docs/handover.md v2.25:
- mode_profile_loader found never wired into rov_full.launch.py despite being
committed 7 Jul (4e48dc2) — /rov/mode/profile had zero publishers at
runtime since; fixed with respawn (464e17e), verified live (0->1)
- failsafe_monitor's mode-aware recovery (2a3e577) surfaced a second gap:
gate-mode RETURN_TO_SAFE was a terminal trap; closed by the new permanent
/rov/nav/safe_zone_reached interface (bf815cc), verified live end-to-end
on the bench; today's publisher is temporary bench scaffolding only
- new §15f narrative section; §0 Confirmed Working, PARKED, NEXT, Recent
Commits, Version History, and Changelog all updated accordingly
- two pre-existing failsafe_monitor defects found this session (not caused
by it), flagged in §0 Open Items and §15f: flag_manual_abort is a
one-way latch never reset (shadows all lower-priority handling after any
manual abort — field-deployment concern); failsafe_monitor produces no
log output in journalctl (cost diagnostic time this session)
docs/design_intent_register.md v1.3:
- new Parked Design Item: mode-aware safe-zone-reached arrival event —
permanent /rov/nav/safe_zone_reached interface, mode-aware/sensor-derived
arrival judgement (GPS at surface + EKF/dead-reckoning underwater), GPS
recorded as first-class across mission types (not hull/jacket-specific),
gate-only scope, temporary W1-button bench-scaffolding publisher pending
navigation — cross-referenced to the DIR-7 "in-mission recovery is
mode-dependent" addendum, whose Implementation note is updated to record
the mechanism is no longer mode-blind (2a3e577)
Not uploaded to Claude project knowledge — that remains a manual step.
