerW: loadW, batterySourcePowerW: supply.sourceW, batteryCurrentA: supply.currentA, batteryTerminalV: supply.terminalV, batteryCutoff }
	35	+ }
23	36	function snapshot(): VehiclePlantState {
24	37	const relative = rotateNedToBody(quaternionWxyz, velocityMps.map((n, i) => n - windMps[i]!) as SensorVector)
25	38	const airspeedMps = Math.hypot(...relative)
26		- return { positionM: [...positionM], velocityMps: [...velocityMps], accelerationMps2: [...accelerationMps2], quaternionWxyz: [...quaternionWxyz], angularRateRadS: [...angularRateRadS], onSurface, details: { airspeedMps, alphaRad: Math.atan2(relative[2], relative[0]), betaRad: Math.atan2(relative[1], Math.hypot(relative[0], relative[2])), dynamicPressurePa: 0.5 * airModel.densityKgM3 * airspeedMps ** 2, rotorThrustN: rotorsN.reduce((a, b) => a + b, 0), pusherThrustN } }
	39	+ return { positionM: [...positionM], velocityMps: [...velocityMps], accelerationMps2: [...accelerationMps2], quaternionWxyz: [...quaternionWxyz], angularRateRadS: [...angularRateRadS], onSurface, details: { airspeedMps, alphaRad: Math.atan2(relative[2], relative[0]), betaRad: Math.atan2(relative[1], Math.hypot(relative[0], relative[2])), dynamicPressurePa: 0.5 * airModel.densityKgM3 * airspeedMps ** 2, rotorThrustN: rotorsN.reduce((a, b) => a + b, 0), pusherThrustN, ...electricalDetails() } }
27	40	}
28	41	return {
29	42	snapshot,
30	43	step(inputActuators, dtS, environment) {
31		- const actuators = numericPacket(inputActuators, 8)
	44	+ let actuators = numericPacket(inputActuators, 8)
32	45	const nextWindMps = numericPacket(environment.windMps, 3) as SensorVector, currentMps = numericPacket(environment.currentMps, 3) as SensorVector
33	46	if (actuators.slice(0, 4).some(n => n < 0 || n > vtolModel.maxRotorThrustN) || actuators[4]! < 0 || actuators[4]! > 1 || actuators.slice(5).some(n => Math.abs(n) > 0.4)) throw new RangeError('Invalid VTOL actuator channels')
34	47	if (!Number.isFinite(dtS) || dtS <= 0 || dtS > 0.01 || !validVector(nextWindMps) || !validVector(currentMps) || currentMps.some(n => n !== 0)) throw new RangeError('Invalid VTOL environment')
	48	+ // Fund a whole worst-case step before allowing propulsion. A latched cutoff cannot rebound/rearm.
	49	+ const nextBatteryCutoff = batteryCutoff || capacityWh !== undefined && capacityWh - energyUsedWh < maximumSourceW * dtS / 3600
	50	+ if (nextBatteryCutoff) actuators = [0, 0, 0, 0, 0, 0, 0, 0]
35	51	const relative = rotateNedToBody(quaternionWxyz, velocityMps.map((n, i) => n - nextWindMps[i]!) as SensorVector)
36	52	const response = 1 - Math.exp(-dtS / vtolModel.rotorTimeConstantS), maximumChangeN = vtolModel.rotorSlewNPerS * dtS
37	53	const nextRotorsN = rotorsN.map((n, i) => n + Math.max(-maximumChangeN, Math.min(maximumChangeN, (actuators[i]! - n) * response)))
		⋯31 linesShow the 31 lines above this hunk@@ -69,7 +85,15 @@ export function createVtolPlant(initial: { positionM?: SensorVector, velocityMps
69	85	const nextPositionM = positionM.map((n, i) => n + nextVelocityMps[i]! * dtS) as SensorVector
70	86	if (nextOnSurface) nextPositionM[2] = 0
71	87	if (![...nextAccelerationMps2, ...nextVelocityMps, ...nextPositionM].every(Number.isFinite)) throw new RangeError('VTOL rotor model diverged')
	88	+ let nextEnergyUsedWh = energyUsedWh
	89	+ if (capacityWh !== undefined) {
	90	+ const remainingWh = capacityWh - energyUsedWh
	91	+ const loadW = remainingWh === 0 ? 0 : nextBatteryCutoff ? vtolElectricalModel.auxiliaryW : vtolElectricalLoad(nextRotorsN, nextPusherThrustN, actuators.slice(5))
	92	+ const sourceW = vtolElectricalSupply(loadW, remainingWh / capacityWh).sourceW
	93	+ nextEnergyUsedWh += Math.min(remainingWh, sourceW * dtS / 3600)
	94	+ }
72	95	// Reject the entire integration before committing any retained state.
	96	+ energyUsedWh = nextEnergyUsedWh; batteryCutoff = nextBatteryCutoff; surfacesRad = actuators.slice(5)
73	97	windMps = nextWindMps
74	98	rotorsN = nextRotorsN
75	99	pusherThrustN = nextPusherThrustN

resources/functions/drone/vehicles/vtol/power.tsadded+37-0

Changes to resources/functions/drone/vehicles/vtol/power.ts

		@@ -0,0 +1,37 @@
	1	+import { numericPacket } from './packets'
	2	+import type { VehiclePlantState } from '../types'
	3	+
	4	+/** Fictional electrical law, not identified motor, propeller, cell or thermal behavior. */
	5	+export const vtolElectricalModel = Object.freeze({ auxiliaryW: 12, liftWPerN32: 4, pusherWPerN32: 5, surfaceWAtFullDeflection: 3, fullOpenCircuitV: 24, emptyOpenCircuitV: 20, resistanceOhm: 0.04 })
	6	+
	7	+export function vtolElectricalLoad(rotorInput: readonly number[], pusherN: number, surfaceInput: readonly number[]) {
	8	+ const rotors = numericPacket(rotorInput, 4), surfaces = numericPacket(surfaceInput, 3)
	9	+ if (rotors.some(n => n < 0 || n > 100) || !Number.isFinite(pusherN) || pusherN < 0 || pusherN > 100 || surfaces.some(n => Math.abs(n) > 0.4)) throw new RangeError('Invalid fictional VTOL electrical load')
	10	+ return vtolElectricalModel.auxiliaryW + rotors.reduce((sum, n) => sum + vtolElectricalModel.liftWPerN32 * n ** 1.5, 0) + vtolElectricalModel.pusherWPerN32 * pusherN ** 1.5 + surfaces.reduce((sum, n) => sum + vtolElectricalModel.surfaceWAtFullDeflection * Math.abs(n) / 0.4, 0)
	11	+}
	12	+
	13	+/** Stable low-current solution of P=VI with a declared series resistance. No regeneration. */
	14	+export function vtolElectricalSupply(loadW: number, remainingFraction: number) {
	15	+ if (!Number.isFinite(loadW) || loadW < 0 || !Number.isFinite(remainingFraction) || remainingFraction < 0 || remainingFraction > 1) throw new RangeError('Invalid fictional VTOL electrical supply')
	16	+ const openCircuitV = vtolElectricalModel.emptyOpenCircuitV + (vtolElectricalModel.fullOpenCircuitV - vtolElectricalModel.emptyOpenCircuitV) * remainingFraction
	17	+ const discriminant = openCircuitV ** 2 - 4 * vtolElectricalModel.resistanceOhm * loadW
	18	+ if (discriminant < 0) throw new RangeError('Fictional VTOL electrical demand exceeds supply')
	19	+ const currentA = 2 * loadW / (openCircuitV + Math.sqrt(discriminant))
	20	+ return { currentA, terminalV: openCircuitV - currentA * vtolElectricalModel.resistanceOhm, sourceW: openCircuitV * currentA }
	21	+}
	22	+
	23	+/** All lift rotors, pusher and surfaces together, at the lowest declared source voltage. */
	24	+export function vtolElectricalMaximumW(maxRotorN: number, maxPusherN: number) {
	25	+ if (!Number.isFinite(maxRotorN) || maxRotorN <= 0 || !Number.isFinite(maxPusherN) || maxPusherN <= 0) throw new RangeError('Invalid VTOL electrical envelope')
	26	+ const loadW = vtolElectricalLoad([maxRotorN, maxRotorN, maxRotorN, maxRotorN], maxPusherN, [0.4, 0.4, 0.4])
	27	+ return Math.ceil(vtolElectricalSupply(loadW, 0).sourceW)
	28	+}
	29	+
	30	+/** Sensor synthesis only: energy rounds upward, so quantization cannot invent capacity. */
	31	+export function renderVtolElectricalMeasurement(state: VehiclePlantState): Record<string, number | boolean> {
	32	+ if (!Object.hasOwn(state.details, 'batteryCapacityWh')) return {}
	33	+ const value = state.details
	34	+ const round = (name: string) => Math.round((value[name] as number) * 1000) / 1000
	35	+ return { batteryCapacityWh: value.batteryCapacityWh!, batteryEnergyUsedWh: Math.min(value.batteryCapacityWh as number, Math.ceil((value.batteryEnergyUsedWh as number) * 1000000) / 1000000), batterySourcePowerW: Math.ceil((value.batterySourcePowerW as number) * 1000) / 1000,
	36	+ batteryLoadPowerW: round('batteryLoadPowerW'), batteryCurrentA: round('batteryCurrentA'), batteryTerminalV: round('batteryTerminalV'), batteryCutoff: value.batteryCutoff! }
	37	+}

resources/functions/drone/vehicles/vtol/simulation.tsadded+135-0

Changes to resources/functions/drone/vehicles/vtol/simulation.ts

		@@ -0,0 +1,135 @@
	1	+import { createVtolTransitionProfile } from './transition-profile'
	2	+import { runVehicleSimulation } from '../runtime'
	3	+import type { VehicleMissionAction } from '../types'
	4	+
	5	+const faults = { 'host-loss': 'hostLost', 'imu-loss': 'dropImu', 'position-loss': 'dropPosition', 'vehicle-sensor-loss': 'dropVehicleSensor', 'rc-override': 'rcOverride', 'kill': 'kill' } as const
	6	+interface OperatorCase { actions: readonly { atMs: number, action: Exclude<VehicleMissionAction, 'start'> }[], recovery?: 'front' | 'back', outcome: 'abort' | 'resume' | 'timeout' | 'hold-expiry', openCircuit?: boolean, seconds?: number }
	7	+const operatorCases = {
	8	+ 'cruise-pause-resume': { actions: [{ atMs: 20000, action: 'pause' }, { atMs: 40000, action: 'resume' }], outcome: 'resume' },
	9	+ 'front-abort': { actions: [{ atMs: 13000, action: 'abort' }], recovery: 'front', outcome: 'abort' },
	10	+ 'back-abort': { actions: [{ atMs: 30000, action: 'abort' }], recovery: 'back', outcome: 'abort' },
	11	+ 'front-recover-resume': { actions: [{ atMs: 13000, action: 'recover' }, { atMs: 40000, action: 'resume' }], recovery: 'front', outcome: 'resume' },
	12	+ 'back-recover-resume': { actions: [{ atMs: 30000, action: 'recover' }, { atMs: 80000, action: 'resume' }], recovery: 'back', outcome: 'resume' },
	13	+ 'pusher-open-circuit': { actions: [], recovery: 'front', outcome: 'timeout', openCircuit: true },
	14	+ 'back-recovery-hold': { actions: [{ atMs: 30000, action: 'recover' }], recovery: 'back', outcome: 'hold-expiry', seconds: 180 },
	15	+} as const satisfies Record<string, OperatorCase>
	16	+export const vtolSimulationScenarios = Object.freeze(['nominal', ...Object.keys(faults), ...Object.keys(operatorCases)])
	17	+export const vtolSimulationPhases = Object.freeze(['front', 'cruise', 'back', 'landing'] as const)
	18	+const phases = [
	19	+ { phase: 'front', atMs: 13000, taskId: 'front' },
	20	+ { phase: 'cruise', atMs: 20000, taskId: 'cruise-leg' },
	21	+ { phase: 'back', atMs: 30000, taskId: 'back' },
	22	+ { phase: 'landing', atMs: 68000, taskId: 'land' },
	23	+] as const
	24	+interface SourceEpochs { atMs: number, attitudeCapturedAtMs: number | null, positionCapturedAtMs: number | null, measurementCapturedAtMs: number | null }
	25	+
	26	+export interface VtolSimulationOptions { seconds?: number, electrical?: boolean, phase?: string }
	27	+
	28	+/** One case construction shared by CLI reports and the recorded workspace. No session is allocated until run. */
	29	+export function createVtolSimulationCase(scenario = 'nominal', options: VtolSimulationOptions = {}) {
	30	+ if (!(vtolSimulationScenarios as readonly string[]).includes(scenario)) throw new RangeError('Unknown VTOL simulation scenario')
	31	+ if (options.phase !== undefined && !(vtolSimulationPhases as readonly string[]).includes(options.phase)) throw new RangeError('Unknown VTOL simulation phase')
	32	+ const faultCase = Object.hasOwn(faults, scenario)
	33	+ if (!faultCase && options.phase !== undefined) throw new RangeError('VTOL phase selection requires a fault scenario')
	34	+ const phase = faultCase ? phases.find(row => row.phase === (options.phase ?? 'front')) : null
	35	+ if (phase === undefined) throw new RangeError('Unknown VTOL simulation phase')
	36	+ const profile = createVtolTransitionProfile({ electrical: options.electrical })
	37	+ const operator: OperatorCase | undefined = Object.hasOwn(operatorCases, scenario) ? operatorCases[scenario as keyof typeof operatorCases] : undefined
	38	+ const actions = operator?.actions
	39	+ if (operator?.recovery) {
	40	+ const source = profile.mission.tasks.find(task => task.id === operator.recovery)
	41	+ if (!source || source.kind !== 'vtol-mode') throw new TypeError('Missing VTOL recovery source')
	42	+ source.onFailure = 'recover-hover'
	43	+ const back = operator.recovery === 'back'
	44	+ profile.mission.tasks.push(
	45	+ { id: 'recover-hover', kind: 'vtol-mode', mode: 'hover', headingRad: 0, timeoutMs: back ? 40000 : 45000, next: 'recover-land' },
	46	+ { id: 'recover-land', kind: 'land', positionM: [back ? 180 : 0, 0, 0], acceptanceM: 0.3, maxArrivalSpeedMps: 0.2, settleMs: 200, timeoutMs: back ? 30000 : 35000 },
	47	+ )
	48	+ }
	49	+ if (scenario !== 'nominal') { profile.scenario = scenario; profile.scenarios = vtolSimulationScenarios }
	50	+ const sources: { last: SourceEpochs | null } = { last: null }
	51	+ if (phase) {
	52	+ const fault = faults[scenario as keyof typeof faults], factory = profile.createSession
	53	+ profile.faults = (_scenario, atMs) => atMs >= phase.atMs ? { [fault]: true } : {}
	54	+ profile.createSession = () => {
	55	+ const session = factory()
	56	+ return { ...session, createController() {
	57	+ const controller = session.createController()
	58	+ return { step(context) {
	59	+ sources.last = { atMs: context.nowMs, attitudeCapturedAtMs: context.estimate.attitude?.capturedAtMs ?? null, positionCapturedAtMs: context.estimate.localPosition?.capturedAtMs ?? null, measurementCapturedAtMs: context.measurement?.capturedAtMs ?? null }
	60	+ return controller.step(context)
	61	+ } }
	62	+ } }
	63	+ }
	64	+ }
	65	+ if (operator?.openCircuit) {
	66	+ const factory = profile.createSession
	67	+ profile.createSession = () => {
	68	+ const session = factory()
	69	+ return { ...session, createPlant() {
	70	+ const plant = session.createPlant()
	71	+ return { snapshot: () => plant.snapshot(), step(input, dtS, world) {
	72	+ const demand = [...input]
	73	+ demand[4] = 0
	74	+ return plant.step(demand, dtS, world)
	75	+ } }
	76	+ } }
	77	+ }
	78	+ }
	79	+ const seconds = options.seconds ?? operator?.seconds ?? 160
	80	+ return { profile, seconds, phase: phase?.phase ?? null, electrical: options.electrical ?? false, run() {
	81	+ sources.last = null
	82	+ const result = runVehicleSimulation(profile, { seconds, missionActions: actions })
	83	+ const { trace, path, ...report } = result
	84	+ const transitionEvidence = trace.rows.flatMap(row => row.observation.transition?.outcome === 'confirmed' ? [row.observation.transition] : [])
	85	+ const confirmed = (tasks: readonly string[]) => transitionEvidence.length === tasks.length && transitionEvidence.every((row, index) => row.taskId === tasks[index] && row.phase === (row.taskId === 'front' ? 'cruise' : 'hover'))
	86	+ const completeTransitions = confirmed(['initial-hover', 'front', 'back'])
	87	+ const observedFlight = path.some(row => row.positionM && row.positionM[2] < -1 && row.actuators.slice(0, 4).some(n => n > 0))
	88	+ const landingContact = path.at(-1)?.measurement?.values.onSurface === true
	89	+ const boardNeutral = result.board.actuators.every(n => n === 0) && result.board.expiresAtMs === null
	90	+ const before = phase ? path.find(row => row.atMs === phase.atMs - 20) : undefined
	91	+ // The controller callback captures epochs while the synchronous runtime runs.
	92	+ const capturedSources = sources.last as SourceEpochs | null
	93	+ let faultObserved = false
	94	+ if (phase && before?.mission.taskId === phase.taskId) {
	95	+ if (scenario === 'host-loss') faultObserved = result.status === 'host-lost' && result.board.fault === 'output-lease-expired' && result.board.lastCheckedAtMs !== null && result.board.lastCheckedAtMs >= phase.atMs + 100 && result.authority.lastCheckedAtMs !== null && result.authority.lastCheckedAtMs < phase.atMs
	96	+ else if (result.status === 'blocked' && capturedSources && capturedSources.atMs >= phase.atMs && capturedSources.atMs <= phase.atMs + 500) {
	97	+ const last = capturedSources
	98	+ const lost = (epoch: number | null) => epoch === null || epoch < phase.atMs
	99	+ if (scenario === 'imu-loss') faultObserved = lost(last.attitudeCapturedAtMs)
	100	+ if (scenario === 'position-loss') faultObserved = lost(last.positionCapturedAtMs) && !lost(last.attitudeCapturedAtMs)
	101	+ if (scenario === 'vehicle-sensor-loss') faultObserved = lost(last.measurementCapturedAtMs) && !lost(last.attitudeCapturedAtMs) && !lost(last.positionCapturedAtMs)
	102	+ if (scenario === 'rc-override' || scenario === 'kill') faultObserved = trace.rows.some(row => row.observation.nowMs === phase.atMs && row.observation.authority === (scenario === 'kill' ? 'killed' : 'manual'))
	103	+ }
	104	+ }
	105	+ const completedRoute = result.status === 'completed' && result.fault === null && result.mission.taskId === 'land' && result.mission.reason === 'landed' && completeTransitions && observedFlight && landingContact && boardNeutral
	106	+ const actualActions = trace.rows.flatMap(row => row.action && row.action !== 'start' ? [{ atMs: row.observation.nowMs, action: row.action }] : [])
	107	+ const tasksBeforeActions = actions?.map(action => {
	108	+ const previous = path.find(row => row.atMs === action.atMs - 20)?.mission
	109	+ return { atMs: action.atMs, taskId: previous?.taskId ?? null, state: previous?.state ?? null }
	110	+ }) ?? []
	111	+ const observedPaused = trace.rows.some(row => row.result.state === 'paused')
	112	+ const failedRequest = path.find(row => row.mission.transition?.taskId === operator?.recovery)?.mission.transition
	113	+ const replacement = path.find(row => row.mission.transition?.taskId === 'recover-hover')?.mission.transition
	114	+ const recovery = result.mission.recovery
	115	+ const recoveryCorrelated = !!operator?.recovery && !!failedRequest && !!replacement && replacement.supersedesEventId === failedRequest.eventId && recovery?.failedEventId === failedRequest.eventId && recovery.failedTaskId === operator.recovery && recovery.triggeredAtMs === (operator.outcome === 'timeout' ? failedRequest.expiresAtMs : actions?.[0]?.atMs) && recovery.cause === (operator.outcome === 'timeout' ? 'timeout' : operator.outcome === 'abort' ? 'operator-abort' : 'operator-recover')
	116	+ const recoveryReason = operator?.outcome === 'abort' ? 'vtol-abort-landed' : 'vtol-recovery-landed'
	117	+ const recoveredRoute = !!operator?.recovery && recoveryCorrelated && confirmed(operator.recovery === 'back' ? ['initial-hover', 'front', 'recover-hover'] : ['initial-hover', 'recover-hover']) && result.mission.taskId === 'recover-land' && result.mission.state === (operator.outcome === 'abort' ? 'aborted' : 'completed') && result.mission.reason === recoveryReason && result.status === (operator.outcome === 'abort' ? 'blocked' : 'completed') && result.fault === (operator.outcome === 'abort' ? recoveryReason : null) && observedFlight && landingContact && boardNeutral
	118	+ const pusherOpenCircuitObserved = !!operator?.openCircuit && path.some(row => row.actuators[4]! > 0.1) && path.every(row => row.measurement?.values.pusherThrustN === 0) && !path.some(row => row.mission.taskId === 'cruise-leg') && result.transitions.filter(row => row.taskId === 'front').length === 1
	119	+ const lastAtMs = trace.rows.at(-1)?.observation.nowMs ?? 0
	120	+ const landingStarted = path.some(row => row.mission.taskId === 'recover-land' && row.mission.state === 'running')
	121	+ const globalEnduranceExpired = operator?.outcome === 'hold-expiry' && recoveryCorrelated && confirmed(['initial-hover', 'front', 'recover-hover']) && result.status === 'blocked' && result.mission.state === 'blocked' && result.mission.reason === 'mission-endurance-exhausted' && result.fault === 'mission-endurance-exhausted' && lastAtMs > 600 + result.budget.worstCaseMs && lastAtMs <= 620 + result.budget.worstCaseMs && !landingStarted && observedFlight && !landingContact && boardNeutral
	122	+ const operatorPhaseMatched = operator?.recovery ? recoveryCorrelated : tasksBeforeActions.length === 2 && tasksBeforeActions[0]?.taskId === 'cruise-leg' && tasksBeforeActions[0].state === 'running' && tasksBeforeActions[1]?.taskId === 'cruise-leg' && tasksBeforeActions[1].state === 'paused'
	123	+ const operatorMatched = !!operator && operatorPhaseMatched && JSON.stringify(actualActions) === JSON.stringify(actions) && (!['resume', 'hold-expiry'].includes(operator.outcome) || observedPaused) && (operator.outcome === 'hold-expiry' ? globalEnduranceExpired : operator.recovery ? recoveredRoute : completedRoute) && (!operator.openCircuit || pusherOpenCircuitObserved)
	124	+ const demonstrationMatched = scenario === 'nominal' ? completedRoute : actions ? operatorMatched : faultObserved && observedFlight && !landingContact && result.mission.state !== 'completed' && boardNeutral
	125	+ const summary = { ...report, scope: 'development-lift-and-cruise' as const, transitionEvidence, completeTransitions, observedFlight, landingContact, boardNeutral, demonstrationMatched, recordedMissionRows: trace.rows.length, evaluatedPathRows: path.length,
	126	+ ...(phase ? { scenarioEvidence: { phase: phase.phase, injectedAtMs: phase.atMs, taskId: before?.mission.taskId ?? null, faultObserved, sources: capturedSources } } : {}),
	127	+ ...(actions ? { operatorEvidence: { actions: actualActions, tasksBeforeActions, phaseMatched: operatorPhaseMatched, observedPaused, matched: operatorMatched, ...(operator?.recovery ? { recoveryCorrelated } : {}), ...(operator?.openCircuit ? { pusherOpenCircuitObserved } : {}), ...(operator?.outcome === 'hold-expiry' ? { globalEnduranceExpired, landingStarted } : {}) } } : {}) }
	128	+ return { result, report: summary }
	129	+ } }
	130	+}
	131	+
	132	+/** Reproducible modeled cases on the existing runtime, not a physical control endpoint. */
	133	+export function runVtolSimulation(scenario = 'nominal', options: VtolSimulationOptions = {}) {
	134	+ return createVtolSimulationCase(scenario, options).run().report
	135	+}

resources/functions/drone/vehicles/vtol/transition-profile.tsmodified+9-4

Changes to resources/functions/drone/vehicles/vtol/transition-profile.ts

		@@ -1,11 +1,15 @@
1	1	import type { VehicleProfile } from '../types'
2	2	import { createVtolHoverProfile } from './index'
3		-import { createVtolPlant } from './plant'
	3	+import { createVtolPlant, vtolModel } from './plant'
4	4	import { createVtolFlightController } from './flight-controller'
	5	+import { renderVtolElectricalMeasurement, vtolElectricalMaximumW } from './power'
5	6
6	7	/** Declared fictional transition experiment, undergoing controller qualification. No physical IO. */
7		-export function createVtolTransitionProfile(): VehicleProfile {
	8	+export function createVtolTransitionProfile(options: { electrical?: boolean } = {}): VehicleProfile {
8	9	const base = createVtolHoverProfile()
	10	+ const electrical = options.electrical
	11	+ if (electrical !== undefined && typeof electrical !== 'boolean') throw new TypeError('Invalid VTOL electrical model selection')
	12	+ const batteryModel = electrical ? Object.freeze({ evidence: 'modeled-vehicle-battery-v1' as const, capacityWh: 100, maximumSourceW: vtolElectricalMaximumW(vtolModel.maxRotorThrustN, vtolModel.maxPusherThrustN) }) : undefined
9	13	return {
10	14	...base, scenario: 'nominal', scenarios: ['nominal'], name: 'Owned VTOL lift-and-cruise development',
11	15	authorityFence: { radiusM: 400, minDownM: -40, maxDownM: 1 },
		⋯9 linesShow the 9 lines above this hunk@@ -21,15 +25,16 @@ export function createVtolTransitionProfile(): VehicleProfile {
21	25	{ id: 'land', kind: 'land', positionM: [180, 0, 0], acceptanceM: 0.3, maxArrivalSpeedMps: 0.2, settleMs: 200, timeoutMs: 25000 },
22	26	],
23	27	},
	28	+ ...(batteryModel ? { batteryModel } : {}),
24	29	createSession() {
25		- return { createPlant: createVtolPlant, createController: createVtolFlightController,
	30	+ return { createPlant: batteryModel ? () => createVtolPlant({ electricalCapacityWh: batteryModel.capacityWh }) : createVtolPlant, createController: createVtolFlightController,
26	31	renderMeasurement(state, atMs, reference) {
27	32	const rounded = (n: number) => Math.round(n * 1000000) / 1000000
28	33	return { version: 1, evidence: 'modeled-vehicle-sensors', vehicle: 'vtol', sequence: Math.floor(atMs / 20) + 1, reference, capturedAtMs: atMs, receivedAtMs: atMs + 60,
29	34	values: { onSurface: state.onSurface, stopped: Math.hypot(...state.velocityMps) <= 0.2,
30	35	airspeedMps: rounded(state.details.airspeedMps as number), differentialPressurePa: rounded(state.details.dynamicPressurePa as number),
31	36	alphaRad: rounded(state.details.alphaRad as number), betaRad: rounded(state.details.betaRad as number),
32		- rotorThrustN: rounded(state.details.rotorThrustN as number), pusherThrustN: rounded(state.details.pusherThrustN as number) } }
	37	+ rotorThrustN: rounded(state.details.rotorThrustN as number), pusherThrustN: rounded(state.details.pusherThrustN as number), ...renderVtolElectricalMeasurement(state) } }
33	38	},
34	39	}
35	40	},

resources/functions/drone/vehicles/workspace.tsmodified+28-17

Changes to resources/functions/drone/vehicles/workspace.ts

		@@ -1,5 +1,5 @@
1	1	import type { SensorVector } from '../sensors/types'
2		-import type { VehiclePayloadAck, VehiclePayloadCommand, VehicleProfile } from './types'
	2	+import type { VehicleBatteryObservation, VehiclePayloadAck, VehiclePayloadCommand, VehicleProfile, VehicleVtolTransitionCommand, VehicleVtolTransitionObservation } from './types'
3	3	import { exampleMission, missionEdges, missionTaskTarget, validateMission } from '../missions/plan'
4	4	import { missionScenarios, simulateMission } from '../missions/simulation'
5	5	import type { MissionScenario } from '../missions/simulation'
		⋯7 linesShow the 7 lines above this hunk@@ -13,34 +13,40 @@ import { createSubseaProfile, subseaScenarios } from './subsea'
13	13	import type { SubseaScenario } from './subsea'
14	14	import { reduceSubseaInspection } from './subsea/inspection'
15	15	import { runVehicleSimulation } from './runtime'
16		-export const missionWorkspaceProfiles = ['quadcopter', 'fixed-wing', 'ground', 'surface', 'subsea'] as const
	16	+import { observeVehicleBattery } from './measurements'
	17	+import { createVtolSimulationCase, vtolSimulationPhases, vtolSimulationScenarios } from './vtol/simulation'
	18	+export const missionWorkspaceProfiles = ['quadcopter', 'fixed-wing', 'vtol', 'ground', 'surface', 'subsea'] as const
17	19	export type MissionWorkspaceProfile = typeof missionWorkspaceProfiles[number]
18		-export interface WorkspaceTask { id: string, kind: string, targetM: SensorVector | null, edges: string[], operation: string | null, containerId: string | null }
	20	+export interface WorkspaceTask { id: string, kind: string, targetM: SensorVector | null, edges: string[], operation: string | null, containerId: string | null, failureEdge?: string | null, mode?: string | null }
19	21	export interface WorkspacePayload { eventId: string, taskId: string, operation: string, containerId: string | null, evidence: 'simulated-event' | 'modeled-request', issuedAtMs: number, expiresAtMs: number | null, reference: string | null }
20	22	export interface WorkspaceAck extends VehiclePayloadAck { correlated: boolean }
21		-export interface WorkspaceRow { atMs: number, state: string, taskId: string, reason: string, positionM: SensorVector, velocityMps: SensorVector, targetM: SensorVector | null, payloadRequest: WorkspacePayload | null, payloadAck: WorkspaceAck | null }
	23	+export interface WorkspaceRow { atMs: number, state: string, taskId: string, reason: string, positionM: SensorVector, velocityMps: SensorVector, targetM: SensorVector | null, payloadRequest: WorkspacePayload | null, payloadAck: WorkspaceAck | null, vtol?: { action: string | null, request: VehicleVtolTransitionCommand | null, observation: VehicleVtolTransitionObservation | null, battery: VehicleBatteryObservation | null } }
	24	+export interface MissionWorkspaceOptions { phase?: string, electrical?: boolean }
22	25	const vector = (input: number[] | null): SensorVector | null => input ? [...input] as SensorVector : null
23	26	const vehicleProfiles = {
24	27	'fixed-wing': { create: createAirProfile, scenarios: airScenarios, assumptions: 'Fictional trainer, level runway and modeled aerodynamic coefficients. VTOL and physical airworthiness remain unqualified.' },
25	28	ground: { create: createGroundProfile, scenarios: groundScenarios, assumptions: 'Modeled tire traction, people/range coverage and guarded implements. No physical mowing or materials handling.' },
26	29	surface: { create: (scenario: string) => createSurfaceProfile(scenario as SurfaceScenario), scenarios: surfaceScenarios, assumptions: 'Level water model, single vertical beam and modeled sampling bottle. No certified bathymetry or physical sampling.' },
27	30	subsea: { create: (scenario: string) => createSubseaProfile(scenario as SubseaScenario), scenarios: subseaScenarios, assumptions: 'Pressure depth and bottom-locked DVL dead reckoning from a declared surface alignment. Relative yaw assumes initial north. GPS is absent underwater. Camera and sonar records are modeled fixtures.' },
28		-} satisfies Record<Exclude<MissionWorkspaceProfile, 'quadcopter'>, { create: (scenario: string) => VehicleProfile, scenarios: readonly string[], assumptions: string }>
	31	+} satisfies Record<Exclude<MissionWorkspaceProfile, 'quadcopter' | 'vtol'>, { create: (scenario: string) => VehicleProfile, scenarios: readonly string[], assumptions: string }>
29	32	function selected(profile: MissionWorkspaceProfile, scenario: string) {
30	33	if (!missionWorkspaceProfiles.includes(profile)) throw new RangeError('Unknown mission workspace profile')
31		- const scenarios: readonly string[] = profile === 'quadcopter' ? missionScenarios : vehicleProfiles[profile].scenarios
	34	+ const scenarios: readonly string[] = profile === 'quadcopter' ? missionScenarios : profile === 'vtol' ? vtolSimulationScenarios : vehicleProfiles[profile].scenarios
32	35	if (!scenarios.includes(scenario)) throw new RangeError('Unknown mission workspace scenario')
33	36	return scenarios
34	37	}
35		-function vehicleProfile(profile: Exclude<MissionWorkspaceProfile, 'quadcopter'>, scenario: string) { return vehicleProfiles[profile].create(scenario) }
36		-export function getMissionWorkspaceDefinition(profile: MissionWorkspaceProfile = 'quadcopter', scenario = 'nominal') {
	38	+function vehicleProfile(profile: Exclude<MissionWorkspaceProfile, 'quadcopter' | 'vtol'>, scenario: string) { return vehicleProfiles[profile].create(scenario) }
	39	+export function getMissionWorkspaceDefinition(profile: MissionWorkspaceProfile = 'quadcopter', scenario = 'nominal', options: MissionWorkspaceOptions = {}) {
37	40	const scenarios = selected(profile, scenario)
	41	+ if (profile !== 'vtol' && (options.phase !== undefined || options.electrical !== undefined)) throw new RangeError('VTOL options require the VTOL workspace profile')
38	42	if (profile === 'quadcopter') {
39	43	const plan = exampleMission(), budget = validateMission(plan)
40		- return { profile, scenario, version: 1, name: 'Owned quadcopter', planId: plan.id, scenarios: [...scenarios], frame: plan.frame, origin: { ...plan.origin }, fence: { ...plan.fence, maxDownM: 0 }, rallyM: [...plan.rallyM], budget: { worstCaseMs: budget.worstCaseMs, requiredWh: budget.requiredWh, usableWh: plan.power.availableWh * (1 - plan.power.reservePercent / 100) }, tasks: plan.tasks.map(t => ({ id: t.id, kind: t.kind, targetM: missionTaskTarget(plan, t), edges: missionEdges(t), operation: t.kind === 'payload' ? t.channel : null, containerId: null } satisfies WorkspaceTask)), assumptions: 'Flat origin plane and modeled quad landing gear. Camera events do not acquire images.' }
	44	+ return { profile, scenario, version: 1, name: 'Owned quadcopter', planId: plan.id, scenarios: [...scenarios], frame: plan.frame, origin: { ...plan.origin }, fence: { ...plan.fence, maxDownM: 0 }, rallyM: [...plan.rallyM], budget: { worstCaseMs: budget.worstCaseMs, requiredWh: budget.requiredWh, usableWh: plan.power.availableWh * (1 - plan.power.reservePercent / 100) }, tasks: plan.tasks.map((t): WorkspaceTask => ({ id: t.id, kind: t.kind, targetM: missionTaskTarget(plan, t), edges: missionEdges(t), operation: t.kind === 'payload' ? t.channel : null, containerId: null } satisfies WorkspaceTask)), assumptions: 'Flat origin plane and modeled quad landing gear. Camera events do not acquire images.' }
41	45	}
42		- const p = vehicleProfile(profile, scenario), { plan, worstCaseMs, requiredWh } = validateVehicleMission(p.mission)
43		- return { profile, scenario, version: 2, name: p.name, planId: plan.id, scenarios: [...scenarios], frame: plan.frame, origin: { ...plan.origin }, fence: { ...plan.fence }, rallyM: [...plan.rallyM], budget: { worstCaseMs, requiredWh, usableWh: plan.power.availableWh * (1 - plan.power.reservePercent / 100) }, tasks: plan.tasks.map(t => ({ id: t.id, kind: t.kind, targetM: vector(vehicleTaskTarget(plan, t)), edges: t.kind === 'branch' ? [t.then, t.otherwise] : 'next' in t && t.next ? [t.next] : [], operation: t.kind === 'payload' ? t.operation : null, containerId: t.kind === 'payload' ? t.containerId : null } satisfies WorkspaceTask)), assumptions: vehicleProfiles[profile].assumptions }
	46	+ const vtolCase = profile === 'vtol' ? createVtolSimulationCase(scenario, options) : null
	47	+ const p = vtolCase ? vtolCase.profile : vehicleProfile(profile as Exclude<MissionWorkspaceProfile, 'quadcopter' | 'vtol'>, scenario), { plan, worstCaseMs, requiredWh } = validateVehicleMission(p.mission)
	48	+ return { profile, scenario, version: 2, name: p.name, planId: plan.id, scenarios: [...scenarios], frame: plan.frame, origin: { ...plan.origin }, fence: { ...plan.fence }, rallyM: [...plan.rallyM], budget: { worstCaseMs, requiredWh, usableWh: plan.power.availableWh * (1 - plan.power.reservePercent / 100) }, tasks: plan.tasks.map((t): WorkspaceTask => ({ id: t.id, kind: t.kind, targetM: vector(vehicleTaskTarget(plan, t)), edges: t.kind === 'branch' ? [t.then, t.otherwise] : 'next' in t && t.next ? [t.next] : [], operation: t.kind === 'payload' ? t.operation : null, containerId: t.kind === 'payload' ? t.containerId : null, ...(profile === 'vtol' ? { failureEdge: t.kind === 'vtol-mode' ? t.onFailure ?? null : null, mode: t.kind === 'vtol-mode' ? t.mode : null } : {}) } satisfies WorkspaceTask)), assumptions: vtolCase ? 'Fictional lift-and-cruise model. Captured mode observations and optional battery readings are modeled evidence. No physical transition or recovery qualification.' : vehicleProfiles[profile as Exclude<MissionWorkspaceProfile, 'quadcopter' | 'vtol'>].assumptions,
	49	+ ...(vtolCase ? { vtol: { phase: vtolCase.phase, phases: vtolCase.phase ? [...vtolSimulationPhases] : [], electrical: vtolCase.electrical, seconds: vtolCase.seconds } } : {}) }
44	50	}
45	51	function request(payload: VehiclePayloadCommand): WorkspacePayload { return { eventId: payload.eventId, taskId: payload.taskId, operation: payload.operation, containerId: payload.containerId, issuedAtMs: payload.issuedAtMs, expiresAtMs: payload.expiresAtMs, reference: payload.reference, evidence: 'modeled-request' } }
46	52	function ackFor(ack: VehiclePayloadAck, seen: Map<string, WorkspacePayload>): WorkspaceAck {
		⋯2 linesShow the 2 lines above this hunk@@ -49,8 +55,8 @@ function ackFor(ack: VehiclePayloadAck, seen: Map<string, WorkspacePayload>): Wo
49	55	return { ...structuredClone(ack), correlated }
50	56	}
51	57	/** Presentation adapter only. It does not provide policy inputs, authority or physical endpoints. */
52		-export function runMissionWorkspace(profile: MissionWorkspaceProfile = 'quadcopter', scenario = 'nominal') {
53		- const definition = getMissionWorkspaceDefinition(profile, scenario), requests = new Map<string, WorkspacePayload>()
	58	+export function runMissionWorkspace(profile: MissionWorkspaceProfile = 'quadcopter', scenario = 'nominal', options: MissionWorkspaceOptions = {}) {
	59	+ const definition = getMissionWorkspaceDefinition(profile, scenario, options), requests = new Map<string, WorkspacePayload>()
54	60	if (profile === 'quadcopter') {
55	61	const r = simulateMission({ scenario: scenario as MissionScenario, seconds: 120 })
56	62	const rows: WorkspaceRow[] = r.trace.rows.map(row => {
		⋯3 linesShow the 3 lines above this hunk@@ -60,11 +66,15 @@ export function runMissionWorkspace(profile: MissionWorkspaceProfile = 'quadcopt
60	66	})
61	67	return { definition, status: r.mission.state === 'completed' ? 'completed' : r.mission.state === 'running' || r.mission.state === 'paused' ? 'duration-exhausted' : 'blocked', fault: r.mission.state === 'completed' ? null : r.mission.reason, rows, transitions: structuredClone(r.transitions), payloads: [...requests.values()], authorityState: r.authority.state, snapshotsStale: false, boardNeutral: r.board.motorsN.every(n => n === 0), boardFault: r.board.fault, physicalActuationEnabled: false as const, survey: null, inspection: null, navigationEvidence: null, minimumTimeMs: rows[0]?.atMs ?? 600, maximumTimeMs: rows.at(-1)?.atMs ?? 600 }
62	68	}
63		- const p = vehicleProfile(profile, scenario), r = runVehicleSimulation(p, { scenario, seconds: 180 })
64		- const rows: WorkspaceRow[] = r.trace.rows.map(row => {
	69	+ const vtolCase = profile === 'vtol' ? createVtolSimulationCase(scenario, options) : null
	70	+ const vtolRun = vtolCase?.run()
	71	+ const p = vtolCase ? vtolCase.profile : vehicleProfile(profile as Exclude<MissionWorkspaceProfile, 'quadcopter' | 'vtol'>, scenario), r = vtolRun ? vtolRun.result : runVehicleSimulation(p, { scenario, seconds: 180 })
	72	+ const rows: WorkspaceRow[] = r.trace.rows.map((row, index) => {
65	73	const payloadRequest = row.result.payload ? request(row.result.payload) : null
66	74	if (payloadRequest) requests.set(payloadRequest.eventId, payloadRequest)
67		- return { atMs: row.observation.nowMs, state: row.result.state, taskId: row.result.taskId, reason: row.result.reason, positionM: [...row.observation.positionM], velocityMps: [...row.observation.velocityMps], targetM: vector(row.result.targetM), payloadRequest, payloadAck: row.observation.payloadAck ? ackFor(row.observation.payloadAck, requests) : null }
	75	+ const captured = r.path[index]
	76	+ return { atMs: row.observation.nowMs, state: row.result.state, taskId: row.result.taskId, reason: row.result.reason, positionM: [...row.observation.positionM], velocityMps: [...row.observation.velocityMps], targetM: vector(row.result.targetM), payloadRequest, payloadAck: row.observation.payloadAck ? ackFor(row.observation.payloadAck, requests) : null,
	77	+ ...(vtolCase ? { vtol: { action: row.action ?? null, request: row.result.transition ? structuredClone(row.result.transition) : null, observation: row.observation.transition ? structuredClone(row.observation.transition) : null, battery: p.batteryModel && captured?.atMs === row.observation.nowMs && captured.measurement ? observeVehicleBattery(captured.measurement, p.batteryModel, row.observation.nowMs) : null } } : {}) }
68	78	})
69	79	let survey: { count: number, minimumDepthM: number, maximumDepthM: number, maximumVerticalSigmaM: number, maximumHorizontalSigmaM: number, datum: string, assumptions: string } | null = null
70	80	if (profile === 'surface' && r.path.some(row => row.measurement && row.measurementPose)) {
		⋯1 lineShow the 1 line above this hunk@@ -72,7 +82,8 @@ export function runMissionWorkspace(profile: MissionWorkspaceProfile = 'quadcopt
72	82	survey = { count: reduced.soundings.length, minimumDepthM: Math.min(...reduced.soundings.map(s => s.depthBelowDatumM)), maximumDepthM: Math.max(...reduced.soundings.map(s => s.depthBelowDatumM)), maximumVerticalSigmaM: Math.max(...reduced.soundings.map(s => s.verticalSigmaM)), maximumHorizontalSigmaM: Math.max(...reduced.soundings.map(s => s.horizontalSigmaM)), datum: reduced.metadata.verticalDatum, assumptions: 'Modeled single beam only. User-declared model sigmas: horizontal position 1 m, clock 2 ms, attitude 0.002 rad. One standard deviation, independent terms; no charting certification.' }
73	83	}
74	84	const inspection = profile === 'subsea' && rows.some(row => row.payloadAck?.operation === 'inspection-capture' && row.payloadAck.outcome === 'confirmed') ? reduceSubseaInspection(r.path, r.trace) : null
75		- return { definition, status: r.status, fault: r.fault, rows, transitions: structuredClone(r.transitions), payloads: [...requests.values()], authorityState: r.authority.state, snapshotsStale: r.status === 'host-lost', boardNeutral: r.board.actuators.every((n, i) => n === p.actuators[i]!.neutral), boardFault: r.board.fault, physicalActuationEnabled: false as const, survey, inspection, navigationEvidence: r.navigationEvidence, minimumTimeMs: rows[0]?.atMs ?? 600, maximumTimeMs: rows.at(-1)?.atMs ?? 600 }
	85	+ return { definition, status: r.status, fault: r.fault, rows, transitions: structuredClone(r.transitions), payloads: [...requests.values()], authorityState: r.authority.state, snapshotsStale: r.status === 'host-lost', boardNeutral: r.board.actuators.every((n, i) => n === p.actuators[i]!.neutral), boardFault: r.board.fault, physicalActuationEnabled: false as const, survey, inspection, navigationEvidence: r.navigationEvidence, minimumTimeMs: rows[0]?.atMs ?? 600, maximumTimeMs: rows.at(-1)?.atMs ?? 600,
	86	+ ...(vtolRun ? { vtol: { demonstrationMatched: vtolRun.report.demonstrationMatched, landingContact: vtolRun.report.landingContact, operatorEvidence: vtolRun.report.operatorEvidence ?? null, scenarioEvidence: vtolRun.report.scenarioEvidence ?? null } } : {}) }
76	87	}
77	88	export type MissionWorkspaceRecording = ReturnType<typeof runMissionWorkspace>
78	89	/** North-up route projection. Both planned goals and estimated recordings share a square metre scale. */

resources/views/missions.stxmodified+1-1

Changes to resources/views/missions.stx

		@@ -1,7 +1,7 @@
1	1	@nolayout
2	2	<!DOCTYPE html>
3	3	<html lang="en">
4		-<head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1"><meta name="description" content="Inspect owned quadcopter, fixed-wing, ground and surface missions using Stacks."><title>Mission engine / Stacks Drone</title></head>
	4	+<head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1"><meta name="description" content="Inspect owned quadcopter, fixed-wing, VTOL, ground, surface and subsea missions using Stacks."><title>Mission engine / Stacks Drone</title></head>
5	5	<body class="min-h-[100dvh] antialiased text-neutral-100 bg-neutral-950"><div class="mx-auto px-5 sm:px-8 max-w-6xl"><header class="py-6 border-b border-neutral-700"><nav aria-label="Main navigation" class="flex flex-wrap gap-6 text-sm"><a href="/">stacks / drone</a><a href="/camera">Camera tracking</a><a href="/vision">Target fusion</a><a href="/diagnostics">Diagnostics</a><a href="/missions" aria-current="page" class="text-emerald-200">Missions</a><a href="https://github.com/stacksjs/drone/issues/30">Roadmap</a></nav></header><main class="py-10 sm:py-14"><MissionWorkspace /></main></div></body>
6	6	</html>
7	7	<style>body { font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', sans-serif; }</style>

tests/tsconfig.runtime.jsonmodified+4-0

Changes to tests/tsconfig.runtime.json

		⋯74 linesShow the 74 lines above this hunk@@ -75,7 +75,11 @@
75	75	"./unit/vtol.test.ts",
76	76	"./unit/vtol-control.test.ts",
77	77	"./unit/vtol-runtime.test.ts",
	78	+ "./unit/vtol-energy.test.ts",
78	79	"./unit/vtol-cli.test.ts",
	80	+ "./unit/vtol-transition-cli.test.ts",
	81	+ "./unit/vtol-scenarios.test.ts",
	82	+ "./unit/vtol-workspace.test.ts",
79	83	"./unit/vtol-mode-mission.test.ts",
80	84	"./unit/vtol-transition.test.ts",
81	85	"./unit/ground.test.ts",

tests/unit/vtol-cli.test.tsmodified+33-0

Changes to tests/unit/vtol-cli.test.ts

		@@ -1,6 +1,19 @@
1	1	import { expect, test } from 'bun:test'
2	2	import { command } from '@stacksjs/testing'
3	3
	4	+test('CI runs every standalone VTOL qualification outside the checkout', async () => {
	5	+ const workflow = Bun.YAML.parse(await Bun.file(new URL('../../.github/workflows/ci.yml', import.meta.url)).text()) as {
	6	+ jobs: { check: { steps: { run?: string, 'working-directory'?: string }[] } }
	7	+ }
	8	+ const steps = workflow.jobs.check.steps.filter(step => step.run?.startsWith('$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:hover'))
	9	+ expect(steps.map(step => ({ command: step.run, directory: step['working-directory'] }))).toEqual([
	10	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:hover', directory: '$' },
	11	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:hover --scenario host-loss', directory: '$' },
	12	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:hover --electrical', directory: '$' },
	13	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:hover --scenario host-loss --electrical', directory: '$' },
	14	+ ])
	15	+})
	16	+
4	17	test('native VTOL hover command preserves nominal and lost-host outcomes with explicit development scope', async () => {
5	18	for (const [scenario, status] of [['hover', 'completed'], ['host-loss', 'host-lost']]) {
6	19	const result = await command(['vtol:hover', '--scenario', scenario!]).withTimeout(60000)
		⋯22 linesShow the 22 lines above this hunk@@ -29,3 +42,23 @@ test('native VTOL command rejects unknown scenarios and preserves insufficient-d
29	42	expect(report.mission.state).toBe('running')
30	43	expect(report.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
31	44	}, 180000)
	45	+
	46	+test('native VTOL electrical option preserves hover and host-loss scope with measured battery evidence', async () => {
	47	+ for (const scenario of ['hover', 'host-loss']) {
	48	+ const result = await command(['vtol:hover', '--scenario', scenario, '--electrical']).withTimeout(60000)
	49	+ expect(result.exitCode).toBe(0)
	50	+ const report = JSON.parse(result.stdout)
	51	+ expect(report.demonstrationMatched).toBe(true)
	52	+ expect(report.energy.evidence).toBe('modeled-vehicle-battery-v1')
	53	+ expect(report.energy.model).toEqual({ evidence: 'modeled-vehicle-battery-v1', capacityWh: 50, maximumSourceW: 1061 })
	54	+ expect(report.energy.lastObservation.energyUsedWh).toBeGreaterThan(0)
	55	+ expect(report.energy.lastObservation.capturedAtMs).toBeLessThan(report.energy.lastObservation.observedAtMs)
	56	+ expect(report.scope).toBe('development-hover-only')
	57	+ expect(report.physicalFlightEnabled).toBe(false)
	58	+ expect(report.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
	59	+ if (scenario === 'host-loss') {
	60	+ expect(report.energy.lastObservation.observedAtMs).toBe(2980)
	61	+ expect(report.board.fault).toBe('output-lease-expired')
	62	+ }
	63	+ }
	64	+}, 180000)

tests/unit/vtol-energy.test.tsadded+342-0

Changes to tests/unit/vtol-energy.test.ts

		@@ -0,0 +1,342 @@
	1	+import { expect, test } from 'bun:test'
	2	+import { createVtolPlant } from '../../resources/functions/drone/vehicles/vtol/plant'
	3	+import { createVtolHoverProfile } from '../../resources/functions/drone/vehicles/vtol'
	4	+import { createVtolTransitionProfile } from '../../resources/functions/drone/vehicles/vtol/transition-profile'
	5	+import { runVehicleSimulation } from '../../resources/functions/drone/vehicles/runtime'
	6	+import { replayVehicleMission, validateVehicleMission } from '../../resources/functions/drone/missions/vehicle'
	7	+import { vtolElectricalMaximumW } from '../../resources/functions/drone/vehicles/vtol/power'
	8	+import type { VehicleControllerContext } from '../../resources/functions/drone/vehicles/types'
	9	+
	10	+const environment = { windMps: [0, 0, 0] as [number, number, number], currentMps: [0, 0, 0] as [number, number, number] }
	11	+
	12	+// Public plant/sensor/runtime seams. Fictional electrical coefficients do not qualify hardware endurance.
	13	+test('simultaneous lift and pusher demand includes source loss and integrates chemical energy', () => {
	14	+ const plant = createVtolPlant({ electricalCapacityWh: 1, rotorsN: [4, 4, 4, 4], pusherThrustN: 4 })
	15	+ const initial = plant.snapshot().details
	16	+ // Independent decimal oracle: 128 W lift + 40 W pusher + 12 W auxiliaries,
	17	+ // 24 V source and 0.04 ohm series resistance. Source power includes I squared R.
	18	+ expect(initial.batteryLoadPowerW).toBeCloseTo(180, 10)
	19	+ expect(initial.batteryCurrentA).toBeCloseTo(7.596169655731083, 10)
	20	+ expect(initial.batteryTerminalV).toBeCloseTo(23.696153213770757, 10)
	21	+ expect(initial.batterySourcePowerW).toBeCloseTo(182.308071737546, 10)
	22	+ expect(initial.batteryEnergyUsedWh).toBe(0)
	23	+ const state = plant.step([4, 4, 4, 4, 4 / 14, 0, 0, 0], 0.004, environment)
	24	+ expect(state.details.batteryEnergyUsedWh).toBeCloseTo(0.00020256452415282887, 12)
	25	+ expect(state.details.batteryRemainingWh).toBeCloseTo(0.9997974354758472, 12)
	26	+ expect(state.details.batteryCutoff).toBe(false)
	27	+})
	28	+
	29	+test('electrical demand retains independent rotor loading instead of using only total thrust', () => {
	30	+ const level = createVtolPlant({ electricalCapacityWh: 1, rotorsN: [4, 4, 4, 4] }).snapshot()
	31	+ const unequal = createVtolPlant({ electricalCapacityWh: 1, rotorsN: [8, 8, 0, 0] }).snapshot()
	32	+ expect(level.details.rotorThrustN).toBe(16)
	33	+ expect(unequal.details.rotorThrustN).toBe(16)
	34	+ expect(level.details.batteryLoadPowerW).toBeCloseTo(140, 10)
	35	+ expect(unequal.details.batteryLoadPowerW).toBeGreaterThan(190)
	36	+ expect(unequal.details.batterySourcePowerW).toBeGreaterThan(level.details.batterySourcePowerW as number)
	37	+})
	38	+
	39	+test('invalid initial electrical state cannot silently become an unmetered plant', () => {
	40	+ for (const electricalCapacityWh of [null, 0, -1, NaN, Infinity]) expect(() => createVtolPlant({ electricalCapacityWh } as never)).toThrow()
	41	+ for (const energyUsedWh of [-1, 2, NaN, Infinity]) expect(() => createVtolPlant({ electricalCapacityWh: 1, energyUsedWh } as never)).toThrow()
	42	+ expect(() => createVtolPlant({ energyUsedWh: 0 } as never)).toThrow()
	43	+})
	44	+
	45	+test('the simultaneous electrical ceiling includes every motor, surface and worst supply loss', () => {
	46	+ // Independent decimal oracle: peak load 948.023527181 W, source 1060.486739686 W at20V.
	47	+ expect(vtolElectricalMaximumW(12, 14)).toBe(1061)
	48	+ const plant = createVtolPlant({ electricalCapacityWh: 1, energyUsedWh: 0.99, rotorsN: [12, 12, 12, 12], pusherThrustN: 14 })
	49	+ const state = plant.step([12, 12, 12, 12, 1, 0.4, 0.4, 0.4], 0.004, environment)
	50	+ expect(state.details.batteryCutoff).toBe(false)
	51	+ expect(state.details.batteryLoadPowerW).toBeCloseTo(948.0235271806248, 8)
	52	+ expect(state.details.batterySourcePowerW).toBeGreaterThan(1050)
	53	+ expect(state.details.batterySourcePowerW).toBeLessThan(1061)
	54	+})
	55	+
	56	+test('an electrical profile refuses an underfunded peak before creating a vehicle session', () => {
	57	+ const profile = createVtolTransitionProfile({ electrical: true })
	58	+ profile.mission.power.maxW = 1000
	59	+ let created = 0
	60	+ const factory = profile.createSession
	61	+ profile.createSession = () => { created++; return factory() }
	62	+ expect(() => { runVehicleSimulation(profile, { seconds: 2 }) }).toThrow('modeled source envelope')
	63	+ expect(created).toBe(0)
	64	+})
	65	+
	66	+test('mission capacity must match the captured electrical plant before session allocation', () => {
	67	+ const profile = createVtolTransitionProfile({ electrical: true })
	68	+ profile.mission.power.availableWh = 101
	69	+ let created = 0
	70	+ const factory = profile.createSession
	71	+ profile.createSession = () => { created++; return factory() }
	72	+ expect(() => { runVehicleSimulation(profile, { seconds: 2 }) }).toThrow('modeled battery capacity')
	73	+ expect(created).toBe(0)
	74	+})
	75	+
	76	+test('owned hover delivers delayed quantified energy to existing authority and mission observations', () => {
	77	+ const report = runVehicleSimulation(createVtolHoverProfile('hover', { electrical: true }), { seconds: 60 })
	78	+ expect(report.status).toBe('completed')
	79	+ expect(report).toHaveProperty('energy.evidence', 'modeled-vehicle-battery-v1')
	80	+ const first = report.path[0]!.measurement!
	81	+ expect(first.values.batteryCapacityWh).toBe(50)
	82	+ const last = report.path.at(-1)!.measurement!
	83	+ expect(last.values.batteryEnergyUsedWh).toBeGreaterThan(0)
	84	+ expect(last.values.batteryEnergyUsedWh).toBeLessThan(10)
	85	+ expect(last.capturedAtMs).toBeLessThan(report.path.at(-1)!.atMs)
	86	+ expect(report.trace.rows.at(-1)!.observation.batteryPercent).toBeGreaterThan(80)
	87	+ expect(replayVehicleMission(report.trace).snapshot()).toEqual(report.mission)
	88	+ expect(report.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
	89	+})
	90	+
	91	+test('a captured supply cutoff withdraws authority even when chemical capacity remains', () => {
	92	+ const profile = createVtolHoverProfile('hover', { electrical: true }), factory = profile.createSession
	93	+ profile.createSession = () => {
	94	+ const session = factory(), render = session.renderMeasurement
	95	+ return { ...session, renderMeasurement(state, atMs, reference) {
	96	+ const packet = render(state, atMs, reference)
	97	+ if (atMs >= 3000) packet.values.batteryCutoff = true
	98	+ return packet
	99	+ } }
	100	+ }
	101	+ const report = runVehicleSimulation(profile, { seconds: 60 })
	102	+ expect(report.status).toBe('blocked')
	103	+ expect(report.fault).toBe('modeled-battery-supply-cutoff')
	104	+ expect(report.energy!.lastObservation!.cutoff).toBe(true)
	105	+ expect(report.energy!.lastObservation!.remainingPercentLowerBound).toBeGreaterThan(90)
	106	+ expect(report.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
	107	+ expect(report.board.expiresAtMs).toBeNull()
	108	+})
	109	+
	110	+test('electrical integration remains atomic when the rigid-body step is refused', () => {
	111	+ const initial = { electricalCapacityWh: 1, positionM: [0, 0, -20] as [number, number, number], rotorsN: [4, 4, 4, 4] as [number, number, number, number], pusherThrustN: 4 }
	112	+ const plant = createVtolPlant(initial), reference = createVtolPlant(initial), before = plant.snapshot(), command = [4, 4, 4, 4, 4 / 14, 0, 0, 0]
	113	+ expect(() => plant.step(command, 0.004, { windMps: [1000000, 1000000, 0], currentMps: [0, 0, 0] })).toThrow()
	114	+ expect(plant.snapshot()).toEqual(before)
	115	+ expect(plant.step(command, 0.004, environment)).toEqual(reference.step(command, 0.004, environment))
	116	+})
	117	+
	118	+test('an exhausted modeled source latches propulsion cutoff while retained rotor response coasts', () => {
	119	+ const plant = createVtolPlant({ electricalCapacityWh: 0.0001, rotorsN: [4, 4, 4, 4] }), demand = [12, 12, 12, 12, 1, 0.4, 0.4, 0.4]
	120	+ const first = plant.step(demand, 0.004, environment)
	121	+ expect(first.details.batteryCutoff).toBe(true)
	122	+ expect(first.details.rotorThrustN).toBeGreaterThan(0)
	123	+ expect(first.details.rotorThrustN).toBeLessThan(16)
	124	+ expect(first.details.pusherThrustN).toBe(0)
	125	+ let final = first
	126	+ for (let i = 0; i < 400; i++) final = plant.step(demand, 0.004, environment)
	127	+ expect(final.details.batteryEnergyUsedWh).toBe(0.0001)
	128	+ expect(final.details.batteryRemainingWh).toBe(0)
	129	+ expect(final.details.batterySourcePowerW).toBe(0)
	130	+ expect(final.details.batteryCurrentA).toBe(0)
	131	+ expect(final.details.batteryCutoff).toBe(true)
	132	+ expect(final.details.rotorThrustN).toBeLessThan(1e-8)
	133	+ expect(final.details.pusherThrustN).toBe(0)
	134	+})
	135	+
	136	+test('default and explicitly disabled electrical profiles retain exact legacy reports', () => {
	137	+ const legacy = runVehicleSimulation(createVtolHoverProfile(), { seconds: 30 })
	138	+ const disabled = runVehicleSimulation(createVtolHoverProfile('hover', { electrical: false }), { seconds: 30 })
	139	+ expect(disabled).toEqual(legacy)
	140	+ expect(Object.hasOwn(legacy, 'energy')).toBe(false)
	141	+ expect(legacy.path.every(row => !Object.hasOwn(row.measurement!.values, 'batteryEnergyUsedWh'))).toBe(true)
	142	+})
	143	+
	144	+test('the complete electrical route charges all phases without feeding plant truth into controls', () => {
	145	+ const profile = createVtolTransitionProfile({ electrical: true }), factory = profile.createSession
	146	+ let truthInput = false, controllerSamples = 0
	147	+ profile.createSession = () => {
	148	+ const session = factory(), controller = session.createController()
	149	+ return { ...session, createController: () => ({ step(context: VehicleControllerContext) {
	150	+ controllerSamples++
	151	+ if (Object.hasOwn(context, 'truthPositionM') || Object.hasOwn(context, 'details') || Object.hasOwn(context, 'energyUsedWh')) truthInput = true
	152	+ return controller.step(context)
	153	+ } }) }
	154	+ }
	155	+ const report = runVehicleSimulation(profile, { seconds: 150 })
	156	+ expect(report.status).toBe('completed')
	157	+ expect(controllerSamples).toBeGreaterThan(100)
	158	+ expect(truthInput).toBe(false)
	159	+ const rows = report.path.map(row => ({ row, used: row.measurement!.values.batteryEnergyUsedWh as number, source: row.measurement!.values.batterySourcePowerW as number }))
	160	+ expect(rows.every((r, i) => i === 0 || r.used >= rows[i - 1]!.used)).toBe(true)
	161	+ expect(rows.every(r => r.source <= 1061)).toBe(true)
	162	+ for (const task of ['depart', 'front', 'cruise-leg', 'back', 'land']) {
	163	+ const phase = rows.filter(r => r.row.mission.taskId === task)
	164	+ expect(phase.length).toBeGreaterThan(10)
	165	+ expect(phase.at(-1)!.used).toBeGreaterThan(phase[0]!.used)
	166	+ }
	167	+ const front = rows.filter(r => r.row.mission.taskId === 'front')
	168	+ // Independent lower bound: four rotors totaling10N require at least63.245553W,
	169	+ // a5N pusher55.901699W, and auxiliaries12W, before supply losses.
	170	+ expect(front.some(r => r.source > 131.147 && (r.row.measurement!.values.rotorThrustN as number) > 10 && (r.row.measurement!.values.pusherThrustN as number) > 5)).toBe(true)
	171	+ expect(report.budget).toEqual({ worstCaseMs: 131520, requiredWh: 43.84 })
	172	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeGreaterThan(0)
	173	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeLessThan(report.budget.requiredWh)
	174	+ expect(replayVehicleMission(report.trace).snapshot()).toEqual(report.mission)
	175	+})
	176	+
	177	+for (const mutation of ['missing-energy', 'changed-capacity', 'energy-reset', 'over-envelope', 'impossible-current', 'reserve'] as const) test(`captured electrical ${mutation} revokes rather than substituting a full battery`, () => {
	178	+ const profile = createVtolHoverProfile('hover', { electrical: true }), factory = profile.createSession
	179	+ profile.createSession = () => {
	180	+ const session = factory(), render = session.renderMeasurement
	181	+ return { ...session, renderMeasurement(state, atMs, reference) {
	182	+ const packet = render(state, atMs, reference)
	183	+ if (atMs >= 3000) {
	184	+ if (mutation === 'missing-energy') delete packet.values.batteryEnergyUsedWh
	185	+ if (mutation === 'changed-capacity') packet.values.batteryCapacityWh = 100
	186	+ if (mutation === 'energy-reset') packet.values.batteryEnergyUsedWh = 0
	187	+ if (mutation === 'over-envelope') packet.values.batterySourcePowerW = 1062
	188	+ if (mutation === 'impossible-current') packet.values.batteryCurrentA = 100
	189	+ if (mutation === 'reserve') packet.values.batteryEnergyUsedWh = 35
	190	+ }
	191	+ return packet
	192	+ } }
	193	+ }
	194	+ const report = runVehicleSimulation(profile, { seconds: 30 })
	195	+ expect(report.status).toBe('blocked')
	196	+ expect(report.path.at(-1)!.atMs).toBeLessThanOrEqual(3200)
	197	+ expect(report.fault).toContain('battery')
	198	+ expect(report.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
	199	+ expect(report.board.expiresAtMs).toBeNull()
	200	+ expect(replayVehicleMission(report.trace).snapshot()).toEqual(report.mission)
	201	+})
	202	+
	203	+test('host loss keeps the last qualified battery separate from continuing independent consumption', () => {
	204	+ const profile = createVtolHoverProfile('host-loss', { electrical: true }), factory = profile.createSession
	205	+ let independentEnergyWh = 0, independentAtMs = 0
	206	+ profile.createSession = () => {
	207	+ const session = factory()
	208	+ return { ...session, observeIndependent(state, atMs) { independentEnergyWh = state.details.batteryEnergyUsedWh as number; independentAtMs = atMs } }
	209	+ }
	210	+ const report = runVehicleSimulation(profile, { seconds: 30, neutralTailMs: 1000 })
	211	+ expect(report.status).toBe('host-lost')
	212	+ expect(report.energy!.lastObservation!.observedAtMs).toBe(2980)
	213	+ expect(report.energy!.lastObservation!.capturedAtMs).toBeLessThan(2980)
	214	+ expect(independentAtMs).toBe(4100)
	215	+ expect(independentEnergyWh).toBeGreaterThan(report.energy!.lastObservation!.energyUsedWh)
	216	+ expect(report.board.fault).toBe('output-lease-expired')
	217	+ expect(report.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
	218	+})
	219	+
	220	+test('modeled energy keeps advancing while an actual hover mission is paused', () => {
	221	+ const report = runVehicleSimulation(createVtolHoverProfile('hover', { electrical: true }), { seconds: 60, missionActions: [{ atMs: 3000, action: 'pause' }, { atMs: 10000, action: 'resume' }] })
	222	+ expect(report.status).toBe('completed')
	223	+ const paused = report.path.filter(row => row.mission.state === 'paused')
	224	+ expect(paused.length).toBeGreaterThan(100)
	225	+ expect(paused.at(-1)!.measurement!.values.batteryEnergyUsedWh).toBeGreaterThan(paused[0]!.measurement!.values.batteryEnergyUsedWh as number)
	226	+ expect(paused.at(-1)!.mission.taskId).toBe(paused[0]!.mission.taskId)
	227	+ expect(replayVehicleMission(report.trace).snapshot()).toEqual(report.mission)
	228	+})
	229	+
	230	+function electricalRecovery(sourceId: 'initial-hover' | 'front' | 'back') {
	231	+ const profile = createVtolTransitionProfile({ electrical: true }), source = profile.mission.tasks.find(task => task.id === sourceId)!
	232	+ if (source.kind !== 'vtol-mode') throw new Error('Expected mode task')
	233	+ source.onFailure = 'energy-hover'
	234	+ profile.mission.tasks.push(
	235	+ { id: 'energy-hover', kind: 'vtol-mode', mode: 'hover', headingRad: 0, timeoutMs: sourceId === 'back' ? 40000 : 45000, next: 'energy-land' },
	236	+ { id: 'energy-land', kind: 'land', positionM: [sourceId === 'back' ? 180 : 0, 0, 0], acceptanceM: 0.3, maxArrivalSpeedMps: 0.2, settleMs: 200, timeoutMs: sourceId === 'back' ? 30000 : 35000 },
	237	+ )
	238	+ return profile
	239	+}
	240	+
	241	+// Front failure is116520ms, below the131520ms normal route. Back failure is176520ms.
	242	+for (const [source, atMs, expectedMs, expectedWh] of [['initial-hover', 700, 131520, 43.84], ['front', 13000, 131520, 43.84], ['back', 30000, 176520, 58.84]] as const) test(`electrical ${source} abort accounts for the complete declared hover and landing route`, () => {
	243	+ const report = runVehicleSimulation(electricalRecovery(source), { seconds: 180, missionActions: [{ atMs, action: 'abort' }] })
	244	+ expect(report.mission.state).toBe('aborted')
	245	+ expect(report.mission.reason).toBe('vtol-abort-landed')
	246	+ expect(report.budget.worstCaseMs).toBe(expectedMs)
	247	+ expect(report.budget.requiredWh).toBeCloseTo(expectedWh, 10)
	248	+ expect(report.energy!.model.maximumSourceW).toBe(1061)
	249	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeGreaterThan(0)
	250	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeLessThan(expectedWh)
	251	+ expect(report.path.at(-1)!.measurement!.values.onSurface).toBe(true)
	252	+ expect(report.finalTruthPositionM[2]).toBe(0)
	253	+ expect(report.path.filter(row => row.mission.taskId === 'energy-land').some(row => (row.measurement!.values.batteryEnergyUsedWh as number) > 0)).toBe(true)
	254	+ expect(replayVehicleMission(report.trace).snapshot()).toEqual(report.mission)
	255	+})
	256	+
	257	+test('energy preflight includes recovery landing even when the nominal route alone is affordable', () => {
	258	+ const normal = createVtolTransitionProfile({ electrical: true })
	259	+ normal.mission.power.reservePercent = 50
	260	+ expect(validateVehicleMission(normal.mission).requiredWh).toBe(43.84)
	261	+ const profile = electricalRecovery('back')
	262	+ profile.mission.power.reservePercent = 50
	263	+ let created = 0
	264	+ const factory = profile.createSession
	265	+ profile.createSession = () => { created++; return factory() }
	266	+ expect(() => { runVehicleSimulation(profile, { seconds: 180 }) }).toThrow('preserve energy reserve')
	267	+ expect(created).toBe(0)
	268	+})
	269	+
	270	+test('malformed battery envelopes and accessors are refused before session creation', () => {
	271	+ let getterCalls = 0
	272	+ const accessor = { evidence: 'modeled-vehicle-battery-v1', get capacityWh() { getterCalls++; return 100 }, maximumSourceW: 1061 }
	273	+ for (const input of [null, {}, [], accessor, { evidence: 'physical', capacityWh: 100, maximumSourceW: 1061 }, { evidence: 'modeled-vehicle-battery-v1', capacityWh: '100', maximumSourceW: 1061 }, { evidence: 'modeled-vehicle-battery-v1', capacityWh: 100, maximumSourceW: Infinity }, { evidence: 'modeled-vehicle-battery-v1', capacityWh: 100, maximumSourceW: 0 }, { evidence: 'modeled-vehicle-battery-v1', capacityWh: 100, maximumSourceW: 1061, extra: true }]) {
	274	+ const profile = createVtolTransitionProfile({ electrical: true }), factory = profile.createSession
	275	+ let created = 0
	276	+ profile.batteryModel = input as never
	277	+ profile.createSession = () => { created++; return factory() }
	278	+ expect(() => { runVehicleSimulation(profile, { seconds: 2 }) }).toThrow('modeled vehicle battery envelope')
	279	+ expect(created).toBe(0)
	280	+ }
	281	+ expect(getterCalls).toBe(0)
	282	+})
	283	+
	284	+test('electrical sessions and returned energy views cannot mutate another run', () => {
	285	+ const profile = createVtolHoverProfile('hover', { electrical: true }), first = profile.createSession().createPlant(), second = profile.createSession().createPlant()
	286	+ const before = second.snapshot()
	287	+ first.step([6, 6, 6, 6, 0, 0, 0, 0], 0.004, environment)
	288	+ expect(first.snapshot().details.batteryEnergyUsedWh).toBeGreaterThan(0)
	289	+ expect(second.snapshot()).toEqual(before)
	290	+ const exposed = first.snapshot()
	291	+ exposed.details.batteryEnergyUsedWh = -100
	292	+ expect(first.snapshot().details.batteryEnergyUsedWh).toBeGreaterThan(0)
	293	+ expect(() => { profile.batteryModel!.capacityWh = 1 }).toThrow()
	294	+})
	295	+
	296	+test('recovery hover and landing retain measured consumption across an explicit held resume', () => {
	297	+ const report = runVehicleSimulation(electricalRecovery('back'), { seconds: 180, missionActions: [{ atMs: 30000, action: 'recover' }, { atMs: 80000, action: 'resume' }] })
	298	+ expect(report.mission.state).toBe('completed')
	299	+ expect(report.mission.reason).toBe('vtol-recovery-landed')
	300	+ const held = report.path.filter(row => row.mission.state === 'paused')
	301	+ expect(held.length).toBeGreaterThan(100)
	302	+ expect(held.at(-1)!.measurement!.values.batteryEnergyUsedWh).toBeGreaterThan(held[0]!.measurement!.values.batteryEnergyUsedWh as number)
	303	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeGreaterThan(held.at(-1)!.measurement!.values.batteryEnergyUsedWh as number)
	304	+ expect(report.finalTruthPositionM[2]).toBe(0)
	305	+ expect(replayVehicleMission(report.trace).snapshot()).toEqual(report.mission)
	306	+})
	307	+
	308	+test('electrical recovery holds cannot pause global endurance or claim a landing on expiry', () => {
	309	+ const report = runVehicleSimulation(electricalRecovery('back'), { seconds: 180, missionActions: [{ atMs: 30000, action: 'pause' }] })
	310	+ expect(report.mission.state).toBe('blocked')
	311	+ expect(report.mission.reason).toBe('mission-endurance-exhausted')
	312	+ expect(report.path.at(-1)!.measurement!.values.onSurface).toBe(false)
	313	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeGreaterThan(1)
	314	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeLessThan(report.budget.requiredWh)
	315	+ expect(report.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
	316	+ expect(replayVehicleMission(report.trace).snapshot()).toEqual(report.mission)
	317	+})
	318	+
	319	+test('an open-circuit modeled pusher times out into electrically accounted hover and landing', () => {
	320	+ const profile = electricalRecovery('front'), factory = profile.createSession
	321	+ profile.createSession = () => {
	322	+ const session = factory(), createPlant = session.createPlant
	323	+ return { ...session, createPlant() {
	324	+ const plant = createPlant()
	325	+ return { snapshot: plant.snapshot, step(input, dtS, world) {
	326	+ const commanded = [...input]
	327	+ commanded[4] = 0
	328	+ return plant.step(commanded, dtS, world)
	329	+ } }
	330	+ } }
	331	+ }
	332	+ const report = runVehicleSimulation(profile, { seconds: 150 })
	333	+ expect(report.mission.state).toBe('completed')
	334	+ expect(report.mission.reason).toBe('vtol-recovery-landed')
	335	+ expect(report.mission.recovery!.cause).toBe('timeout')
	336	+ expect(report.path.some(row => row.mission.taskId === 'cruise-leg')).toBe(false)
	337	+ expect(report.path.every(row => row.measurement!.values.pusherThrustN === 0)).toBe(true)
	338	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeGreaterThan(0)
	339	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeLessThan(report.budget.requiredWh)
	340	+ expect(report.finalTruthPositionM[2]).toBe(0)
	341	+ expect(replayVehicleMission(report.trace).snapshot()).toEqual(report.mission)
	342	+})

tests/unit/vtol-scenarios.test.tsadded+153-0

Changes to tests/unit/vtol-scenarios.test.ts

		@@ -0,0 +1,153 @@
	1	+import { expect, test } from 'bun:test'
	2	+import { runVtolSimulation } from '../../resources/functions/drone/vehicles/vtol/simulation'
	3	+
	4	+test('VTOL front IMU loss reports an observed source failure without claiming landing', () => {
	5	+ const report = runVtolSimulation('imu-loss', { electrical: true })
	6	+ expect(report.status).toBe('blocked')
	7	+ expect(report.demonstrationMatched).toBe(true)
	8	+ expect(report.scenarioEvidence).toMatchObject({ phase: 'front', injectedAtMs: 13000, taskId: 'front', faultObserved: true })
	9	+ expect(report.mission.state).toBe('blocked')
	10	+ expect(report.landingContact).toBe(false)
	11	+ expect(report.boardNeutral).toBe(true)
	12	+ expect(report.physicalFlightEnabled).toBe(false)
	13	+})
	14	+
	15	+for (const electrical of [false, true]) for (const [phase, atMs, taskId] of [['front', 13000, 'front'], ['cruise', 20000, 'cruise-leg'], ['back', 30000, 'back'], ['landing', 68000, 'land']] as const) {
	16	+ for (const scenario of ['host-loss', 'imu-loss', 'position-loss', 'vehicle-sensor-loss', 'rc-override', 'kill']) test(`${phase} ${scenario} binds the actual loss with electrical=${electrical}`, () => {
	17	+ const report = runVtolSimulation(scenario, { phase, electrical })
	18	+ expect(report.status).toBe(scenario === 'host-loss' ? 'host-lost' : 'blocked')
	19	+ expect(report.scenarioEvidence).toMatchObject({ phase, injectedAtMs: atMs, taskId, faultObserved: true })
	20	+ expect(report.demonstrationMatched).toBe(true)
	21	+ expect(report.mission.state).not.toBe('completed')
	22	+ expect(report.landingContact).toBe(false)
	23	+ expect(report.observedFlight).toBe(true)
	24	+ expect(report.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
	25	+ expect(report.board.expiresAtMs).toBeNull()
	26	+ expect(report.physicalFlightEnabled).toBe(false)
	27	+ if (electrical) expect(report.energy!.lastObservation!.energyUsedWh).toBeGreaterThan(0)
	28	+ if (scenario === 'host-loss') {
	29	+ expect(report.authority.lastCheckedAtMs).toBe(atMs - 20)
	30	+ expect(report.board.fault).toBe('output-lease-expired')
	31	+ expect(report.board.lastCheckedAtMs).toBeGreaterThanOrEqual(atMs + 100)
	32	+ }
	33	+ else {
	34	+ expect(report.mission.state).toBe('blocked')
	35	+ expect(report.scenarioEvidence!.sources!.atMs).toBeGreaterThanOrEqual(atMs)
	36	+ expect(report.scenarioEvidence!.sources!.atMs).toBeLessThanOrEqual(atMs + 500)
	37	+ }
	38	+ if (scenario === 'rc-override') expect(report.authority.events.some(event => event.to === 'manual')).toBe(true)
	39	+ if (scenario === 'kill') expect(report.authority.state).toBe('killed')
	40	+ })
	41	+}
	42	+
	43	+test('unknown or inapplicable selectors and pre-onset duration cannot qualify a fault case', () => {
	44	+ expect(() => runVtolSimulation('foreign')).toThrow('Unknown VTOL simulation scenario')
	45	+ expect(() => runVtolSimulation('host-loss', { phase: 'foreign' })).toThrow('Unknown VTOL simulation phase')
	46	+ expect(() => runVtolSimulation('host-loss', { phase: null } as never)).toThrow('Unknown VTOL simulation phase')
	47	+ expect(() => runVtolSimulation('nominal', { phase: 'back' })).toThrow('requires a fault scenario')
	48	+ for (const scenario of ['host-loss', 'imu-loss', 'position-loss', 'vehicle-sensor-loss', 'rc-override', 'kill']) {
	49	+ const report = runVtolSimulation(scenario, { seconds: 2 })
	50	+ expect(report.status).toBe('duration-exhausted')
	51	+ expect(report.scenarioEvidence).toMatchObject({ taskId: null, faultObserved: false })
	52	+ expect(report.demonstrationMatched).toBe(false)
	53	+ }
	54	+})
	55	+
	56	+test('cruise pause and resume require both observed operator actions and the full route', () => {
	57	+ const report = runVtolSimulation('cruise-pause-resume', { electrical: true })
	58	+ expect(report.status).toBe('completed')
	59	+ expect(report.demonstrationMatched).toBe(true)
	60	+ expect(report.completeTransitions).toBe(true)
	61	+ expect(report.operatorEvidence).toMatchObject({ matched: true, observedPaused: true, actions: [{ atMs: 20000, action: 'pause' }, { atMs: 40000, action: 'resume' }] })
	62	+ expect(report.operatorEvidence!.tasksBeforeActions).toEqual([{ atMs: 20000, taskId: 'cruise-leg', state: 'running' }, { atMs: 40000, taskId: 'cruise-leg', state: 'paused' }])
	63	+ expect(report.operatorEvidence!.phaseMatched).toBe(true)
	64	+ expect(report.mission.reason).toBe('landed')
	65	+ expect(report.landingContact).toBe(true)
	66	+ expect(report.boardNeutral).toBe(true)
	67	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeGreaterThan(0)
	68	+})
	69	+
	70	+test('front abort requires declared recovery, correlated hover and contact with an aborted outcome', () => {
	71	+ const report = runVtolSimulation('front-abort', { electrical: true })
	72	+ expect(report.status).toBe('blocked')
	73	+ expect(report.mission.state).toBe('aborted')
	74	+ expect(report.mission.reason).toBe('vtol-abort-landed')
	75	+ expect(report.demonstrationMatched).toBe(true)
	76	+ expect(report.completeTransitions).toBe(false)
	77	+ expect(report.transitionEvidence.map(row => row.taskId)).toEqual(['initial-hover', 'recover-hover'])
	78	+ expect(report.operatorEvidence).toMatchObject({ matched: true, actions: [{ atMs: 13000, action: 'abort' }], recoveryCorrelated: true })
	79	+ expect(report.mission.recovery).toMatchObject({ failedTaskId: 'front', cause: 'operator-abort', triggeredAtMs: 13000 })
	80	+ expect(report.landingContact).toBe(true)
	81	+ expect(report.boardNeutral).toBe(true)
	82	+})
	83	+
	84	+test('back recovery holds qualified hover until explicit resume and preserves its complete budget', () => {
	85	+ const report = runVtolSimulation('back-recover-resume', { seconds: 180, electrical: true })
	86	+ expect(report.demonstrationMatched).toBe(true)
	87	+ expect(report.mission.state).toBe('completed')
	88	+ expect(report.mission.reason).toBe('vtol-recovery-landed')
	89	+ expect(report.mission.recovery).toMatchObject({ failedTaskId: 'back', cause: 'operator-recover', triggeredAtMs: 30000 })
	90	+ expect(report.operatorEvidence).toMatchObject({ actions: [{ atMs: 30000, action: 'recover' }, { atMs: 80000, action: 'resume' }], observedPaused: true, recoveryCorrelated: true, matched: true })
	91	+ expect(report.budget.worstCaseMs).toBe(176520)
	92	+ expect(report.budget.requiredWh).toBeCloseTo(58.84, 8)
	93	+ expect(report.landingContact).toBe(true)
	94	+ expect(report.boardNeutral).toBe(true)
	95	+})
	96	+
	97	+test('the open-circuit pusher case confirms timeout recovery without inventing cruise or retry', () => {
	98	+ const report = runVtolSimulation('pusher-open-circuit', { electrical: true })
	99	+ expect(report.status).toBe('completed')
	100	+ expect(report.mission.reason).toBe('vtol-recovery-landed')
	101	+ expect(report.mission.recovery?.cause).toBe('timeout')
	102	+ expect(report.demonstrationMatched).toBe(true)
	103	+ expect(report.completeTransitions).toBe(false)
	104	+ expect(report.transitionEvidence.map(row => row.taskId)).toEqual(['initial-hover', 'recover-hover'])
	105	+ expect(report.operatorEvidence).toMatchObject({ actions: [], recoveryCorrelated: true, pusherOpenCircuitObserved: true, matched: true })
	106	+ expect(report.landingContact).toBe(true)
	107	+ expect(report.energy!.lastObservation!.energyUsedWh).toBeGreaterThan(0)
	108	+})
	109	+
	110	+test('unresumed recovery reaches the global endurance limit without a landing claim', () => {
	111	+ const report = runVtolSimulation('back-recovery-hold', { electrical: true })
	112	+ expect(report.status).toBe('blocked')
	113	+ expect(report.mission.reason).toBe('mission-endurance-exhausted')
	114	+ expect(report.demonstrationMatched).toBe(true)
	115	+ expect(report.landingContact).toBe(false)
	116	+ expect(report.boardNeutral).toBe(true)
	117	+ expect(report.operatorEvidence).toMatchObject({ actions: [{ atMs: 30000, action: 'recover' }], observedPaused: true, recoveryCorrelated: true, globalEnduranceExpired: true, landingStarted: false, matched: true })
	118	+ const short = runVtolSimulation('back-recovery-hold', { seconds: 160 })
	119	+ expect(short.status).toBe('duration-exhausted')
	120	+ expect(short.demonstrationMatched).toBe(false)
	121	+ expect(short.operatorEvidence!.globalEnduranceExpired).toBe(false)
	122	+})
	123	+
	124	+for (const electrical of [false, true]) for (const [scenario, reason] of [
	125	+ ['cruise-pause-resume', 'landed'], ['front-abort', 'vtol-abort-landed'], ['back-abort', 'vtol-abort-landed'],
	126	+ ['front-recover-resume', 'vtol-recovery-landed'], ['back-recover-resume', 'vtol-recovery-landed'],
	127	+ ['pusher-open-circuit', 'vtol-recovery-landed'], ['back-recovery-hold', 'mission-endurance-exhausted'],
	128	+] as const) test(`${scenario} keeps its declared outcome with electrical=${electrical}`, () => {
	129	+ const report = runVtolSimulation(scenario, { electrical })
	130	+ expect(report.demonstrationMatched).toBe(true)
	131	+ expect(report.operatorEvidence!.matched).toBe(true)
	132	+ expect(report.operatorEvidence!.phaseMatched).toBe(true)
	133	+ expect(report.mission.reason).toBe(reason)
	134	+ expect(report.mission.state).toBe(reason === 'vtol-abort-landed' ? 'aborted' : reason === 'mission-endurance-exhausted' ? 'blocked' : 'completed')
	135	+ expect(report.status).toBe(['vtol-abort-landed', 'mission-endurance-exhausted'].includes(reason) ? 'blocked' : 'completed')
	136	+ expect(report.landingContact).toBe(reason !== 'mission-endurance-exhausted')
	137	+ expect(report.boardNeutral).toBe(true)
	138	+ expect(report.physicalFlightEnabled).toBe(false)
	139	+ if (electrical) expect(report.energy!.lastObservation!.energyUsedWh).toBeGreaterThan(0)
	140	+ if (scenario !== 'cruise-pause-resume') expect(report.operatorEvidence!.recoveryCorrelated).toBe(true)
	141	+})
	142	+
	143	+test('operator presets refuse phase selectors and duration that would drop scheduled actions', () => {
	144	+ expect(() => runVtolSimulation('front-abort', { phase: 'front' })).toThrow('requires a fault scenario')
	145	+ expect(() => runVtolSimulation('cruise-pause-resume', { seconds: 30 })).toThrow('action schedule')
	146	+ expect(() => runVtolSimulation('back-recover-resume', { seconds: 60 })).toThrow('action schedule')
	147	+ const first = runVtolSimulation('back-abort', { electrical: true })
	148	+ first.operatorEvidence!.actions[0]!.atMs = 700
	149	+ first.operatorEvidence!.matched = false
	150	+ const second = runVtolSimulation('back-abort', { electrical: true })
	151	+ expect(second.operatorEvidence!.actions).toEqual([{ atMs: 30000, action: 'abort' }])
	152	+ expect(second.demonstrationMatched).toBe(true)
	153	+})

tests/unit/vtol-transition-cli.test.tsadded+122-0

Changes to tests/unit/vtol-transition-cli.test.ts

		@@ -0,0 +1,122 @@
	1	+import { expect, test } from 'bun:test'
	2	+import { command } from '@stacksjs/testing'
	3	+
	4	+test('CI qualifies nominal and failure full-route commands outside the checkout', async () => {
	5	+ const workflow = Bun.YAML.parse(await Bun.file(new URL('../../.github/workflows/ci.yml', import.meta.url)).text()) as {
	6	+ jobs: { check: { steps: { run?: string, 'working-directory'?: string }[] } }
	7	+ }
	8	+ expect(workflow.jobs.check.steps.filter(step => step.run?.startsWith('$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate')).map(step => ({ command: step.run, directory: step['working-directory'] }))).toEqual([
	9	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate', directory: '$' },
	10	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --electrical', directory: '$' },
	11	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario host-loss --phase back --electrical', directory: '$' },
	12	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario cruise-pause-resume --electrical', directory: '$' },
	13	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario front-abort --electrical', directory: '$' },
	14	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario pusher-open-circuit --electrical', directory: '$' },
	15	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario back-recovery-hold --electrical', directory: '$' },
	16	+ ])
	17	+})
	18	+
	19	+test('native VTOL full-route command reports qualified initial hover, cruise, back hover and landing', async () => {
	20	+ const result = await command(['vtol:simulate']).withTimeout(60000)
	21	+ expect(result.exitCode).toBe(0)
	22	+ const report = JSON.parse(result.stdout)
	23	+ expect(report.status).toBe('completed')
	24	+ expect(report.scope).toBe('development-lift-and-cruise')
	25	+ expect(report.demonstrationMatched).toBe(true)
	26	+ expect(report.transitionEvidence.map((row: { taskId: string, phase: string }) => [row.taskId, row.phase])).toEqual([
	27	+ ['initial-hover', 'hover'], ['front', 'cruise'], ['back', 'hover'],
	28	+ ])
	29	+ for (const row of report.transitionEvidence) {
	30	+ expect(row.eventId).toBeString()
	31	+ expect(row.reference).toBeString()
	32	+ expect(row.outcome).toBe('confirmed')
	33	+ expect(row.measurementCapturedAtMs).toBeLessThanOrEqual(row.capturedAtMs)
	34	+ }
	35	+ expect(report.observedFlight).toBe(true)
	36	+ expect(report.landingContact).toBe(true)
	37	+ expect(report.mission.state).toBe('completed')
	38	+ expect(report.mission.taskId).toBe('land')
	39	+ expect(report.mission.reason).toBe('landed')
	40	+ expect(report.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
	41	+ expect(report.board.expiresAtMs).toBeNull()
	42	+ expect(report.physicalFlightEnabled).toBe(false)
	43	+ expect(report.boardOutputsInhibited).toBe(true)
	44	+ expect(report).not.toHaveProperty('trace')
	45	+ expect(report).not.toHaveProperty('path')
	46	+ expect(report).not.toHaveProperty('energy')
	47	+}, 90000)
	48	+
	49	+test('native full-route electrical option retains qualified landing and modeled energy evidence', async () => {
	50	+ const result = await command(['vtol:simulate', '--electrical']).withTimeout(60000)
	51	+ expect(result.exitCode).toBe(0)
	52	+ const report = JSON.parse(result.stdout)
	53	+ expect(report.demonstrationMatched).toBe(true)
	54	+ expect(report.completeTransitions).toBe(true)
	55	+ expect(report.landingContact).toBe(true)
	56	+ expect(report.energy.model).toEqual({ evidence: 'modeled-vehicle-battery-v1', capacityWh: 100, maximumSourceW: 1061 })
	57	+ expect(report.energy.lastObservation.energyUsedWh).toBeGreaterThan(0)
	58	+ expect(report.energy.lastObservation.capturedAtMs).toBeLessThan(report.energy.lastObservation.observedAtMs)
	59	+ expect(report.energy.lastObservation.cutoff).toBe(false)
	60	+}, 90000)
	61	+
	62	+test('native full-route command preserves partial outcomes and rejects invalid duration', async () => {
	63	+ const short = await command(['vtol:simulate', '--seconds', '2']).withTimeout(60000)
	64	+ expect(short.exitCode).toBe(1)
	65	+ const report = JSON.parse(short.stdout)
	66	+ expect(report.status).toBe('duration-exhausted')
	67	+ expect(report.demonstrationMatched).toBe(false)
	68	+ expect(report.completeTransitions).toBe(false)
	69	+ expect(report.landingContact).toBe(false)
	70	+ expect(report.mission.state).toBe('running')
	71	+ expect(report.boardNeutral).toBe(true)
	72	+ expect(report.transitionEvidence.map((row: { taskId: string }) => row.taskId)).toEqual(['initial-hover'])
	73	+ for (const seconds of ['NaN', '1', '181', '2.5']) {
	74	+ const invalid = await command(['vtol:simulate', '--seconds', seconds]).withTimeout(60000)
	75	+ expect(invalid.exitCode).toBe(1)
	76	+ expect(invalid.stdout).toBe('')
	77	+ }
	78	+}, 90000)
	79	+
	80	+test('native full-route host loss binds the selected back phase and independent lease expiry', async () => {
	81	+ const result = await command(['vtol:simulate', '--scenario', 'host-loss', '--phase', 'back', '--electrical']).withTimeout(60000)
	82	+ expect(result.exitCode).toBe(0)
	83	+ const report = JSON.parse(result.stdout)
	84	+ expect(report.scenario).toBe('host-loss')
	85	+ expect(report.status).toBe('host-lost')
	86	+ expect(report.demonstrationMatched).toBe(true)
	87	+ expect(report.scenarioEvidence).toMatchObject({ phase: 'back', injectedAtMs: 30000, taskId: 'back', faultObserved: true })
	88	+ expect(report.board.fault).toBe('output-lease-expired')
	89	+ expect(report.board.lastCheckedAtMs).toBeGreaterThanOrEqual(30100)
	90	+ expect(report.authority.lastCheckedAtMs).toBeLessThan(30000)
	91	+ expect(report.mission.state).toBe('running')
	92	+ expect(report.landingContact).toBe(false)
	93	+ expect(report.boardNeutral).toBe(true)
	94	+ expect(report.energy.lastObservation.observedAtMs).toBe(29980)
	95	+}, 90000)
	96	+
	97	+test('native named abort and recovery hold retain different failure outcomes with neutral outputs', async () => {
	98	+ for (const [scenario, reason] of [['front-abort', 'vtol-abort-landed'], ['back-recovery-hold', 'mission-endurance-exhausted']]) {
	99	+ const result = await command(['vtol:simulate', '--scenario', scenario!, '--electrical']).withTimeout(60000)
	100	+ expect(result.exitCode).toBe(0)
	101	+ const report = JSON.parse(result.stdout)
	102	+ expect(report.status).toBe('blocked')
	103	+ expect(report.mission.reason).toBe(reason)
	104	+ expect(report.demonstrationMatched).toBe(true)
	105	+ expect(report.landingContact).toBe(scenario === 'front-abort')
	106	+ expect(report.boardNeutral).toBe(true)
	107	+ }
	108	+}, 90000)
	109	+
	110	+test('native scenario selectors cannot silently become a nominal demonstration', async () => {
	111	+ for (const args of [['--scenario', 'foreign'], ['--scenario', 'host-loss', '--phase', 'foreign'], ['--phase', 'front'], ['--scenario', 'cruise-pause-resume', '--phase', 'back'], ['--scenario', 'back-recover-resume', '--seconds', '60']]) {
	112	+ const invalid = await command(['vtol:simulate', ...args]).withTimeout(60000)
	113	+ expect(invalid.exitCode).toBe(1)
	114	+ expect(invalid.stdout).toBe('')
	115	+ }
	116	+ const short = await command(['vtol:simulate', '--scenario', 'host-loss', '--seconds', '2']).withTimeout(60000)
	117	+ expect(short.exitCode).toBe(1)
	118	+ const report = JSON.parse(short.stdout)
	119	+ expect(report.status).toBe('duration-exhausted')
	120	+ expect(report.demonstrationMatched).toBe(false)
	121	+ expect(report.scenarioEvidence.faultObserved).toBe(false)
	122	+}, 90000)

tests/unit/vtol-workspace.test.tsadded+84-0

Changes to tests/unit/vtol-workspace.test.ts

		@@ -0,0 +1,84 @@
	1	+import { expect, test } from 'bun:test'
	2	+import { getMissionWorkspaceDefinition, runMissionWorkspace } from '../../resources/functions/drone/vehicles/workspace'
	3	+import { createVtolSimulationCase } from '../../resources/functions/drone/vehicles/vtol/simulation'
	4	+
	5	+test('VTOL workspace records the complete modeled route with capture-bound mode acknowledgements', () => {
	6	+ const definition = getMissionWorkspaceDefinition('vtol')
	7	+ expect(definition.scenarios).toHaveLength(14)
	8	+ const run = runMissionWorkspace('vtol')
	9	+ expect(run.status).toBe('completed')
	10	+ expect(run.physicalActuationEnabled).toBe(false)
	11	+ expect(run.boardNeutral).toBe(true)
	12	+ expect(run.rows.at(-1)!.taskId).toBe('land')
	13	+ expect(run.rows.some(row => row.positionM[2] < -1)).toBe(true)
	14	+ const confirmations = run.rows.flatMap(row => row.vtol?.observation?.outcome === 'confirmed' ? [row.vtol.observation] : [])
	15	+ expect(confirmations.map(row => [row.taskId, row.phase])).toEqual([['initial-hover', 'hover'], ['front', 'cruise'], ['back', 'hover']])
	16	+ for (const observation of confirmations) {
	17	+ const request = run.rows.find(row => row.vtol?.request?.eventId === observation.eventId)!.vtol!.request!
	18	+ expect(request.taskId).toBe(observation.taskId)
	19	+ expect(request.reference).toBe(observation.reference)
	20	+ expect(observation.measurementCapturedAtMs).toBeLessThanOrEqual(observation.capturedAtMs)
	21	+ expect(observation.capturedAtMs).toBeLessThan(request.expiresAtMs)
	22	+ }
	23	+}, 60000)
	24	+
	25	+test('VTOL recovery graph includes the counted failure edge and preserves an aborted landing outcome', () => {
	26	+ const definition = getMissionWorkspaceDefinition('vtol', 'back-abort')
	27	+ expect(definition.tasks.find(task => task.id === 'back')?.failureEdge).toBe('recover-hover')
	28	+ expect(definition.budget.worstCaseMs).toBe(176520)
	29	+ const run = runMissionWorkspace('vtol', 'back-abort')
	30	+ expect(run.status).toBe('blocked')
	31	+ expect(run.rows.at(-1)!.state).toBe('aborted')
	32	+ expect(run.rows.at(-1)!.reason).toBe('vtol-abort-landed')
	33	+ expect('vtol' in run && run.vtol?.landingContact).toBe(true)
	34	+ expect(run.rows.some(row => row.vtol?.action === 'abort' && row.atMs === 30000)).toBe(true)
	35	+}, 60000)
	36	+
	37	+test('VTOL energy timeline uses qualified capture epochs and never fills a missing reading from plant truth', () => {
	38	+ const run = runMissionWorkspace('vtol', 'vehicle-sensor-loss', { phase: 'landing', electrical: true })
	39	+ expect(run.status).toBe('blocked')
	40	+ const sampled = run.rows.filter(row => row.vtol?.battery)
	41	+ expect(sampled.length).toBeGreaterThan(3000)
	42	+ const battery = sampled.at(-1)!.vtol!.battery!
	43	+ expect(battery.observedAtMs - battery.capturedAtMs).toBe(120)
	44	+ expect(battery.energyUsedWh).toBeGreaterThan(1)
	45	+ expect(battery.remainingWhLowerBound).toBeLessThan(100 - battery.energyUsedWh)
	46	+ expect(run.rows.at(-1)!.vtol?.battery).toBeNull()
	47	+ expect('truthPositionM' in run.rows[0]!).toBe(false)
	48	+ expect('finalTruthPositionM' in run).toBe(false)
	49	+}, 60000)
	50	+
	51	+test('VTOL host loss retains stale host evidence and held recovery never becomes a completed landing', () => {
	52	+ const lost = runMissionWorkspace('vtol', 'host-loss', { phase: 'cruise', electrical: true })
	53	+ expect(lost.status).toBe('host-lost')
	54	+ expect(lost.maximumTimeMs).toBe(19980)
	55	+ expect(lost.snapshotsStale).toBe(true)
	56	+ expect(lost.boardFault).toBe('output-lease-expired')
	57	+ expect(lost.boardNeutral).toBe(true)
	58	+ const held = runMissionWorkspace('vtol', 'back-recovery-hold')
	59	+ expect(held.status).toBe('blocked')
	60	+ expect(held.fault).toBe('mission-endurance-exhausted')
	61	+ expect(held.rows.some(row => row.taskId === 'recover-land' && row.state === 'paused')).toBe(true)
	62	+ expect(held.rows.some(row => row.taskId === 'recover-land' && row.state === 'running')).toBe(false)
	63	+ expect('vtol' in held && held.vtol?.landingContact).toBe(false)
	64	+}, 60000)
	65	+
	66	+test('VTOL choices reject irrelevant phases and do not apply electrical flags to other profiles', () => {
	67	+ expect(() => getMissionWorkspaceDefinition('vtol', 'nominal', { phase: 'front' })).toThrow()
	68	+ expect(() => getMissionWorkspaceDefinition('vtol', 'imu-loss', { phase: 'unknown' })).toThrow()
	69	+ expect(() => getMissionWorkspaceDefinition('ground', 'nominal', { electrical: true })).toThrow()
	70	+ expect(() => getMissionWorkspaceDefinition('vtol', 'physical')).toThrow()
	71	+})
	72	+
	73	+test('the shared VTOL case factory runs isolated sessions and retains the CLI report from the same recording', () => {
	74	+ const selected = createVtolSimulationCase('imu-loss', { phase: 'back', electrical: true })
	75	+ const first = selected.run(), second = selected.run()
	76	+ expect(first.report).toEqual(second.report)
	77	+ expect(first.result.trace.rows.length).toBe(first.report.recordedMissionRows)
	78	+ expect(first.result.path.length).toBe(first.report.evaluatedPathRows)
	79	+ expect(first.report.scenarioEvidence?.phase).toBe('back')
	80	+ expect(first.report.scenarioEvidence?.sources?.atMs).toBeGreaterThanOrEqual(30000)
	81	+ expect(first.report.demonstrationMatched).toBe(true)
	82	+ first.result.path[0]!.actuators[0] = 999
	83	+ expect(second.result.path[0]!.actuators[0]).not.toBe(999)
	84	+}, 60000)