A fixed north-facing back-hover plan exhausts modeled yaw authority in the sustained 2 m/s crosswind and hits the transition envelope during its reverse return. Two separate east/west crosswind plans now declare west/east back-hover headings through the existing vtol-mode.headingRad contract. Both complete the same route, source-qualified hover, contact and replay under the original 131,520 ms / 43.84 Wh budget. Controller, aerodynamic model, gains, source guards, authority and finite deadlines are unchanged.
The original north-facing limit cases retain their exact blocked outcomes and reports. New reports bind the declared heading to the actual recorded mission plan, so a completed run under another heading cannot qualify under the named plan. Native Buddy, the copied CLI and the common stx workspace share all 20 cases. The workspace shows requested headings and distinguishes completed wind-facing plans from blocked fixed-heading limits. README and VTOL docs explain the source/torque evidence and remaining bounds. Two standalone electrical CI blocks run outside the checkout.
Validation: native lint and app/runtime/STX types passed; 279 focused actual-runtime, native CLI, workspace and fixed-wing tests passed with 10,747 assertions. Docs built 90 pages; roadmap/parity and CLI build passed. Twenty-two copied-CLI comparisons passed, covering all six wind cases with electrical off/on, invalid/partial options and eight byte-identical parent reports. Actual compiled browser QA verified both completed plans, the original blocked limit, option clearing, 320/375 px zero-overflow layouts and no console errors. Both independent Spec and Standards reviews are clean, including final copy clarification.
The original fixed-heading regression and bounded source/torque observations are retained. The level-hover torque calculation is a worked fictional-model example, not a complete feasibility proof. No automatic heading substitution, retry, general wind planner, measured airframe, physical flight, HIL or firmware SITL acceptance is claimed. Exact complete Linux qualification is pending. This branch includes reviewed changes from #86, #88 and #89 while they await main publication.
Progresses #87 and #12. Wider directions/onsets, a general feasibility planner, full-angle model qualification and physical acceptance remain open.