salvage: the video renderer, its trace evidence, and the AADL model from #382 - #394
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…rom #382 #382 is superseded by #393 — both bump the WIT to 0.8.0 and rewrite the same three files, as competing implementations of one version bump. But #382 also carried work that exists NOWHERE else, and closing it would have taken that with it: examples/falcon-sitl-gz/tools/plot-trace-video.py the v1.137 video renderer bench-evidence/wasm-sitl/* the CSVs it plots channel-metadata.md the v1.137 channel entry spar/falcon_types.aadl + SensorFrame, Vec3 spar/falcon_cascade.aadl EkfThread takes a frame I had believed the video work landed with #387. It did not: #387 was the CI recording job and touched only gazebo.yml. The renderer and every trace it plots were sitting on a branch about to be closed — the same post-squash stranding that hid the equivalence test (#392), now the fourth occurrence. The AADL changes remain correct under #393. AADL models THREADS, not components, so EkfThread taking a SensorFrame is still the right architecture even though the five stage interfaces are no longer composed at the wasm level. `spar parse` clean, `spar analyze --root Falcon_System::Falcon.Quad` 0 errors. The README is corrected rather than copied: it referenced the retired compose-cascade.sh, and it now says plainly that these traces measure the v0.7 five-stage cascade whose defect #393 removed by a different route. Kept as the RECORD that found it — the video was rendered from exactly these numbers — not as a description of current behaviour. Refs #382, #393, #387 Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HvusAXYbHLyv3uTzfBcMbG
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September 11, 2026 10:45
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#382 is superseded by #393 — both bump the WIT to 0.8.0 and rewrite the same
three files, as competing implementations of one version bump. But #382 also
carried work that exists nowhere else, and closing it would have taken that
with it.
tools/plot-trace-video.pybench-evidence/wasm-sitl/*channel-metadata.mdspar/falcon_types.aadl+ SensorFrame,+ Vec3spar/falcon_cascade.aadlEkfThreadtakes a frameI'd believed the video work landed with #387
It didn't. #387 was the CI recording job and touched only
gazebo.yml. Therenderer and every trace it plots were sitting on a branch about to be closed —
the same post-squash stranding that hid the equivalence test (#392). Fourth
occurrence.
The AADL is still correct under #393
AADL models threads, not components.
EkfThreadtaking aSensorFrameremainsthe right architecture even though the five stage interfaces are no longer composed
at the wasm level.
The README is corrected, not copied
It referenced the retired
compose-cascade.sh, and now says plainly that thesetraces measure the v0.7 five-stage cascade whose defect #393 removed by a
different route (one clock, no rate dependence at all: 0.22 m at 100/250/1000 Hz).
Kept as the record that found it — the video was rendered from exactly these
numbers — not as a description of current behaviour.
Refs #382, #393, #387
🤖 Generated with Claude Code
https://claude.ai/code/session_01HvusAXYbHLyv3uTzfBcMbG