feat: expose observed VTOL wind phase cases

.github/workflows/ci.ymlmodified+8-0

Changes to .github/workflows/ci.yml

		⋯171 linesShow the 171 lines above this hunk@@ -172,6 +172,14 @@ jobs:
172	172	working-directory: ${{ runner.temp }}
173	173	- run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario west-crosswind-limit-2mps --electrical
174	174	working-directory: ${{ runner.temp }}
	175	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario east-crosswind-2mps --electrical
	176	+ working-directory: ${{ runner.temp }}
	177	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario west-crosswind-2mps --electrical
	178	+ working-directory: ${{ runner.temp }}
	179	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario east-crosswind-limit-2mps --phase back --electrical
	180	+ working-directory: ${{ runner.temp }}
	181	+ - run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario east-crosswind-limit-2mps --phase landing --electrical
	182	+ working-directory: ${{ runner.temp }}
175	183	- run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone authority:simulate --scenario pi-loss --seconds 4
176	184	working-directory: ${{ runner.temp }}
177	185	- run: $GITHUB_WORKSPACE/storage/runtime-build/cli/drone drivers:bench --driver ardupilot --drop-first-ack

README.mdmodified+6-4

Changes to README.md

		⋯83 linesShow the 83 lines above this hunk@@ -84,11 +84,13 @@ mode observations. Named scenarios expose phase-bound sensor/manual/host loss, c
84	84	declared front/back abort and recovery, pusher open-circuit timeout and global endurance expiry.
85	85	Add `--electrical` to either command for fictional propulsion/battery load and delayed energy measurements.
86	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 18 named
	87	+and measured hybrid energy qualification remain open. The VTOL workspace selects the same 20 named
88	88	cases, fault phases and optional electrical model, with captured mode and battery playback.
89		-The 2 m/s headwind and tailwind cases complete their routes. East/west crosswind limit cases retain
90		-their blocked envelope outcome, without confirmed hover or landing. Reports and playback distinguish
91		-declared world wind from observed exposure checks; controller inputs contain no wind oracle.
	89	+The 2 m/s headwind and tailwind cases complete their routes. Separate east/west crosswind plans
	90	+complete with explicitly wind-facing back-hover headings. Their original fixed north-facing limit
	91	+cases retain blocked envelope outcomes, without confirmed hover or landing. Reports and playback
	92	+show the requested heading and distinguish declared world wind from observed exposure checks;
	93	+controller inputs contain no wind oracle. These are bounded fictional plans, not arbitrary-wind support.
92	94
93	95	## Simulated carried load
94	96

app/Commands/VtolSimulate.tsmodified+1-1

Changes to app/Commands/VtolSimulate.ts

		⋯6 linesShow the 6 lines above this hunk@@ -7,7 +7,7 @@ export default defineCommand({
7	7	description: 'Exercise the fictional owned front/cruise/back/landing route; no physical control',
8	8	options: {
9	9	'--scenario <name>': { description: vtolSimulationScenarios.join(', '), default: 'nominal' },
10		- '--phase <name>': { description: `Fault injection phase: ${vtolSimulationPhases.join(', ')}; default front` },
	10	+ '--phase <name>': { description: `Observed wind onset or fault injection: ${vtolSimulationPhases.join(', ')}; wind also accepts startup (default, 1000 ms); faults default front` },
11	11	'--seconds <n>': { description: 'Maximum virtual duration, 2..180 seconds; default 160, or 180 for recovery hold' },
12	12	'--electrical': { description: 'Use fictional electrical load and delayed battery measurements', default: false },
13	13	},

docs/index.mdmodified+8-0

Changes to docs/index.md

		⋯63 linesShow the 63 lines above this hunk@@ -64,6 +64,14 @@ routes. The common `/missions` workspace selects the same named cases and displa
64	64	observations and optional battery readings. Complete recovery/abort envelopes and measured hybrid
65	65	energy qualification remain open.
66	66
	67	+The published VTOL scenarios include bounded 2 m/s headwind and tailwind routes,
	68	+plus east/west crosswind plans with explicit wind-facing back-hover headings.
	69	+With startup wind onset, the original fixed north-facing crosswind plans remain
	70	+limit cases with blocked envelope outcomes. The CLI and mission workspace also
	71	+expose phase-bound wind onset; landing-only onset completes those fixed-heading
	72	+plans. These fictional plans do not establish arbitrary-wind support.
	73	+See the [scenario commands and expected outcomes](vehicles-vtol.md) before comparing reports.
	74	+
67	75	## Explore a workflow
68	76
69	77	| Workflow | Current development surface | Guide |

docs/vehicles-vtol.mdmodified+106-33

Changes to docs/vehicles-vtol.md

		⋯35 linesShow the 35 lines above this hunk@@ -36,38 +36,66 @@ and a 120 N/s slew limit. An independent 14 N pusher and the owned trainer's aer
36	36	share the rigid body. Rotor allocation preserves collective thrust first, then roll/pitch demand,
37	37	then yaw. No coefficient is measured from a purchased airframe.
38	38
39		-The VTOL wing uses the fictional `folded-incidence-v2` extension. Its forward pre-stall curve
40		-matches the trainer. In reversed chordwise flow, incidence is folded and the coefficient changes
41		-sign, with a cosine fade toward broadside. This removes the force/moment jump at the raw angle's
42		-positive/negative pi boundary and restores the local vertical response in the tested head/tail flow.
43		-Raw airflow angles remain available to the capture and envelope guards. The fixed-wing profile keeps
44		-its original trainer model. Neither curve represents measured reverse-flow or post-stall data.
	39	+The VTOL wing uses the fictional `projected-incidence-v3` extension. At zero sideslip its forward
	40	+pre-stall response exactly matches the trainer. Reversed chordwise incidence is folded, changes
	41	+coefficient sign and fades toward broadside. Longitudinal lift, drag and static pitch use the fraction
	42	+of dynamic pressure in the chord/vertical airflow plane. This removes the force/moment singularity
	43	+where that plane's velocity goes to zero while spanwise flow stays finite. Total pressure and raw
	44	+airflow angles remain available to capture and envelope guards. The separately declared lateral,
	45	+surface and rate responses retain total pressure. The default fixed-wing trainer is unchanged.
	46	+These are fictional coefficients, without measured post-stall, spanwise or reverse-flight data.
	47	+Full-route CLI reports identify this curve with `aerodynamicsModel: 'projected-incidence-v3'`.
	48	+
	49	+The prior `folded-incidence-v2` removed the reverse-flow angle-wrap jump at zero spanwise velocity,
	50	+but retained a 0.9555 N force jump between `[+1e-8, 2, 0]` and `[-1e-8, 2, 0]` m/s. Approaching the
	51	+same lateral-flow axis from positive/negative vertical velocity produced a 4.0768 N vertical-force
	52	+jump. The v3 checks cover these approach directions, finite zero-flow response and non-positive
	53	+unpowered airflow work. They establish bounded mathematical properties, not a calibrated airframe.
	54	+A predeclared 16-case runtime campaign introduces 2 m/s head, tail, east and west wind at observed
	55	+front, cruise, back and landing phase entries. All complete their declared heading plans through
	56	+source-qualified hover, contact and replay within the original budgets. Wind onset is applied on
	57	+the next actual integration step. CLI/workspace selectors now expose the same observed phase onset;
	58	+the default remains the fixed 1000 ms startup onset.
	59	+
	60	+Hover control aligns the thrust direction separately from its heading correction. A large, saturated
	61	+yaw error therefore cannot rotate the requested position correction into another axis. Opposite
	62	+thrust directions have no unique shortest tilt axis; that unsupported condition inhibits and latches
	63	+neutral output. Existing body-rate bounds, PID gains, source guards and allocation priorities remain.
	64	+The VTOL wrapper explicitly selects the shared cascade's `thrust-heading-v2` attitude profile.
	65	+Quad-X retains its original `quaternion-error-v1` arithmetic, preserving byte-for-byte replay of
	66	+existing multirotor-derived incident recordings. Sharing the cascade does not change a pinned
	67	+recording profile's dynamics.
45	68
46	69	Back-transition braking compares the linear pre-stall estimate with 41 pitch candidates in the
47	70	existing -0.08 to 0.3 rad range. It evaluates the declared nonlinear wing/rotor force balance against
48	71	qualified captured airflow and estimated ground motion. Candidates must admit 0 to 48 N of lift-rotor
49	72	thrust while supporting the requested vertical force; high-speed candidate incidence remains within
50	73	0.3 rad. The finite transition deadline, source guards, capture dwell and independent authority still
51		-apply. Replacing a correlated back request preserves rotary capture once reached, so recovery cannot
52		-restart forward-flight braking during a reverse position return.
	74	+apply. Before low-speed rotary capture, the nose and candidate force search follow qualified measured
	75	+airflow. The requested final hover heading remains the capture condition after braking. Replacing a
	76	+correlated back request preserves rotary capture once reached, so recovery cannot restart forward-flight
	77	+braking during a reverse position return.
53	78
54	79	### Bounded wind cases
55	80
56	81	The library campaign applies sustained 2 m/s headwind or tailwind to the actual world model from
57	82	1000 ms, including takeoff, transitions, cruise and landing. Both routes complete within their
58		-original budgets using the raw sensor/estimator/controller runtime. Four named cases are shared by
	83	+original budgets using the raw sensor/estimator/controller runtime. Six named cases are shared by
59	84	Buddy, the copied standalone CLI and the mission workspace:
60	85
61		-| Scenario | World wind N/E/D, m/s | Required recorded outcome |
62		-| --- | --- | --- |
63		-| `headwind-2mps` | -2, 0, 0 | Completed route and contact |
64		-| `tailwind-2mps` | 2, 0, 0 | Completed route and contact |
65		-| `east-crosswind-limit-2mps` | 0, 2, 0 | Blocked back-transition envelope, no hover/landing claim |
66		-| `west-crosswind-limit-2mps` | 0, -2, 0 | Blocked back-transition envelope, no hover/landing claim |
	86	+| Scenario | World wind N/E/D, m/s | Back-hover heading from north | Default startup outcome |
	87	+| --- | --- | --- | --- |
	88	+| `headwind-2mps` | -2, 0, 0 | 0 rad, north | Completed route and contact |
	89	+| `tailwind-2mps` | 2, 0, 0 | 0 rad, north | Completed route and contact |
	90	+| `east-crosswind-limit-2mps` | 0, 2, 0 | 0 rad, north | Blocked back-transition envelope, no hover/landing claim |
	91	+| `west-crosswind-limit-2mps` | 0, -2, 0 | 0 rad, north | Blocked back-transition envelope, no hover/landing claim |
	92	+| `east-crosswind-2mps` | 0, 2, 0 | -pi/2 rad, west | Completed route and contact |
	93	+| `west-crosswind-2mps` | 0, -2, 0 | +pi/2 rad, east | Completed route and contact |
67	94
68	95	```sh
69	96	./buddy vtol:simulate --scenario tailwind-2mps --electrical
70	97	./buddy vtol:simulate --scenario east-crosswind-limit-2mps --electrical
	98	+./buddy vtol:simulate --scenario east-crosswind-2mps --electrical
71	99	./storage/runtime-build/cli/drone vtol:simulate --scenario headwind-2mps --electrical
72	100	```
73	101
		⋯1 lineShow the 1 line above this hunk@@ -75,8 +103,28 @@ Buddy, the copied standalone CLI and the mission workspace:
75	103	first/last matching application epochs, mismatch count and separate world/outcome checks. Actual
76	104	world inputs are observed after plant integration, outside controller inputs. An absent, wrong or
77	105	mistimed wind cannot pass under the scenario name. A partial route remains unmatched. Wind cases
78		-reject `--phase`; their declared onset is 1000 ms. Exit 0 means the selected demonstration matched,
79		-so a crosswind limit report still has `status: 'blocked'`, no confirmed back hover and no contact.
	106	+accept `--phase startup|front|cruise|back|landing`; startup remains the default 1000 ms onset.
	107	+For a phase onset, the factory observes the actual running task entry and schedules the weather
	108	+for the next 4 ms plant integration. It never supplies wind or plant truth to controller inputs.
	109	+The declaration has `beginsAtMs: null` until that entry is observed. Reports retain `phase`,
	110	+`phaseEnteredAtMs`, actual onset and `phaseMatched`, independently bound to the recorded task entry.
	111	+An unreached phase remains unexposed and unmatched. Exit 0 means the selected demonstration matched,
	112	+so a startup crosswind limit report still has `status: 'blocked'`, no confirmed back hover and no contact.
	113	+
	114	+All 24 wind/phase combinations run through the actual runtime with the original time/energy
	115	+budget and heading plans. Headwind, tailwind and the two explicit wind-facing plans complete
	116	+for each phase. The fixed north crosswind limit cases stop at the back-transition envelope
	117	+when wind begins in front, cruise or back. With wind beginning only at landing, those same
	118	+fixed north plans complete through contact. Their `expectedOutcome` is therefore
	119	+`completed-route` for landing onset, and `envelope-stop` for the earlier phases. These are
	120	+distinct modeled cases, not a general wind or landing guarantee. The original startup limit
	121	+cases keep their blocked result. Every selected phase also binds the actual final heading.
	122	+
	123	+```bash
	124	+./buddy vtol:simulate --scenario east-crosswind-limit-2mps --phase back --electrical
	125	+./buddy vtol:simulate --scenario east-crosswind-limit-2mps --phase landing --electrical
	126	+./storage/runtime-build/cli/drone vtol:simulate --scenario west-crosswind-2mps --phase cruise
	127	+```
80	128
81	129	A tailwind library run can also be constructed explicitly from a script under `scripts/`:
82	130
		⋯6 linesShow the 6 lines above this hunk@@ -89,12 +137,31 @@ profile.faults = (_scenario, atMs) => ({ windMps: atMs >= 1000 ? [2, 0, 0] : [0,
89	137	const result = runVehicleSimulation(profile, { seconds: 160 })
90	138	```
91	139
92		-The east/west crosswind experiments still reach the back-transition envelope guard
93		-without confirmed hover or landing. Their yaw excursions and eventual pitch limits remain unsupported
94		-outcomes. Neutral outputs at those airborne failures do not establish a safe landing. Wider wind directions,
95		-onset phases and planning/heading feasibility remain in
96		-[#87](https://github.com/stacksjs/drone/issues/87). No arbitrary-wind, measured-airframe or physical
97		-flight acceptance is claimed.
	140	+With startup, front, cruise or back onset, the fixed north-facing east/west crosswind plans reach the back-transition envelope guard
	141	+without confirmed hover or landing. The retained v2 east-case diagnosis, before the v3 flow projection,
	142	+records a reverse return at 38,000 ms where
	143	+the modeled aerodynamic yaw moment is approximately -0.729 Nm while the fully allocated opposing
	144	+rotor yaw moment is only +0.416 Nm, with the rudder at its +0.4 rad bound. The qualified airflow capture
	145	+is 60 ms old, attitude 20 ms and position 100 ms, within the unchanged source guards. This is an
	146	+observed authority shortage, not evidence of a mismatched capture frame.
	147	+
	148	+A separate level-hover calculation with the same 2 m/s crosswind and full opposing rudder leaves
	149	+-0.736 Nm of aerodynamic yaw moment. Lift rotors preserving the fictional 24.517 N weight support
	150	+can oppose at most +0.470 Nm. This worked example does not establish a full steady-flight feasibility
	151	+envelope, but changing gains cannot supply the missing torque in that condition. Neutral outputs
	152	+at the original airborne failure do not establish a safe landing.
	153	+
	154	+The two wind-facing plans differ from their fixed-heading counterparts only in the declared
	155	+back-hover heading and plan identity. They use the existing `vtol-mode.headingRad` mission contract
	156	+and the same shared controller, model, reserve and finite budgets. The front heading remains north. These plans complete the source-qualified modeled hover
	157	+confirmation and contact route in the declared wind. Their extra `backHeadingRad` declaration and
	158	+`backHeadingMatched` check bind qualification to the actual recorded plan; a completed route under
	159	+a different heading remains unmatched. The plan retains its declared final heading, and there are no automatic retries.
	160	+The original `*-limit-2mps` cases keep their prior plans and blocked outcomes.
	161	+
	162	+Wider wind directions and arbitrary onset times, a general feasibility planner and measured full-angle model qualification
	163	+remain in [#87](https://github.com/stacksjs/drone/issues/87). No arbitrary-wind, measured-airframe or
	164	+physical flight acceptance is claimed.
98	165
99	166	The hover demonstration commands the pusher and three surfaces to zero. Calibrated modeled raw
100	167	IMU/GNSS samples feed the owned estimator. The controller receives estimated pose, a current qualified
		⋯99 linesShow the 99 lines above this hunk@@ -200,8 +267,8 @@ locked-rotor electrical current.
200	267
201	268	For a named case, exit 0 means its specific expected outcome matched. It does not turn `blocked`,
202	269	`host-lost` or `aborted` into a completed mission. `completeTransitions` still describes the nominal
203		-three confirmations. Invalid selectors, `--phase` on a non-fault case, mismatched outcomes or insufficient
204		-duration exit 1. A duration that excludes a scheduled operator action is rejected before resources
	270	+three confirmations. Invalid selectors, `--phase` on a case without a fault or wind fixture,
	271	+mismatched outcomes or insufficient duration exit 1. A duration that excludes a scheduled operator action is rejected before resources
205	272	are created. Custom schedules and recovery graphs remain TypeScript inputs to the shared runtime.
206	273
207	274	The controller receives measured relative airspeed, differential pressure, airflow angles and modeled
		⋯184 linesShow the 184 lines above this hunk@@ -392,17 +459,19 @@ reconstruct the electrical plant from a mission trace alone.
392	459
393	460	Actual model campaigns cover combined front demand, all nominal phases, open-circuit pusher timeout, initial/front/back abort
394	461	landing, held recovery/resume, global endurance during pause, supply cutoff, bad battery observations,
395		-reserve, host loss and independent sessions. The nominal example's front peak is 347.313 W; its
396		-last captured use is about 4.62 Wh. Neither value predicts aircraft endurance. Motor/propeller advance
	462	+reserve, host loss and independent sessions. With `projected-incidence-v3`,
	463	+`./buddy vtol:simulate --scenario nominal --electrical` reports a last captured use of 4.238631 Wh
	464	+at `capturedAtMs: 75680` in the retained native campaign. This fictional example does not predict
	465	+aircraft endurance. Motor/propeller advance
397	466	ratio, voltage-dependent thrust, cell temperature/degradation, current-sensor calibration and measured
398	467	capacity remain unmodeled or unqualified. The open-circuit fixture removes pusher demand and thrust;
399	468	it does not model a seized motor's electrical current.
400	469
401	470	## Mission workspace
402	471
403		-Open `/missions`, choose `vtol` and select one of the same 18 named cases as `vtol:simulate`.
404		-The six source/manual/host faults also expose `front`, `cruise`, `back` and `landing` injection
405		-phases. The optional electrical checkbox selects the fictional 100 Wh model. Changing the vehicle,
	472	+Open `/missions`, choose `vtol` and select one of the same 20 named cases as `vtol:simulate`.
	473	+The six source/manual/host faults expose `front`, `cruise`, `back` and `landing` injection
	474	+phases. All six wind cases expose startup or observed front/cruise/back/landing onset. The optional electrical checkbox selects the fictional 100 Wh model. Changing the vehicle,
406	475	scenario, fault phase or electrical selection clears the previous recording.
407	476
408	477	The workspace shows the validated worst-case time and energy allowance, requested modes and counted
		⋯2 linesShow the 2 lines above this hunk@@ -411,9 +480,13 @@ position, operator actions, request-bound controller observations and their capt
411	480	table retains changes and confirmations. The last mode observation includes its age at the cursor;
412	481	it does not assert a continuously measured current phase.
413	482
414		-Wind playback shows the declared vector/onset, the actual world exposure check and the expected
415		-completed-route or envelope-stop outcome. The wind is a fixture input, not a measured wind estimate.
416		-Crosswind limit recordings retain their blocked status and unsupported-envelope disclosure.
	483	+Task playback shows each requested VTOL heading in radians from north. Wind playback shows
	484	+the declared vector/onset, the actual world exposure check and the expected completed-route or
	485	+envelope-stop outcome. The explicit wind-facing plans also show their back heading and recorded-plan
	486	+binding. The wind is a fixture input, not a measured wind estimate. With startup, front, cruise
	487	+or back onset, fixed-heading crosswind limit recordings remain blocked and show the unsupported-envelope
	488	+disclosure. Landing-only onset completes through contact and displays the recorded phase binding
	489	+and completed-route expectation.
417	490
418	491	With the electrical model enabled, each row uses the runtime's already qualified sensor capture.
419	492	Used chemical energy, source/load power, current, terminal voltage and the age-charged remaining

resources/components/FlightLimits.stxmodified+1-1

Changes to resources/components/FlightLimits.stx

		@@ -1,6 +1,6 @@
1	1	<template>
2	2	<section aria-labelledby="limits-title" class="pt-8 border-neutral-700 border-t">
3		- <h2 id="limits-title" class="font-semibold text-xl">The operating envelope</h2><p class="mt-2 max-w-2xl text-neutral-400 text-sm">Every behavior passes through the same checks. These software limits supplement the flight controller's independent failsafes.</p>
	3	+ <h2 id="limits-title" class="font-semibold text-xl">Home simulator limits</h2><p class="mt-2 max-w-2xl text-neutral-400 text-sm">These defaults apply to the follow simulator above. Other vehicle profiles declare their own envelopes. Simulation does not establish a physical operating envelope.</p>
4	4	<dl class="grid gap-x-8 gap-y-6 grid-cols-2 md:grid-cols-4 mt-6 text-sm"><div><dt class="text-neutral-400">Launch-origin fence</dt><dd class="mt-1 font-mono">80 m radius</dd></div><div><dt class="text-neutral-400">Altitude envelope</dt><dd class="mt-1 font-mono">8 to 30 m</dd></div><div><dt class="text-neutral-400">Horizontal speed</dt><dd class="mt-1 font-mono">3 m/s maximum</dd></div><div><dt class="text-neutral-400">Battery reserve</dt><dd class="mt-1 font-mono">25% minimum</dd></div></dl>
5	5	</section>
6	6	</template>

resources/components/HardwareChecklist.stxmodified+3-3

Changes to resources/components/HardwareChecklist.stx

		@@ -1,7 +1,7 @@
1	1	<template>
2	2	<section id="hardware" aria-labelledby="hardware-title" class="pt-8 border-neutral-700 border-t">
3		- <div class="max-w-2xl"><h2 id="hardware-title" class="font-semibold text-xl">Build around the Pi you own.</h2><p class="mt-2 text-neutral-400 text-sm">Raspberry Pi 5, 8 GB. One computer for your logic, a dedicated controller for flight.</p></div>
4		- <div class="grid gap-x-12 gap-y-5 md:grid-cols-2 mt-6 text-sm"><div><h3 class="font-medium">Holybro X500 v2 / Pixhawk 6C</h3><p class="mt-1 text-neutral-400">Airframe, propulsion, GPS, power module, and telemetry.</p></div><div><h3 class="font-medium">Raspberry Pi AI Camera</h3><p class="mt-1 text-neutral-400">On-sensor inference for a later vision-tracking adapter.</p></div><div><h3 class="font-medium">RadioMaster Pocket ELRS + RP1 V2</h3><p class="mt-1 text-neutral-400">An independent RC link and a physical mode switch.</p></div><div><h3 class="font-medium">Dedicated Pi power + cooling</h3><p class="mt-1 text-neutral-400">A regulated 5 V supply, Active Cooler, and secure mounting.</p></div></div>
5		- <a href="https://github.com/stacksjs/drone/blob/main/docs/hardware.md" class="inline-block mt-6 text-emerald-200 text-sm underline underline-offset-4 focus-visible:outline-emerald-200">Full parts list, wiring, and purchase notes</a>
	3	+ <div class="max-w-2xl"><h2 id="hardware-title" class="font-semibold text-xl">Build around the Pi you own.</h2><p class="mt-2 text-neutral-400 text-sm">Raspberry Pi 5, 8 GB. Start with the owned-runtime bench and camera integration.</p></div>
	4	+ <div class="grid gap-x-12 gap-y-5 md:grid-cols-2 mt-6 text-sm"><div><h3 class="font-medium">Pico 2 runtime bench</h3><p class="mt-1 text-neutral-400">Our board runtime, a 3.3 V USB-UART adapter and diagnostic instruments. Board outputs remain neutral-only.</p></div><div><h3 class="font-medium">Raspberry Pi AI Camera</h3><p class="mt-1 text-neutral-400">Implemented acquisition bridge, explicit target selection and loss handling. On-device validation remains required.</p></div><div><h3 class="font-medium">Optional airframe and controller</h3><p class="mt-1 text-neutral-400">The parts guide includes an X500 v2 / Pixhawk 6C path with independent RC authority. Physical flight requires separate qualification.</p></div><div><h3 class="font-medium">Dedicated Pi power + cooling</h3><p class="mt-1 text-neutral-400">A regulated 5 V supply, Active Cooler, and secure mounting.</p></div></div>
	5	+ <a href="/docs/hardware" class="inline-block mt-6 text-emerald-200 text-sm underline underline-offset-4 focus-visible:outline-emerald-200">Full parts list, wiring, and purchase notes</a>
6	6	</section>
7	7	</template>

resources/components/MissionWorkspace.stxmodified+12-6

Changes to resources/components/MissionWorkspace.stx

		⋯2 linesShow the 2 lines above this hunk@@ -3,7 +3,7 @@ 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')
	6	+const phase = state('startup')
7	7	const electrical = state(false)
8	8	const result = state<MissionWorkspaceRecording | null>(null)
9	9	const offset = state(600)
		⋯4 linesShow the 4 lines above this hunk@@ -14,7 +14,7 @@ const definition = derived(() => {
14	14	const selected = base.scenarios.includes(scenario()) ? scenario() : 'nominal'
15	15	if (profile() !== 'vtol') return getMissionWorkspaceDefinition(profile(), selected)
16	16	const initial = getMissionWorkspaceDefinition('vtol', selected, { electrical: electrical() })
17		- return 'vtol' in initial && initial.vtol?.phase ? getMissionWorkspaceDefinition('vtol', selected, { phase: phase(), electrical: electrical() }) : initial
	17	+ return 'vtol' in initial && initial.vtol?.phases.includes(phase()) && phase() !== 'startup' ? getMissionWorkspaceDefinition('vtol', selected, { phase: phase(), electrical: electrical() }) : initial
18	18	})
19	19	const vtolDefinition = derived(() => { const d = definition(); return 'vtol' in d ? d.vtol ?? null : null })
20	20	const recording = derived(() => {
		⋯34 linesShow the 34 lines above this hunk@@ -55,6 +55,10 @@ effect(() => {
55	55	phase(); electrical()
56	56	computation.stop(); busy.set(false); result.set(null); error.set(''); offset.set(600)
57	57	if (!getMissionWorkspaceDefinition(selectedProfile, 'nominal').scenarios.includes(selectedScenario)) scenario.set('nominal')
	58	+ else {
	59	+ const selected = getMissionWorkspaceDefinition(selectedProfile, selectedScenario)
	60	+ if ('vtol' in selected && selected.vtol?.phases.length && !selected.vtol.phases.includes(phase())) phase.set(selected.vtol.phase ?? 'startup')
	61	+ }
58	62	})
59	63	function execute() { error.set(''); result.set(null); offset.set(600); busy.set(true); computation.start() }
60	64	function reset() { computation.stop(); result.set(null); error.set(''); offset.set(600); busy.set(false) }
		⋯7 linesShow the 7 lines above this hunk@@ -68,7 +72,7 @@ function vectorLabel(value: number[] | null | undefined) { return value ? value.
68	72	<div class="flex flex-wrap gap-4 items-end mt-8">
69	73	<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>
70	74	<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>
	75	+ <div :if="vtolDefinition()?.phases.length"><label for="mission-vtol-phase" class="block mb-2 text-sm">{{ vtolDefinition()?.wind ? 'Wind onset' : '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 === 'startup' ? 'startup (1000 ms)' : name }}</option></select></div>
72	76	<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>
73	77	<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>
74	78	<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>
		⋯13 linesShow the 13 lines above this hunk@@ -88,7 +92,7 @@ function vectorLabel(value: number[] | null | undefined) { return value ? value.
88	92	<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>
89	93	</dl>
90	94	<h3 class="mt-7 font-semibold text-sm">Tasks and graph edges</h3>
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>
	95	+ <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.headingRad !== undefined && task.headingRad !== null" class="block font-mono text-neutral-400">Requested heading: {{ task.headingRad?.toFixed(3) }} rad from north</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>
92	96	<p class="mt-4 leading-relaxed text-neutral-400 text-xs">{{ definition().assumptions }}</p>
93	97	</aside>
94	98	<div class="min-w-0">
		⋯28 linesShow the 28 lines above this hunk@@ -123,10 +127,12 @@ function vectorLabel(value: number[] | null | undefined) { return value ? value.
123	127	<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	128	<div :if="vtolResult()?.windEvidence" class="mt-5" data-vtol-wind>
125	129	<h4 class="font-semibold text-sm">Declared world wind</h4>
126		- <p class="mt-2 break-words font-mono text-neutral-400 text-xs">LOCAL_NED {{ vectorLabel(vtolResult()?.windEvidence?.windMps) }} m/s, from {{ vtolResult()?.windEvidence?.beginsAtMs }} ms.</p>
	130	+ <p class="mt-2 break-words font-mono text-neutral-400 text-xs">LOCAL_NED {{ vectorLabel(vtolResult()?.windEvidence?.windMps) }} m/s, from {{ vtolResult()?.windEvidence?.beginsAtMs === null ? 'unobserved onset' : vtolResult()?.windEvidence?.beginsAtMs + ' ms' }}.</p>
	131	+ <p :if="vtolResult()?.windEvidence?.phase" class="mt-2 text-neutral-400 text-xs" data-vtol-wind-phase>Observed {{ vtolResult()?.windEvidence?.phase }} entry: {{ vtolResult()?.windEvidence?.phaseEnteredAtMs }} ms. Phase binding: {{ vtolResult()?.windEvidence?.phaseMatched ? 'matched' : 'unmatched' }}. Wind starts on the next 4 ms integration step.</p>
127	132	<p class="mt-2 text-neutral-400 text-xs">World exposure check: {{ vtolResult()?.windEvidence?.worldMatched ? 'matched' : 'unmatched' }}. Expected result: {{ vtolResult()?.windEvidence?.expectedOutcome === 'completed-route' ? 'completed route' : 'back-transition envelope stop' }}.</p>
128	133	<p class="mt-2 text-neutral-400 text-xs">The wind is a model input. It is not supplied to the controller or reported as a measured wind estimate.</p>
129		- <p :if="vtolResult()?.windEvidence?.expectedOutcome === 'envelope-stop'" class="mt-2 leading-relaxed text-amber-200 text-xs" data-vtol-wind-limit>This crosswind remains outside the supported route envelope. A matched stop does not certify hover, contact or a safe landing.</p>
	134	+ <p :if="vtolResult()?.windEvidence?.backHeadingRad !== undefined" class="mt-2 text-neutral-400 text-xs" data-vtol-wind-heading>Back hover heading: {{ vtolResult()?.windEvidence?.backHeadingRad?.toFixed(3) }} rad from north. Plan heading check: {{ vtolResult()?.windEvidence?.backHeadingMatched ? 'matched' : 'unmatched' }}. This result does not qualify other wind onset or heading plans.</p>
	135	+ <p :if="vtolResult()?.windEvidence?.expectedOutcome === 'envelope-stop'" class="mt-2 leading-relaxed text-amber-200 text-xs" data-vtol-wind-limit>This plan with a fixed north heading remains outside the supported route envelope. A matched stop does not certify hover, contact or a safe landing.</p>
130	136	</div>
131	137	<p :if="modeObservation()" class="mt-4 break-words font-mono text-sm" data-vtol-mode>{{ modeObservation()?.phase }} / {{ modeObservation()?.outcome }} / {{ modeObservation()?.taskId }}</p>
132	138	<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>

resources/functions/drone/controls/controller.tsmodified+1-1

Changes to resources/functions/drone/controls/controller.ts

		⋯5 linesShow the 5 lines above this hunk@@ -6,5 +6,5 @@ export type { SimulatedControlInput, SimulatedControlOutput } from './lift-contr
6	6
7	7	/** Original quad-X model and tuning, on the shared simulation-only lift cascade. */
8	8	export function createSimulatedMultirotorController(options: { headingAlignment: 'initial-simulation-north' }) {
9		- return createSimulatedLiftController(options, { massKg: model.massKg, gravityMps2: model.gravityMps2, rateScale: [1, 1, 1], allocate: allocateQuadX })
	9	+ return createSimulatedLiftController(options, { massKg: model.massKg, gravityMps2: model.gravityMps2, rateScale: [1, 1, 1], attitudeControl: 'quaternion-error-v1', allocate: allocateQuadX })
10	10	}

resources/functions/drone/controls/lift-controller.tsmodified+26-7

Changes to resources/functions/drone/controls/lift-controller.ts

		@@ -1,7 +1,8 @@
1	1	import type { EstimatorSnapshot } from '../estimation/estimator'
2	2	import type { SensorVector } from '../sensors/types'
3	3	import type { Motors, Wrench } from './model'
4		-import { multiplyQuaternion, quaternionFromTilt } from '../estimation/frames'
	4	+import { multiplyQuaternion, normalizeQuaternion, quaternionFromTilt } from '../estimation/frames'
	5	+import { rotateBodyToNed } from './physics'
5	6	import { createBoundedPid } from './pid'
6	7	import { clampControl, validVector } from './model'
7	8	export interface SimulatedControlInput {
		⋯5 linesShow the 5 lines above this hunk@@ -13,13 +14,13 @@ export interface SimulatedControlInput {
13	14	rateCapturedAtMs: number
14	15	target: { positionM: SensorVector, yawRad: number, issuedAtMs: number }
15	16	}
16		-interface LiftProfile { massKg: number, gravityMps2: number, rateScale: SensorVector, allocate(wrench: Wrench, previous: Motors, dtS: number): { motorsN: Motors, achieved: Wrench, limited: boolean } }
	17	+interface LiftProfile { massKg: number, gravityMps2: number, rateScale: SensorVector, attitudeControl: 'quaternion-error-v1' | 'thrust-heading-v2', allocate(wrench: Wrench, previous: Motors, dtS: number): { motorsN: Motors, achieved: Wrench, limited: boolean } }
17	18	/** Shared simulated lift cascade. Vehicle wrappers own mass, tuning and allocation; no vehicle IO. */
18	19	export function createSimulatedLiftController(options: { headingAlignment: 'initial-simulation-north' }, profile: LiftProfile) {
19	20	if (options.headingAlignment !== 'initial-simulation-north') throw new TypeError('An explicit simulation heading alignment is required')
20		- const model = { massKg: profile.massKg, gravityMps2: profile.gravityMps2 }, allocate = profile.allocate
	21	+ const model = { massKg: profile.massKg, gravityMps2: profile.gravityMps2 }, allocate = profile.allocate, attitudeControl = profile.attitudeControl
21	22	const rateScale = Array.isArray(profile.rateScale) ? [...profile.rateScale] : []
22		- if (!Number.isFinite(model.massKg) || model.massKg <= 0 || !Number.isFinite(model.gravityMps2) || model.gravityMps2 <= 0 || !validVector(rateScale) || rateScale.some(n => n <= 0) || typeof allocate !== 'function') throw new RangeError('Invalid simulated lift profile')
	23	+ if (!Number.isFinite(model.massKg) || model.massKg <= 0 || !Number.isFinite(model.gravityMps2) || model.gravityMps2 <= 0 || !validVector(rateScale) || rateScale.some(n => n <= 0) || !['quaternion-error-v1', 'thrust-heading-v2'].includes(attitudeControl) || typeof allocate !== 'function') throw new RangeError('Invalid simulated lift profile')
23	24	const velocityPid = [0, 1, 2].map(() => createBoundedPid({ kp: 1.6, ki: 0.25, kd: 0, integralLimit: 1.5, outputLimit: 3, derivativeTauS: 0.03, trackingGain: 1 }))
24	25	const ratePid = [0, 1, 2].map(i => createBoundedPid({ kp: (i === 2 ? 0.08 : 0.12) * rateScale[i]!, ki: (i === 2 ? 0.04 : 0.08) * rateScale[i]!, kd: (i === 2 ? 0.001 : 0.002) * rateScale[i]!, integralLimit: 0.12 * rateScale[i]!, outputLimit: (i === 2 ? 0.25 : 0.6) * rateScale[i]!, derivativeTauS: 0.03, trackingGain: 4 }))
25	26	let previous: Motors = [0, 0, 0, 0], lastNow: number | null = null, reference: string | null = null, fault: string | null = null
		⋯40 linesShow the 40 lines above this hunk@@ -66,9 +67,27 @@ export function createSimulatedLiftController(options: { headingAlignment: 'init
66	67	const yaw = target.yawRad, ax = Math.cos(yaw) * acceleration[0] + Math.sin(yaw) * acceleration[1], ay = -Math.sin(yaw) * acceleration[0] + Math.cos(yaw) * acceleration[1]
67	68	const vertical = model.gravityMps2 - acceleration[2]
68	69	const desired = multiplyQuaternion([Math.cos(yaw / 2), 0, 0, Math.sin(yaw / 2)], quaternionFromTilt(Math.atan2(ay, Math.hypot(ax, vertical)), Math.atan2(-ax, vertical)))
69		- const q = attitude.quaternionWxyz
70		- const error = multiplyQuaternion([q[0], -q[1], -q[2], -q[3]], desired)
71		- const rates = error.slice(1).map((n, i) => clampControl(8 * n * (error[0] < 0 ? -1 : 1), i === 2 ? 1.5 : 3)) as SensorVector
	70	+ let rates: SensorVector
	71	+ if (attitudeControl === 'quaternion-error-v1') {
	72	+ // Preserve the original quad model's deterministic recording profile.
	73	+ const q = attitude.quaternionWxyz
	74	+ const error = multiplyQuaternion([q[0], -q[1], -q[2], -q[3]], desired)
	75	+ rates = error.slice(1).map((n, i) => clampControl(8 * n * (error[0] < 0 ? -1 : 1), i === 2 ? 1.5 : 3)) as SensorVector
	76	+ }
	77	+ else {
	78	+ const q = normalizeQuaternion(attitude.quaternionWxyz)
	79	+ // First align the thrust direction without twisting about it. An
	80	+ // unattainable yaw goal must not rotate the position correction.
	81	+ const from = rotateBodyToNed(q, [0, 0, 1]), to = rotateBodyToNed(desired, [0, 0, 1])
	82	+ const dot = Math.max(-1, Math.min(1, from.reduce((sum, n, i) => sum + n * to[i]!, 0)))
	83	+ if (1 + dot <= 1e-8) return inhibit('antipodal-thrust-direction')
	84	+ const alignment = normalizeQuaternion([1 + dot, from[1] * to[2] - from[2] * to[1], from[2] * to[0] - from[0] * to[2], from[0] * to[1] - from[1] * to[0]])
	85	+ const reduced = normalizeQuaternion(multiplyQuaternion(alignment, q))
	86	+ const tiltError = multiplyQuaternion([q[0], -q[1], -q[2], -q[3]], reduced)
	87	+ const yawError = multiplyQuaternion([reduced[0], -reduced[1], -reduced[2], -reduced[3]], desired)
	88	+ const correction = [tiltError[1] * (tiltError[0] < 0 ? -1 : 1), tiltError[2] * (tiltError[0] < 0 ? -1 : 1), yawError[3] * (yawError[0] < 0 ? -1 : 1)]
	89	+ rates = correction.map((n, i) => clampControl(8 * n, i === 2 ? 1.5 : 3)) as SensorVector
	90	+ }
72	91	const torque = rates.map((n, i) => ratePid[i]!.step(n - input.angularRateRadS[i]!, input.angularRateRadS[i]!, dt)) as SensorVector
73	92	const desiredWrench = { thrustN: model.massKg * Math.hypot(...[acceleration[0], acceleration[1], vertical]), torqueNm: torque }
74	93	const allocation = allocate(desiredWrench, previous, dt)

resources/functions/drone/vehicles/air/plant.tsmodified+7-2

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

		⋯18 linesShow the 18 lines above this hunk@@ -19,6 +19,11 @@ export function airAerodynamics(relativeBodyMps: SensorVector, rateRadS: SensorV
19	19	const [u, v, w] = relativeBodyMps
20	20	const speedMps = Math.hypot(u, v, w), alphaRad = Math.atan2(w, u), betaRad = Math.atan2(v, Math.hypot(u, w))
21	21	const dynamicPressurePa = 0.5 * airModel.densityKgM3 * speedMps ** 2
	22	+ // The VTOL extension applies longitudinal lift, drag and static pitch only
	23	+ // to the incident chord/vertical flow plane. Total pressure remains measured
	24	+ // and supplies the separately declared lateral, surface and rate response.
	25	+ const planeFraction = foldReverseFlow && v !== 0 ? Math.hypot(u, w) / speedMps : 1
	26	+ const longitudinalPressurePa = dynamicPressurePa * planeFraction ** 2
22	27	// Explicit VTOL extension: fold the incidence and project stalled flow along
23	28	// the chord. Preserve the forward pre-stall curve; fade to zero at broadside
24	29	// and reverse the coefficient sign for flow over the trailing edge.
		⋯4 linesShow the 4 lines above this hunk@@ -29,13 +34,13 @@ export function airAerodynamics(relativeBodyMps: SensorVector, rateRadS: SensorV
29	34	// Bounded post-stall loss, retaining drag. No claim of dynamic stall or spin modeling.
30	35	const liftCoefficient = chordDirection * clamp(linearLift, -1.1, 1.4) * Math.max(0.15, 1 - Math.max(0, Math.abs(coefficientAlphaRad) - airModel.stallAlphaRad) * 2.5)
31	36	const dragCoefficient = 0.04 + 0.06 * liftCoefficient ** 2 + 0.8 * Math.sin(alphaRad) ** 2 + 0.2 * Math.sin(betaRad) ** 2
32		- const lift = dynamicPressurePa * airModel.areaM2 * liftCoefficient, drag = dynamicPressurePa * airModel.areaM2 * dragCoefficient
	37	+ const lift = longitudinalPressurePa * airModel.areaM2 * liftCoefficient, drag = longitudinalPressurePa * airModel.areaM2 * dragCoefficient
33	38	const ca = Math.cos(alphaRad), sa = Math.sin(alphaRad)
34	39	const forceN: SensorVector = [actuators[0]! * airModel.maxThrustN - drag * ca + lift * sa, -dynamicPressurePa * airModel.areaM2 * 0.6 * betaRad, -drag * sa - lift * ca]
35	40	const rateScale = Math.max(1, speedMps)
36	41	const torqueNm: SensorVector = [
37	42	dynamicPressurePa * airModel.areaM2 * airModel.spanM * (0.12 * actuators[1]! - 0.3 * rateRadS[0] * airModel.spanM / (2 * rateScale)),
38		- dynamicPressurePa * airModel.areaM2 * airModel.chordM * (0.8 * actuators[2]! - 0.15 * coefficientAlphaRad * chordDirection - 2 * rateRadS[1] * airModel.chordM / (2 * rateScale)),
	43	+ dynamicPressurePa * airModel.areaM2 * airModel.chordM * (0.8 * actuators[2]! - 0.15 * coefficientAlphaRad * chordDirection * planeFraction ** 2 - 2 * rateRadS[1] * airModel.chordM / (2 * rateScale)),
39	44	dynamicPressurePa * airModel.areaM2 * airModel.spanM * (0.08 * actuators[3]! + 0.12 * betaRad - 0.25 * rateRadS[2] * airModel.spanM / (2 * rateScale)),
40	45	]
41	46	return { forceN, torqueNm, speedMps, alphaRad, betaRad, liftCoefficient, dragCoefficient, dynamicPressurePa, stalled: Math.abs(alphaRad) > airModel.stallAlphaRad }

resources/functions/drone/vehicles/vtol/flight-controller.tsmodified+3-0

Changes to resources/functions/drone/vehicles/vtol/flight-controller.ts

		⋯137 linesShow the 137 lines above this hunk@@ -138,6 +138,9 @@ export function createVtolFlightController(): VehicleController {
138	138	if (rotary) {
139	139	backSlow ||= speed < 3
140	140	if (!backSlow && phase === 'back-transition') {
	141	+ // A requested hover heading is the final capture condition. While
	142	+ // wing braking, keep the nose and force search in measured airflow.
	143	+ heading = Math.atan2(airNed[1], airNed[0])
141	144	// The linear pre-stall estimate seeds a bounded search of the actual fictional
142	145	// wing/rotor force balance, including stalled drag. Keep the original pitch limits.
143	146	const optimalAlpha = Math.max(0, (requiredUpN / Math.max(1, pressureArea) - 0.25) / (2 * 4.8))

resources/functions/drone/vehicles/vtol/hover-controller.tsmodified+1-0

Changes to resources/functions/drone/vehicles/vtol/hover-controller.ts

		⋯7 linesShow the 7 lines above this hunk@@ -8,6 +8,7 @@ export function createVtolHoverController(options: { headingAlignment: 'initial-
8	8	massKg: model.massKg,
9	9	gravityMps2: model.gravityMps2,
10	10	rateScale: [10, 40 / 3, 12],
	11	+ attitudeControl: 'thrust-heading-v2',
11	12	allocate(wrench) {
12	13	const result = allocateVtolLift(wrench)
13	14	return { motorsN: result.rotorsN, achieved: result.achieved, limited: result.limited }

resources/functions/drone/vehicles/vtol/plant.tsmodified+2-2

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

		⋯8 linesShow the 8 lines above this hunk@@ -9,9 +9,9 @@ import { numericPacket } from './packets'
9	9	import { vtolElectricalLoad, vtolElectricalMaximumW, vtolElectricalModel, vtolElectricalSupply } from './power'
10	10
11	11	/** Fictional lift-and-cruise model. No measured hardware coefficients or flight qualification. */
12		-export const vtolModel = Object.freeze({ aerodynamicsModel: 'folded-incidence-v2' as const, massKg: 2.5, surfaceFrictionCoefficient: 0.5, gravityMps2: 9.80665, maxRotorThrustN: 12, rotorTimeConstantS: 0.06, rotorSlewNPerS: 120, rotorArmProjectionM: 0.4, reactionTorqueM: 0.02, inertiaKgM2: Object.freeze([0.3, 0.4, 0.6] as const), maxPusherThrustN: airModel.maxThrustN, pusherTimeConstantS: 0.08, pusherSlewNPerS: 60, wing: airModel })
	12	+export const vtolModel = Object.freeze({ aerodynamicsModel: 'projected-incidence-v3' as const, massKg: 2.5, surfaceFrictionCoefficient: 0.5, gravityMps2: 9.80665, maxRotorThrustN: 12, rotorTimeConstantS: 0.06, rotorSlewNPerS: 120, rotorArmProjectionM: 0.4, reactionTorqueM: 0.02, inertiaKgM2: Object.freeze([0.3, 0.4, 0.6] as const), maxPusherThrustN: airModel.maxThrustN, pusherTimeConstantS: 0.08, pusherSlewNPerS: 60, wing: airModel })
13	13
14		-/** Fictional continuous reverse-flow extension, not measured post-stall or reverse-flight data. */
	14	+/** Fictional projected-flow extension, not measured post-stall, spanwise or reverse-flight data. */
15	15	export function vtolAerodynamics(relativeBodyMps: SensorVector, rateRadS: SensorVector, actuators: number[]) {
16	16	return airAerodynamics(relativeBodyMps, rateRadS, actuators, true)
17	17	}

resources/functions/drone/vehicles/vtol/simulation.tsmodified+44-13

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

		@@ -1,4 +1,5 @@
1	1	import { createVtolTransitionProfile } from './transition-profile'
	2	+import { vtolModel } from './plant'
2	3	import { runVehicleSimulation } from '../runtime'
3	4	import type { VehicleMissionAction } from '../types'
4	5	import type { SensorVector } from '../../sensors/types'
		⋯14 linesShow the 14 lines above this hunk@@ -19,10 +20,13 @@ const windCases = {
19	20	'tailwind-2mps': { windMps: [2, 0, 0], expectedOutcome: 'completed-route' },
20	21	'east-crosswind-limit-2mps': { windMps: [0, 2, 0], expectedOutcome: 'envelope-stop' },
21	22	'west-crosswind-limit-2mps': { windMps: [0, -2, 0], expectedOutcome: 'envelope-stop' },
	23	+ 'east-crosswind-2mps': { windMps: [0, 2, 0], expectedOutcome: 'completed-route', backHeadingRad: -Math.PI / 2 },
	24	+ 'west-crosswind-2mps': { windMps: [0, -2, 0], expectedOutcome: 'completed-route', backHeadingRad: Math.PI / 2 },
22	25	} as const
23	26	const windExposure = () => ({ calmSteps: 0, appliedSteps: 0, mismatchSteps: 0, firstAppliedAtMs: null as number | null, lastAppliedAtMs: null as number | null })
24	27	export const vtolSimulationScenarios = Object.freeze(['nominal', ...Object.keys(faults), ...Object.keys(operatorCases), ...Object.keys(windCases)])
25	28	export const vtolSimulationPhases = Object.freeze(['front', 'cruise', 'back', 'landing'] as const)
	29	+export const vtolSimulationWindPhases = Object.freeze(['startup', ...vtolSimulationPhases])
26	30	const phases = [
27	31	{ phase: 'front', atMs: 13000, taskId: 'front' },
28	32	{ phase: 'cruise', atMs: 20000, taskId: 'cruise-leg' },
		⋯7 linesShow the 7 lines above this hunk@@ -36,16 +40,27 @@ export interface VtolSimulationOptions { seconds?: number, electrical?: boolean,
36	40	/** One case construction shared by CLI reports and the recorded workspace. No session is allocated until run. */
37	41	export function createVtolSimulationCase(scenario = 'nominal', options: VtolSimulationOptions = {}) {
38	42	if (!(vtolSimulationScenarios as readonly string[]).includes(scenario)) throw new RangeError('Unknown VTOL simulation scenario')
39		- if (options.phase !== undefined && !(vtolSimulationPhases as readonly string[]).includes(options.phase)) throw new RangeError('Unknown VTOL simulation phase')
40	43	const faultCase = Object.hasOwn(faults, scenario)
41		- if (!faultCase && options.phase !== undefined) throw new RangeError('VTOL phase selection requires a fault scenario')
	44	+ const windCase = Object.hasOwn(windCases, scenario) ? windCases[scenario as keyof typeof windCases] : null
	45	+ const availablePhases: readonly string[] = windCase ? vtolSimulationWindPhases : faultCase ? vtolSimulationPhases : []
	46	+ if (options.phase !== undefined && !faultCase && !windCase) throw new RangeError('VTOL phase selection requires a fault or wind scenario')
	47	+ if (options.phase !== undefined && !availablePhases.includes(options.phase)) throw new RangeError('Unknown VTOL simulation phase')
42	48	const phase = faultCase ? phases.find(row => row.phase === (options.phase ?? 'front')) : null
43	49	if (phase === undefined) throw new RangeError('Unknown VTOL simulation phase')
	50	+ const windPhase = windCase && options.phase !== undefined && options.phase !== 'startup' ? phases.find(row => row.phase === options.phase)! : null
44	51	const profile = createVtolTransitionProfile({ electrical: options.electrical })
45	52	const operator: OperatorCase | undefined = Object.hasOwn(operatorCases, scenario) ? operatorCases[scenario as keyof typeof operatorCases] : undefined
46		- const windCase = Object.hasOwn(windCases, scenario) ? windCases[scenario as keyof typeof windCases] : null
47		- const wind = windCase ? { frame: 'LOCAL_NED' as const, windMps: [...windCase.windMps] as SensorVector, beginsAtMs: 1000, expectedOutcome: windCase.expectedOutcome } : null
	53	+ const backHeadingRad = windCase && 'backHeadingRad' in windCase ? windCase.backHeadingRad : null
	54	+ if (backHeadingRad !== null) {
	55	+ const back = profile.mission.tasks.find(task => task.id === 'back')
	56	+ if (!back || back.kind !== 'vtol-mode') throw new TypeError('Missing VTOL back heading task')
	57	+ back.headingRad = backHeadingRad
	58	+ profile.mission.id = `vtol-${scenario}`
	59	+ }
	60	+ const declaredHeading = backHeadingRad ?? 0
	61	+ const wind = windCase ? { frame: 'LOCAL_NED' as const, windMps: [...windCase.windMps] as SensorVector, beginsAtMs: windPhase ? null : 1000, expectedOutcome: windPhase?.phase === 'landing' ? 'completed-route' as const : windCase.expectedOutcome, ...(backHeadingRad === null && !windPhase ? {} : { backHeadingRad: declaredHeading }), ...(windPhase ? { phase: windPhase.phase } : {}) } : null
48	62	let exposure = windExposure()
	63	+ let phaseEnteredAtMs: number | null = null, windBeginsAtMs: number | null = wind?.beginsAtMs ?? null
49	64	const actions = operator?.actions
50	65	if (operator?.recovery) {
51	66	const source = profile.mission.tasks.find(task => task.id === operator.recovery)
		⋯37 linesShow the 37 lines above this hunk@@ -89,11 +104,20 @@ export function createVtolSimulationCase(scenario = 'nominal', options: VtolSimu
89	104	}
90	105	if (windCase) {
91	106	const factory = profile.createSession
92		- profile.faults = (_scenario, atMs) => ({ windMps: atMs >= 1000 ? [...windCase.windMps] as SensorVector : [0, 0, 0] })
	107	+ profile.faults = (_scenario, atMs) => ({ windMps: windBeginsAtMs !== null && atMs >= windBeginsAtMs ? [...windCase.windMps] as SensorVector : [0, 0, 0] })
93	108	profile.createSession = () => {
94	109	const session = factory()
95	110	let appliedWind: SensorVector | null = null
96		- return { ...session, createPlant() {
	111	+ return { ...session, ...(windPhase ? { createController() {
	112	+ const controller = session.createController()
	113	+ return { step(context) {
	114	+ if (phaseEnteredAtMs === null && context.enabled && context.mission.state === 'running' && context.mission.taskId === windPhase.taskId) {
	115	+ phaseEnteredAtMs = context.nowMs
	116	+ windBeginsAtMs = context.nowMs + 4
	117	+ }
	118	+ return controller.step(context)
	119	+ } }
	120	+ } } : {}), createPlant() {
97	121	const plant = session.createPlant()
98	122	return { snapshot: () => plant.snapshot(), step(actuators, dtS, world) {
99	123	const state = plant.step(actuators, dtS, world)
		⋯3 linesShow the 3 lines above this hunk@@ -103,17 +127,20 @@ export function createVtolSimulationCase(scenario = 'nominal', options: VtolSimu
103	127	}, observeIndependent(state, atMs, actuators, hostAvailable) {
104	128	session.observeIndependent?.(state, atMs, actuators, hostAvailable)
105	129	if (!appliedWind || atMs <= 600) return
106		- const matches = appliedWind.every((value, index) => value === (atMs >= 1000 ? windCase.windMps[index] : 0))
	130	+ const windy = windBeginsAtMs !== null && atMs >= windBeginsAtMs
	131	+ const matches = appliedWind.every((value, index) => value === (windy ? windCase.windMps[index] : 0))
107	132	if (!matches) exposure.mismatchSteps++
108		- else if (atMs < 1000) exposure.calmSteps++
	133	+ else if (!windy) exposure.calmSteps++
109	134	else { exposure.appliedSteps++; exposure.firstAppliedAtMs ??= atMs; exposure.lastAppliedAtMs = atMs }
110	135	} }
111	136	}
112	137	}
113	138	const seconds = options.seconds ?? operator?.seconds ?? 160
114		- return { profile, seconds, phase: phase?.phase ?? null, electrical: options.electrical ?? false, wind: wind ? structuredClone(wind) : null, run() {
	139	+ return { profile, seconds, phase: phase?.phase ?? windPhase?.phase ?? null, phases: [...availablePhases], electrical: options.electrical ?? false, wind: wind ? structuredClone(wind) : null, run() {
115	140	sources.last = null
116	141	exposure = windExposure()
	142	+ phaseEnteredAtMs = null
	143	+ windBeginsAtMs = wind?.beginsAtMs ?? null
117	144	const result = runVehicleSimulation(profile, { seconds, missionActions: actions })
118	145	const { trace, path, ...report } = result
119	146	const transitionEvidence = trace.rows.flatMap(row => row.observation.transition?.outcome === 'confirmed' ? [row.observation.transition] : [])
		⋯36 linesShow the 36 lines above this hunk@@ -156,12 +183,16 @@ export function createVtolSimulationCase(scenario = 'nominal', options: VtolSimu
156	183	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
157	184	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'
158	185	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)
159		- const worldMatched = !!wind && exposure.calmSteps > 0 && exposure.appliedSteps > 0 && exposure.firstAppliedAtMs === wind.beginsAtMs && exposure.lastAppliedAtMs === lastAtMs && exposure.mismatchSteps === 0
	186	+ const phaseEntry = windPhase ? trace.rows.find(row => row.result.state === 'running' && row.result.taskId === windPhase.taskId) : null
	187	+ const phaseMatched = !windPhase || phaseEnteredAtMs !== null && phaseEntry?.observation.nowMs === phaseEnteredAtMs && windBeginsAtMs === phaseEnteredAtMs + 4
	188	+ const worldMatched = !!wind && phaseMatched && exposure.calmSteps > 0 && exposure.appliedSteps > 0 && exposure.firstAppliedAtMs === windBeginsAtMs && exposure.lastAppliedAtMs === lastAtMs && exposure.mismatchSteps === 0
	189	+ const backTask = trace.plan.tasks.find(task => task.id === 'back')
	190	+ const backHeadingMatched = backTask?.kind === 'vtol-mode' && backTask.mode === 'hover' && backTask.headingRad === declaredHeading
160	191	const windOutcomeMatched = !!wind && (wind.expectedOutcome === 'completed-route' ? completedRoute : result.status === 'blocked' && result.fault === 'vtol-transition-envelope' && result.mission.taskId === 'back' && result.mission.state === 'blocked' && result.mission.targetM === null && result.mission.transition === null && confirmed(['initial-hover', 'front']) && observedFlight && !landingContact && boardNeutral)
161		- const demonstrationMatched = wind ? worldMatched && windOutcomeMatched : scenario === 'nominal' ? completedRoute : actions ? operatorMatched : faultObserved && observedFlight && !landingContact && result.mission.state !== 'completed' && boardNeutral
162		- const summary = { ...report, scope: 'development-lift-and-cruise' as const, transitionEvidence, completeTransitions, observedFlight, landingContact, boardNeutral, demonstrationMatched, recordedMissionRows: trace.rows.length, evaluatedPathRows: path.length,
	192	+ const demonstrationMatched = wind ? worldMatched && windOutcomeMatched && backHeadingMatched : scenario === 'nominal' ? completedRoute : actions ? operatorMatched : faultObserved && observedFlight && !landingContact && result.mission.state !== 'completed' && boardNeutral
	193	+ const summary = { ...report, scope: 'development-lift-and-cruise' as const, aerodynamicsModel: vtolModel.aerodynamicsModel, transitionEvidence, completeTransitions, observedFlight, landingContact, boardNeutral, demonstrationMatched, recordedMissionRows: trace.rows.length, evaluatedPathRows: path.length,
163	194	...(phase ? { scenarioEvidence: { phase: phase.phase, injectedAtMs: phase.atMs, taskId: before?.mission.taskId ?? null, faultObserved, sources: capturedSources } } : {}),
164		- ...(wind ? { windEvidence: { ...structuredClone(wind), ...exposure, worldMatched, outcomeMatched: windOutcomeMatched } } : {}),
	195	+ ...(wind ? { windEvidence: { ...structuredClone(wind), beginsAtMs: windBeginsAtMs, ...exposure, worldMatched, outcomeMatched: windOutcomeMatched, ...(backHeadingRad === null && !windPhase ? {} : { backHeadingMatched }), ...(windPhase ? { phaseEnteredAtMs, phaseMatched } : {}) } } : {}),
165	196	...(actions ? { operatorEvidence: { actions: actualActions, tasksBeforeActions, phaseMatched: operatorPhaseMatched, observedPaused, matched: operatorMatched, ...(operator?.recovery ? { recoveryCorrelated } : {}), ...(operator?.openCircuit ? { pusherOpenCircuitObserved } : {}), ...(operator?.outcome === 'hold-expiry' ? { globalEnduranceExpired, landingStarted } : {}) } } : {}) }
166	197	return { result, report: summary }
167	198	} }

resources/functions/drone/vehicles/workspace.tsmodified+4-4

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

		⋯13 linesShow the 13 lines above this hunk@@ -14,10 +14,10 @@ import type { SubseaScenario } from './subsea'
14	14	import { reduceSubseaInspection } from './subsea/inspection'
15	15	import { runVehicleSimulation } from './runtime'
16	16	import { observeVehicleBattery } from './measurements'
17		-import { createVtolSimulationCase, vtolSimulationPhases, vtolSimulationScenarios } from './vtol/simulation'
	17	+import { createVtolSimulationCase, vtolSimulationScenarios } from './vtol/simulation'
18	18	export const missionWorkspaceProfiles = ['quadcopter', 'fixed-wing', 'vtol', 'ground', 'surface', 'subsea'] as const
19	19	export type MissionWorkspaceProfile = typeof missionWorkspaceProfiles[number]
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 }
	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, headingRad?: number | null }
21	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 }
22	22	export interface WorkspaceAck extends VehiclePayloadAck { correlated: boolean }
23	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 } }
		⋯21 linesShow the 21 lines above this hunk@@ -45,8 +45,8 @@ export function getMissionWorkspaceDefinition(profile: MissionWorkspaceProfile =
45	45	}
46	46	const vtolCase = profile === 'vtol' ? createVtolSimulationCase(scenario, options) : null
47	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, ...(vtolCase.wind ? { wind: structuredClone(vtolCase.wind) } : {}) } } : {}) }
	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, headingRad: t.kind === 'vtol-mode' ? t.headingRad : 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.phases], electrical: vtolCase.electrical, seconds: vtolCase.seconds, ...(vtolCase.wind ? { wind: structuredClone(vtolCase.wind) } : {}) } } : {}) }
50	50	}
51	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' } }
52	52	function ackFor(ack: VehiclePayloadAck, seen: Map<string, WorkspacePayload>): WorkspaceAck {

resources/views/index.stxmodified+6-3

Changes to resources/views/index.stx

		@@ -1,11 +1,12 @@
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="An open Stacks workspace for custom drone behavior, simulation, and Raspberry Pi companion computing."><title>Drone / Stacks</title></head>
	4	+ <head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1"><meta name="description" content="Build owned vehicle autonomy with Stacks: runtime, sensors, estimation, controls, missions and Pi AI Camera tracking. Experimental simulation and bench development."><title>Drone / Stacks</title></head>
5	5	<body class="min-h-[100dvh] antialiased text-neutral-100 bg-neutral-950">
	6	+ <a href="#main" class="skip-link">Skip to content</a>
6	7	<div class="mx-auto px-5 sm:px-8 max-w-6xl">
7		- <header class="flex flex-wrap gap-4 items-center justify-between py-6 border-b border-neutral-700"><a href="/" class="font-semibold text-lg tracking-tight">stacks<span class="mx-2 text-neutral-500">/</span>drone</a><nav aria-label="Main navigation" class="flex flex-wrap gap-5 items-center text-neutral-300 text-sm"><a href="#simulation" class="hover:text-white">Simulator</a><a href="/camera" class="hover:text-white">Camera</a><a href="/vision" class="hover:text-white">Target fusion</a><a href="/diagnostics" class="hover:text-white">Diagnostics</a><a href="/missions" class="hover:text-white">Missions</a><a href="/mapping" class="hover:text-white">Mapping</a><a href="/volumes" class="hover:text-white">Volumes</a><a href="/inspection" class="hover:text-white">Inspection</a><a href="/incidents" class="hover:text-white">Incidents</a><a href="/agriculture" class="hover:text-white">Field observations</a><a href="#hardware" class="hover:text-white">Hardware</a><a href="https://github.com/stacksjs/drone" class="hover:text-white">Source <span aria-hidden="true">↗</span></a></nav></header>
8		- <main class="py-10 space-y-12 sm:py-14"><section class="max-w-3xl"><p class="mb-3 font-mono text-emerald-200 text-sm">COMPANION FLIGHT WORKSPACE</p><h1 class="font-semibold leading-tight text-3xl tracking-tight sm:text-5xl">Your aircraft.<br>Your flight logic.</h1><p class="mt-4 max-w-xl leading-relaxed text-neutral-400">Build and test custom follow behavior in TypeScript, then explore the Raspberry Pi integration path.</p></section><MissionControl /><FlightLimits /><HardwareChecklist /></main>
	8	+ <header class="flex flex-wrap gap-4 items-center justify-between py-6 border-b border-neutral-700"><a href="/" class="font-semibold text-lg tracking-tight">stacks<span class="mx-2 text-neutral-500">/</span>drone</a><nav aria-label="Main navigation" class="flex flex-wrap gap-5 items-center text-neutral-300 text-sm"><a href="#simulation" class="hover:text-white">Simulator</a><a href="/camera" class="hover:text-white">Camera</a><a href="/missions" class="hover:text-white">Missions</a><a href="/docs" class="hover:text-white">Docs</a><a href="#hardware" class="hover:text-white">Hardware</a><a href="https://github.com/stacksjs/drone" class="hover:text-white">Source <span aria-hidden="true">↗</span></a></nav></header>
	9	+ <main id="main" tabindex="-1" class="py-10 space-y-12 sm:py-14"><section class="max-w-3xl"><p class="mb-3 font-mono text-emerald-200 text-sm">OWNED VEHICLE AUTONOMY</p><h1 class="font-semibold leading-tight text-3xl tracking-tight sm:text-5xl">Your vehicle.<br>Your autonomy stack.</h1><p class="mt-4 max-w-xl leading-relaxed text-neutral-400">Build runtime, estimation, controls and missions with Stacks. Explore Pi AI Camera tracking and owned vehicle simulations.</p><p class="mt-4 max-w-xl text-emerald-200 text-sm">Experimental simulation and bench development. Physical telemetry is receive-only; physical flight commands are disabled.</p></section><MissionControl /><FlightLimits /><HardwareChecklist /></main>
9	10	<footer class="flex flex-wrap gap-3 justify-between py-6 text-neutral-400 text-xs border-neutral-700 border-t"><span>Built with Stacks, stx, and Bun. <a href="/docs" class="underline hover:text-white">Documentation and implementation status</a></span><span>Simulation first. Physical flight requires separate validation.</span></footer>
10	11	</div>
11	12	</body>
		⋯4 linesShow the 4 lines above this hunk@@ -16,5 +17,7 @@ button, input { font: inherit; }
16	17	button { cursor: pointer; }
17	18	button:disabled { cursor: default; }
18	19	a, button, input { outline-offset: 4px; }
	20	+.skip-link { position: absolute; top: 0; left: 1rem; padding: 0.75rem 1rem; background: #171717; color: #fff; transform: translateY(-150%); z-index: 10; }
	21	+.skip-link:focus { transform: translateY(0); }
19	22	@media (prefers-reduced-motion: reduce) { *, *::before, *::after { animation: none !important; transition: none !important; } }
20	23	</style>

tests/unit/vtol-control.test.tsmodified+28-0

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

		⋯63 linesShow the 63 lines above this hunk@@ -64,3 +64,31 @@ test('the VTOL body follows a hover position step using raw IMU and GNSS rather
64	64	expect(estimate.health.localPosition).toBe(true)
65	65	expect(estimate.health.absoluteHeading).toBe(false)
66	66	})
	67	+
	68	+// The public lift output exposes desired body rates. A yaw goal must not rotate
	69	+// the independent thrust-direction correction when yaw authority is exhausted.
	70	+test('hover tilt correction stays independent of a large yaw heading error', () => {
	71	+ const outputs = [0, Math.PI / 2].map(yawRad => {
	72	+ const input = hoverInput()
	73	+ input.estimate.attitude!.quaternionWxyz = [Math.SQRT1_2, 0, 0, Math.SQRT1_2]
	74	+ input.estimate.attitude!.eulerRad = [0, 0, Math.PI / 2]
	75	+ input.target = { ...input.target, positionM: [2, 1, -10], yawRad }
	76	+ return createVtolHoverController({ headingAlignment: 'initial-simulation-north' }).step(input)
	77	+ })
	78	+ expect(outputs.every(output => !output.inhibited)).toBe(true)
	79	+ expect(outputs[0]!.desiredRatesRadS![0]).toBeCloseTo(outputs[1]!.desiredRatesRadS![0]!, 10)
	80	+ expect(outputs[0]!.desiredRatesRadS![1]).toBeCloseTo(outputs[1]!.desiredRatesRadS![1]!, 10)
	81	+ expect(outputs[0]!.desiredRatesRadS![2]).not.toBe(outputs[1]!.desiredRatesRadS![2])
	82	+})
	83	+
	84	+test('an antipodal thrust direction is inhibited and latched rather than using an undefined tilt axis', () => {
	85	+ const controller = createVtolHoverController({ headingAlignment: 'initial-simulation-north' })
	86	+ const input = hoverInput()
	87	+ input.estimate.attitude!.quaternionWxyz = [0, 1, 0, 0]
	88	+ input.estimate.attitude!.eulerRad = [Math.PI, 0, 0]
	89	+ const result = controller.step(input)
	90	+ expect(result.inhibited).toBe(true)
	91	+ expect(result.reason).toBe('antipodal-thrust-direction')
	92	+ expect(result.motorsN).toEqual([0, 0, 0, 0])
	93	+ expect(controller.step(hoverInput(1020)).inhibited).toBe(true)
	94	+})

tests/unit/vtol-crosswind.test.tsadded+69-0

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

		@@ -0,0 +1,69 @@
	1	+import { expect, test } from 'bun:test'
	2	+import { createVtolSimulationCase } from '../../resources/functions/drone/vehicles/vtol/simulation'
	3	+import { vtolAerodynamics, vtolModel } from '../../resources/functions/drone/vehicles/vtol/plant'
	4	+import { quaternionEuler } from '../../resources/functions/drone/estimation/frames'
	5	+import { allocateVtolLift } from '../../resources/functions/drone/vehicles/vtol/allocation'
	6	+import { replayVehicleMission } from '../../resources/functions/drone/missions/vehicle'
	7	+
	8	+// Existing actual-runtime seam: explicit mission heading, sustained world wind, raw
	9	+// sensors, estimator, controller and independent board. No physical qualification.
	10	+test('an explicitly west-facing back hover completes the east crosswind route within the original budget', () => {
	11	+ const selected = createVtolSimulationCase('east-crosswind-2mps', { electrical: true })
	12	+ const back = selected.profile.mission.tasks.find(task => task.id === 'back')
	13	+ expect(back?.kind === 'vtol-mode' && back.headingRad).toBe(-Math.PI / 2)
	14	+ const { result, report } = selected.run()
	15	+ expect(report.status).toBe('completed')
	16	+ expect(report.demonstrationMatched).toBe(true)
	17	+ expect(report.windEvidence).toMatchObject({ windMps: [0, 2, 0], backHeadingRad: -Math.PI / 2, expectedOutcome: 'completed-route', worldMatched: true, outcomeMatched: true, backHeadingMatched: true })
	18	+ expect(report.budget).toEqual({ worstCaseMs: 131520, requiredWh: 43.84 })
	19	+ expect(report.transitionEvidence.map(row => [row.taskId, row.phase])).toEqual([['initial-hover', 'hover'], ['front', 'cruise'], ['back', 'hover']])
	20	+ const backCapture = result.path.find(row => row.atMs === report.transitionEvidence.at(-1)!.capturedAtMs)!.measurementPose!
	21	+ const yaw = quaternionEuler(backCapture.quaternionWxyz)[2]
	22	+ expect(Math.abs(Math.atan2(Math.sin(-Math.PI / 2 - yaw), Math.cos(-Math.PI / 2 - yaw)))).toBeLessThan(0.1)
	23	+ expect(backCapture.capturedAtMs).toBeLessThanOrEqual(report.transitionEvidence.at(-1)!.capturedAtMs)
	24	+ expect(result.mission.reason).toBe('landed')
	25	+ expect(report.landingContact).toBe(true)
	26	+ expect(report.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
	27	+ expect(report.board.expiresAtMs).toBeNull()
	28	+ expect(report.board.physicalActuationEnabled).toBe(false)
	29	+ expect(replayVehicleMission(result.trace).snapshot()).toEqual(result.mission)
	30	+})
	31	+
	32	+test('an explicitly east-facing back hover completes the west crosswind route without changing its deadline', () => {
	33	+ const selected = createVtolSimulationCase('west-crosswind-2mps', { electrical: true })
	34	+ const back = selected.profile.mission.tasks.find(task => task.id === 'back')
	35	+ expect(back?.kind === 'vtol-mode' && back.headingRad).toBe(Math.PI / 2)
	36	+ const { result, report } = selected.run()
	37	+ expect(report.status).toBe('completed')
	38	+ expect(report.windEvidence).toMatchObject({ windMps: [0, -2, 0], backHeadingRad: Math.PI / 2, worldMatched: true, outcomeMatched: true, backHeadingMatched: true })
	39	+ expect(report.demonstrationMatched).toBe(true)
	40	+ expect(report.budget).toEqual({ worstCaseMs: 131520, requiredWh: 43.84 })
	41	+ expect(report.transitionEvidence.map(row => row.taskId)).toEqual(['initial-hover', 'front', 'back'])
	42	+ expect(report.landingContact).toBe(true)
	43	+ expect(report.boardNeutral).toBe(true)
	44	+ expect(report.board.physicalActuationEnabled).toBe(false)
	45	+ expect(replayVehicleMission(result.trace).snapshot()).toEqual(result.mission)
	46	+})
	47	+
	48	+test('a completed route under a different back heading cannot qualify the named declared plan', () => {
	49	+ const selected = createVtolSimulationCase('east-crosswind-2mps', { electrical: true })
	50	+ const back = selected.profile.mission.tasks.find(task => task.id === 'back')
	51	+ if (!back || back.kind !== 'vtol-mode') throw new Error('Missing back task')
	52	+ back.headingRad = -1.5
	53	+ const { report } = selected.run()
	54	+ expect(report.status).toBe('completed')
	55	+ expect(report.windEvidence!.worldMatched).toBe(true)
	56	+ expect(report.windEvidence!.backHeadingMatched).toBe(false)
	57	+ expect(report.demonstrationMatched).toBe(false)
	58	+})
	59	+
	60	+test('the retained north-facing level-hover example lacks yaw authority even at full rudder and rotor allocation', () => {
	61	+ const aero = vtolAerodynamics([0, -2, 0], [0, 0, 0], [0, 0, 0, 0.4, 0])
	62	+ const allocation = allocateVtolLift({ thrustN: vtolModel.massKg * vtolModel.gravityMps2, torqueNm: [0, 0, -aero.torqueNm[2]] })
	63	+ // Worked fictional-model example: -0.73615511 Nm with full opposing rudder,
	64	+ // +0.4696675 Nm available rotor yaw while preserving 24.516625 N support.
	65	+ expect(allocation.limited).toBe(true)
	66	+ expect(allocation.achieved.thrustN).toBeCloseTo(24.516625, 7)
	67	+ expect(aero.torqueNm[2] + allocation.achieved.torqueNm[2]).toBeCloseTo(-0.2664876105491832, 7)
	68	+ expect(allocation.rotorsN.every(value => value >= 0 && value <= 12)).toBe(true)
	69	+})

tests/unit/vtol-lateral-flow.test.tsadded+30-0

Changes to tests/unit/vtol-lateral-flow.test.ts

		@@ -0,0 +1,30 @@
	1	+import { expect, test } from 'bun:test'
	2	+import { vtolAerodynamics } from '../../resources/functions/drone/vehicles/vtol/plant'
	3	+
	4	+// Public fictional-aerodynamics seam: force/moment continuity at finite lateral
	5	+// flow. This does not validate measured coefficients or a physical airframe.
	6	+test('VTOL forces are continuous across zero chordwise flow with finite spanwise airspeed', () => {
	7	+ const above = vtolAerodynamics([1e-8, 2, 0], [0, 0, 0], [0, 0, 0, 0, 0])
	8	+ const below = vtolAerodynamics([-1e-8, 2, 0], [0, 0, 0], [0, 0, 0, 0, 0])
	9	+ expect(Math.hypot(...above.forceN.map((value, i) => value - below.forceN[i]!))).toBeLessThan(1e-5)
	10	+})
	11	+
	12	+test('force and static pitch converge to the lateral-flow limit from every longitudinal direction', () => {
	13	+ for (const v of [-2, 2]) {
	14	+ const center = vtolAerodynamics([0, v, 0], [0, 0, 0], [0, 0, 0, 0, 0])
	15	+ for (const [u, w] of [[1e-8, 0], [-1e-8, 0], [0, 1e-8], [0, -1e-8], [1e-8, 1e-8], [-1e-8, 1e-8], [1e-8, -1e-8], [-1e-8, -1e-8]]) {
	16	+ const next = vtolAerodynamics([u!, v, w!], [0, 0, 0], [0, 0, 0, 0, 0])
	17	+ expect(Math.hypot(...next.forceN.map((value, i) => value - center.forceN[i]!))).toBeLessThan(1e-5)
	18	+ expect(Math.hypot(...next.torqueNm.map((value, i) => value - center.torqueNm[i]!))).toBeLessThan(1e-5)
	19	+ }
	20	+ }
	21	+})
	22	+
	23	+test('the projected unpowered model dissipates airflow energy through zero, lateral and reverse flow', () => {
	24	+ for (const u of [-13, -2, -1e-8, 0, 1e-8, 2, 13]) for (const v of [-2, 0, 2]) for (const w of [-2, 0, 2]) {
	25	+ const response = vtolAerodynamics([u, v, w], [0, 0, 0], [0, 0, 0, 0, 0])
	26	+ expect([...response.forceN, ...response.torqueNm].every(Number.isFinite)).toBe(true)
	27	+ expect(response.forceN[0] * u + response.forceN[1] * v + response.forceN[2] * w).toBeLessThanOrEqual(1e-8)
	28	+ }
	29	+ expect(vtolAerodynamics([0, 0, 0], [0, 0, 0], [0, 0, 0, 0, 0]).forceN).toEqual([0, -0, -0])
	30	+})

tests/unit/vtol-scenarios.test.tsmodified+2-2

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

		⋯43 linesShow the 43 lines above this hunk@@ -44,7 +44,7 @@ test('unknown or inapplicable selectors and pre-onset duration cannot qualify a
44	44	expect(() => runVtolSimulation('foreign')).toThrow('Unknown VTOL simulation scenario')
45	45	expect(() => runVtolSimulation('host-loss', { phase: 'foreign' })).toThrow('Unknown VTOL simulation phase')
46	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')
	47	+ expect(() => runVtolSimulation('nominal', { phase: 'back' })).toThrow('requires a fault or wind scenario')
48	48	for (const scenario of ['host-loss', 'imu-loss', 'position-loss', 'vehicle-sensor-loss', 'rc-override', 'kill']) {
49	49	const report = runVtolSimulation(scenario, { seconds: 2 })
50	50	expect(report.status).toBe('duration-exhausted')
		⋯90 linesShow the 90 lines above this hunk@@ -141,7 +141,7 @@ for (const electrical of [false, true]) for (const [scenario, reason] of [
141	141	})
142	142
143	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')
	144	+ expect(() => runVtolSimulation('front-abort', { phase: 'front' })).toThrow('requires a fault or wind scenario')
145	145	expect(() => runVtolSimulation('cruise-pause-resume', { seconds: 30 })).toThrow('action schedule')
146	146	expect(() => runVtolSimulation('back-recover-resume', { seconds: 60 })).toThrow('action schedule')
147	147	const first = runVtolSimulation('back-abort', { electrical: true })

tests/unit/vtol-transition-cli.test.tsmodified+36-1

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

		⋯16 linesShow the 16 lines above this hunk@@ -17,6 +17,10 @@ test('CI qualifies nominal and failure full-route commands outside the checkout'
17	17	{ command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario tailwind-2mps --electrical', directory: '$' },
18	18	{ command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario east-crosswind-limit-2mps --electrical', directory: '$' },
19	19	{ command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario west-crosswind-limit-2mps --electrical', directory: '$' },
	20	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario east-crosswind-2mps --electrical', directory: '$' },
	21	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario west-crosswind-2mps --electrical', directory: '$' },
	22	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario east-crosswind-limit-2mps --phase back --electrical', directory: '$' },
	23	+ { command: '$GITHUB_WORKSPACE/storage/runtime-build/cli/drone vtol:simulate --scenario east-crosswind-limit-2mps --phase landing --electrical', directory: '$' },
20	24	])
21	25	})
22	26
		⋯3 linesShow the 3 lines above this hunk@@ -26,6 +30,7 @@ test('native VTOL full-route command reports qualified initial hover, cruise, ba
26	30	const report = JSON.parse(result.stdout)
27	31	expect(report.status).toBe('completed')
28	32	expect(report.scope).toBe('development-lift-and-cruise')
	33	+ expect(report.aerodynamicsModel).toBe('projected-incidence-v3')
29	34	expect(report.demonstrationMatched).toBe(true)
30	35	expect(report.transitionEvidence.map((row: { taskId: string, phase: string }) => [row.taskId, row.phase])).toEqual([
31	36	['initial-hover', 'hover'], ['front', 'cruise'], ['back', 'hover'],
		⋯108 linesShow the 108 lines above this hunk@@ -140,10 +145,40 @@ test('native wind selectors retain actual exposure and distinct completed or env
140	145	expect(report.board.expiresAtMs).toBeNull()
141	146	expect(report.board.physicalActuationEnabled).toBe(false)
142	147	}
143		- const invalid = await command(['vtol:simulate', '--scenario', 'headwind-2mps', '--phase', 'back']).withTimeout(60000)
	148	+ const invalid = await command(['vtol:simulate', '--scenario', 'headwind-2mps', '--phase', 'unknown']).withTimeout(60000)
144	149	expect(invalid.exitCode).toBe(1)
145	150	expect(invalid.stdout).toBe('')
146	151	const short = await command(['vtol:simulate', '--scenario', 'tailwind-2mps', '--seconds', '2']).withTimeout(60000)
147	152	expect(short.exitCode).toBe(1)
148	153	expect(JSON.parse(short.stdout).windEvidence.outcomeMatched).toBe(false)
149	154	}, 90000)
	155	+
	156	+test('native wind phase selection retains observed onset and the landing-only fixed-heading result', async () => {
	157	+ for (const phase of ['back', 'landing']) {
	158	+ const result = await command(['vtol:simulate', '--scenario', 'east-crosswind-limit-2mps', '--phase', phase, '--electrical']).withTimeout(60000)
	159	+ expect(result.exitCode).toBe(0)
	160	+ const report = JSON.parse(result.stdout)
	161	+ expect(report.status).toBe(phase === 'landing' ? 'completed' : 'blocked')
	162	+ expect(report.windEvidence).toMatchObject({ phase, backHeadingRad: 0, backHeadingMatched: true, phaseMatched: true, worldMatched: true, outcomeMatched: true })
	163	+ expect(report.windEvidence.firstAppliedAtMs).toBe(report.windEvidence.phaseEnteredAtMs + 4)
	164	+ expect(report.landingContact).toBe(phase === 'landing')
	165	+ expect(report.demonstrationMatched).toBe(true)
	166	+ expect(report.boardNeutral).toBe(true)
	167	+ }
	168	+}, 90000)
	169	+
	170	+test('native wind-aligned plans retain their explicit headings, fresh hover and completed contact', async () => {
	171	+ for (const [scenario, heading] of [['east-crosswind-2mps', -Math.PI / 2], ['west-crosswind-2mps', Math.PI / 2]] as const) {
	172	+ const result = await command(['vtol:simulate', '--scenario', scenario, '--electrical']).withTimeout(60000)
	173	+ expect(result.exitCode).toBe(0)
	174	+ const report = JSON.parse(result.stdout)
	175	+ expect(report.status).toBe('completed')
	176	+ expect(report.demonstrationMatched).toBe(true)
	177	+ expect(report.windEvidence).toMatchObject({ backHeadingRad: heading, backHeadingMatched: true, worldMatched: true, outcomeMatched: true })
	178	+ expect(report.transitionEvidence.map((row: { taskId: string }) => row.taskId)).toEqual(['initial-hover', 'front', 'back'])
	179	+ expect(report.transitionEvidence.at(-1).eventId).toStartWith(`vtol-${scenario}:`)
	180	+ expect(report.landingContact).toBe(true)
	181	+ expect(report.boardNeutral).toBe(true)
	182	+ expect(report.board.physicalActuationEnabled).toBe(false)
	183	+ }
	184	+}, 90000)

tests/unit/vtol-wind-onset.test.tsadded+59-0

Changes to tests/unit/vtol-wind-onset.test.ts

		@@ -0,0 +1,59 @@
	1	+import { expect, test } from 'bun:test'
	2	+import { createVtolTransitionProfile } from '../../resources/functions/drone/vehicles/vtol/transition-profile'
	3	+import { runVehicleSimulation } from '../../resources/functions/drone/vehicles/runtime'
	4	+import { replayVehicleMission } from '../../resources/functions/drone/missions/vehicle'
	5	+import type { SensorVector } from '../../resources/functions/drone/sensors/types'
	6	+
	7	+const winds = [
	8	+ { name: 'head', vector: [-2, 0, 0], heading: 0 },
	9	+ { name: 'tail', vector: [2, 0, 0], heading: 0 },
	10	+ { name: 'east', vector: [0, 2, 0], heading: -Math.PI / 2 },
	11	+ { name: 'west', vector: [0, -2, 0], heading: Math.PI / 2 },
	12	+] as const
	13	+const phases = [{ name: 'front', task: 'front' }, { name: 'cruise', task: 'cruise-leg' }, { name: 'back', task: 'back' }, { name: 'landing', task: 'land' }] as const
	14	+
	15	+// Actual-runtime seam. The external weather step follows an observed public
	16	+// mission phase, never a guessed timestamp or a controller wind input.
	17	+for (const wind of winds) for (const phase of phases) test(`${wind.name} wind begins at the actual ${phase.name} phase and completes the declared heading plan`, () => {
	18	+ const profile = createVtolTransitionProfile({ electrical: true }), factory = profile.createSession
	19	+ const vector: SensorVector = [...wind.vector]
	20	+ const back = profile.mission.tasks.find(task => task.id === 'back')
	21	+ if (!back || back.kind !== 'vtol-mode') throw new Error('Missing back heading')
	22	+ back.headingRad = wind.heading
	23	+ let onset: number | null = null, enteredAt: number | null = null, firstApplied: number | null = null, applied = false
	24	+ profile.faults = (_scenario, atMs) => ({ windMps: onset !== null && atMs >= onset ? vector : [0, 0, 0] })
	25	+ profile.createSession = () => {
	26	+ const session = factory()
	27	+ return { ...session, createController() {
	28	+ const controller = session.createController()
	29	+ return { step(context) {
	30	+ if (onset === null && context.enabled && context.mission.state === 'running' && context.mission.taskId === phase.task) { enteredAt = context.nowMs; onset = context.nowMs + 4 }
	31	+ return controller.step(context)
	32	+ } }
	33	+ }, createPlant() {
	34	+ const plant = session.createPlant()
	35	+ return { snapshot: () => plant.snapshot(), step(actuators, dtS, world) {
	36	+ const state = plant.step(actuators, dtS, world)
	37	+ applied = world.windMps.every((value, i) => value === vector[i])
	38	+ return state
	39	+ } }
	40	+ }, observeIndependent(state, atMs, actuators, hostAvailable) {
	41	+ session.observeIndependent?.(state, atMs, actuators, hostAvailable)
	42	+ if (applied && firstApplied === null) firstApplied = atMs
	43	+ } }
	44	+ }
	45	+ const result = runVehicleSimulation(profile, { seconds: 160 })
	46	+ expect(enteredAt).not.toBeNull()
	47	+ expect(onset).toBe(enteredAt! + 4)
	48	+ expect(firstApplied).toBe(onset)
	49	+ expect(result.status).toBe('completed')
	50	+ expect(result.fault).toBeNull()
	51	+ expect(result.budget).toEqual({ worstCaseMs: 131520, requiredWh: 43.84 })
	52	+ const confirmations = result.trace.rows.flatMap(row => row.observation.transition?.outcome === 'confirmed' ? [row.observation.transition] : [])
	53	+ expect(confirmations.map(row => [row.taskId, row.phase])).toEqual([['initial-hover', 'hover'], ['front', 'cruise'], ['back', 'hover']])
	54	+ expect(result.path.at(-1)!.measurement!.values.onSurface).toBe(true)
	55	+ expect(result.board.actuators).toEqual([0, 0, 0, 0, 0, 0, 0, 0])
	56	+ expect(result.board.expiresAtMs).toBeNull()
	57	+ expect(result.board.physicalActuationEnabled).toBe(false)
	58	+ expect(replayVehicleMission(result.trace).snapshot()).toEqual(result.mission)
	59	+})

tests/unit/vtol-wind-phase-cases.test.tsadded+114-0

Changes to tests/unit/vtol-wind-phase-cases.test.ts

		@@ -0,0 +1,114 @@
	1	+import { expect, test } from 'bun:test'
	2	+import { createVtolSimulationCase } from '../../resources/functions/drone/vehicles/vtol/simulation'
	3	+import { replayVehicleMission } from '../../resources/functions/drone/missions/vehicle'
	4	+
	5	+// Shared public case seam: phase selection must schedule actual world weather
	6	+// from observed runtime entry. This does not qualify arbitrary weather or hardware.
	7	+test('a fixed north crosswind beginning only at landing reports the completed phase-specific route', () => {
	8	+ const scenario = createVtolSimulationCase('east-crosswind-limit-2mps', { phase: 'landing', electrical: true })
	9	+ const { result, report } = scenario.run()
	10	+ const entry = result.trace.rows.find(row => row.result.state === 'running' && row.result.taskId === 'land')!
	11	+ expect(entry).toBeDefined()
	12	+ expect(report.status).toBe('completed')
	13	+ expect(report.demonstrationMatched).toBe(true)
	14	+ expect(report.windEvidence).toMatchObject({ phase: 'landing', phaseEnteredAtMs: entry.observation.nowMs, beginsAtMs: entry.observation.nowMs + 4, firstAppliedAtMs: entry.observation.nowMs + 4, expectedOutcome: 'completed-route', backHeadingRad: 0, backHeadingMatched: true, phaseMatched: true, worldMatched: true, outcomeMatched: true })
	15	+ expect(report.landingContact).toBe(true)
	16	+ expect(report.completeTransitions).toBe(true)
	17	+ expect(report.boardNeutral).toBe(true)
	18	+ expect(report.budget).toEqual({ worstCaseMs: 131520, requiredWh: 43.84 })
	19	+ expect(replayVehicleMission(result.trace).snapshot()).toEqual(result.mission)
	20	+})
	21	+
	22	+const winds = ['headwind-2mps', 'tailwind-2mps', 'east-crosswind-limit-2mps', 'west-crosswind-limit-2mps', 'east-crosswind-2mps', 'west-crosswind-2mps'] as const
	23	+const entries = [{ phase: 'front', task: 'front' }, { phase: 'cruise', task: 'cruise-leg' }, { phase: 'back', task: 'back' }, { phase: 'landing', task: 'land' }] as const
	24	+for (const name of winds) for (const entry of entries) test(`${name} exposes genuine ${entry.phase} onset and its distinct route outcome`, () => {
	25	+ const scenario = createVtolSimulationCase(name, { phase: entry.phase, electrical: true }), factory = scenario.profile.createSession
	26	+ let enteredAt: number | null = null, firstApplied: number | null = null, mismatch = 0
	27	+ const vector = scenario.wind!.windMps
	28	+ scenario.profile.createSession = () => {
	29	+ const session = factory()
	30	+ return { ...session, createController() {
	31	+ const controller = session.createController()
	32	+ return { step(context) {
	33	+ if (enteredAt === null && context.enabled && context.mission.state === 'running' && context.mission.taskId === entry.task) enteredAt = context.nowMs
	34	+ return controller.step(context)
	35	+ } }
	36	+ }, createPlant() {
	37	+ const plant = session.createPlant()
	38	+ let atMs = 600
	39	+ return { snapshot: () => plant.snapshot(), step(actuators, dtS, world) {
	40	+ atMs += dtS * 1000
	41	+ const state = plant.step(actuators, dtS, world)
	42	+ const windy = enteredAt !== null && atMs >= enteredAt + 4
	43	+ if (!world.windMps.every((value, i) => value === (windy ? vector[i] : 0))) mismatch++
	44	+ if (world.windMps.some(n => n !== 0)) firstApplied ??= atMs
	45	+ return state
	46	+ } }
	47	+ } }
	48	+ }
	49	+ const { result, report } = scenario.run()
	50	+ const blocked = name.includes('-limit-') && entry.phase !== 'landing'
	51	+ expect(enteredAt).not.toBeNull()
	52	+ expect(firstApplied).toBe(enteredAt! + 4)
	53	+ expect(mismatch).toBe(0)
	54	+ expect(report.windEvidence).toMatchObject({ phase: entry.phase, phaseEnteredAtMs: enteredAt, beginsAtMs: firstApplied, firstAppliedAtMs: firstApplied, phaseMatched: true, worldMatched: true, outcomeMatched: true, expectedOutcome: blocked ? 'envelope-stop' : 'completed-route', backHeadingMatched: true })
	55	+ expect(report.demonstrationMatched).toBe(true)
	56	+ expect(report.status).toBe(blocked ? 'blocked' : 'completed')
	57	+ expect(report.fault).toBe(blocked ? 'vtol-transition-envelope' : null)
	58	+ expect(report.landingContact).toBe(!blocked)
	59	+ expect(report.completeTransitions).toBe(!blocked)
	60	+ expect(report.budget).toEqual({ worstCaseMs: 131520, requiredWh: 43.84 })
	61	+ expect(report.boardNeutral).toBe(true)
	62	+ expect(report.board.physicalActuationEnabled).toBe(false)
	63	+ expect(replayVehicleMission(result.trace).snapshot()).toEqual(result.mission)
	64	+})
	65	+
	66	+for (const mutation of ['absent', 'early', 'late', 'opposite'] as const) test(`${mutation} weather cannot qualify the selected observed back-phase wind`, () => {
	67	+ const scenario = createVtolSimulationCase('headwind-2mps', { phase: 'back' }), faults = scenario.profile.faults
	68	+ scenario.profile.faults = (name, atMs) => {
	69	+ const declared = faults(name, atMs - (mutation === 'late' ? 4 : 0))
	70	+ return { windMps: mutation === 'absent' ? [0, 0, 0] : mutation === 'early' ? atMs >= 1000 ? [-2, 0, 0] : [0, 0, 0] : mutation === 'opposite' ? [-(declared.windMps?.[0] ?? 0), 0, 0] : declared.windMps }
	71	+ }
	72	+ const { report } = scenario.run()
	73	+ expect(report.windEvidence!.worldMatched).toBe(false)
	74	+ expect(report.windEvidence!.mismatchSteps).toBeGreaterThan(0)
	75	+ expect(report.demonstrationMatched).toBe(false)
	76	+ expect(report.boardNeutral).toBe(true)
	77	+})
	78	+
	79	+test('an unreached wind phase stays unexposed and cannot qualify a partial run', () => {
	80	+ const { report } = createVtolSimulationCase('tailwind-2mps', { phase: 'landing', seconds: 2 }).run()
	81	+ expect(report.status).toBe('duration-exhausted')
	82	+ expect(report.windEvidence).toMatchObject({ beginsAtMs: null, phaseEnteredAtMs: null, firstAppliedAtMs: null, appliedSteps: 0, phaseMatched: false, worldMatched: false, outcomeMatched: false })
	83	+ expect(report.demonstrationMatched).toBe(false)
	84	+ expect(report.boardNeutral).toBe(true)
	85	+})
	86	+
	87	+test('wind phase runs reset exposure and own copies of their declarations', () => {
	88	+ const scenario = createVtolSimulationCase('west-crosswind-limit-2mps', { phase: 'landing' })
	89	+ const first = scenario.run().report, original = structuredClone(first)
	90	+ first.windEvidence!.phaseEnteredAtMs = 0
	91	+ scenario.wind!.windMps[1] = 999
	92	+ scenario.phases.length = 0
	93	+ expect(scenario.run().report).toEqual(original)
	94	+})
	95	+
	96	+test('a different completed heading plan cannot qualify the fixed north landing-onset name', () => {
	97	+ const scenario = createVtolSimulationCase('east-crosswind-limit-2mps', { phase: 'landing' })
	98	+ const back = scenario.profile.mission.tasks.find(task => task.id === 'back')!
	99	+ if (back.kind !== 'vtol-mode') throw new Error('Expected back heading task')
	100	+ back.headingRad = -Math.PI / 2
	101	+ const { report } = scenario.run()
	102	+ expect(report.status).toBe('completed')
	103	+ expect(report.windEvidence).toMatchObject({ worldMatched: true, phaseMatched: true, outcomeMatched: true, backHeadingMatched: false })
	104	+ expect(report.demonstrationMatched).toBe(false)
	105	+})
	106	+
	107	+test('startup is an explicit wind-only default and unrelated phase selectors remain rejected', () => {
	108	+ const selected = createVtolSimulationCase('headwind-2mps', { phase: 'startup' })
	109	+ expect(selected.phase).toBeNull()
	110	+ expect(selected.wind).toMatchObject({ beginsAtMs: 1000, expectedOutcome: 'completed-route' })
	111	+ expect(selected.phases).toEqual(['startup', 'front', 'cruise', 'back', 'landing'])
	112	+ expect(() => createVtolSimulationCase('host-loss', { phase: 'startup' })).toThrow('Unknown VTOL simulation phase')
	113	+ expect(() => createVtolSimulationCase('nominal', { phase: 'back' })).toThrow('requires a fault or wind scenario')
	114	+})

tests/unit/vtol-wind-scenarios.test.tsmodified+2-2

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

		⋯68 linesShow the 68 lines above this hunk@@ -69,8 +69,8 @@ for (const mutation of ['absent', 'early', 'late', 'opposite'] as const) test(`$
69	69	expect(report.boardNeutral).toBe(true)
70	70	})
71	71
72		-test('wind selection rejects unrelated phase controls and cannot qualify a partial route', () => {
73		- expect(() => createVtolSimulationCase('tailwind-2mps', { phase: 'front' })).toThrow('requires a fault scenario')
	72	+test('wind selection rejects unknown phases and cannot qualify a partial route', () => {
	73	+ expect(() => createVtolSimulationCase('tailwind-2mps', { phase: 'unknown' })).toThrow('Unknown VTOL simulation phase')
74	74	const { report } = createVtolSimulationCase('tailwind-2mps', { seconds: 2 }).run()
75	75	expect(report.status).toBe('duration-exhausted')
76	76	expect(report.windEvidence!.worldMatched).toBe(true)

tests/unit/vtol-workspace.test.tsmodified+30-2

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

		⋯3 linesShow the 3 lines above this hunk@@ -4,7 +4,7 @@ import { createVtolSimulationCase } from '../../resources/functions/drone/vehicl
4	4
5	5	test('VTOL workspace records the complete modeled route with capture-bound mode acknowledgements', () => {
6	6	const definition = getMissionWorkspaceDefinition('vtol')
7		- expect(definition.scenarios).toHaveLength(18)
	7	+ expect(definition.scenarios).toHaveLength(20)
8	8	const run = runMissionWorkspace('vtol')
9	9	expect(run.status).toBe('completed')
10	10	expect(run.physicalActuationEnabled).toBe(false)
		⋯63 linesShow the 63 lines above this hunk@@ -74,7 +74,7 @@ test('the workspace retains planned wind separately from observed exposure and a
74	74	const definition = getMissionWorkspaceDefinition('vtol', 'tailwind-2mps', { electrical: true })
75	75	if (!('vtol' in definition)) throw new Error('Expected the VTOL definition')
76	76	expect(definition.vtol!.wind).toEqual({ frame: 'LOCAL_NED', windMps: [2, 0, 0], beginsAtMs: 1000, expectedOutcome: 'completed-route' })
77		- expect(definition.vtol!.phases).toEqual([])
	77	+ expect(definition.vtol!.phases).toEqual(['startup', 'front', 'cruise', 'back', 'landing'])
78	78	const run = runMissionWorkspace('vtol', 'west-crosswind-limit-2mps', { electrical: true })
79	79	if (!('vtol' in run)) throw new Error('Expected the VTOL recording')
80	80	expect(run.status).toBe('blocked')
		⋯7 linesShow the 7 lines above this hunk@@ -88,6 +88,21 @@ test('the workspace retains planned wind separately from observed exposure and a
88	88	expect(run.physicalActuationEnabled).toBe(false)
89	89	})
90	90
	91	+test('workspace wind onset remains a declaration until the selected phase is actually observed', () => {
	92	+ const definition = getMissionWorkspaceDefinition('vtol', 'east-crosswind-limit-2mps', { phase: 'landing', electrical: true })
	93	+ if (!('vtol' in definition)) throw new Error('Expected VTOL definition')
	94	+ expect(definition.vtol!.phase).toBe('landing')
	95	+ expect(definition.vtol!.wind).toMatchObject({ phase: 'landing', beginsAtMs: null, expectedOutcome: 'completed-route', backHeadingRad: 0 })
	96	+ const run = runMissionWorkspace('vtol', 'east-crosswind-limit-2mps', { phase: 'landing', electrical: true })
	97	+ if (!('vtol' in run)) throw new Error('Expected VTOL recording')
	98	+ const enteredAt = run.rows.find(row => row.state === 'running' && row.taskId === 'land')!.atMs
	99	+ expect(run.vtol!.windEvidence).toMatchObject({ phase: 'landing', phaseEnteredAtMs: enteredAt, beginsAtMs: enteredAt + 4, firstAppliedAtMs: enteredAt + 4, phaseMatched: true, worldMatched: true, outcomeMatched: true })
	100	+ expect(run.status).toBe('completed')
	101	+ expect(run.vtol!.landingContact).toBe(true)
	102	+ expect(run.vtol!.demonstrationMatched).toBe(true)
	103	+ expect(run.boardNeutral).toBe(true)
	104	+})
	105	+
91	106	test('the shared VTOL case factory runs isolated sessions and retains the CLI report from the same recording', () => {
92	107	const selected = createVtolSimulationCase('imu-loss', { phase: 'back', electrical: true })
93	108	const first = selected.run(), second = selected.run()
		⋯6 linesShow the 6 lines above this hunk@@ -100,3 +115,16 @@ test('the shared VTOL case factory runs isolated sessions and retains the CLI re
100	115	first.result.path[0]!.actuators[0] = 999
101	116	expect(second.result.path[0]!.actuators[0]).not.toBe(999)
102	117	}, 60000)
	118	+
	119	+test('the workspace exposes the explicit crosswind back heading with its completed recording', () => {
	120	+ const definition = getMissionWorkspaceDefinition('vtol', 'east-crosswind-2mps', { electrical: true })
	121	+ expect(definition.planId).toBe('vtol-east-crosswind-2mps')
	122	+ expect(definition.tasks.find(task => task.id === 'back')?.headingRad).toBe(-Math.PI / 2)
	123	+ const run = runMissionWorkspace('vtol', 'east-crosswind-2mps', { electrical: true })
	124	+ if (!('vtol' in run)) throw new Error('Expected VTOL recording')
	125	+ expect(run.status).toBe('completed')
	126	+ expect(run.vtol!.windEvidence).toMatchObject({ windMps: [0, 2, 0], backHeadingRad: -Math.PI / 2, backHeadingMatched: true, worldMatched: true, outcomeMatched: true })
	127	+ expect(run.vtol!.landingContact).toBe(true)
	128	+ expect(run.rows.at(-1)!.state).toBe('completed')
	129	+ expect(run.boardNeutral).toBe(true)
	130	+})