docs/design_intent_register.md v1.5:
- New DIR-13 — widget-to-hardware ownership map. W1 is a two-stage health
gate: RPi4 FC-heartbeat MUST pass first (implemented, 86b2728), then RPi5
autonomy-stack self-health (not yet built) — only when both pass is W1
GREEN. W5 reflects the RPi4-connected battery. W2/W3/W4/W6/W8 reflect the
RPi5 stack; W6 deliberately kept RPi5-direct per the standalone-autonomy
principle. W7 specced, not built. Cross-references DIR-12.
- New DIR-14 — depth as a dual-source, operator-selectable input: RPi4
sensor (via the FC), an RPi5-direct sensor, or a blend, selected at
mission setup (W4) and carried in the resolved mode profile like
health_role. Redundancy plus operator choice. Design-captured, not yet
specified in detail.
docs/handover.md v2.27:
- New §9 widget-to-hardware wiring table matching the DIR-13 ownership map.
- Test-data/fault-injection capability flagged as an approaching required
workstream, not optional — the failsafe logic (and the pending count-
based FSM rework) cannot be properly tested without injecting sensor
states and simulating running-vs-failed conditions. Incremental approach
agreed: altitude/depth/sonar first. Near-term prerequisite for validating
the FSM rework; added to §0 PARKED/NEXT and §16.
- FSM rework to the corrected count-based model (255096f) reconfirmed as
top build priority — 2a3e577/bf815cc's condition-clear commit logic
remains known-wrong pending that rework. Recorded as related to, and to
be planned alongside, W1's RPi5-side health gating (DIR-13) and the
fault-injection capability above.
- Confirmed and recorded: W2 reflects live mission state (observed ABORTED
after a live abort); W3's label change to RETURN TO SAFE is complete
(9aa5b5d) — stale references to this as outstanding work corrected in
§0 Blocked/Open Items/NEXT and §16. argonaut-api.service manual-start
reminder recorded for rov_api/backend testing.
- DIR pointer section bumped to DIR-1 through DIR-14.
Documentation only — no code, widget, or diagram files touched. Not
uploaded to Claude project knowledge; that remains a manual step.
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