test: qualify execution visibility across native renewal

.github/workflows/ci.ymlmodified+12-0

Changes to .github/workflows/ci.yml

		⋯153 linesShow the 153 lines above this hunk@@ -154,6 +154,16 @@ jobs:
154	154	working-directory: ${{ runner.temp }}
155	155	- run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --electrical
156	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 }}
157	167	- run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone authority:simulate --scenario pi-loss --seconds 4
158	168	working-directory: ${{ runner.temp }}
159	169	- run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone drivers:bench --driver ardupilot --drop-first-ack
		⋯341 linesShow the 341 lines above this hunk@@ -501,6 +511,8 @@ jobs:
501	511	${{ runner.temp }}/execution-browser-evidence/browser-launch.json
502	512	${{ runner.temp }}/execution-browser-evidence/failure-diagnostics.json
503	513	${{ runner.temp }}/execution-browser-evidence/admission-renewal.json
	514	+ ${{ runner.temp }}/execution-browser-evidence/pre-admission-renewal.json
	515	+ ${{ runner.temp }}/execution-browser-evidence/completion-read-renewal.json
504	516	${{ runner.temp }}/execution-browser-evidence/chrome-startup-stderr.log
505	517	purge-namespace:
506	518	runs-on: ubuntu-latest

README.mdmodified+7-4

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
		⋯12 linesShow the 12 lines above this hunk@@ -80,9 +80,12 @@ outputs remain inhibited. Read the [shared contract](docs/vehicles.md), [air mod
80	80	vertical takeoff, a nearby hover waypoint and contact-gated landing. The TypeScript library also
81	81	includes a bounded modeled front/cruise/back experiment with stable-phase pause and resume.
82	82	`./buddy vtol:simulate` runs its nominal route through vertical landing and reports the qualified
83		-mode observations. Add `--electrical` to either command for fictional propulsion/battery load and delayed energy measurements.
84		-Plans can explicitly declare bounded hover-and-land transition recovery. Complete recovery/abort envelopes,
85		-measured hybrid energy qualification and a selectable VTOL mission workspace remain open.
	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.
86	89
87	90	## Simulated carried load
88	91

app/Commands/VtolSimulate.tsmodified+7-13

Changes to app/Commands/VtolSimulate.ts

		@@ -1,27 +1,21 @@
1	1	import { defineCommand } from '@stacksjs/cli'
2	2	import { print, printError } from '@stacksjs/cli/output'
3		-import { createVtolTransitionProfile } from '../../resources/functions/drone/vehicles/vtol/transition-profile'
4		-import { runVehicleSimulation } from '../../resources/functions/drone/vehicles/runtime'
	3	+import { runVtolSimulation, vtolSimulationPhases, vtolSimulationScenarios } from '../../resources/functions/drone/vehicles/vtol/simulation'
5	4
6	5	export default defineCommand({
7	6	name: 'vtol:simulate',
8	7	description: 'Exercise the fictional owned front/cruise/back/landing route; no physical control',
9	8	options: {
10		- '--seconds <n>': { description: 'Maximum virtual duration, 2..180 seconds', default: '160' },
	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' },
11	12	'--electrical': { description: 'Use fictional electrical load and delayed battery measurements', default: false },
12	13	},
13	14	handle(options) {
14	15	try {
15		- const result = runVehicleSimulation(createVtolTransitionProfile({ electrical: options.electrical }), { seconds: Number(options.seconds) })
16		- const { trace, path, ...report } = result
17		- const transitionEvidence = trace.rows.flatMap(row => row.observation.transition?.outcome === 'confirmed' ? [row.observation.transition] : [])
18		- const completeTransitions = transitionEvidence.length === 3 && transitionEvidence.every((row, index) => row.taskId === ['initial-hover', 'front', 'back'][index] && row.phase === ['hover', 'cruise', 'hover'][index])
19		- const observedFlight = path.some(row => row.positionM && row.positionM[2] < -1 && row.actuators.slice(0, 4).some(n => n > 0))
20		- const landingContact = path.at(-1)?.measurement?.values.onSurface === true
21		- const boardNeutral = result.board.actuators.every(n => n === 0) && result.board.expiresAtMs === null
22		- const demonstrationMatched = result.status === 'completed' && result.fault === null && result.mission.taskId === 'land' && result.mission.reason === 'landed' && completeTransitions && observedFlight && landingContact && boardNeutral
23		- print(JSON.stringify({ ...report, scope: 'development-lift-and-cruise', transitionEvidence, completeTransitions, observedFlight, landingContact, boardNeutral, demonstrationMatched, recordedMissionRows: trace.rows.length, evaluatedPathRows: path.length }, (_key, value) => typeof value === 'bigint' ? String(value) : value, 2))
24		- if (!demonstrationMatched) process.exitCode = 1
	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
25	19	}
26	20	catch (error) { printError(error instanceof Error ? error.message : String(error)); process.exitCode = 1 }
27	21	},

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 and nominal full-route commands, 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 and nominal full-route VTOL commands and [experimental VTOL library](../vehicles-vtol.md) with modeled front/cruise/back/vertical landing, pause/resume, opt-in hover-and-land recovery and fictional electrical load/battery/sensor accounting; complete recovery/abort envelopes, measured hybrid energy, CLI fault/operator scenarios, workspace selection, 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+88-12

Changes to docs/vehicles-vtol.md

		⋯3 linesShow the 3 lines above this hunk@@ -4,8 +4,8 @@ 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
		⋯63 linesShow the 63 lines above this hunk@@ -75,26 +75,74 @@ is a separate development experiment on the same owned runtime. Its nominal miss
75	75	hover, takes off vertically to 15 m, requests a front transition, flies a cruise leg, requests back
76	76	transition, returns to the back request's capture point, observes settled hover, and lands vertically.
77	77	A turning leg also has an actual completed model campaign. The native `vtol:simulate` command runs
78		-the nominal route. This profile is not a selectable workspace profile.
	78	+the nominal route and named cases below. The same cases are selectable in `/missions`.
79	79
80	80	```sh
81	81	./buddy vtol:simulate
82	82	./buddy vtol:simulate --electrical
	83	+./buddy vtol:simulate --scenario host-loss --phase back --electrical
	84	+./buddy vtol:simulate --scenario front-abort --electrical
83	85	./storage/runtime-build/cli/drone vtol:simulate --electrical
84	86	```
85	87
86		-The command defaults to 160 virtual seconds and accepts an integer `--seconds` from 2 to 180.
	88	+The nominal command defaults to 160 virtual seconds and accepts an integer `--seconds` from 2 to 180.
87	89	It reports the existing runtime's actual status and the three qualified initial-hover, cruise and
88		-back-hover observations, including their event, task, reference and capture epochs. Exit 0 requires
	90	+back-hover observations, including their event, task, reference and capture epochs. Nominal exit 0 requires
89	91	those ordered confirmations, observed estimated flight, completed landing with qualified modeled
90	92	contact, no runtime fault, neutral board outputs and no active output lease. An incomplete route
91	93	retains its partial observations and status and exits 1. The condensed report omits the full path
92	94	and trace. The library still exposes both for replay and evaluation.
93	95
94	96	Buddy discovers the typed command natively; the standalone binary registers the same definition.
95		-This command currently exposes the nominal route only. Fault scenarios, operator schedules and
96		-recovery route selection remain library capabilities. Simulation completion does not qualify
97		-physical transitions, arbitrary flight envelopes or hardware landing.
	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.
98	146
99	147	The controller receives measured relative airspeed, differential pressure, airflow angles and modeled
100	148	rotor/pusher response, together with the qualified raw gyro and estimated navigation. Delayed airflow
		⋯68 linesShow the 68 lines above this hunk@@ -169,8 +217,8 @@ and releases outputs. Neither result establishes an airborne landing.
169	217	Task execution time stops during pause. Global endurance and the declared energy charge continue,
170	218	so a later scheduled resume can be preempted by reserve, endurance, health or authority refusal.
171	219	Operator actions never extend the original planning allowance or rearm revoked authority. The
172		-operator schedules remain library-only; neither CLI command exposes them, and the common workspace
173		-does not select this VTOL profile.
	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.
174	222
175	223	## Declared transition recovery routes
176	224
		⋯111 linesShow the 111 lines above this hunk@@ -288,12 +336,40 @@ ratio, voltage-dependent thrust, cell temperature/degradation, current-sensor ca
288	336	capacity remain unmodeled or unqualified. The open-circuit fixture removes pusher demand and thrust;
289	337	it does not model a seized motor's electrical current.
290	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	+
291	367	## Remaining implementation
292	368
293	369	[Issue #12](https://github.com/stacksjs/drone/issues/12) remains open. The experimental nominal
294	370	controller and opt-in recovery routes do not establish complete VTOL support. Complete recovery/abort
295		-envelopes, fresh-process restoration, identified hybrid power/voltage/cell behavior, CLI fault/operator scenarios and
296		-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
297	373	broader mission/envelope coverage remain necessary. Full TECS/soaring, tiltrotor/tailsitter mechanisms,
298	374	helicopters and other airframe families remain separate work. Native board control, measured airframe
299	375	identification, HIL and physical flight require their own evidence.

docs/vehicles.mdmodified+4-4

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.
		⋯55 linesShow the 55 lines above this hunk@@ -62,11 +62,11 @@ All evidence is owned physics simulation. The Pico neutral-only board image does
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	64	covers the hover-only command and an experimental lift-and-cruise library profile with a native
65		-`vtol:simulate` nominal-route command. The latter
	65	+`vtol:simulate` command for nominal and named fault/operator scenarios. The latter
66	66	executes a bounded modeled front/cruise/back/vertical-landing route with stable-phase pause and
67	67	resume, plus explicitly declared hover-and-land transition recovery. Complete recovery/abort
68		-envelopes, measured hybrid energy qualification,
69		-CLI fault/operator scenarios 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,
70	70	soaring, blimp and other airframe families remain explicit roadmap work.
71	71
72	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/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/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/fixtures/public-safety-access/execution-browser.tsmodified+51-11

Changes to tests/fixtures/public-safety-access/execution-browser.ts

		⋯22 linesShow the 22 lines above this hunk@@ -23,6 +23,15 @@ let delayStart = true, releaseStart: (() => void) | undefined
23	23	let streamStarts = 0, startRequests = 0, admissionRequests = 0, closeStream: (() => Promise<void>) | undefined
24	24	let closeWorkspaceStream: (() => Promise<void>) | undefined, releaseWorkspace: (() => void) | undefined
25	25	let holdWorkspace = false, workspaceHeld = false
	26	+let preAdmissionRenewalArmed = false, preAdmissionRenewed = false, preAdmissionHoldExpired = false
	27	+const preAdmissionReads = new Set<() => void>()
	28	+let preAdmissionTimeout: ReturnType<typeof setTimeout> | undefined
	29	+function releasePreAdmissionReads() {
	30	+ preAdmissionRenewalArmed = false
	31	+ clearTimeout(preAdmissionTimeout)
	32	+ for (const release of preAdmissionReads) release()
	33	+ preAdmissionReads.clear()
	34	+}
26	35
27	36	// Diagnostic state belongs only to this disposable fixture, never the execution controller.
28	37	type RouteClass = 'execution-start' | 'execution-close' | 'execution-admission' | 'execution-events' | 'execution-status' | 'workspace-read'
		⋯24 linesShow the 24 lines above this hunk@@ -53,7 +62,7 @@ function diagnosticSnapshot() {
53	62	}
54	63	return {
55	64	available: true, pendingChecks: scalar(owner.pendingChecks),
56		- fixture: { startRequests, admissionRequests, streamStarts, holdArmed, held, holdUsed, holdWorkspace, workspaceHeld }, lastStart, lastAdmission, responses: responses.slice(),
	65	+ fixture: { startRequests, admissionRequests, streamStarts, holdArmed, held, holdUsed, holdWorkspace, workspaceHeld, preAdmissionRenewalArmed, preAdmissionRenewed, preAdmissionHeldReads: preAdmissionReads.size, preAdmissionHoldExpired }, lastStart, lastAdmission, responses: responses.slice(),
57	66	slot: slot === null ? null : {
58	67	ordinal: ordinal(slot),
59	68	phase: choice(field(slot, 'phase'), ['waiting-for-consumer', 'running', 'stopping', 'completed', 'canceled', 'failed', 'discarded'] satisfies ExecutionView['phase'][]),
		⋯42 linesShow the 42 lines above this hunk@@ -102,10 +111,18 @@ assert(!html.includes('<IncidentWorkspace'))
102	111	assert(!html.includes(fixture.senderToken))
103	112	const secret = randomUUID()
104	113	const sources = () => fixture.database.db.primary.selectFrom('public_safety_sources').selectAll().execute()
	114	+async function holdWorkspaceRenewal() {
	115	+ holdWorkspace = true
	116	+ assert(closeWorkspaceStream, 'The real workspace stream must exist before renewal')
	117	+ await closeWorkspaceStream()
	118	+ const until = Date.now() + 5000
	119	+ while (!workspaceHeld && Date.now() < until) await Bun.sleep(5)
	120	+ assert(workspaceHeld, 'Native workspace renewal must request a fresh authorized snapshot')
	121	+}
105	122	const control = async (request: Request) => {
106	123	if (request.headers.get('x-fixture-control') !== secret) return new Response(null, { status: 404 })
107	124	const action = new URL(request.url).pathname.slice('/__fixture/'.length)
108		- if (action === 'status') return Response.json({ held, streamStarts, startRequests, startResponseReady: !!releaseStart })
	125	+ if (action === 'status') return Response.json({ held, streamStarts, startRequests, startResponseReady: !!releaseStart, workspaceHeld, preAdmissionRenewed, preAdmissionHeldReads: preAdmissionReads.size, preAdmissionHoldExpired, admissionRequests })
109	126	if (action === 'diagnostics') {
110	127	try {
111	128	const text = `${JSON.stringify(diagnosticSnapshot())}\n`
		⋯22 linesShow the 22 lines above this hunk@@ -134,21 +151,34 @@ const control = async (request: Request) => {
134	151	}
135	152	if (action === 'release-and-renew') { releaseCredit?.(); await closeStream?.(); return Response.json({ ok: true }) }
136	153	if (action === 'before-admission') { assert.equal((await sources()).length, 1, 'Completion does not write a durable source'); return Response.json({ ok: true }) }
	154	+ if (action === 'hold-completion-read-renewal') {
	155	+ assert.equal(field(executionOwner().slot, 'phase'), 'completed')
	156	+ assert.equal(admissionRequests, 0)
	157	+ await holdWorkspaceRenewal()
	158	+ return Response.json({ ok: true })
	159	+ }
	160	+ if (action === 'arm-pre-admission-renewal') {
	161	+ assert(!preAdmissionRenewalArmed && !preAdmissionRenewed && admissionRequests === 0 && closeWorkspaceStream, 'Arm one renewal before any admission POST')
	162	+ preAdmissionRenewalArmed = true
	163	+ return Response.json({ ok: true })
	164	+ }
	165	+ if (action === 'renew-pre-admission-held-read') {
	166	+ assert(preAdmissionRenewalArmed && !preAdmissionRenewed && !preAdmissionHoldExpired && preAdmissionReads.size > 0 && admissionRequests === 0, 'Renew only while an explicit decision is waiting on held native reads')
	167	+ assert(closeWorkspaceStream, 'The real workspace stream must exist before admission')
	168	+ preAdmissionRenewed = true
	169	+ await closeWorkspaceStream()
	170	+ return Response.json({ ok: true })
	171	+ }
137	172	if (action === 'verify-admitted') {
138	173	const rows = await sources()
139	174	assert.equal(rows.length, 2)
140	175	assert(rows.some(row => row.digest !== seeded.source.digest))
141	176	const committed = await fixture.snapshot(seeded.key)
142	177	assert.equal(committed.audits.filter(audit => audit.action === 'source-registered').length, 2)
143		- holdWorkspace = true
144		- assert(closeWorkspaceStream, 'The real workspace stream must exist before renewal')
145		- await closeWorkspaceStream()
146		- const until = Date.now() + 5000
147		- while (!workspaceHeld && Date.now() < until) await Bun.sleep(5)
148		- assert(workspaceHeld, 'Native workspace renewal must request a fresh authorized snapshot')
	178	+ await holdWorkspaceRenewal()
149	179	return Response.json({ ok: true })
150	180	}
151		- if (action === 'release-workspace') { assert(workspaceHeld, 'Release only the held native renewal'); releaseWorkspace?.(); return Response.json({ ok: true }) }
	181	+ if (action === 'release-workspace') { assert(workspaceHeld || preAdmissionReads.size > 0, 'Release only held native reads'); releaseWorkspace?.(); releasePreAdmissionReads(); return Response.json({ ok: true }) }
152	182	if (action === 'read-only') return Response.json({ token: await fixture.credential(fixture.sender.id, ['public-safety:read']) })
153	183	if (action === 'revoke') { await fixture.tokens.revokeToken(fixture.senderToken); return Response.json({ ok: true }) }
154	184	return new Response(null, { status: 404 })
		⋯7 linesShow the 7 lines above this hunk@@ -162,6 +192,16 @@ route.use(async (request: Request, next: () => Promise<Response | null> | Respon
162	192	if (admissionOrdinal !== null) lastAdmission = { ordinal: admissionOrdinal, settled: false, status: null, elapsedMs: null }
163	193	let status: number | null = null
164	194	try {
	195	+ if (kind === 'workspace-read' && preAdmissionRenewalArmed) {
	196	+ // Ordinary polls may arrive first. Keep authorization visible until the driver
	197	+ // observes a real pending admission decision, then explicitly renew the stream.
	198	+ assert(preAdmissionReads.size < 8, 'The bounded native read barrier must not overflow')
	199	+ await new Promise<void>(resolve => {
	200	+ const release = () => { preAdmissionReads.delete(release); resolve() }
	201	+ preAdmissionReads.add(release)
	202	+ if (!preAdmissionTimeout) preAdmissionTimeout = setTimeout(() => { preAdmissionHoldExpired = true; releasePreAdmissionReads() }, 5000)
	203	+ })
	204	+ }
165	205	if (kind === 'workspace-read' && holdWorkspace) {
166	206	holdWorkspace = false; workspaceHeld = true
167	207	await new Promise<void>(resolve => {
		⋯39 linesShow the 39 lines above this hunk@@ -207,7 +247,7 @@ route.use(async (request: Request, next: () => Promise<Response | null> | Respon
207	247	})
208	248	const page = () => new Response(html, { headers: { 'content-type': 'text/html', 'cache-control': 'no-store' } })
209	249	route.get('/incidents', page)
210		-for (const action of ['status', 'diagnostics', 'release-start', 'arm-before-return', 'before-return', 'release-and-renew', 'before-admission', 'verify-admitted', 'release-workspace', 'read-only', 'revoke']) route.get(`/__fixture/${action}`, control)
	250	+for (const action of ['status', 'diagnostics', 'release-start', 'arm-before-return', 'before-return', 'release-and-renew', 'before-admission', 'hold-completion-read-renewal', 'arm-pre-admission-renewal', 'renew-pre-admission-held-read', 'verify-admitted', 'release-workspace', 'read-only', 'revoke']) route.get(`/__fixture/${action}`, control)
211	251	const server = await route.serve({ hostname: '127.0.0.1', port: 0, nativeRoutes: false })
212	252	if (process.env.EXECUTION_BROWSER_EVIDENCE) { await mkdir(process.env.EXECUTION_BROWSER_EVIDENCE, { recursive: true }); await writeFile(join(process.env.EXECUTION_BROWSER_EVIDENCE, 'compiled.html'), html) }
213	253	await writeFile(join(root, 'execution-credentials.json'), JSON.stringify({ url: `http://127.0.0.1:${server.port}`, key: seeded.key, sourceDigest: seeded.source.digest, token: fixture.senderToken, control: secret }), { mode: 0o600 })
		⋯2 linesShow the 2 lines above this hunk@@ -216,7 +256,7 @@ try {
216	256	assert.equal(await child.exited, 0, 'Isolated real execution browser driver must pass')
217	257	}
218	258	finally {
219		- releaseStart?.(); releaseCredit?.(); releaseWorkspace?.()
	259	+ releaseStart?.(); releaseCredit?.(); releaseWorkspace?.(); releasePreAdmissionReads()
220	260	await closeStream?.(); await closeWorkspaceStream?.(); await server.stop(true)
221	261	const slot = executionOwner().slot as { execution: string, binding: { scope: string }, producer: string, worker: Worker | null } | null
222	262	if (slot?.producer === 'pending') {

tests/helpers/execution-browser-driver.tsmodified+42-4

Changes to tests/helpers/execution-browser-driver.ts

		⋯120 linesShow the 120 lines above this hunk@@ -121,11 +121,25 @@ try {
121	121	await first.fill('#execution-scenario', 'nominal'); await first.fill('#execution-seconds', '100')
122	122	await first.click('Start synthetic run')
123	123	mark('real nominal100 completion')
124		- await first.wait("document.querySelector('[data-execution-phase]')?.textContent.trim() === 'completed' && !!document.querySelector('[data-execution-completion]')", 'Actual Worker recording must complete', 40000)
	124	+ // Consume the completed fields from the same authorized DOM frame that satisfies readiness.
	125	+ // A later evaluation could run after native renewal has correctly hidden private content.
	126	+ const completedView = `(() => {
	127	+ const status = document.querySelector('[data-workspace-status]')?.textContent.trim();
	128	+ const phase = document.querySelector('[data-execution-phase]')?.textContent.trim();
	129	+ const digest = document.querySelector('[data-execution-digest]')?.textContent.trim();
	130	+ const execution = document.querySelector('[data-execution-id]')?.textContent.trim();
	131	+ const originalSelected = document.querySelector('[data-workspace-source]')?.textContent.trim() === ${JSON.stringify(data.sourceDigest)};
	132	+ return status === 'current' && phase === 'completed' && !!document.querySelector('[data-execution-completion]') && /^[a-f0-9]{64}$/.test(digest || '') && !!execution && originalSelected ? { digest, execution } : false;
	133	+ })()`
	134	+ const completed = await first.wait<{ digest: string, execution: string }>(completedView, 'Actual Worker recording must complete', 40000)
125	135	await control('before-admission')
126		- const digest = await first.evaluate<string>("document.querySelector('[data-execution-digest]')?.textContent.trim()")
127		- assert(/^[a-f0-9]{64}$/.test(digest))
128		- assert.equal(await first.evaluate("document.querySelector('[data-workspace-source]')?.textContent.trim()"), data.sourceDigest, 'Completion cannot change selected imagery')
	136	+ await control('hold-completion-read-renewal')
	137	+ await first.wait("!document.querySelector('[data-execution-completion]')", 'Native completion-read renewal clears private content')
	138	+ await control('release-workspace')
	139	+ const restored = await first.wait<typeof completed>(completedView, 'Fresh authorization must restore the same completed result')
	140	+ assert.deepEqual(restored, completed)
	141	+ const { digest } = completed
	142	+ await writeFile(join(evidence, 'completion-read-renewal.json'), `${JSON.stringify({ privateContentCleared: true, sameCompletedResultRestored: true, readinessFieldsReadAtomically: true })}\n`, { mode: 0o600, flag: 'wx' })
129	143	await first.evaluate("document.querySelector('[data-execution-panel]').scrollIntoView()")
130	144	await first.screenshot(join(evidence, 'execution-completed-desktop.png'))
131	145	await first.send('Emulation.setDeviceMetricsOverride', { width: 375, height: 900, deviceScaleFactor: 1, mobile: true })
		⋯14 linesShow the 14 lines above this hunk@@ -146,8 +160,32 @@ try {
146	160	observer.observe(document.body, { childList: true, characterData: true, subtree: true });
147	161	sample(); globalThis.executionSourceProbe = { probe, stop: () => observer.disconnect() };
148	162	})()`)
	163	+ await control('arm-pre-admission-renewal')
	164	+ // Force the ordinary refresh ordering that can also occur from the native poll.
	165	+ // The held read must leave the admission action available until this explicit click.
	166	+ await first.click('Refresh current records')
	167	+ let preAdmissionHeld = false
	168	+ for (let attempt = 0; attempt < 100 && !preAdmissionHeld; attempt++) { preAdmissionHeld = (await control('status')).preAdmissionHeldReads > 0; if (!preAdmissionHeld) await Bun.sleep(10) }
	169	+ assert(preAdmissionHeld, 'An ordinary native refresh must reach the read barrier before admission')
	170	+ assert.equal((await control('status')).preAdmissionRenewed, false, 'Holding an ordinary refresh never conceals authorization')
	171	+ await first.click('Admit completed source')
	172	+ await first.wait("document.querySelector('[data-workspace-status]')?.textContent.trim() === 'current' && document.querySelector('[data-execution-phase]')?.textContent.trim() === 'completed' && document.querySelector('[data-execution-admit]')?.disabled === true", 'The explicit admission decision must be pending while native reads are held')
	173	+ await control('renew-pre-admission-held-read')
	174	+ await first.wait("!document.querySelector('[data-workspace-source]') && !document.querySelector('[data-execution-completion]')", 'Native renewal clears private content during the admission read')
	175	+ await control('release-workspace')
	176	+ assert.deepEqual(await first.wait<typeof completed>(completedView, 'Fresh authorization restores completed execution after the canceled admission'), completed)
	177	+ const canceledDecision = await control('status')
	178	+ assert.equal(canceledDecision.preAdmissionRenewed, true)
	179	+ assert.equal(canceledDecision.preAdmissionHoldExpired, false, 'The controlled native renewal must complete within the original read bound')
	180	+ assert.equal(canceledDecision.admissionRequests, 0, 'Lost availability cancels the earlier decision before any admission POST')
	181	+ assert.equal(await first.evaluate("!!document.querySelector('[data-execution-source-exists]')"), false)
	182	+ await control('before-admission')
	183	+ mark('explicit source admission after fresh authorization')
149	184	await first.click('Admit completed source')
150	185	await first.wait("!!document.querySelector('[data-execution-source-exists]')", 'Explicit admission must refresh actual source catalog', 15000)
	186	+ const acceptedDecision = await control('status')
	187	+ assert.equal(acceptedDecision.admissionRequests, 1, 'Only the new explicit decision submits one admission POST')
	188	+ await writeFile(join(evidence, 'pre-admission-renewal.json'), `${JSON.stringify({ ordinaryRefreshHeldBeforeClick: preAdmissionHeld, pendingDecisionObservedBeforeRenewal: true, nativeRenewalObserved: canceledDecision.preAdmissionRenewed, postsAfterCanceledDecision: canceledDecision.admissionRequests, postsAfterFreshExplicitDecision: acceptedDecision.admissionRequests, originalSelectionRestored: true })}\n`, { mode: 0o600, flag: 'wx' })
151	189	await control('verify-admitted')
152	190	mark('fresh workspace after admission renewal')
153	191	assert.equal(await first.evaluate("!!document.querySelector('[data-workspace-source]') || !!document.querySelector('[data-execution-completion]')"), false, 'Native renewal must clear private panes before fresh authorization')

tests/helpers/workspace-browser.tsmodified+2-2

Changes to tests/helpers/workspace-browser.ts

		⋯78 linesShow the 78 lines above this hunk@@ -79,10 +79,10 @@ export async function startWorkspaceBrowser(root: string) {
79	79	}
80	80	const page = {
81	81	errors, requests, send, evaluate,
82		- async wait(expression: string, message: string, timeout = 10000) {
	82	+ async wait<T = boolean>(expression: string, message: string, timeout = 10000): Promise<T> {
83	83	phase = message
84	84	const end = Date.now() + timeout
85		- while (Date.now() < end) { if (await evaluate(expression)) return; await Bun.sleep(50) }
	85	+ while (Date.now() < end) { const value = await evaluate<T | false>(expression); if (value) return value; await Bun.sleep(50) }
86	86	throw new Error(message)
87	87	},
88	88	async checkLiveness() { phase = 'post-renewal liveness'; assert.equal(await evaluate('1'), 1) },

tests/tsconfig.runtime.jsonmodified+2-0

Changes to tests/tsconfig.runtime.json

		⋯77 linesShow the 77 lines above this hunk@@ -78,6 +78,8 @@
78	78	"./unit/vtol-energy.test.ts",
79	79	"./unit/vtol-cli.test.ts",
80	80	"./unit/vtol-transition-cli.test.ts",
	81	+ "./unit/vtol-scenarios.test.ts",
	82	+ "./unit/vtol-workspace.test.ts",
81	83	"./unit/vtol-mode-mission.test.ts",
82	84	"./unit/vtol-transition.test.ts",
83	85	"./unit/ground.test.ts",

tests/unit/public-safety-execution-client.test.tsmodified+34-0

Changes to tests/unit/public-safety-execution-client.test.ts

		⋯196 linesShow the 196 lines above this hunk@@ -197,3 +197,37 @@ test('uncertain admission checks its digest beyond the currently paged catalog w
197	197	}
198	198	finally { model.close() }
199	199	})
	200	+
	201	+test('renewal during an admission authorization read cancels that decision before POST and requires a new explicit decision', async () => {
	202	+ let intent = '', admissions = 0, refreshes = 0
	203	+ const model = openIncidentExecution({ endpoint: () => '/execution', request: async (path, init) => {
	204	+ if (init?.method !== 'POST') return Response.json(intent ? completed(intent) : null)
	205	+ if (path.endsWith('/admission')) { admissions++; return Response.json({ admitted: true }) }
	206	+ intent = JSON.parse(String(init.body)).intent
	207	+ return Response.json(completed(intent))
	208	+ }, stream: () => ({ close() {} }), refreshWorkspace: async () => {
	209	+ refreshes++
	210	+ if (refreshes === 1) {
	211	+ model.sync({ ...context, available: false })
	212	+ expect(model.get().execution).toBeNull()
	213	+ expect(model.get().sourceExists).toBe(false)
	214	+ model.sync(context)
	215	+ await model.refresh()
	216	+ }
	217	+ else model.sync({ ...context, version: 19, catalogDigests: admissions ? ['b'.repeat(64)] : [] })
	218	+ } })
	219	+ try {
	220	+ model.sync(context)
	221	+ expect(await model.start('nominal', 100)).toBe(true)
	222	+ expect(await model.admit()).toBe(false)
	223	+ expect(admissions).toBe(0)
	224	+ expect(model.get().execution?.phase).toBe('completed')
	225	+ expect(model.get().execution?.admission).toBe('unsubmitted')
	226	+ expect(model.get().busy).toBe(false)
	227	+ expect(model.get().sourceExists).toBe(false)
	228	+ expect(await model.admit()).toBe(true)
	229	+ expect(admissions).toBe(1)
	230	+ expect(model.get().sourceExists).toBe(true)
	231	+ }
	232	+ finally { model.close() }
	233	+})

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.tsmodified+50-1

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

		@@ -1,13 +1,18 @@
1	1	import { expect, test } from 'bun:test'
2	2	import { command } from '@stacksjs/testing'
3	3
4		-test('CI qualifies both full-route commands outside the checkout', async () => {
	4	+test('CI qualifies nominal and failure full-route commands outside the checkout', async () => {
5	5	const workflow = Bun.YAML.parse(await Bun.file(new URL('../../.github/workflows/ci.yml', import.meta.url)).text()) as {
6	6	jobs: { check: { steps: { run?: string, 'working-directory'?: string }[] } }
7	7	}
8	8	expect(workflow.jobs.check.steps.filter(step => step.run?.startsWith('$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate')).map(step => ({ command: step.run, directory: step['working-directory'] }))).toEqual([
9	9	{ command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate', directory: '$' },
10	10	{ command: '$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: '$' },
11	16	])
12	17	})
13	18
		⋯57 linesShow the 57 lines above this hunk@@ -71,3 +76,47 @@ test('native full-route command preserves partial outcomes and rejects invalid d
71	76	expect(invalid.stdout).toBe('')
72	77	}
73	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)