The record as it is written.

A safety filter added in July — the velocity D-term low-pass that contains estimator-step thrust spikes — quietly cost settled waypoint precision, 0.05 m to 0.08 m, and the 1.5 m sim gate never noticed. A pinned-environment bisect found it; halving the filter time constant kept ~13x spike attenuation and returned 0.03–0.07 m. Every validation gate across the three sims is now calibrated to the measured seed-sweep envelope at roughly 3x the worst observed run — margins that mean something, recorded next to the assertions they bound.

在对调查区域的一次重复巡逻任务中，三处起火点在任务进行中被点燃。三处均被自主检测、确认并通过环绕飞行精细定位 —— 从起火起的延迟分别为0.4秒、24秒和40秒，定位精度在0.14米以内。控制器在整个技术栈运行期间始终保持在估计值上。

NIGHTJAR 在任务中一段被干扰的窗口期内，仅依靠光流、气压计和磁力计，将峰值误差保持在0.78米以内。创新门控机制直接拒绝了类似欺骗信号的跳变。

CUSTOS确认了三处地面接触点，并自主执行传感器开启的环绕飞行，将每处的地理定位精度收紧至0.31米CEP以内，随后恢复搜索。

光流在离地0.3米以下会失效，因此降落探测器现在仅依据高度触发 —— 这消除了此前多次飞行中出现的触地弹跳现象。

Before any of this was an autonomy stack, there was a sun conure on the Red Sea shore at Suez. It would launch, work its own arcs over the water, and come back to hand: loiter, maneuver, return, flown on instinct. SIDRA is that instinct, engineered. Callsign: ARATINGA.