:root{--bg: #0d1117;--panel: #161b22;--panel2: #1c2330;--border: #2a323d;--text: #d7e0ec;--muted: #8892a0;--accent: #61affe;--accent2: #f78c6c;--ok: #33cc99;--warn: #ffb020;--danger: #ff5370}*{box-sizing:border-box}html,body,#root{margin:0;height:100%;font-family:-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,sans-serif;background:var(--bg);color:var(--text)}.app{display:grid;grid-template-columns:1fr 380px;grid-template-rows:auto 1fr;gap:10px;height:100%;padding:10px}.topbar{grid-column:1 / -1;display:flex;align-items:center;gap:12px;padding:10px 12px;background:var(--panel);border:1px solid var(--border);border-radius:8px}.topbar h1{font-size:15px;margin:0;letter-spacing:.4px;color:var(--accent)}.topbar .spacer{flex:1}.btn{background:var(--panel2);color:var(--text);border:1px solid var(--border);border-radius:6px;padding:6px 12px;font-size:13px;cursor:pointer;transition:background .12s}.btn:hover{background:#242d3b}.btn.primary{background:var(--accent);color:#0d1117;border-color:transparent;font-weight:600}.btn.primary:hover{background:#7cc0ff}.speed-group{display:flex;align-items:center;gap:6px;font-size:12px;color:var(--muted)}.view-group{display:flex;align-items:center;gap:6px}.view-group .drone-sel{background:var(--panel2);color:var(--text);border:1px solid var(--border);border-radius:6px;padding:5px 8px;font-size:12px;font-family:ui-monospace,Menlo,monospace}.fpv-debug{border:1px solid var(--border);border-radius:8px;background:var(--panel);display:grid;grid-template-columns:minmax(0,1fr) minmax(220px,32%);gap:10px;padding:10px 12px;min-height:170px}.fpv-debug-head{grid-column:1 / -1;font-size:11px;text-transform:uppercase;letter-spacing:.8px;color:var(--muted)}.fpv-map{width:100%;aspect-ratio:2.2 / 1;border:1px solid var(--border);border-radius:6px;background:#0d1117}.fpv-stats{margin:0;font-family:ui-monospace,Menlo,monospace;font-size:11px;line-height:1.55;color:var(--muted);overflow:auto;min-width:0;white-space:pre}.main{display:grid;grid-template-rows:1fr auto;gap:10px;min-height:0}.canvas-wrap{position:relative;border:1px solid var(--border);border-radius:8px;overflow:hidden;background:#0d1117;min-height:0}.canvas-wrap canvas{display:block;width:100%;height:100%}.canvas-wrap:fullscreen{border-radius:0;border:none}.canvas-resize{height:9px;margin:-2px 0 0;cursor:ns-resize;border-radius:4px;display:flex;align-items:center;justify-content:center;color:var(--muted);font-size:10px;-webkit-user-select:none;user-select:none;touch-action:none}.canvas-resize:after{content:"≡";letter-spacing:6px}.canvas-resize:hover{background:#61affe1f;color:var(--accent)}.fpv-canvas.interactive{cursor:grab;touch-action:none}.fpv-canvas.panning{cursor:grabbing}.fpv-hint{position:absolute;bottom:10px;left:50%;transform:translate(-50%);font-family:ui-monospace,Menlo,monospace;font-size:11px;color:var(--muted);background:#0d1117d1;border:1px solid var(--border);padding:5px 10px;border-radius:6px;pointer-events:none;white-space:nowrap}.overlay{position:absolute;top:10px;left:10px;font-family:ui-monospace,SFMono-Regular,Menlo,monospace;font-size:12px;background:#0d1117b8;border:1px solid var(--border);padding:8px 10px;border-radius:6px;line-height:1.6}.side{display:flex;flex-direction:column;gap:10px;overflow-y:auto;min-height:0}.side>*{flex-shrink:0}.panel{background:var(--panel);border:1px solid var(--border);border-radius:8px;padding:10px 12px}.panel h3{margin:0 0 8px;font-size:12px;text-transform:uppercase;letter-spacing:.8px;color:var(--muted)}.pipeline .pnode{display:flex;align-items:center;gap:8px;padding:4px 0;font-size:12.5px;border-bottom:1px solid rgba(42,50,61,.5)}.pipeline .pnode:last-child{border-bottom:none}.pnode .dot{width:8px;height:8px;border-radius:50%;flex:none}.pnode .name{color:var(--text)}.pnode .live{margin-left:auto;font-family:ui-monospace,Menlo,monospace;font-size:11px;color:var(--accent)}.pnode .arrow{padding-left:12px;font-size:10px;color:var(--muted)}.arrow.side{padding:2px 0 2px 12px;font-size:10px;color:var(--muted);font-family:ui-monospace,Menlo,monospace}.acc{border-bottom:1px solid var(--border)}.acc:last-child{border-bottom:none}.acc summary{cursor:pointer;list-style:none;padding:7px 0;font-size:13px;font-weight:600;display:flex;align-items:center;gap:8px}.acc summary::-webkit-details-marker{display:none}.acc[open] summary{color:var(--accent)}.knob{padding:4px 0 4px 4px}.knob label{display:flex;justify-content:space-between;font-size:12px;color:var(--muted);margin-bottom:2px}.knob label b{color:var(--text);font-weight:500;font-family:ui-monospace,Menlo,monospace}.knob select,.knob input[type=number]{width:100%;background:var(--panel2);color:var(--text);border:1px solid var(--border);border-radius:5px;padding:3px 6px;font-size:12px}input[type=range]{width:100%;accent-color:var(--accent)}.chip-row{display:flex;gap:6px;flex-wrap:wrap}.chip{font-size:11px;padding:2px 8px;border-radius:10px;border:1px solid var(--border);color:var(--muted);cursor:pointer;-webkit-user-select:none;user-select:none}.chip.on{color:var(--accent);border-color:var(--accent);background:#61affe1a}.metrics{font-family:ui-monospace,Menlo,monospace;font-size:12px}.mrow{display:flex;justify-content:space-between;padding:3px 0;border-bottom:1px dashed var(--border)}.mrow span:first-child{color:var(--muted)}.mrow span:last-child{color:var(--text)}.mrow.good span:last-child{color:var(--ok)}.mrow.bad span:last-child{color:var(--danger)}.bars{display:flex;gap:6px;height:44px;align-items:flex-end;margin-top:8px}.bars div{width:4px;background:var(--accent);opacity:.65;border-radius:1px}.footer{padding:8px 12px;font-size:11px;color:var(--muted);background:var(--panel);border:1px solid var(--border);border-radius:8px}.tune-row{display:flex;gap:8px;align-items:center}.tune-progress{margin-top:8px}.tune-bar{height:6px;border-radius:3px;background:var(--panel2);overflow:hidden}.tune-fill{height:100%;background:var(--accent);transition:width .15s}.tune-best{display:flex;align-items:center;justify-content:space-between;gap:8px;margin-top:10px;padding:8px;border:1px solid var(--accent);border-radius:6px;background:#61affe14}.tune-label{display:block;font-size:10px;text-transform:uppercase;letter-spacing:.6px;color:var(--muted)}.tune-num{display:block;font-size:15px;font-weight:700;color:var(--accent);font-family:ui-monospace,Menlo,monospace}.tune-table{width:100%;margin-top:8px;border-collapse:collapse;font-family:ui-monospace,Menlo,monospace;font-size:10.5px}.tune-table th,.tune-table td{text-align:left;padding:3px 4px;border-bottom:1px solid var(--border);color:var(--muted)}.tune-table td:nth-child(2),.tune-table td:nth-child(3),.tune-table td:nth-child(4){color:var(--text)}.tune-table tr.baseline td{color:var(--accent)}.tune-table .knob-cell{color:var(--muted);font-size:9.5px}.hint{font-size:11px;color:var(--muted);margin-top:8px;line-height:1.5}.whyline{background:var(--panel);border:1px solid var(--border);border-radius:8px;padding:7px 12px;font-size:12.5px;color:var(--accent2);letter-spacing:.2px}.term-toggles{position:absolute;top:50%;left:8px;transform:translateY(-50%);display:flex;flex-direction:column;align-items:flex-start;gap:6px;background:#0d1117c7;border:1px solid var(--border);border-radius:8px;padding:8px 9px;z-index:5}.term-label{font-size:10.5px;text-transform:uppercase;letter-spacing:.6px;color:var(--muted);margin-bottom:2px}.term-toggles .chip{display:flex;align-items:center;gap:5px;background:none;border:1px solid var(--border);border-radius:20px;padding:3px 9px 3px 6px;font-size:11px;color:var(--muted);cursor:pointer}.term-toggles .chip:hover{color:var(--text)}.term-toggles .chip.on{background:#ffffff0d}.term-dot{width:8px;height:8px;border-radius:50%}.decisions{max-height:240px;overflow-y:auto}.dec{display:flex;align-items:baseline;gap:7px;width:100%;text-align:left;background:none;border:none;border-bottom:1px dashed var(--border);padding:5px 2px;cursor:pointer;font-size:11.5px;color:var(--muted)}.dec:hover{color:var(--text);background:#61affe0f}.dec-t{font-family:ui-monospace,Menlo,monospace;color:var(--accent);flex:none;font-size:10.5px}.dec-dot{width:7px;height:7px;border-radius:50%;flex:none;align-self:center}.dec-msg{line-height:1.35}.btn.learn{border-color:var(--accent);color:var(--accent)}.btn.learn:hover{background:#61affe1f}.code-overlay{position:fixed;top:0;right:0;bottom:0;left:0;background:#05080cb8;z-index:50;display:flex;align-items:center;justify-content:center}.code-sheet{width:min(1120px,95vw);height:min(780px,92vh);background:var(--panel);border:1px solid var(--border);border-radius:10px;display:flex;flex-direction:column;overflow:hidden;box-shadow:0 18px 60px #00000080}.code-head{display:flex;align-items:center;gap:12px;padding:12px 16px;border-bottom:1px solid var(--border);background:var(--panel2)}.code-head h2{margin:0;font-size:15px;color:var(--accent);letter-spacing:.3px}.code-head .hint{font-size:12px;color:var(--muted)}.code-body{display:grid;grid-template-columns:240px 1fr;flex:1;min-height:0}.code-menu{border-right:1px solid var(--border);overflow-y:auto;padding:10px;background:#0f141b}.code-menu button{display:flex;width:100%;align-items:center;gap:9px;text-align:left;padding:7px 9px;margin-bottom:2px;background:none;border:none;border-radius:6px;color:var(--muted);font-size:13px;cursor:pointer}.code-menu button:hover,.code-menu button.active{background:var(--panel2);color:var(--text)}.code-menu .dot{width:9px;height:9px;border-radius:50%;flex:none}.code-detail{overflow-y:auto;padding:18px 24px}.code-detail h3{margin:0 0 10px;font-size:17px;letter-spacing:.3px}.badge{display:inline-block;font-size:10.5px;text-transform:uppercase;letter-spacing:.7px;padding:3px 9px;border-radius:20px;margin-bottom:8px}.badge.core{background:#33cc991a;color:var(--ok);border:1px solid rgba(51,204,153,.4)}.badge.harness{background:#ffb02014;color:var(--warn);border:1px solid rgba(255,176,32,.4)}.badge-note{font-size:12px;color:var(--muted);margin:-4px 0 10px;line-height:1.4}.role{color:#aab6c4;font-size:13.5px;line-height:1.6}.role b{color:var(--text)}.live-grid{display:grid;grid-template-columns:repeat(auto-fill,minmax(150px,1fr));gap:8px;margin:14px 0}.live-cell{background:var(--panel2);border:1px solid var(--border);border-radius:6px;padding:7px 10px}.live-cell b{display:block;font-size:11px;color:var(--muted);font-weight:600;text-transform:uppercase;letter-spacing:.5px;margin-bottom:3px}.live-cell span{font-size:13px;font-family:ui-monospace,Menlo,monospace;color:var(--text)}.try{background:#f78c6c14;border-left:3px solid var(--accent2);padding:9px 13px;border-radius:6px;font-size:13px;color:#c8b3a8;margin:0 0 14px;line-height:1.5}.code-block{background:#0b0f15;border:1px solid var(--border);border-radius:8px;overflow:hidden}.code-file{display:flex;justify-content:space-between;padding:7px 14px;font-family:ui-monospace,Menlo,monospace;font-size:11.5px;color:var(--muted);border-bottom:1px solid var(--border);background:var(--panel2)}.code-block pre{margin:0;padding:14px 16px;font-size:12px;line-height:1.55;font-family:ui-monospace,Menlo,monospace;color:#c9d5e3;overflow:auto;max-height:420px;-moz-tab-size:2;tab-size:2}@media(max-width:900px){.app{grid-template-columns:1fr;grid-template-rows:auto auto auto;height:auto;min-height:100%}.topbar{flex-wrap:wrap;row-gap:8px}.main{grid-template-rows:auto}.canvas-wrap{height:58vh;min-height:260px}.fpv-debug{grid-template-columns:1fr}.fpv-map{height:140px}.side{overflow:visible}}@media(max-width:720px){.code-body{grid-template-columns:1fr;grid-template-rows:auto 1fr}.code-menu{display:flex;overflow-x:auto;border-right:none;border-bottom:1px solid var(--border);padding:8px;gap:6px}.code-menu button{width:auto;flex:none;white-space:nowrap}.code-head .hint{display:none}.code-detail{padding:14px 16px}.code-block pre{max-height:46vh}}