Refine battery status pill

README.md

@@ -16,14 +16,16 @@ The script creates a virtual environment and installs dependencies automatically
 On first launch, it also adds a **SUB Control** desktop shortcut.
 Select a COM port and **Connect**, or choose **Demo Mode** to try it without hardware.
 Connection settings are under **•••**.
-Click **Data link** for an extended connection test, or **Console** to inspect RX/TX messages and pause the view.
+Click **Data link** for an extended connection test, or **Console** to open the right-side RX/TX panel. Filter routine traffic, pause the view, or expand a message for full details.
 
 ## Controls
 
 - Joystick: forward/back and turning. Vertical slider: rise/dive.
 - Keyboard: **W/S** forward/back, **A/D** or **Q/E** turn, **R/F** rise/dive.
+- Physical controller: select **Joystick** while disarmed. Left stick drives/turns; right stick controls rise/dive. **Setup** changes axes, inversion, and dead zone while disarmed.
 - Hold **engage** for 1.4 seconds to request arming; tap **disengage** to request disarming. The app waits for vehicle confirmation.
 - Movement controls ease back to neutral when released.
+- In Joystick mode the graphics show the conditioned control demand and are read-only. Center sticks after switching modes, reconnecting, or returning focus. Controller buttons do not arm the vehicle.
 
 Includes adjustable output limit, motor setup, voltage-based battery status, an STL viewer, and session logs in `logs/`.
 

SUB Control/README.md

@@ -16,14 +16,16 @@ The script creates a virtual environment and installs dependencies automatically
 On first launch, it also adds a **SUB Control** desktop shortcut.
 Select a COM port and **Connect**, or choose **Demo Mode** to try it without hardware.
 Connection settings are under **•••**.
-Click **Data link** for an extended connection test, or **Console** to inspect RX/TX messages and pause the view.
+Click **Data link** for an extended connection test, or **Console** to open the right-side RX/TX panel. Filter routine traffic, pause the view, or expand a message for full details.
 
 ## Controls
 
 - Joystick: forward/back and turning. Vertical slider: rise/dive.
 - Keyboard: **W/S** forward/back, **A/D** or **Q/E** turn, **R/F** rise/dive.
+- Physical controller: select **Joystick** while disarmed. Left stick drives/turns; right stick controls rise/dive. **Setup** changes axes, inversion, and dead zone while disarmed.
 - Hold **engage** for 1.4 seconds to request arming; tap **disengage** to request disarming. The app waits for vehicle confirmation.
 - Movement controls ease back to neutral when released.
+- In Joystick mode the graphics show the conditioned control demand and are read-only. Center sticks after switching modes, reconnecting, or returning focus. Controller buttons do not arm the vehicle.
 
 Includes adjustable output limit, motor setup, voltage-based battery status, an STL viewer, and session logs in `logs/`.
 

SUB Control/tests/controller_input.cjs

@@ -0,0 +1,31 @@
+/* Pure conditioning and log parsing tests: no hardware or browser needed. */
+const assert=require('node:assert/strict');
+const {deadZone,defaults,read,Motion}=require('../web/controller-input.js');
+const {parse}=require('../web/console-view.js');
+const pad={connected:true,axes:[0,0,0,0]};
+assert.equal(deadZone(.06),0);assert.equal(deadZone(-1),-1);assert.equal(deadZone(1),1);
+assert.equal(defaults({axes:[0,0]}).vertical,-1);
+assert.equal(read({...pad,connected:false},defaults(pad)),null);
+assert.equal(read(pad,{...defaults(pad),vertical:10}),null);
+const diagonal=read({...pad,axes:[1,-1,0,-1]},defaults(pad));
+assert(Math.abs(Math.hypot(diagonal.turn,diagonal.forward)-1)<1e-10);
+assert.equal(diagonal.vertical,1);
+assert.equal(read({...pad,axes:[-.5,0,0,0]},{...defaults(pad),invertTurn:true}).turn,deadZone(.5));
+const motion=new Motion(),target={turn:.6,forward:.8,vertical:1};
+assert.deepEqual(motion.step(target,0),{turn:0,forward:0,vertical:0});
+const partial=motion.step(target,16);assert(partial.vertical>0&&partial.vertical<.3);
+let current;for(let time=32;time<=1000;time+=16){current=motion.step(target,time);assert(Math.hypot(current.turn,current.forward)<=1+1e-10)}
+assert(current.vertical>.99);
+const neutral={turn:0,forward:0,vertical:0};
+assert(motion.step(neutral,1024).vertical>.99);
+assert(motion.step(neutral,1200).vertical>0);
+assert.deepEqual(motion.step(neutral,1400),neutral);
+motion.reset();assert.deepEqual(motion.step(target,1500),neutral);
+assert.equal(parse('2026-10-01T10:11:12.123 [RX] {"mavpackettype":"HEARTBEAT","base_mode":128}').quiet,true);
+const ack=parse('2026-10-01T10:11:12.123 [RX] {"mavpackettype":"COMMAND_ACK","command":400,"result":0}');
+assert.equal(ack.time,'10:11:12.123');assert.equal(ack.type,'COMMAND_ACK');assert.equal(ack.tone,'command');
+assert.equal(parse('2026-10-01T10:11:12 [TX_LINK_PROBE_TIMEOUT] retry').quiet,false);
+assert.equal(parse('2026-10-01T10:11:12 [RX] {"mavpackettype":"STATUSTEXT","severity":3,"text":"warning"}').tone,'warning');
+assert.equal(parse('2026-10-01T10:11:12 [RX] null').type,'RX');
+assert.equal(parse('unstructured text').payload,'unstructured text');
+console.log('PASS: dead zone, mapping/inversion, diagonal cap, ramp, finite center return, resets, console parsing and warning visibility.');

SUB Control/tests/ui_windows.cjs

@@ -24,19 +24,23 @@ async function main(){
   try{
     const page=await browser.newPage({viewport:{width:1080,height:720}});
     const errors=[];page.on('pageerror',error=>errors.push(error.message));
+    const setArmed=value=>page.evaluate(value=>{
+      Object.assign(testBridge.state,{connected:true,armed:value,armed_known:true,app_state:value?'armed':'connected_disarmed'});render(testBridge.state);
+    },value);
     await page.addInitScript(()=>{
       const clone=value=>JSON.parse(JSON.stringify(value));
       const servos={};for(let i=1;i<=16;i++)servos[String(i)]={function:i<=3?32+i:0,motor:i<=3?i:null,direction:i<=3?1:null};
       const state={connected:false,armed:false,armed_known:false,mode:null,app_state:'disconnected',status:'Ready',servos,link_quality:null};
       const battery={cells:4,capacity_mah:5500,c_rating:35,full_v_per_cell:4.2,empty_v_per_cell:3.3,warning_percent:20};
       const link={baud:57600,control_hz:20,ping_hz:1,system_hz:1,servo_hz:2,rc_hz:2,esc_hz:1};
-      const calls={battery:0,link:0,heavy:0,reverse:0,console:0,connect:[]};
+      const calls={battery:0,link:0,heavy:0,reverse:0,console:0,connect:[],axes:[],axisVisual:[],stops:0};
       const sleep=ms=>new Promise(resolve=>setTimeout(resolve,ms));
       window.testBridge={state,battery,link,calls,failBattery:false,failMotor:false};
+      window.testPads=[];Object.defineProperty(navigator,'getGamepads',{value:()=>window.testPads});
       window.pywebview={api:{
         initial_state:async()=>({ports:[{device:'COM5',label:'COM5'}],state:clone(state),battery_config:clone(battery),link_config:clone(link)}),
         refresh_ports:async()=>[{device:'COM5',label:'COM5'}],poll:async()=>clone(state),
-        get_saved_model_info:async()=>null,set_gain:async()=>true,stop_controls:async()=>true,set_axes:async()=>true,
+        get_saved_model_info:async()=>null,set_gain:async()=>true,stop_controls:async()=>{calls.stops++;return true},set_axes:async(...axes)=>{calls.axes.push(axes);calls.axisVisual.push({joy:joystick3D.getState(),vertical:verticalControl.getState().value});return true},
         save_battery:async data=>{calls.battery++;await sleep(200);if(window.testBridge.failBattery)throw Error('Battery save failed');Object.keys(battery).forEach(k=>battery[k]=+data[k]);return clone(battery)},
         save_link_settings:async data=>{calls.link++;await sleep(250);Object.keys(link).forEach(k=>link[k]=+data[k]);return clone(link)},
         connect:async(port,baud,rate)=>{calls.connect.push({port,baud,rate});Object.assign(state,{connected:true,armed_known:true,app_state:'connected_disarmed',mode:'MANUAL',link:'LINK OK',link_quality:{grade:'excellent',probe_samples:20,rx_packets_30s:100,rtt_median_ms:24,rtt_p95_ms:40,probe_loss_percent:0,rx_sequence_loss_percent:0,heartbeat_age_s:.2}});return clone(state)},
@@ -45,7 +49,7 @@ async function main(){
         set_servo_function:async(servo,motor)=>{if(window.testBridge.failMotor)throw Error('Motor write failed');setTimeout(()=>Object.assign(state.servos[servo],{motor:motor||null,function:motor===0?0:motor<=8?32+motor:73+motor,direction:motor?1:null}),650);return true},
         start_heavy_quality_test:async()=>{calls.heavy++;await sleep(250);state.heavy_quality={running:true,status:'Stage 1 of 3: 1 Hz',sent:4,replies:4,results:[]};return clone(state.heavy_quality)},
         cancel_heavy_quality_test:async()=>{state.heavy_quality={running:false,status:'Cancelled',results:[]};return clone(state.heavy_quality)},
-        read_console:async()=>{calls.console++;return {rx:['RX sample '+calls.console],tx:['TX sample '+calls.console]}},
+        read_console:async()=>{calls.console++;return {rx:['2026-10-01T10:11:12.123 [RX] {"mavpackettype":"COMMAND_ACK","command":400,"result":0,"sample":1}', '2026-10-01T10:11:12.124 [RX_BAD_DATA] corrupt_frame='+calls.console, '2026-10-01T10:11:12.125 [RX] {"mavpackettype":"HEARTBEAT"}'],tx:['2026-10-01T10:11:12.124 [TX_COMMAND] ARM '+calls.console]}},
         minimize_window:async()=>true,toggle_maximize_window:async()=>false,close_window:async()=>true
       }};
     });
@@ -107,27 +111,153 @@ async function main(){
     await page.waitForFunction(()=>!testBridge.state.heavy_quality.running);
     await page.screenshot({path:path.join(output,'quality.png')});await close('link-quality-modal');
     await page.locator('#console').click();
-    await page.waitForFunction(()=>document.getElementById('console-rx-output').textContent.includes('RX sample'));
+    await page.waitForFunction(()=>document.getElementById('console-rx-output').textContent.includes('COMMAND_ACK'));
     await page.locator('#console-pause').click();
     const paused=await page.locator('#console-rx-output').textContent();
     await page.waitForTimeout(850);assert.equal(await page.locator('#console-rx-output').textContent(),paused);
     await page.locator('#console-pause').click();
     await page.waitForFunction(old=>document.getElementById('console-rx-output').textContent!==old,paused);
-    await page.screenshot({path:path.join(output,'console.png')});await close('console-modal');
+    await page.screenshot({path:path.join(output,'console.png')});await page.locator('#console-close').click();
     for(const viewport of [{width:900,height:560},{width:480,height:720}]){
       await page.setViewportSize(viewport);
-      for(const id of ['link-modal','battery-modal','link-quality-modal','motors-modal','console-modal']){
+      for(const id of ['link-modal','battery-modal','link-quality-modal','motors-modal','controller-modal']){
         await page.evaluate(id=>openModal(id),id);
         const box=await page.locator('#'+id).boundingBox();
         assert(box.x>=0&&box.y>=0&&box.width<=viewport.width&&box.height<=viewport.height,id+' must fit viewport');
         assert.equal(await page.evaluate(()=>canDrive()),false);
+        const closeGeometry=await page.locator('#'+id+' .modal-close').evaluate(button=>{
+          const b=button.getBoundingClientRect(),s=button.querySelector('svg').getBoundingClientRect();
+          return {dx:Math.abs(b.x+b.width/2-s.x-s.width/2),dy:Math.abs(b.y+b.height/2-s.y-s.height/2),bg:getComputedStyle(button).backgroundColor};
+        });
+        assert(closeGeometry.dx<.5&&closeGeometry.dy<.5,id+' close icon must be centered');
+        assert.equal(closeGeometry.bg,'rgba(0, 0, 0, 0)');
         await close(id);
       }
     }
     await page.setViewportSize({width:1080,height:720});await openLink();
     await page.screenshot({path:path.join(output,'link.png')});await close('link-modal');
+
+    await page.setViewportSize({width:1080,height:720});
+    await page.evaluate(()=>{Object.assign(testBridge.state,{connected:true,armed:false,armed_known:true,app_state:'connected_disarmed',battery:{voltage:15.8,percent:72,cells:4,low:false}});focusChanged(true);render(testBridge.state)});
+    await page.locator('#engage').focus();
+    assert.equal(await page.locator('#engage').evaluate(el=>getComputedStyle(el).outlineStyle),'none');
+    await page.evaluate(()=>startEngageHold());
+    assert.equal(await page.locator('#input-joystick').isDisabled(),true);
+    await page.evaluate(()=>cancelEngageHold(false));
+    assert.equal(await page.locator('#input-joystick').isDisabled(),false);
+    await page.locator('#input-joystick').click();
+    for(const pending of ['arm','disarm']){
+      await page.evaluate(pending=>{testBridge.state.pending_command=pending;render(testBridge.state)},pending);
+      assert.equal(await page.locator('#input-keyboard').isDisabled(),true);
+      assert.equal(await page.evaluate(()=>{setInputMode('keyboard');return inputMode}),'joystick');
+    }
+    await page.evaluate(()=>{delete testBridge.state.pending_command;testBridge.state.armed_known=false;render(testBridge.state)});
+    assert.equal(await page.locator('#input-keyboard').isDisabled(),true);
+    await setArmed(true);
+    assert.equal(await page.locator('#input-keyboard').isDisabled(),true);
+    await page.waitForFunction(()=>document.getElementById('controller-status').textContent.includes('Waiting'));
+    await page.evaluate(()=>testPads=[{connected:true,id:'Test controller',index:0,axes:[1,-1,0,-1]}]);
+    await page.waitForFunction(()=>document.getElementById('controller-status').textContent==='Center sticks to resume');
+    assert.deepEqual(await page.evaluate(()=>({...control})),{turn:0,forward:0,vertical:0});
+    await page.evaluate(()=>testPads[0].axes=[0,0,0,0]);
+    await page.waitForFunction(()=>!controllerNeedCenter);
+    await page.keyboard.down('w');await page.waitForTimeout(420);await page.keyboard.up('w');
+    assert.equal(await page.evaluate(()=>control.forward),0);
+    await page.evaluate(()=>testPads[0].axes=[1,-1,0,-1]);
+    await page.waitForFunction(()=>control.vertical>0&&control.vertical<.8);
+    await page.waitForFunction(()=>control.vertical>.99);
+    const matching=await page.evaluate(()=>{
+      const joy=joystick3D.getState(),sent=testBridge.calls.axes.at(-1);
+      return {length:Math.hypot(control.turn,control.forward),joy,vertical:control.vertical,sent,visual:testBridge.calls.axisVisual.at(-1),control:{...control}};
+    });
+    assert(matching.length<=1.00001);
+    assert.equal(matching.joy.x,matching.control.turn);assert.equal(matching.joy.y,-matching.control.forward);
+    assert.equal(matching.sent[0],-matching.visual.joy.y);assert.equal(matching.sent[1],matching.visual.joy.x);assert.equal(matching.sent[2],matching.visual.vertical);
+    // Dispatch even though CSS excludes pointers, to exercise the handler gate.
+    await page.locator('#joystick-canvas').dispatchEvent('pointerdown',{pointerId:91,clientX:20,clientY:20,button:0});
+    await page.locator('#heave').dispatchEvent('pointerdown',{pointerId:92,clientX:20,clientY:20,button:0});
+    assert.equal(await page.evaluate(()=>joystick3D.getState().active||verticalControl.getState().active),false);
+    await page.locator('#console').click();
+    await page.waitForFunction(()=>!document.getElementById('console-dock').hidden);
+    await page.waitForFunction(()=>document.querySelector('.rx-dot').classList.contains('lit')&&document.querySelector('.tx-dot').classList.contains('lit'));
+    await page.locator('#console-pause').click();
+    await page.waitForTimeout(500);
+    assert.equal(await page.locator('.rx-dot').evaluate(el=>el.classList.contains('lit')),false);
+    assert.equal(await page.locator('.tx-dot').evaluate(el=>el.classList.contains('lit')),false);
+    await page.locator('#console-pause').click();
+    assert.equal(await page.evaluate(()=>canDrive()),true);
+    assert.equal(await page.locator('#console-rx-output .console-row').count(),2);
+    await page.locator('#console-filter').selectOption('all');
+    assert.equal(await page.locator('#console-rx-output .console-row').count(),3);
+    await page.locator('#console-rx-output details').first().locator('summary').click();
+    await page.waitForTimeout(850);assert.equal(await page.locator('#console-rx-output details').first().evaluate(el=>el.open),true);
+    await page.screenshot({path:path.join(output,'controller-console.png')});await page.locator('#console-close').click();
+    await page.evaluate(()=>testPads[0].axes=[0,0,0,0]);
+    await page.waitForFunction(()=>control.vertical>0&&control.vertical<.95);
+    await page.waitForFunction(()=>control.vertical===0&&control.turn===0&&control.forward===0);
+    await setArmed(false);
+    assert.equal(await page.locator('#input-keyboard').isDisabled(),false);
+    await page.locator('#controller-settings').click();
+    await page.screenshot({path:path.join(output,'controller-setup.png')});
+    await page.locator('#controller-form [name="invertTurn"]').check();
+    await page.locator('#controller-form').getByRole('button',{name:'Cancel',exact:true}).click();
+    await page.waitForFunction(()=>!document.getElementById('controller-modal').open);
+    await page.locator('#controller-settings').click();
+    assert.equal(await page.locator('#controller-form [name="invertTurn"]').isChecked(),false);
+    await page.locator('#controller-form [name="invertTurn"]').check();
+    await page.locator('#controller-form').getByRole('button',{name:'Save mapping',exact:true}).click();
+    await page.waitForFunction(()=>!document.getElementById('controller-modal').open);
+    await setArmed(true);
+    await page.waitForFunction(()=>!controllerNeedCenter);
+    await page.evaluate(()=>testPads[0].axes=[.5,0,0,0]);
+    await page.waitForFunction(()=>control.turn<-.2);
+    await page.evaluate(()=>testPads=[]);
+    await page.waitForFunction(()=>control.turn===0);
+    await page.evaluate(()=>testPads=[{connected:true,id:'Test controller',index:0,axes:[.5,0,0,0]}]);
+    await page.waitForTimeout(300);assert.equal(await page.evaluate(()=>control.turn),0);
+    await page.evaluate(()=>testPads[0].axes=[0,0,0,0]);await page.waitForFunction(()=>!controllerNeedCenter);
+    await page.evaluate(()=>testPads[0].axes=[.5,0,0,0]);await page.waitForFunction(()=>control.turn<-.2);
+    await page.evaluate(()=>focusChanged(false));assert.equal(await page.evaluate(()=>control.turn),0);
+    await page.evaluate(()=>focusChanged(true));await page.waitForTimeout(300);assert.equal(await page.evaluate(()=>control.turn),0);
+    await page.evaluate(()=>testPads[0].axes=[0,0,0,0]);await page.waitForFunction(()=>!controllerNeedCenter);
+    await page.evaluate(()=>testPads[0].axes=[.5,0,0,0]);await page.waitForFunction(()=>control.turn<-.2);
+    await page.evaluate(()=>testPads[0].id='Different controller');
+    await page.waitForFunction(()=>control.turn===0);
+    assert.equal(await page.locator('#input-keyboard').isDisabled(),true);
+    await setArmed(false);
+    await page.locator('#input-keyboard').click();
+    await setArmed(true);
+    await page.keyboard.down('w');await page.waitForFunction(()=>control.forward>.9);await page.keyboard.up('w');
+    await page.waitForFunction(()=>control.forward===0);
+    await page.evaluate(()=>{Object.assign(testBridge.state,{connected:false,armed_known:false});render(testBridge.state)});
+    assert.equal(await page.evaluate(()=>canDrive()),false);
+
+    await setArmed(false);
+    const deckLayout=await page.evaluate(()=>{
+      const battery=document.querySelector('.battery-card'),sidebar=document.querySelector('.sidebar-deck'),actions=document.querySelector('.activity-actions'),heading=document.querySelector('.activity-heading');
+      return {last:battery===document.querySelector('.telemetry-zone').lastElementChild,title:heading.textContent,
+        actionHeight:actions.querySelector('button').getBoundingClientRect().height,
+        batteryHeight:battery.getBoundingClientRect().height,connectHeight:document.querySelector('#connect').getBoundingClientRect().height,
+        bottomGap:sidebar.getBoundingClientRect().bottom-battery.getBoundingClientRect().bottom,
+        overlay:getComputedStyle(document.querySelector('.battery-copy')).zIndex,
+        actionRightGap:actions.getBoundingClientRect().right-actions.lastElementChild.getBoundingClientRect().right,
+        sidebarPadding:getComputedStyle(sidebar).paddingTop,
+        workspacePadding:getComputedStyle(document.querySelector('.controls-workspace')).paddingTop};
+    });
+    assert.equal(deckLayout.last,true);assert.equal(deckLayout.title,'Activity:');
+    assert.equal(deckLayout.actionHeight,32);assert.equal(deckLayout.batteryHeight,62);assert.equal(deckLayout.connectHeight,62);
+    assert(deckLayout.bottomGap>=10&&deckLayout.bottomGap<=24);assert.equal(deckLayout.overlay,'1');
+    assert.equal(deckLayout.actionRightGap,0);assert.equal(deckLayout.sidebarPadding,deckLayout.workspacePadding);
+    const batteryReadout=await page.locator('.battery-card').evaluate(el=>{
+      const percent=el.querySelector('#battery-percent'),voltage=el.querySelector('#battery-title');
+      return {percent:percent.textContent,voltage:voltage.textContent,border:getComputedStyle(el).borderTopWidth,
+        mainSize:parseFloat(getComputedStyle(percent).fontSize),voltageSize:parseFloat(getComputedStyle(voltage).fontSize)};
+    });
+    assert.match(batteryReadout.percent,/^\d+%$/);assert.match(batteryReadout.voltage,/^\d+\.\d{2} V$/);
+    assert.equal(batteryReadout.border,'0px');assert(batteryReadout.mainSize>batteryReadout.voltageSize);
+    await page.screenshot({path:path.join(output,'ui-cleanup.png')});
     assert.deepEqual(errors,[]);
-    console.log('PASS: settings cancel/save/failure, saved baud, custom port rescan, motor confirmation/failure, heavy test, console pause/resume, keyboard gating, and five dialogs at two window sizes.');
+    console.log('PASS: settings cancel/save/failure, saved baud, custom port rescan, motor confirmation/failure, heavy test, console pause/resume, keyboard gating, five dialogs at two window sizes; controller conditioning/read-only graphics, actual bridge values, mapping, focus/unplug/identity safety and dock filtering; mode locking during hold/armed/pending/unknown states, centered SVG close icons and bottom battery layout.');
   }catch(error){
     const page=browser.contexts()[0]?.pages()[0];
     if(page){

SUB Control/web/app.js

@@ -14,7 +14,7 @@ function recordActivity(message){
   if(!message||activity[0]===message)return;
   activity.unshift(String(message));activity.length=Math.min(activity.length,3);
   ['#status-text','#activity-previous','#activity-oldest'].forEach((selector,i)=>{
-    const row=$(selector);if(row){row.textContent=activity[i]||'';row.hidden=!activity[i]}
+    const row=$(selector);if(row){const changed=row.textContent!==(activity[i]||'');row.textContent=activity[i]||'';row.hidden=!activity[i];if(changed&&!row.hidden&&!matchMedia('(prefers-reduced-motion:reduce)').matches)row.animate([{opacity:0},{opacity:1}],{duration:180,easing:'ease-out'})}
   });
 }
 function withTimeout(promise,ms=1500){return new Promise((resolve,reject)=>{const timer=setTimeout(()=>reject(new Error('Control bridge timed out')),ms);Promise.resolve(promise).then(value=>{clearTimeout(timer);resolve(value)},error=>{clearTimeout(timer);reject(error)})})}
@@ -22,7 +22,127 @@ let vehicleSnapshot={connected:false,armed:null}, view=ControlState.present(vehi
     bridgeStale=false,lastBridgeAt=performance.now(),axisBusy=false,inputSequence=Date.now(),
     localRequest=null,commandError='',requestSerial=0,demoCommandTimer=0,lastSafetyTick=performance.now();
 const canDrive=()=>view.drive&&!document.querySelector('dialog[open]')&&performance.now()-lastSafetyTick<750;
+
 window.canDrive=canDrive;
+let inputMode='keyboard',controllerKey=null,controllerConfig=null,controllerNeedCenter=true,controllerWasDriving=false;
+const controllerMotion=new ControllerInput.Motion();
+const controllerId=pad=>pad.index+':'+pad.id;
+function getControllers(){try{return [...(navigator.getGamepads?.()||[])].filter(pad=>pad?.connected)}catch(_){return []}}
+function loadControllerConfig(pad){
+  let saved=null;try{saved=JSON.parse(localStorage.getItem('sub-controller:'+pad.id))}catch(_){}
+  const defaults=ControllerInput.defaults(pad),config={...defaults,...(saved||{})};
+  return Number.isFinite(config.deadZone)&&config.deadZone>=0&&config.deadZone<=.3&&ControllerInput.read(pad,config)?config:defaults;
+}
+function selectController(pad){
+  resetInputs();controllerKey=controllerId(pad);controllerConfig=loadControllerConfig(pad);
+}
+function setInputMode(mode){
+  if(mode===inputMode||inputConfigurationLocked())return false;
+  resetInputs();inputMode=mode;document.body.dataset.inputMode=mode;
+  $('#input-keyboard').setAttribute('aria-pressed',String(mode==='keyboard'));
+  $('#input-joystick').setAttribute('aria-pressed',String(mode==='joystick'));
+  $('#controller-settings').hidden=mode!=='joystick';
+  $('#joystick-canvas').setAttribute('aria-label',mode==='joystick'?'Controller steering and throttle output; read only':'Steering and throttle joystick; W A S D keys');
+  $('#heave').setAttribute('aria-label',mode==='joystick'?'Controller vertical output; read only':'Vertical thrust control');
+  return true;
+}
+function inputConfigurationLocked(){
+  return !!(engageStart||localRequest||view.pending||vehicleSnapshot.armed===true||(vehicleSnapshot.connected&&!view.known));
+}
+function syncInputModeControls(){
+  const locked=inputConfigurationLocked(),pads=getControllers(),pad=pads.find(pad=>controllerId(pad)===controllerKey);
+  $('.input-mode-switch').dataset.locked=String(locked);
+  for(const button of [$('#input-keyboard'),$('#input-joystick')]){
+    button.disabled=locked;button.title=locked?'Disengage before changing input mode':'Choose input mode';
+  }
+  $('#controller-settings').disabled=locked||!pads.length;
+  $('#controller-settings').title=locked?'Disengage before changing joystick settings':'Joystick setup';
+  if($('#controller-modal').open){
+    const form=$('#controller-form');
+    for(const field of form.querySelectorAll('input,select,button[type="submit"]'))field.disabled=locked||!pad;
+    $('#controller-device').disabled=locked||!pads.length;
+    const feedback=form.querySelector('.form-feedback'),message='Disengage before changing joystick settings.';
+    if(locked)setFeedback(feedback,message);else if(feedback.textContent===message)setFeedback(feedback);
+  }
+}
+window.canTouchControl=()=>inputMode==='keyboard'&&canDrive();
+$('#input-keyboard').onclick=()=>setInputMode('keyboard');
+$('#input-joystick').onclick=()=>setInputMode('joystick');
+function fillControllerForm(){
+  const pads=getControllers(),device=$('#controller-device'),form=$('#controller-form');
+  device.replaceChildren(...pads.map(pad=>new Option(pad.id,controllerId(pad))));
+  if(!pads.length)device.add(new Option('No controller detected',''));
+  device.value=controllerKey||'';
+  const pad=pads.find(pad=>controllerId(pad)===controllerKey);
+  const config=controllerConfig||ControllerInput.defaults(pad);
+  for(const name of ['turn','forward','vertical']){
+    const field=form.elements[name];field.replaceChildren(new Option('Off','-1'));
+    for(let axis=0;axis<(pad?.axes.length||0);axis++)field.add(new Option('Axis '+axis,String(axis)));
+    field.value=String(config[name]);field.disabled=inputConfigurationLocked()||!pad;
+    const invert='invert'+name[0].toUpperCase()+name.slice(1);
+    form.elements[invert].checked=!!config[invert];form.elements[invert].disabled=inputConfigurationLocked()||!pad;
+  }
+  form.elements.deadZone.value=Math.round(config.deadZone*100);
+  device.disabled=inputConfigurationLocked()||!pads.length;
+  form.elements.deadZone.disabled=inputConfigurationLocked()||!pad;
+  form.querySelector('[type=submit]').disabled=inputConfigurationLocked()||!pad;
+}
+$('#controller-device').onchange=e=>{
+  if(inputConfigurationLocked())return;
+  const pad=getControllers().find(pad=>controllerId(pad)===e.target.value);
+  if(pad){selectController(pad);fillControllerForm()}
+};
+$('#controller-form').onsubmit=e=>{
+  e.preventDefault();const form=e.currentTarget,pad=getControllers().find(pad=>controllerId(pad)===controllerKey);
+  if(inputConfigurationLocked()){setFeedback(form.querySelector('.form-feedback'),'Disengage before changing joystick settings.');return}
+  if(!pad){setFeedback(form.querySelector('.form-feedback'),'Controller disconnected. Reconnect it before saving.');return}
+  const config={deadZone:Number(form.elements.deadZone.value)/100};
+  for(const name of ['turn','forward','vertical']){
+    config[name]=Number(form.elements[name].value);
+    const invert='invert'+name[0].toUpperCase()+name.slice(1);config[invert]=form.elements[invert].checked;
+  }
+  if(!ControllerInput.read(pad,config)||!Number.isFinite(config.deadZone)||config.deadZone<0||config.deadZone>.3){
+    setFeedback(form.querySelector('.form-feedback'),'Choose valid axes and a dead zone between 0 and 30%.');return;
+  }
+  controllerConfig=config;try{localStorage.setItem('sub-controller:'+pad.id,JSON.stringify(config))}catch(_){}
+  resetInputs();closeModal($('#controller-modal'));
+};
+function pollController(now){
+  try{
+    if(inputMode==='joystick'){
+      const pads=getControllers();
+      if(controllerKey===null&&pads.length)selectController(pads[0]);
+      const pad=pads.find(pad=>controllerId(pad)===controllerKey),target=pad&&ControllerInput.read(pad,controllerConfig);
+      let status=!navigator.getGamepads?'Controller input unavailable in this webview':!pad?(pads.length?'Selected controller unavailable · choose Setup':'Waiting for controller · press a button to detect it'):!target?'Invalid axis mapping · open Setup':!canDrive()?'Controller ready · '+pad.id:controllerNeedCenter?'Center sticks to resume':pad.id;
+      $('#controller-settings').disabled=inputConfigurationLocked()||!pads.length;
+      if(!target||!canDrive()){
+        if(controllerWasDriving)resetInputs();
+        controllerMotion.reset();controllerNeedCenter=true;controllerWasDriving=false;
+      }else{
+        if(controllerNeedCenter&&!Object.values(target).some(value=>value!==0)){controllerNeedCenter=false;status=pad.id}
+        if(!controllerNeedCenter){
+          const demand=controllerMotion.step(target,now);controllerWasDriving=true;
+          control.turn=demand.turn;control.forward=demand.forward;
+          window.joystick3D?.setVisual(demand.turn,-demand.forward);
+          setHeave(demand.vertical,false);updateReadouts();sendAxes();
+        }
+      }
+      if($('#controller-status').textContent!==status)$('#controller-status').textContent=status;
+      $('#controller-status').dataset.quiet=String(status===pad?.id||status.startsWith('Controller ready'));
+      if($('#controller-modal').open){
+        const axes=pad?'Axes · '+pad.axes.map((value,index)=>index+': '+value.toFixed(2)).join('   '):'Controller disconnected';
+        if($('#controller-axes').textContent!==axes)$('#controller-axes').textContent=axes;
+        if($('#controller-device').options.length!==Math.max(1,pads.length)||[...$('#controller-device').options].some(option=>option.value&&!pads.some(pad=>controllerId(pad)===option.value)))fillControllerForm();
+      }
+    }else {$('#controller-status').dataset.quiet='true';if($('#controller-status').textContent!=='Keyboard + touch')$('#controller-status').textContent='Keyboard + touch'}
+  }catch(error){
+    if(controllerWasDriving)resetInputs();
+    $('#controller-status').dataset.quiet='false';$('#controller-status').textContent='Controller unavailable · reconnect or use keyboard';
+  }
+  requestAnimationFrame(pollController);
+}
+document.body.dataset.inputMode=inputMode;
+
 function makeDemoState(){const servos={};for(let i=1;i<=16;i++)servos[String(i)]={function:i<=3?32+i:0,label:i<=3?`Motor ${i}`:'Unassigned',motor:i<=3?i:null,direction:i<=3?1:null};return {connected:true,link:'LINK OK',vehicle:'DEMO • DISARMED',armed:false,armed_known:true,mode:'MANUAL',app_state:'connected_disarmed',status:'Demo mode ready — no hardware or spoofer.',battery:{voltage:15.8,per_cell:3.95,percent:72,cells:4,low:false},link_quality:null,servos}}
 function updateDemo(patch){Object.assign(demoState,patch);render(demoState)}
 document.addEventListener('click',e=>{const btn=e.target.closest('.num-step');if(!btn)return;const pill=btn.closest('.number-pill');if(!pill)return;const input=pill.querySelector('input');if(!input)return;const step=+input.step||1,min=input.min!==''?+input.min:-Infinity,max=input.max!==''?+input.max:Infinity;let val=+input.value||0;if(btn.classList.contains('down'))val=Math.max(min,+(val-step).toFixed(4));else val=Math.min(max,+(val+step).toFixed(4));input.value=val;input.dispatchEvent(new Event('input',{bubbles:true}));input.dispatchEvent(new Event('change',{bubbles:true}))});
@@ -84,20 +204,21 @@ function sendAxes(){
 setInterval(()=>{if(canDrive())sendAxes()},250);
 function updateReadouts(){ if(!canDrive()){$('#surge-readout').textContent='—';$('#yaw-readout').textContent='—';$('#heave-readout').textContent='—';return;}$('#surge-readout').textContent=Math.round(control.forward*100);$('#yaw-readout').textContent=Math.round(control.turn*100);$('#heave-readout').textContent=Math.round(control.vertical*100);}
 
-window.setJoyControl=(x,y)=>{if(!canDrive())return;control.turn=x;control.forward=-y;updateReadouts();sendAxes();};
+window.setJoyControl=(x,y)=>{if(!window.canTouchControl())return;control.turn=x;control.forward=-y;updateReadouts();sendAxes();};
 function releaseHandle(el){el.classList.remove('pressed');el.classList.add('released');setTimeout(()=>el.classList.remove('released'),520)}
 
 const heave=$('#heave'),hknob=$('#heave-knob'),hfill=$('#heave-fill');let heavePointer=null,heaveAnim=0;
 function setHeave(v,send=true){if(!canDrive()&&v!==0)return;v=Math.max(-1,Math.min(1,v));control.vertical=v;heave.dataset.commanded=String(Math.abs(v)>.03);hknob.style.top=`${50-v*43}%`;hfill.style.top=v>=0?`${50-v*43}%`:'50%';hfill.style.height=`${Math.abs(v)*43}%`;updateReadouts();if(send&&canDrive())sendAxes();}
 function heaveEvent(e){const b=heave.getBoundingClientRect();setHeave((b.top+b.height/2-e.clientY)/(b.height*.43))}
 function releaseHeave(e){if(heavePointer===null||(e?.pointerId!=null&&e.pointerId!==heavePointer))return;const pointer=heavePointer;heavePointer=null;try{heave.releasePointerCapture(pointer)}catch(_){}releaseHandle(hknob);easeHeave()}
-heave.addEventListener('pointerdown',e=>{if(!canDrive()||heavePointer!==null||e.button>0)return;heavePointer=e.pointerId;hknob.classList.remove('released');hknob.classList.add('pressed');cancelAnimationFrame(heaveAnim);heave.setPointerCapture(e.pointerId);heaveEvent(e);e.preventDefault()});heave.addEventListener('pointermove',e=>{if(e.pointerId===heavePointer)heaveEvent(e)});heave.addEventListener('pointerup',releaseHeave);heave.addEventListener('pointercancel',releaseHeave);heave.addEventListener('lostpointercapture',e=>{if(e.pointerId===heavePointer)releaseHeave(e)});
+heave.addEventListener('pointerdown',e=>{if(!window.canTouchControl()||heavePointer!==null||e.button>0)return;heavePointer=e.pointerId;hknob.classList.remove('released');hknob.classList.add('pressed');cancelAnimationFrame(heaveAnim);heave.setPointerCapture(e.pointerId);heaveEvent(e);e.preventDefault()});heave.addEventListener('pointermove',e=>{if(e.pointerId===heavePointer)heaveEvent(e)});heave.addEventListener('pointerup',releaseHeave);heave.addEventListener('pointercancel',releaseHeave);heave.addEventListener('lostpointercapture',e=>{if(e.pointerId===heavePointer)releaseHeave(e)});
 function easeHeave(target=0){cancelAnimationFrame(heaveAnim);const sv=control.vertical,start=performance.now();function frame(now){const p=Math.min(1,(now-start)/400),smooth=p*p*(3-2*p);setHeave(sv+(target-sv)*smooth);if(p<1)heaveAnim=requestAnimationFrame(frame)}heaveAnim=requestAnimationFrame(frame)}
 window.verticalControl={setPos:value=>{cancelAnimationFrame(heaveAnim);setHeave(value)},easeBack:()=>{if(heavePointer===null)easeHeave()},getState:()=>({value:control.vertical,active:heavePointer!==null})};
 
-function applyKeys(){if(!canDrive()){pressedKeys.clear();return;}const turn=(pressedKeys.has('d')||pressedKeys.has('e')?1:0)-(pressedKeys.has('a')||pressedKeys.has('q')?1:0),forward=(pressedKeys.has('w')?1:0)-(pressedKeys.has('s')?1:0),vertical=(pressedKeys.has('r')?1:0)-(pressedKeys.has('f')?1:0);if(!window.joystick3D?.getState().active)window.joystick3D?.easeTo(turn,-forward);if(heavePointer===null)easeHeave(vertical)}
+function applyKeys(){if(inputMode!=='keyboard'||!canDrive()){pressedKeys.clear();return;}const turn=(pressedKeys.has('d')||pressedKeys.has('e')?1:0)-(pressedKeys.has('a')||pressedKeys.has('q')?1:0),forward=(pressedKeys.has('w')?1:0)-(pressedKeys.has('s')?1:0),vertical=(pressedKeys.has('r')?1:0)-(pressedKeys.has('f')?1:0);if(!window.joystick3D?.getState().active)window.joystick3D?.easeTo(turn,-forward);if(heavePointer===null)easeHeave(vertical)}
-addEventListener('keydown',e=>{if(e.key==='F3'){e.preventDefault();if(!e.repeat&&view.action==='disarm')requestControl('disarm');return;}if(document.querySelector('dialog[open]')||/^(INPUT|SELECT|TEXTAREA)$/.test(e.target.tagName))return;if(e.key==='F2'){e.preventDefault();if(!e.repeat)startEngageHold();return;}const k=e.key.toLowerCase();if('wasdqerf'.includes(k)&&k.length===1){if(!canDrive())return;e.preventDefault();if(!pressedKeys.has(k)){pressedKeys.add(k);applyKeys();}}});addEventListener('keyup',e=>{if(e.key==='F2'){e.preventDefault();cancelEngageHold(true);return;}const k=e.key.toLowerCase();if(pressedKeys.delete(k))applyKeys();});
+addEventListener('keydown',e=>{if(e.key==='F3'){e.preventDefault();if(!e.repeat&&view.action==='disarm')requestControl('disarm');return;}if(document.querySelector('dialog[open]')||/^(INPUT|SELECT|TEXTAREA)$/.test(e.target.tagName))return;if(e.key==='F2'){e.preventDefault();if(!e.repeat)startEngageHold();return;}const k=e.key.toLowerCase();if('wasdqerf'.includes(k)&&k.length===1){if(inputMode!=='keyboard'||!canDrive())return;e.preventDefault();if(e.repeat)return;if(!pressedKeys.has(k)){pressedKeys.add(k);applyKeys();}}});addEventListener('keyup',e=>{if(e.key==='F2'){e.preventDefault();cancelEngageHold(true);return;}const k=e.key.toLowerCase();if(pressedKeys.delete(k))applyKeys();});
 function resetInputs(){
+  controllerMotion.reset();controllerNeedCenter=true;controllerWasDriving=false;
   if(gainPointer!==null)releaseGain({pointerId:gainPointer});
   clearTimeout(axisTimer);axisTimer=0;pressedKeys.clear();cancelEngageHold(false);
   window.joystick3D?.reset();
@@ -120,9 +241,11 @@ function setFeedback(el,message=''){
 function openModal(id){
   const el=typeof id==='string'?document.getElementById(id):id;
   if(!el||el.open)return;
+  if(el.id==='controller-modal'&&inputConfigurationLocked()){toast('Disengage before changing joystick settings.');return}
   resetInputs();
   el._returnFocus=document.activeElement;
   if(el.id==='battery-modal')fillBatteryForm();
+  if(el.id==='controller-modal')fillControllerForm();
   if(el.id==='link-modal'){
     fillLinkForm();
     $('#custom-port-status').textContent='';
@@ -393,12 +516,14 @@ function startEngageHold(e){
   if(view.action!=='arm'||!inputFocused||engageStart)return;
   if(e&&e.button!==undefined&&e.button!==0)return;
   engagePointer=e?.pointerId??'keyboard';engageStart=performance.now();engageButton.classList.add('charging');engageButton.style.setProperty('--engage-progress','0%');
+  syncInputModeControls();
   if(e?.pointerId!=null)engageButton.setPointerCapture(e.pointerId);
   engageHoldTimer=requestAnimationFrame(updateEngageProgress);
 }
 function cancelEngageHold(showHint=true){
   if(!engageStart)return;
   const elapsed=performance.now()-engageStart,pointer=engagePointer;cancelAnimationFrame(engageHoldTimer);engageHoldTimer=null;engageStart=0;engagePointer=null;engageButton.classList.remove('charging');engageButton.classList.add('canceling');engageButton.style.setProperty('--engage-progress','0%');setTimeout(()=>engageButton.classList.remove('canceling'),280);if(typeof pointer==='number')try{engageButton.releasePointerCapture(pointer)}catch(_){}if(showHint&&elapsed>80)toast('Engagement canceled');
+  syncInputModeControls();
 }
 
 if(engageButton){
@@ -417,33 +542,55 @@ if(engageButton){
 }
 
 $('#logs').onclick=()=>api('open_logs');
-const consoleDialog=$('#console-modal'),consoleRx=$('#console-rx-output'),consoleTx=$('#console-tx-output');
+const consoleDock=$('#console-dock'),consoleRx=$('#console-rx-output'),consoleTx=$('#console-tx-output');
-let consoleRefreshBusy=false,consolePaused=false;
+let consoleRefreshBusy=false,consolePaused=false,consoleCache={rx:[],tx:[]},consoleSignature='',consoleOpen=false,consoleCloseTimer=0;
+const consolePulseTimers={};
+function pulseConsole(side){
+  const dot=$('.'+side+'-dot');
+  clearTimeout(consolePulseTimers[side]);dot.classList.add('lit');
+  consolePulseTimers[side]=setTimeout(()=>dot.classList.remove('lit'),260);
+}
+function renderConsole(){
+  const filter=$('#console-filter').value,signature=filter+JSON.stringify(consoleCache);
+  if(signature===consoleSignature)return;
+  consoleSignature=signature;ConsoleView.render(consoleRx,consoleCache.rx||[],filter);ConsoleView.render(consoleTx,consoleCache.tx||[],filter);
+}
+function setConsoleOpen(open){
+  consoleOpen=open;clearTimeout(consoleCloseTimer);consoleDock.classList.toggle('closing',!open);
+  if(open){consoleDock.hidden=false;$('.app-shell').classList.add('console-open')}
+  else consoleCloseTimer=setTimeout(()=>{consoleDock.hidden=true;$('.app-shell').classList.remove('console-open')},180);
+  $('#console').setAttribute('aria-expanded',String(open));
+  if(open)refreshConsole();else $('#console').focus({preventScroll:true});
+}
+$('#console').setAttribute('aria-controls','console-dock');
+$('#console').setAttribute('aria-expanded','false');
+$('#console').onclick=()=>setConsoleOpen(!consoleOpen);
+$('#console-close').onclick=()=>setConsoleOpen(false);
+$('#console-filter').onchange=renderConsole;
 $('#console-pause').onclick=()=>{
   consolePaused=!consolePaused;
   $('#console-pause').textContent=consolePaused?'Resume':'Pause';
   $('#console-pause').setAttribute('aria-pressed',String(consolePaused));
-  $('#console-state').textContent=consolePaused?'Paused · session logging continues':'Live · follows new messages';
+  $('#console-state').textContent=consolePaused?'Paused':'';
+  $('#console-state').hidden=!consolePaused;
   if(!consolePaused)refreshConsole();
 };
 async function refreshConsole(){
-  if(!consoleDialog?.open||!bridgeReady||consoleRefreshBusy||consolePaused)return;
+  if(!consoleOpen||!bridgeReady||consoleRefreshBusy||consolePaused)return;
   consoleRefreshBusy=true;
   try{
-    const rxAtBottom=consoleRx.scrollHeight-consoleRx.scrollTop-consoleRx.clientHeight<36;
+    const sides=await withTimeout(api('read_console',150),1500);
-    const txAtBottom=consoleTx.scrollHeight-consoleTx.scrollTop-consoleTx.clientHeight<36;
+    if(consolePaused||!consoleOpen)return;
-    const sides=await api('read_console',150);
+    const filter=$('#console-filter').value;
-    if(consolePaused||!consoleDialog.open)return;
+    for(const side of ['rx','tx']){
-    consoleRx.textContent=sides.rx?.length?sides.rx.join('\n'):'Waiting for vehicle data…';
+      const previous=new Set(consoleCache[side]||[]);
-    consoleTx.textContent=sides.tx?.length?sides.tx.join('\n'):'Waiting for transmitted data…';
+      if((sides[side]||[]).some(line=>!previous.has(line)&&(filter==='all'||!ConsoleView.parse(line).quiet)))pulseConsole(side);
-    if(rxAtBottom)consoleRx.scrollTop=consoleRx.scrollHeight;
-    if(txAtBottom)consoleTx.scrollTop=consoleTx.scrollHeight;
-  }catch(error){
-    $('#console-state').textContent=`Console unavailable: ${error.message}`;
     }
+    consoleCache=sides;renderConsole();
+    $('#console-state').textContent='';$('#console-state').hidden=true;
+  }catch(error){if(consoleOpen){$('#console-state').hidden=false;$('#console-state').textContent='Unavailable: '+error.message}}
   finally{consoleRefreshBusy=false}
 }
-$('#console').onclick=()=>{openModal(consoleDialog);refreshConsole()};
 setInterval(refreshConsole,750);
 function setGain(value){const gain=$('#gain');gain.value=Math.max(+gain.min,Math.min(+gain.max,value));$('#gain-value').textContent=`${gain.value}%`;if(bridgeReady)api('set_gain',+gain.value)}
 $('#gain').oninput=e=>setGain(+e.target.value);$('#gain-down').onclick=()=>setGain(+$('#gain').value-5);$('#gain-up').onclick=()=>setGain(+$('#gain').value+5);
@@ -564,6 +711,7 @@ function render(s,confirmed=false){
       (s.armed_known&&s.armed===(localRequest.name==='arm')))) localRequest=null;
   const previous=view;
   view=ControlState.present(s,{stale:bridgeStale,focused:inputFocused,pending:localRequest?.name,error:commandError});
+  syncInputModeControls();
   if((previous.drive&&!view.drive)||(previous.action==='arm'&&view.action!=='arm'))resetInputs();
   appState=bridgeStale&&s.connected?'link_degraded':s.app_state||'disconnected';
   renderHeavyQuality(s.heavy_quality,s.connected,s.armed);
@@ -615,13 +763,19 @@ function render(s,confirmed=false){
   const b=s.battery;
   if(b){
     $('#battery-title').textContent=`${b.voltage.toFixed(2)} V`;
-    $('#battery-percent').textContent=`${Math.round(b.percent)}% • ${b.cells}s${!view.known||s.battery_stale?' · stale':''}`;
+    $('#battery-percent').textContent=`${Math.round(b.percent)}%`;
+    $('.battery-card').dataset.stale=String(!view.known||!!s.battery_stale);
+    $('.battery-card').title=`Estimated charge from voltage · ${b.cells}S${!view.known||s.battery_stale?' · stale reading':''} · Battery settings`;
     $('#battery-fill').style.width=`${b.percent}%`;
-    $('#battery-fill').style.background=b.low?'var(--red)':'var(--acid)';
+    $('#battery-fill').style.background=b.low?'var(--battery-low)':'var(--battery-charge)';
+    $('.battery-card').dataset.low=String(!!b.low);
   }else{
-    $('#battery-title').textContent='—';
+    $('#battery-title').textContent='No voltage';
-    $('#battery-percent').textContent='waiting';
+    $('#battery-percent').textContent='—';
+    $('.battery-card').dataset.stale='false';
+    $('.battery-card').title='Waiting for battery voltage · Battery settings';
     $('#battery-fill').style.width='0';
+    $('.battery-card').dataset.low='false';
   }
   const quality=s.link_quality,qualityCard=$('#link-quality');
   if(qualityCard){
@@ -800,3 +954,6 @@ if(document.readyState==='loading'){
   loadDefaultModel();
   waitForBridge();
 }
+
+
+requestAnimationFrame(pollController);

SUB Control/web/console-view.js

@@ -0,0 +1,70 @@
+/* Read-only presentation of the existing local RX/TX logs. */
+((root)=>{
+  const quiet=/^(HEARTBEAT|TIMESYNC|LINK_PROBE|HEAVY_PROBE|GCS)/;
+  function parse(line){
+    const match=String(line).match(/^(\S+) \[([^\]]+)\] ([\s\S]*)$/);
+    if(!match)return {time:'',type:'Message',payload:String(line),raw:String(line),tone:'normal',quiet:false};
+    const [,timestamp,category,message]=match;
+    let payload=message,type=category.replace(/^(RX|TX)_?/,'')||category;
+    try{payload=JSON.parse(message);type=payload.mavpackettype||type}catch(_){}
+    const tone=/BAD_DATA|ERROR|TIMEOUT|FAIL/.test(category)||type==='STATUSTEXT'&&Number(payload.severity)<=4?'warning':/COMMAND|ACK|PARAM_SET|OPERATOR/.test(category+' '+type)?'command':'normal';
+    const time=timestamp.match(/T(\d{2}:\d{2}:\d{2}(?:\.\d+)?)/)?.[1]||timestamp;
+    const pairs=typeof payload==='string'?[...payload.matchAll(/(?:^|\s)([a-zA-Z_]\w*)=([^\s]+)/g)]:[];
+    const fields=pairs.length?Object.fromEntries(pairs.map(([,key,value])=>[key,value])):payload;
+    return {time,type,payload,fields,raw:String(line),tone,quiet:tone!=='warning'&&(quiet.test(type)||/LINK_PROBE|HEAVY_PROBE|HEARTBEAT/.test(category))};
+  }
+  function valueText(value){
+    if(typeof value==='number')return Number.isInteger(value)?String(value):Number(value.toFixed(3)).toString();
+    if(Array.isArray(value))return value.slice(0,6).map(valueText).join(', ')+(value.length>6?'…':'');
+    return typeof value==='object'?JSON.stringify(value):String(value);
+  }
+  function makeRow(row,previous){
+    if(previous&&previous.dataset.key===row.raw&&previous.dataset.tone===row.tone)return previous;
+    const details=previous||document.createElement('details');
+    details.className='console-row';details.dataset.key=row.raw;details.dataset.tone=row.tone;
+    let summary=details.querySelector('summary'),time,body,type,fields,raw;
+    if(!summary){
+      details.replaceChildren();summary=document.createElement('summary');time=document.createElement('time');
+      body=document.createElement('span');body.className='console-message';type=document.createElement('strong');
+      fields=document.createElement('span');fields.className='console-fields';body.append(type,fields);summary.append(time,body);
+      raw=document.createElement('pre');details.append(summary,raw);
+    }else{
+      time=summary.querySelector('time');body=summary.querySelector('.console-message');
+      type=body.querySelector('strong');fields=body.querySelector('.console-fields');raw=details.querySelector('pre');
+    }
+    time.textContent=row.time;type.textContent=row.type;fields.replaceChildren();
+    const values=row.fields??row.payload;
+    if(typeof values==='object'&&values!==null){
+      for(const [key,value] of Object.entries(values).filter(([key])=>key!=='mavpackettype').slice(0,6)){
+        const item=document.createElement('span'),label=document.createElement('i'),text=document.createElement('b');
+        label.textContent=key+' ';text.textContent=valueText(value);item.append(label,text);fields.append(item);
+      }
+    }else fields.textContent=row.payload;
+    raw.textContent=typeof row.payload==='object'?JSON.stringify(row.payload,null,2):row.raw;
+    return details;
+  }
+  function render(host,lines,filter){
+    const atBottom=host.scrollHeight-host.scrollTop-host.clientHeight<36,scroll=host.scrollTop;
+    const rows=lines.map(parse).filter(row=>filter==='all'||!row.quiet);
+    const existing=new Map();
+    for(const node of host.querySelectorAll('details.console-row')){
+      const key=node.dataset.key,list=existing.get(key)||[];list.push(node);existing.set(key,list);
+    }
+    if(!rows.length){
+      if(!host.querySelector('.console-empty')){
+        const empty=document.createElement('p');empty.className='console-empty';
+        empty.textContent='No messages';
+        empty.title=filter==='all'?'Waiting for session messages.':'Routine heartbeat and probe traffic is hidden. Choose All traffic to see it.';
+        host.replaceChildren(empty);
+      }
+      return;
+    }
+    const wanted=rows.map(row=>makeRow(row,existing.get(row.raw)?.shift()||null));
+    let cursor=host.firstElementChild;
+    for(const node of wanted){if(node!==cursor)host.insertBefore(node,cursor);cursor=node.nextElementSibling}
+    while(cursor){const next=cursor.nextElementSibling;cursor.remove();cursor=next}
+    if(atBottom&&!host.querySelector('details[open]'))host.scrollTop=host.scrollHeight;else host.scrollTop=scroll;
+  }
+  root.ConsoleView={parse,render};
+  if(typeof module!=='undefined')module.exports=root.ConsoleView;
+})(typeof window!=='undefined'?window:globalThis);

SUB Control/web/controller-input.js

@@ -0,0 +1,53 @@
+/* Controller conditioning is independent of drawing and MAVLink transport. */
+((root)=>{
+  const clamp=value=>Math.max(-1,Math.min(1,Number.isFinite(value)?value:0));
+  function deadZone(value,zone=.08){
+    value=clamp(value);zone=Math.max(0,Math.min(.4,zone));
+    return Math.abs(value)<=zone?0:Math.sign(value)*(Math.abs(value)-zone)/(1-zone);
+  }
+  function defaults(pad){
+    return {turn:0,forward:1,vertical:pad?.axes?.length>=4?3:pad?.axes?.length>=3?2:-1,
+      invertTurn:false,invertForward:true,invertVertical:true,deadZone:.08};
+  }
+  function read(pad,config){
+    if(!pad?.connected||!pad.axes)return null;
+    const axis=(index,invert)=>{
+      if(index===-1)return 0;
+      if(!Number.isInteger(index)||index<0||index>=pad.axes.length||!Number.isFinite(pad.axes[index]))return null;
+      return deadZone(pad.axes[index],config.deadZone)*(invert?-1:1);
+    };
+    let turn=axis(config.turn,config.invertTurn),forward=axis(config.forward,config.invertForward),vertical=axis(config.vertical,config.invertVertical);
+    if(turn===null||forward===null||vertical===null)return null;
+    const length=Math.hypot(turn,forward);if(length>1){turn/=length;forward/=length}
+    return {turn,forward,vertical};
+  }
+  class Smoother{
+    constructor(){this.reset()}
+    reset(){this.value=0;this.last=null;this.release=null}
+    step(target,now){
+      target=clamp(target);
+      const dt=this.last===null?0:Math.max(0,Math.min(.05,(now-this.last)/1000));this.last=now;
+      if(target===0){
+        if(!this.release)this.release={at:now,start:this.value};
+        const t=Math.min(1,Math.max(0,(now-this.release.at)/360)),ease=t*t*(3-2*t);
+        this.value=this.release.start*(1-ease);
+      }else{
+        this.release=null;
+        this.value+=(target-this.value)*(1-Math.exp(-dt/.1));
+        if(Math.abs(target-this.value)<.001)this.value=target;
+      }
+      return this.value;
+    }
+  }
+  class Motion{
+    constructor(){this.axes={turn:new Smoother(),forward:new Smoother(),vertical:new Smoother()}}
+    reset(){Object.values(this.axes).forEach(axis=>axis.reset())}
+    step(target,now){
+      const demand=Object.fromEntries(Object.entries(this.axes).map(([key,axis])=>[key,axis.step(target[key],now)]));
+      const length=Math.hypot(demand.turn,demand.forward);if(length>1){demand.turn/=length;demand.forward/=length}
+      return demand;
+    }
+  }
+  root.ControllerInput={deadZone,defaults,read,Motion};
+  if(typeof module!=='undefined')module.exports=root.ControllerInput;
+})(typeof window!=='undefined'?window:globalThis);

SUB Control/web/index.html

@@ -4,7 +4,7 @@
   <meta charset="utf-8">
   <meta name="viewport" content="width=device-width,initial-scale=1">
   <title>Sub Control</title>
-  <link rel="stylesheet" href="styles.css?v=20260930-dialogs-v1">
+  <link rel="stylesheet" href="styles.css?v=20261002-spacing-motion-v2">
 </head>
 <body>
   <main class="app-shell">
@@ -44,12 +44,6 @@
         </div>
       </div>
 
-      <!-- Battery Status -->
-      <button class="battery-card ghost" data-open="battery-modal">
-        <span><small>Battery</small><strong id="battery-title">—</strong></span><i id="battery-percent">waiting</i>
-        <b><em id="battery-fill"></em></b>
-      </button>
-
       <button id="link-quality" type="button" class="link-quality" data-grade="offline" title="Open link-quality details" aria-haspopup="dialog" aria-controls="link-quality-modal">
         <span class="link-quality-dot" aria-hidden="true"></span>
         <span><small>Data link</small><strong id="link-quality-grade">Offline</strong></span>
@@ -57,13 +51,18 @@
       </button>
 
       <div class="deck-status-bar">
+        <header class="activity-heading">Activity:</header>
         <ol class="activity-history" aria-label="Last three events" aria-live="polite">
           <li id="activity-oldest" hidden></li>
           <li id="activity-previous" hidden></li>
           <li id="status-text">Not connected</li>
         </ol>
-        <header class="activity-heading"><span>Recent activity</span><span class="activity-actions"><button type="button" id="console" class="logs-link" title="Read live console" aria-label="Read live console">Console</button><button type="button" id="logs" class="logs-link" title="Open session logs" aria-label="Open session logs">Logs</button></span></header>
+        <div class="activity-actions"><button type="button" id="console" class="logs-link" title="Read live console" aria-label="Read live console">Console</button><button type="button" id="logs" class="logs-link" title="Open session logs" aria-label="Open session logs">Logs</button></div>
       </div>
+      <button class="battery-card ghost" data-open="battery-modal" aria-label="Battery status and settings">
+        <span class="battery-meter" aria-hidden="true"><em id="battery-fill"></em></span>
+        <span class="battery-copy"><span class="battery-summary"><strong id="battery-percent">—</strong><small id="battery-title">No voltage</small></span></span>
+      </button>
       </section>
 
     </aside>
@@ -72,6 +71,7 @@
     <section class="controls-workspace" aria-label="Primary Vehicle Controls">
       <!-- Frameless Drag & Window Controls Header -->
       <div class="workspace-topbar">
+        <div class="input-mode-controls"><div class="input-mode-switch" role="group" aria-label="Control input"><button type="button" id="input-keyboard" aria-pressed="true">Keyboard</button><button type="button" id="input-joystick" aria-pressed="false">Joystick</button></div><button type="button" id="controller-settings" class="controller-settings" data-open="controller-modal" hidden>Setup</button></div>
         <div class="workspace-drag-area pywebview-drag-region"></div>
         <div class="window-actions">
           <button id="window-min" aria-label="Minimize" title="Minimize"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="M5 12h14"/></svg></button>
@@ -80,6 +80,7 @@
         </div>
       </div>
 
+      <p id="controller-status" class="controller-status" role="status">Keyboard + touch</p>
       <section class="primary-control-zone" aria-label="Primary Control Zone">
       <!-- Reserved Engage / Disarm row -->
       <div class="engage-header-zone">
@@ -98,12 +99,12 @@
         <!-- Steering / Throttle Joystick -->
         <article class="control-card steer-card">
           <header>
-            <div><small>steer + throttle</small></div>
+            <div title="Steer and throttle · W A S D"></div>
-            <span class="key-hint">w a s d</span>
+
           </header>
           <div class="joystick-pad">
             <div id="joystick" class="joystick" touch-action="none">
-              <canvas id="joystick-canvas" aria-label="Steering and throttle joystick; W A S D keys"></canvas>
+              <canvas id="joystick-canvas" title="Steer and throttle · W A S D" aria-label="Steering and throttle joystick; W A S D keys"></canvas>
             </div>
           </div>
           <footer>
@@ -115,13 +116,13 @@
         <!-- Vertical Thruster Slider -->
         <article class="control-card vertical-card">
           <header>
-            <div><small>vertical</small></div>
+            <div title="Vertical thrust · R / F"></div>
-            <span class="key-hint">r / f</span>
+
           </header>
           <div class="heave-pad">
             <div class="vertical-control">
               <span>rise</span>
-              <div id="heave" class="heave-track" touch-action="none">
+              <div id="heave" title="Vertical thrust · R / F" class="heave-track" touch-action="none">
                 <div class="heave-center"></div>
                 <div id="heave-fill" class="heave-fill"></div>
                 <div id="heave-knob" class="heave-knob"></div>
@@ -147,21 +148,27 @@
       </div>
       </section>
     </section>
+    <aside id="console-dock" class="console-dock" aria-labelledby="console-title" hidden>
+      <header class="console-dock-header"><div><h2 id="console-title" title="Local session messages. Select a message to expand its details.">Console</h2></div><button id="console-close" type="button" class="console-close" aria-label="Hide console" title="Hide console"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button></header>
+      <div class="console-toolbar"><label><span class="visually-hidden">Console filter</span><select id="console-filter"><option value="useful">Useful traffic</option><option value="all">All traffic</option></select></label><button id="console-pause" type="button" aria-pressed="false">Pause</button></div>
+      <p id="console-state" class="console-state" role="status" title="Pausing the viewer does not stop session logging." hidden></p>
+      <div class="console-streams"><section class="console-side"><header><i class="rx-dot" aria-hidden="true" title="Vehicle to PC · new displayed message"></i><span>RX</span></header><div id="console-rx-output" class="console-output" tabindex="0" aria-label="Received messages"></div></section><section class="console-side"><header><i class="tx-dot" aria-hidden="true" title="PC to vehicle · new displayed message"></i><span>TX</span></header><div id="console-tx-output" class="console-output" tabindex="0" aria-label="Sent messages"></div></section></div>
+    </aside>
   </main>
 
   <div id="toast" class="toast"></div>
 
   <!-- Modals -->
   <dialog id="link-modal" class="modal" aria-labelledby="link-title">
-    <button class="modal-close" type="button" data-close aria-label="Close window">×</button><small>Connection</small><h2 id="link-title">Link settings</h2>
+    <button class="modal-close" type="button" data-close aria-label="Close window"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button><h2 id="link-title">Link settings</h2>
-    <form id="link-form">
+    <form id="link-form" title="Baud changes apply on the next connection.">
       <section class="settings-section"><h3>Serial connection</h3>
         <div class="form-grid two"><label><span>Baud rate</span><select id="baud" name="baud"><option value="9600">9600</option><option value="19200">19200</option><option value="38400">38400</option><option value="57600" selected>57600</option><option value="115200">115200</option></select></label><label><span>Control rate · Hz</span><select id="rate" name="control_hz"><option value="10">10</option><option value="20" selected>20</option></select></label></div>
-        <p class="note">Baud changes apply on the next connection.</p>
+
         <label class="custom-port-label"><span>Custom port or endpoint</span><div class="custom-port-row"><input id="custom-port-input" placeholder="COM3 or tcp:127.0.0.1:5760" autocomplete="off"><button type="button" id="custom-port-btn" class="button subtle">Use port</button></div></label>
         <p id="custom-port-status" class="note" role="status"></p>
       </section>
-      <section class="settings-section"><h3>Live updates</h3>
+      <section class="settings-section"><h3 title="Lower rates leave more bandwidth for controls. Rates reset after a reboot.">Telemetry rates</h3>
         <div class="form-grid two">
           <label><span>Quality check · Hz</span><select name="ping_hz"><option value="1" selected>1</option><option value="2">2</option><option value="5">5</option><option value="10">10</option></select></label>
           <label><span>Battery / system · Hz</span><select name="system_hz"><option value="0">Off</option><option value="1" selected>1</option><option value="2">2</option><option value="5">5</option><option value="10">10</option></select></label>
@@ -169,17 +176,17 @@
           <label><span>RC channels · Hz</span><select name="rc_hz"><option value="0">Off</option><option value="1">1</option><option value="2" selected>2</option><option value="5">5</option><option value="10">10</option></select></label>
           <label><span>ESC telemetry · Hz</span><select name="esc_hz"><option value="0">Off</option><option value="1" selected>1</option><option value="2">2</option><option value="5">5</option><option value="10">10</option></select></label>
         </div>
-        <p class="note">Lower rates leave more bandwidth for controls. Vehicle telemetry rates reset after a reboot.</p>
+
       </section>
       <p class="form-feedback" role="alert" hidden></p>
       <div class="modal-actions"><button type="button" class="button subtle" data-close>Cancel</button><button type="submit" class="button modal-primary">Apply settings</button></div>
     </form>
   </dialog>
   <dialog id="link-quality-modal" class="modal quality-modal" aria-labelledby="quality-title">
-    <button class="modal-close" type="button" data-close aria-label="Close window">×</button><small>Connection</small><h2 id="quality-title">Link quality</h2>
+    <button class="modal-close" type="button" data-close aria-label="Close window"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button><h2 id="quality-title">Link quality</h2>
-    <p class="note">The live check watches round-trip replies, incoming packet loss, and heartbeat freshness.</p>
+
-    <div class="quality-summary"><div><span>Round trip</span><strong id="quality-detail-rtt">—</strong></div><div><span>Probe loss</span><strong id="quality-detail-loss">—</strong></div><div><span>FC → PC loss</span><strong id="quality-detail-downlink">—</strong></div></div>
+    <div class="quality-summary" title="Round-trip replies, incoming packet loss, and heartbeat freshness."><div><span>Round trip</span><strong id="quality-detail-rtt">—</strong></div><div><span>Probe loss</span><strong id="quality-detail-loss">—</strong></div><div><span>FC → PC loss</span><strong id="quality-detail-downlink">—</strong></div></div>
-    <section class="heavy-test-panel"><h3>Extended test</h3><p class="note">Checks 1, 5, then 10 Hz for about 35 seconds. Run while disarmed; the live echo resumes afterward.</p>
+    <section class="heavy-test-panel"><h3 title="Tests 1, 5 and 10 Hz for about 35 seconds while disarmed. The live check resumes afterward.">Extended test</h3>
       <div id="heavy-quality-status" class="heavy-quality-status" role="status">Connect to run an extended test.</div>
       <div id="heavy-quality-results" class="heavy-quality-results"></div>
       <p id="heavy-quality-error" class="form-feedback" role="alert" hidden></p>
@@ -187,8 +194,8 @@
     </section>
   </dialog>
   <dialog id="battery-modal" class="modal" aria-labelledby="battery-title-modal">
-    <button class="modal-close" type="button" data-close aria-label="Close window">×</button><small>Power</small><h2 id="battery-title-modal">Battery settings</h2><p class="note">Charge is estimated from voltage. Capacity and C rating describe your battery.</p>
+    <button class="modal-close" type="button" data-close aria-label="Close window"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button><h2 id="battery-title-modal">Battery settings</h2>
-    <form id="battery-form">
+    <form id="battery-form" title="Charge is estimated from voltage; capacity and C rating describe the battery.">
       <div class="form-grid two"><label><span>Cells · S</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease Cells · S">‹</button><input name="cells" type="number" min="1" step="1" max="16" required><button type="button" class="num-step up" aria-label="Increase Cells · S">›</button></div></label><label><span>Capacity · mAh</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease Capacity · mAh">‹</button><input name="capacity_mah" type="number" min="50" step="50" required><button type="button" class="num-step up" aria-label="Increase Capacity · mAh">›</button></div></label><label><span>C rating</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease C rating">‹</button><input name="c_rating" type="number" min="1" step="0.1" required><button type="button" class="num-step up" aria-label="Increase C rating">›</button></div></label><label><span>Low charge warning · %</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease Low charge warning · %">‹</button><input name="warning_percent" type="number" min="0" step="1" max="100" required><button type="button" class="num-step up" aria-label="Increase Low charge warning · %">›</button></div></label></div>
       <section class="settings-section"><h3>Voltage per cell</h3><div class="form-grid two"><label><span>Full · V</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease Full · V">‹</button><input name="full_v_per_cell" type="number" min="0.01" step="0.01" required><button type="button" class="num-step up" aria-label="Increase Full · V">›</button></div></label><label><span>Empty · V</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease Empty · V">‹</button><input name="empty_v_per_cell" type="number" min="0.01" step="0.01" required><button type="button" class="num-step up" aria-label="Increase Empty · V">›</button></div></label></div></section>
       <p class="form-feedback" role="alert" hidden></p>
@@ -196,20 +203,32 @@
     </form>
   </dialog>
   <dialog id="motors-modal" class="modal motor-modal" aria-labelledby="motors-title">
-    <button class="modal-close" type="button" data-close aria-label="Close window">×</button><small>Configuration</small><h2 id="motors-title">Motor outputs</h2><p id="motor-status" class="note" role="status">Waiting for motor assignments.</p>
+    <button class="modal-close" type="button" data-close aria-label="Close window"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button><h2 id="motors-title">Motor outputs</h2><p id="motor-status" class="note" role="status">Waiting for motor assignments.</p>
     <p id="motor-feedback" class="form-feedback" role="alert" hidden></p>
     <div class="motor-head"><span>Output</span><span>Assignment</span><span>Direction</span><span></span></div><div id="motor-list" class="motor-list"></div>
   </dialog>
-  <dialog id="console-modal" class="modal console-modal" aria-labelledby="console-title">
+  <dialog id="controller-modal" class="modal" aria-labelledby="controller-title">
-    <button class="modal-close" type="button" data-close aria-label="Close window">×</button><small>Local session</small><h2 id="console-title">Live console</h2>
+    <button class="modal-close" type="button" data-close aria-label="Close window"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button><h2 id="controller-title">Joystick setup</h2>
-    <div class="console-toolbar"><p id="console-state" class="note" role="status">Live · follows new messages</p><button id="console-pause" type="button" class="button subtle" aria-pressed="false">Pause</button></div>
+    <form id="controller-form" title="Center sticks after changing input mode or reconnecting before movement resumes.">
-    <div class="console-split"><section><header><i class="rx-dot"></i><span>RX</span><small>Vehicle → PC</small></header><pre id="console-rx-output" tabindex="0" aria-label="Received messages">Waiting for vehicle data…</pre></section><section><header><i class="tx-dot"></i><span>TX</span><small>PC → Vehicle</small></header><pre id="console-tx-output" tabindex="0" aria-label="Sent messages">Waiting for transmitted data…</pre></section></div>
+      <label><span>Controller</span><select id="controller-device"></select></label>
+      <p id="controller-axes" class="note">Move a stick or press a button to detect your controller.</p>
+      <div class="controller-mapping-head"><span>Movement</span><span>Axis</span><span>Invert</span></div>
+      <div class="controller-mapping-row"><span>Turn</span><select name="turn" aria-label="Turn axis"></select><input name="invertTurn" type="checkbox" aria-label="Invert Turn"></div>
+      <div class="controller-mapping-row"><span>Forward / back</span><select name="forward" aria-label="Forward / back axis"></select><input name="invertForward" type="checkbox" aria-label="Invert Forward / back"></div>
+      <div class="controller-mapping-row"><span>Rise / dive</span><select name="vertical" aria-label="Rise / dive axis"></select><input name="invertVertical" type="checkbox" aria-label="Invert Rise / dive"></div>
+      <label class="controller-deadzone"><span>Dead zone · %</span><input name="deadZone" type="number" min="0" max="30" step="1" required></label>
+
+      <p class="form-feedback" role="alert" hidden></p>
+      <div class="modal-actions"><button type="button" class="button subtle" data-close>Cancel</button><button type="submit" class="button modal-primary">Save mapping</button></div>
+    </form>
   </dialog>
 
   <script src="model-viewer.js?v=20260826-controls-v2"></script>
-  <script src="joystick-3d.js?v=20260827-keyboard-v7"></script>
+  <script src="joystick-3d.js?v=20261002-spacing-motion-v2"></script>
   <script src="control-state.js?v=20260827-state-v1"></script>
-  <script src="app.js?v=20260930-dialogs-v1"></script>
+  <script src="controller-input.js?v=20261001-controller-v1"></script>
+  <script src="console-view.js?v=20261002-console-v2"></script>
+  <script src="app.js?v=20261002-spacing-motion-v2"></script>
   <script src="cursor-light.js?v=20260827-directional-v10"></script>
 </body>
 </html>

SUB Control/web/joystick-3d.js

@@ -23,7 +23,9 @@
     if(amount>.025){ctx.beginPath();ctx.moveTo(cx,cy);ctx.lineTo(kx,ky);ctx.strokeStyle='rgba(78,91,85,.24)';ctx.lineWidth=3;ctx.lineCap='round';ctx.stroke()}
 
     ctx.save();ctx.shadowColor='rgba(17,25,21,.22)';ctx.shadowBlur=activePointer===null?8:12;ctx.shadowOffsetY=3;
-    ctx.beginPath();ctx.arc(kx,ky,knob,0,Math.PI*2);ctx.fillStyle=activePointer===null?'#555':'#353535';ctx.fill();ctx.restore();
+    const handle=ctx.createLinearGradient(kx-knob*.574,ky-knob*.819,kx+knob*.574,ky+knob*.819);
+    handle.addColorStop(0,activePointer===null?'#737373':'#606060');handle.addColorStop(1,activePointer===null?'#454545':'#393939');
+    ctx.beginPath();ctx.arc(kx,ky,knob,0,Math.PI*2);ctx.fillStyle=handle;ctx.fill();ctx.restore();
     ctx.beginPath();ctx.arc(kx,ky,knob,0,Math.PI*2);ctx.strokeStyle='rgba(255,255,255,.42)';ctx.lineWidth=1;ctx.stroke();
     ctx.beginPath();ctx.arc(kx,ky,4,0,Math.PI*2);ctx.fillStyle='#dfe5e1';ctx.fill();
   }
@@ -40,10 +42,10 @@
   function returnToCenter(){easeTo(0,0)}
   function release(event){if(activePointer===null||(event?.pointerId!=null&&event.pointerId!==activePointer))return;const pointer=activePointer;activePointer=null;try{canvas.releasePointerCapture(pointer)}catch(_){}canvas.classList.remove('is-active');draw();returnToCenter()}
 
-  canvas.addEventListener('pointerdown',event=>{if(activePointer!==null||!window.canDrive?.()||event.button>0)return;activePointer=event.pointerId;cancelAnimationFrame(returnFrame);canvas.setPointerCapture(event.pointerId);canvas.classList.add('is-active');positionFromEvent(event);event.preventDefault()});
+  canvas.addEventListener('pointerdown',event=>{if(activePointer!==null||!window.canTouchControl?.()||event.button>0)return;activePointer=event.pointerId;cancelAnimationFrame(returnFrame);canvas.setPointerCapture(event.pointerId);canvas.classList.add('is-active');positionFromEvent(event);event.preventDefault()});
   canvas.addEventListener('pointermove',event=>{if(event.pointerId===activePointer)positionFromEvent(event)});
   canvas.addEventListener('pointerup',release);canvas.addEventListener('pointercancel',release);canvas.addEventListener('lostpointercapture',event=>{if(event.pointerId===activePointer)release(event)});
   canvas.addEventListener('pointerleave',event=>{if(event.pointerType==='mouse'&&event.pointerId===activePointer)release(event)});
-  addEventListener('resize',resize);resize();
+  addEventListener('resize',resize);new ResizeObserver(resize).observe(host);resize();
-  window.joystick3D={setPos(nextX,nextY){cancelAnimationFrame(returnFrame);setPosition(nextX,nextY)},easeTo(nextX,nextY){if(activePointer===null)easeTo(nextX,nextY)},easeBack(){if(activePointer===null)returnToCenter()},reset(){const pointer=activePointer;activePointer=null;cancelAnimationFrame(returnFrame);if(pointer!==null)try{canvas.releasePointerCapture(pointer)}catch(_){}canvas.classList.remove('is-active');setPosition(0,0,false)},getState(){return {x,y,active:activePointer!==null}}};
+  window.joystick3D={setVisual(nextX,nextY){setPosition(nextX,nextY,false)},setPos(nextX,nextY){cancelAnimationFrame(returnFrame);setPosition(nextX,nextY)},easeTo(nextX,nextY){if(activePointer===null)easeTo(nextX,nextY)},easeBack(){if(activePointer===null)returnToCenter()},reset(){const pointer=activePointer;activePointer=null;cancelAnimationFrame(returnFrame);if(pointer!==null)try{canvas.releasePointerCapture(pointer)}catch(_){}canvas.classList.remove('is-active');setPosition(0,0,false)},getState(){return {x,y,active:activePointer!==null}}};
 })();

SUB Control/web/styles.css

@@ -1031,37 +1031,6 @@ body[data-telemetry-stale="true"] #battery-fill { opacity:.35; }
   border-bottom: 1.5px solid #c8cec6;
 }
 
-.console-modal {
-  width: min(1040px, calc(100vw - 64px));
-  max-width: 1040px;
-}
-.console-split { display:grid; grid-template-columns:1fr 1fr; gap:12px; margin-top:14px; min-width:0; }
-.console-split section { min-width:0; }
-.console-split header { display:flex; align-items:center; gap:7px; margin:0 2px 7px; }
-.console-split header i { width:7px; height:7px; border-radius:50%; flex:0 0 auto; }
-.console-split header .rx-dot { background:#79c8eb; }
-.console-split header .tx-dot { background:#bce96c; }
-.console-split header span { color:#303836; font-size:12px; font-weight:600; }
-.console-split header small { margin-left:auto; color:#7d8683; font-size:10px; }
-.console-split pre {
-  height: min(55vh, 480px);
-  margin: 0;
-  padding: 14px;
-  overflow: auto;
-  border: 1px solid #d9ddda;
-  border-radius: 12px;
-  background: #171b1d;
-  color: #dce4e1;
-  font: 11px/1.45 Consolas, "SFMono-Regular", monospace;
-  white-space: pre-wrap;
-  overflow-wrap: anywhere;
-  user-select: text;
-}
-@media (max-width: 760px) {
-  .console-split { grid-template-columns:1fr; }
-  .console-split pre { height:220px; }
-}
-
 /* ── Toast ── */
 .toast {
   position: fixed;
@@ -1110,6 +1079,37 @@ body[data-app-state="link_degraded"] button[data-open="motors-modal"] {
   cursor: not-allowed;
 }
 
+.console-modal {
+  width: min(1040px, calc(100vw - 64px));
+  max-width: 1040px;
+}
+.console-split { display:grid; grid-template-columns:1fr 1fr; gap:12px; margin-top:14px; min-width:0; }
+.console-split section { min-width:0; }
+.console-split header { display:flex; align-items:center; gap:7px; margin:0 2px 7px; }
+.console-split header i { width:7px; height:7px; border-radius:50%; flex:0 0 auto; }
+.console-split header .rx-dot { background:#79c8eb; }
+.console-split header .tx-dot { background:#bce96c; }
+.console-split header span { color:#303836; font-size:12px; font-weight:600; }
+.console-split header small { margin-left:auto; color:#7d8683; font-size:10px; }
+.console-split pre {
+  height: min(55vh, 480px);
+  margin: 0;
+  padding: 14px;
+  overflow: auto;
+  border: 1px solid #d9ddda;
+  border-radius: 12px;
+  background: #171b1d;
+  color: #dce4e1;
+  font: 11px/1.45 Consolas, "SFMono-Regular", monospace;
+  white-space: pre-wrap;
+  overflow-wrap: anywhere;
+  user-select: text;
+}
+@media (max-width: 760px) {
+  .console-split { grid-template-columns:1fr; }
+  .console-split pre { height:220px; }
+}
+
 /* A pending or unknown armed state must stay legible, even without a link. */
 #engage.danger:disabled, #engage.pending:disabled { opacity:1 !important; }
 @media (prefers-reduced-motion: reduce) {
@@ -1298,3 +1298,177 @@ body:not([data-controls-enabled="true"]) .controls-grid { opacity:.65; }
 @media (prefers-reduced-motion:reduce) {
   .modal[open],.modal.closing { animation:none; }
 }
+
+/* Input selection stays separate from vehicle arming and command ownership. */
+#engage:focus,#engage:focus-visible { outline:none!important; box-shadow:none!important; }
+.controls-workspace { container-type:inline-size; }
+.input-mode-controls { display:flex; align-items:center; gap:6px; flex-shrink:0; -webkit-app-region:no-drag; }
+.input-mode-switch { display:flex; padding:3px; gap:2px; background:#dedede; border-radius:999px; }
+.input-mode-switch button,.controller-settings { border:0; border-radius:999px; background:transparent; color:#686868; padding:7px 11px; font-size:12px; cursor:pointer; }
+.input-mode-switch button[aria-pressed="true"] { background:#fafafa; color:#252525; box-shadow:0 1px 3px #0000000c; }
+.controller-settings { background:#dedede; }
+.controller-status { margin:0; height:24px; flex-shrink:0; font-size:12px; line-height:20px; color:#6d7478; overflow:hidden; text-overflow:ellipsis; white-space:nowrap; }
+body[data-input-mode="joystick"] .key-hint { visibility:hidden; }
+body[data-input-mode="joystick"] :is(#joystick-canvas,#heave) { pointer-events:none; cursor:default; }
+.controls-grid { --joy-size:min(52vh,calc(100cqw - 136px),460px); }
+.control-toolbar { flex-wrap:wrap; gap:8px 14px; }
+.primary-control-zone { grid-template-rows:120px minmax(0,1fr) auto; }
+.control-toolbar { min-height:52px; }
+.engage-face > span { font-size:clamp(52px,11cqw,90px); }
+.controller-mapping-head,.controller-mapping-row { display:grid; grid-template-columns:1fr 1.25fr 50px; gap:14px; align-items:center; }
+.controller-mapping-head { color:#777; font-size:12px; margin-bottom:8px; }
+.controller-mapping-row { margin:8px 0; }
+.modal .controller-mapping-row input[type="checkbox"] { width:22px; height:22px; min-height:0; margin:auto; padding:0; accent-color:#527f9b; }
+.controller-mapping-row label { display:flex; align-items:center; }
+#controller-axes { min-height:22px; margin:12px 0; font-variant-numeric:tabular-nums; overflow-wrap:anywhere; color:#65737d; font-size:12px; }
+#controller-form > label { margin-top:18px; }
+.visually-hidden { position:absolute; width:1px; height:1px; padding:0; margin:-1px; overflow:hidden; clip:rect(0,0,0,0); white-space:nowrap; border:0; }
+
+/* Read-only local console, not a modal: driving stays available while it is open. */
+.app-shell.console-open { grid-template-columns:260px minmax(0,1fr) 340px; }
+.console-dock[hidden] { display:none!important; }
+.console-dock { display:flex; flex-direction:column; min-width:0; min-height:0; padding:18px 16px; background:#f5f5f5; border-left:1px solid #d8dcde; color:#29343b; color-scheme:light; }
+.console-dock-header { display:flex; align-items:center; justify-content:space-between; gap:12px; margin-bottom:14px; }
+.console-dock-header small { font-size:11px; color:#81888d; }
+.console-dock-header h2 { font-size:22px; font-weight:400; margin:4px 0 0; letter-spacing:-.02em; }
+.console-close { width:38px; height:38px; flex-shrink:0; border:0; border-radius:999px; background:#e7e8e9; color:#48525a; font-size:25px; cursor:pointer; }
+.console-toolbar { display:flex; align-items:center; justify-content:space-between; gap:8px; }
+.console-toolbar label { flex:1; min-width:0; }
+.console-toolbar select,.console-toolbar button { height:34px; border:0; border-radius:999px; background:#e7e9ea; color:#42525e; font-size:12px; padding:0 12px; }
+.console-toolbar select { width:100%; }
+.console-toolbar button { cursor:pointer; }
+.console-state { min-height:28px; margin:10px 0 8px; font-size:11px; color:#7e868b; line-height:1.4; }
+.console-streams { display:grid; grid-template-rows:1fr 1fr; gap:14px; min-height:0; flex:1; }
+.console-side { display:flex; flex-direction:column; min-height:0; }
+.console-side > header { display:flex; align-items:center; gap:6px; padding:0 4px 8px; font-size:12px; font-weight:500; color:#435966; }
+.console-side > header small { margin-left:auto; font-size:11px; font-weight:300; color:#899198; }
+.console-side > header i { width:6px; height:6px; border-radius:50%; background:#5888a3; }
+.console-side > header .tx-dot { background:#659287; }
+.console-output { min-height:0; flex:1; overflow:auto; overscroll-behavior:contain; padding:0 8px; border:1px solid #e0e3e5; border-radius:12px; background:#fafbfc; color:#343d43; font:12px/1.5 "Helvetica Neue",Helvetica,Arial,sans-serif; }
+.console-row { border-bottom:1px solid #e9edef; }
+.console-row:last-child { border-bottom:0; }
+.console-row summary { display:flex; gap:8px; cursor:pointer; padding:10px 0; list-style:none; }
+.console-row summary::-webkit-details-marker { display:none; }
+.console-row time { flex-shrink:0; color:#929ba1; font:10px/1.8 ui-monospace,Consolas,monospace; font-variant-numeric:tabular-nums; }
+.console-message { min-width:0; display:block; overflow-wrap:anywhere; }
+.console-message strong { display:block; font-size:11px; font-weight:500; color:#517c97; letter-spacing:.025em; }
+.console-row[data-tone="command"] strong { color:#467a69; }
+.console-row[data-tone="warning"] strong { color:#aa664b; }
+.console-fields { display:flex; flex-wrap:wrap; gap:2px 8px; font-size:11px; }
+.console-fields i { color:#929a9f; font-style:normal; }
+.console-fields b { font-weight:400; color:#45535d; }
+.console-row pre { margin:0 0 10px; padding:10px; border-radius:8px; background:#eef1f3; color:#52616c; font:11px/1.5 ui-monospace,Consolas,monospace; white-space:pre-wrap; overflow-wrap:anywhere; }
+.console-empty { color:#959da3; font-size:12px; line-height:1.6; margin:14px 0; }
+@media (max-height:610px) { .primary-control-zone { grid-template-rows:100px minmax(0,1fr) auto; } .controls-grid { --joy-size:min(46vh,calc(100cqw - 136px),420px); } }
+@media (max-width:1000px) {
+  .app-shell.console-open { grid-template-columns:260px minmax(0,1fr); }
+  .console-dock { position:absolute; top:0; right:0; bottom:0; width:min(340px,calc(100vw - 32px)); z-index:12; box-shadow:-8px 0 24px #00000012; border-radius:12px 0 0 12px; }
+}
+
+/* Three shared sizes: compact 32px, standard 40px, primary 62px. */
+:root {
+  --pill-sm:32px; --pill-md:40px; --pill-lg:62px; --pill-radius:999px;
+  --battery-charge:#63cb85; --battery-low:#e98a7b;
+}
+.port-row select,.icon-button { height:var(--pill-sm); }
+.icon-button { width:var(--pill-sm); }
+body #connect { height:var(--pill-lg); border-radius:var(--pill-radius); }
+.input-mode-switch { height:var(--pill-md); padding:4px; }
+.input-mode-switch button { height:var(--pill-sm); padding:0 12px; }
+.controller-settings { height:var(--pill-md); padding:0 14px; }
+.input-mode-switch button:disabled { opacity:.65!important; }
+.input-mode-switch button[aria-pressed="true"]:disabled { opacity:1!important; }
+.control-toolbar .range-pill,.control-toolbar .config-btn { height:var(--pill-md); border-radius:var(--pill-radius); }
+.control-toolbar .range-pill button { height:var(--pill-md); }
+.window-actions button { width:var(--pill-md); height:var(--pill-md); }
+.console-toolbar select,.console-toolbar button { height:var(--pill-sm); border-radius:var(--pill-radius); }
+.modal input,.modal select,.modal .number-pill { height:var(--pill-md); border-radius:var(--pill-radius); }
+.modal .number-pill input,.modal .number-pill button { height:calc(var(--pill-md) - 2px); }
+.modal .button { min-height:var(--pill-md); padding:8px 18px; border-radius:var(--pill-radius); }
+.modal .motor-row .button { min-height:var(--pill-sm); padding:6px 12px; }
+.modal .controller-mapping-row input[type="checkbox"] { height:22px; border-radius:4px; }
+
+/* Fixed SVG geometry avoids font baselines shifting the close icon. */
+.modal-close,.modal-close:hover,.console-close,.console-close:hover,.window-actions .window-close,.window-actions .window-close:hover {
+  display:grid; place-items:center; width:var(--pill-md); height:var(--pill-md);
+  padding:0; border:0; border-radius:0; background:transparent; box-shadow:none;
+}
+.modal-close svg,.console-close svg { display:block; width:20px; height:20px; fill:none; stroke:currentColor; stroke-width:1.7; stroke-linecap:round; }
+.modal-close:hover,.console-close:hover { color:#222; }
+.heave-knob { height:var(--pill-md); background:linear-gradient(145deg,#737373,#454545); }
+
+/* Activity has a heading, compact event history, then explicit actions. */
+.telemetry-zone { gap:16px; }
+.deck-status-bar { flex-shrink:0; margin-top:0; padding-top:12px; }
+.activity-heading { display:block; margin:0 0 8px; color:#eee; font-size:14px; font-weight:650; }
+.activity-history { gap:4px; margin:0 0 10px; }
+.activity-actions { display:flex; gap:8px; }
+.activity-actions .logs-link {
+  display:inline-flex; align-items:center; justify-content:center; box-sizing:border-box;
+  height:var(--pill-sm); min-width:76px; padding:0 14px; margin:0;
+  border:0; border-radius:var(--pill-radius); background:#414141; color:#eee;
+  font-size:12px; font-weight:400; letter-spacing:0; line-height:1; cursor:pointer;
+}
+.activity-actions .logs-link:hover { background:#4b4b4b; }
+.activity-actions .logs-link:focus-visible { outline:2px solid #a5c0d0; outline-offset:2px; }
+.activity-actions .logs-link[aria-expanded="true"] { background:#555; }
+
+/* Battery is the final deck item: text floats above the charge fill. */
+.battery-card {
+  position:relative; display:block; flex-shrink:0; width:100%; height:var(--pill-lg);
+  min-height:var(--pill-lg); margin:0; padding:0; overflow:hidden;
+  border:0; border-radius:var(--pill-radius); background:#314b3a;
+  color:#f2f5f2; isolation:isolate;
+}
+.battery-meter { position:absolute; inset:0; z-index:0; overflow:hidden; border-radius:inherit; pointer-events:none; }
+.battery-meter #battery-fill { display:block; height:100%; width:0; border-radius:inherit; background:var(--battery-charge); opacity:.55; transition:width .35s ease,background .2s ease,opacity .18s ease-out; }
+.battery-card .battery-copy { position:absolute; inset:0; z-index:1; display:flex; flex-direction:row; align-items:center; justify-content:space-between; gap:8px; padding:0 18px; pointer-events:none; }
+.battery-summary { display:flex; flex-direction:column; gap:3px; flex-shrink:0; }
+.battery-card small { color:#d7e8dc; font-size:12px; line-height:1; font-variant-numeric:tabular-nums; }
+.battery-card strong { font-size:26px; font-weight:400; line-height:1.15; font-variant-numeric:tabular-nums; }
+.battery-card i { align-self:auto; color:#d9e0da; text-align:right; font-size:12px; line-height:1.35; font-style:normal; }
+.battery-card[data-low="true"] { background:#4a3734; }
+.battery-card[data-stale="true"] #battery-fill { opacity:.25; }
+.battery-card:focus-visible { outline:2px solid #a5c0d0; outline-offset:2px; }
+
+/* The same slender, rounded scrollbar is used by every scrollable panel. */
+*::-webkit-scrollbar { width:8px; height:8px; }
+*::-webkit-scrollbar-track,*::-webkit-scrollbar-corner { background:transparent; }
+*::-webkit-scrollbar-thumb { min-height:28px; border:2px solid transparent; border-radius:var(--pill-radius); background:#aeb6ba; background-clip:padding-box; }
+*::-webkit-scrollbar-thumb:hover { background:#87959e; background-clip:padding-box; }
+*::-webkit-scrollbar-button { display:none; width:0; height:0; }
+.sidebar-deck::-webkit-scrollbar-thumb { background:#666; background-clip:padding-box; }
+.modal { scrollbar-gutter:stable; }
+@supports not selector(::-webkit-scrollbar) { * { scrollbar-width:thin; scrollbar-color:#aeb6ba transparent; } }
+@media (max-height:610px) { .telemetry-zone { gap:12px; } }
+
+/* Shared panel geometry and quiet, presentational motion. Never ease command data. */
+:root { --panel-inset:20px; --ui-gap:12px; --ui-duration:180ms; --ui-ease:cubic-bezier(.2,0,.2,1); }
+.sidebar-deck,.controls-workspace,.console-dock { padding:var(--panel-inset); }
+.sidebar-deck,.telemetry-zone,.deck-connection,.port-row,.activity-actions,.input-mode-controls,.console-toolbar,.console-streams { gap:var(--ui-gap); }
+.deck-connection { padding-bottom:var(--ui-gap); }
+.workspace-topbar,.console-dock-header { min-height:var(--pill-md); height:var(--pill-md); margin-bottom:var(--ui-gap); }
+.port-row select,.port-row .icon-button { height:var(--pill-md); }
+.port-row .icon-button { width:var(--pill-md); }
+.activity-actions { display:grid; grid-template-columns:repeat(2,minmax(0,1fr)); }
+.activity-actions .logs-link { min-width:0; width:100%; }
+.console-dock-header h2 { margin:0; }
+.console-toolbar { margin-bottom:var(--ui-gap); }
+.console-state { min-height:0; margin:0 0 var(--ui-gap); font-size:12px; }
+.console-side > header { padding-left:0; padding-right:0; }
+.console-side > header i { background:#b4bdc2; transition:background-color var(--ui-duration) ease-out,box-shadow var(--ui-duration) ease-out; }
+.console-side > header .rx-dot.lit { background:#4fa4cf; box-shadow:0 0 5px #4fa4cf66; }
+.console-side > header .tx-dot.lit { background:#56ae8a; box-shadow:0 0 5px #56ae8a66; }
+:is(button,select,input,.input-mode-switch,.console-row summary,.heave-knob,.heave-fill,.control-status,.battery-card)::before,
+:is(button,select,input,.input-mode-switch,.console-row summary,.heave-knob,.heave-fill,.control-status,.battery-card)::after,
+:is(button,select,input,.input-mode-switch,.console-row summary,.heave-knob,.heave-fill,.control-status,.battery-card) {
+  transition-property:background-color,border-color,color,opacity,box-shadow,filter;
+  transition-duration:var(--ui-duration); transition-timing-function:var(--ui-ease);
+}
+/* Keep pointer positions immediate; the existing conditioning owns motor easing. */
+.modal[open],.console-dock:not([hidden]),.form-feedback:not([hidden]),.console-state:not([hidden]),.console-row pre { animation:ui-fade-in var(--ui-duration) var(--ui-ease); }
+.modal.closing,.console-dock.closing { animation:ui-fade-out var(--ui-duration) ease-out forwards; pointer-events:none; }
+@keyframes ui-fade-in { from { opacity:0; } to { opacity:1; } }
+@keyframes ui-fade-out { from { opacity:1; } to { opacity:0; } }
+.controller-status { transition:opacity var(--ui-duration) ease-out; }
+.controller-status[data-quiet="true"] { opacity:0; pointer-events:none; }

tests/controller_input.cjs

@@ -0,0 +1,31 @@
+/* Pure conditioning and log parsing tests: no hardware or browser needed. */
+const assert=require('node:assert/strict');
+const {deadZone,defaults,read,Motion}=require('../web/controller-input.js');
+const {parse}=require('../web/console-view.js');
+const pad={connected:true,axes:[0,0,0,0]};
+assert.equal(deadZone(.06),0);assert.equal(deadZone(-1),-1);assert.equal(deadZone(1),1);
+assert.equal(defaults({axes:[0,0]}).vertical,-1);
+assert.equal(read({...pad,connected:false},defaults(pad)),null);
+assert.equal(read(pad,{...defaults(pad),vertical:10}),null);
+const diagonal=read({...pad,axes:[1,-1,0,-1]},defaults(pad));
+assert(Math.abs(Math.hypot(diagonal.turn,diagonal.forward)-1)<1e-10);
+assert.equal(diagonal.vertical,1);
+assert.equal(read({...pad,axes:[-.5,0,0,0]},{...defaults(pad),invertTurn:true}).turn,deadZone(.5));
+const motion=new Motion(),target={turn:.6,forward:.8,vertical:1};
+assert.deepEqual(motion.step(target,0),{turn:0,forward:0,vertical:0});
+const partial=motion.step(target,16);assert(partial.vertical>0&&partial.vertical<.3);
+let current;for(let time=32;time<=1000;time+=16){current=motion.step(target,time);assert(Math.hypot(current.turn,current.forward)<=1+1e-10)}
+assert(current.vertical>.99);
+const neutral={turn:0,forward:0,vertical:0};
+assert(motion.step(neutral,1024).vertical>.99);
+assert(motion.step(neutral,1200).vertical>0);
+assert.deepEqual(motion.step(neutral,1400),neutral);
+motion.reset();assert.deepEqual(motion.step(target,1500),neutral);
+assert.equal(parse('2026-10-01T10:11:12.123 [RX] {"mavpackettype":"HEARTBEAT","base_mode":128}').quiet,true);
+const ack=parse('2026-10-01T10:11:12.123 [RX] {"mavpackettype":"COMMAND_ACK","command":400,"result":0}');
+assert.equal(ack.time,'10:11:12.123');assert.equal(ack.type,'COMMAND_ACK');assert.equal(ack.tone,'command');
+assert.equal(parse('2026-10-01T10:11:12 [TX_LINK_PROBE_TIMEOUT] retry').quiet,false);
+assert.equal(parse('2026-10-01T10:11:12 [RX] {"mavpackettype":"STATUSTEXT","severity":3,"text":"warning"}').tone,'warning');
+assert.equal(parse('2026-10-01T10:11:12 [RX] null').type,'RX');
+assert.equal(parse('unstructured text').payload,'unstructured text');
+console.log('PASS: dead zone, mapping/inversion, diagonal cap, ramp, finite center return, resets, console parsing and warning visibility.');

tests/ui_windows.cjs

@@ -24,19 +24,23 @@ async function main(){
   try{
     const page=await browser.newPage({viewport:{width:1080,height:720}});
     const errors=[];page.on('pageerror',error=>errors.push(error.message));
+    const setArmed=value=>page.evaluate(value=>{
+      Object.assign(testBridge.state,{connected:true,armed:value,armed_known:true,app_state:value?'armed':'connected_disarmed'});render(testBridge.state);
+    },value);
     await page.addInitScript(()=>{
       const clone=value=>JSON.parse(JSON.stringify(value));
       const servos={};for(let i=1;i<=16;i++)servos[String(i)]={function:i<=3?32+i:0,motor:i<=3?i:null,direction:i<=3?1:null};
       const state={connected:false,armed:false,armed_known:false,mode:null,app_state:'disconnected',status:'Ready',servos,link_quality:null};
       const battery={cells:4,capacity_mah:5500,c_rating:35,full_v_per_cell:4.2,empty_v_per_cell:3.3,warning_percent:20};
       const link={baud:57600,control_hz:20,ping_hz:1,system_hz:1,servo_hz:2,rc_hz:2,esc_hz:1};
-      const calls={battery:0,link:0,heavy:0,reverse:0,console:0,connect:[]};
+      const calls={battery:0,link:0,heavy:0,reverse:0,console:0,connect:[],axes:[],axisVisual:[],stops:0};
       const sleep=ms=>new Promise(resolve=>setTimeout(resolve,ms));
       window.testBridge={state,battery,link,calls,failBattery:false,failMotor:false};
+      window.testPads=[];Object.defineProperty(navigator,'getGamepads',{value:()=>window.testPads});
       window.pywebview={api:{
         initial_state:async()=>({ports:[{device:'COM5',label:'COM5'}],state:clone(state),battery_config:clone(battery),link_config:clone(link)}),
         refresh_ports:async()=>[{device:'COM5',label:'COM5'}],poll:async()=>clone(state),
-        get_saved_model_info:async()=>null,set_gain:async()=>true,stop_controls:async()=>true,set_axes:async()=>true,
+        get_saved_model_info:async()=>null,set_gain:async()=>true,stop_controls:async()=>{calls.stops++;return true},set_axes:async(...axes)=>{calls.axes.push(axes);calls.axisVisual.push({joy:joystick3D.getState(),vertical:verticalControl.getState().value});return true},
         save_battery:async data=>{calls.battery++;await sleep(200);if(window.testBridge.failBattery)throw Error('Battery save failed');Object.keys(battery).forEach(k=>battery[k]=+data[k]);return clone(battery)},
         save_link_settings:async data=>{calls.link++;await sleep(250);Object.keys(link).forEach(k=>link[k]=+data[k]);return clone(link)},
         connect:async(port,baud,rate)=>{calls.connect.push({port,baud,rate});Object.assign(state,{connected:true,armed_known:true,app_state:'connected_disarmed',mode:'MANUAL',link:'LINK OK',link_quality:{grade:'excellent',probe_samples:20,rx_packets_30s:100,rtt_median_ms:24,rtt_p95_ms:40,probe_loss_percent:0,rx_sequence_loss_percent:0,heartbeat_age_s:.2}});return clone(state)},
@@ -45,7 +49,7 @@ async function main(){
         set_servo_function:async(servo,motor)=>{if(window.testBridge.failMotor)throw Error('Motor write failed');setTimeout(()=>Object.assign(state.servos[servo],{motor:motor||null,function:motor===0?0:motor<=8?32+motor:73+motor,direction:motor?1:null}),650);return true},
         start_heavy_quality_test:async()=>{calls.heavy++;await sleep(250);state.heavy_quality={running:true,status:'Stage 1 of 3: 1 Hz',sent:4,replies:4,results:[]};return clone(state.heavy_quality)},
         cancel_heavy_quality_test:async()=>{state.heavy_quality={running:false,status:'Cancelled',results:[]};return clone(state.heavy_quality)},
-        read_console:async()=>{calls.console++;return {rx:['RX sample '+calls.console],tx:['TX sample '+calls.console]}},
+        read_console:async()=>{calls.console++;return {rx:['2026-10-01T10:11:12.123 [RX] {"mavpackettype":"COMMAND_ACK","command":400,"result":0,"sample":1}', '2026-10-01T10:11:12.124 [RX_BAD_DATA] corrupt_frame='+calls.console, '2026-10-01T10:11:12.125 [RX] {"mavpackettype":"HEARTBEAT"}'],tx:['2026-10-01T10:11:12.124 [TX_COMMAND] ARM '+calls.console]}},
         minimize_window:async()=>true,toggle_maximize_window:async()=>false,close_window:async()=>true
       }};
     });
@@ -107,27 +111,153 @@ async function main(){
     await page.waitForFunction(()=>!testBridge.state.heavy_quality.running);
     await page.screenshot({path:path.join(output,'quality.png')});await close('link-quality-modal');
     await page.locator('#console').click();
-    await page.waitForFunction(()=>document.getElementById('console-rx-output').textContent.includes('RX sample'));
+    await page.waitForFunction(()=>document.getElementById('console-rx-output').textContent.includes('COMMAND_ACK'));
     await page.locator('#console-pause').click();
     const paused=await page.locator('#console-rx-output').textContent();
     await page.waitForTimeout(850);assert.equal(await page.locator('#console-rx-output').textContent(),paused);
     await page.locator('#console-pause').click();
     await page.waitForFunction(old=>document.getElementById('console-rx-output').textContent!==old,paused);
-    await page.screenshot({path:path.join(output,'console.png')});await close('console-modal');
+    await page.screenshot({path:path.join(output,'console.png')});await page.locator('#console-close').click();
     for(const viewport of [{width:900,height:560},{width:480,height:720}]){
       await page.setViewportSize(viewport);
-      for(const id of ['link-modal','battery-modal','link-quality-modal','motors-modal','console-modal']){
+      for(const id of ['link-modal','battery-modal','link-quality-modal','motors-modal','controller-modal']){
         await page.evaluate(id=>openModal(id),id);
         const box=await page.locator('#'+id).boundingBox();
         assert(box.x>=0&&box.y>=0&&box.width<=viewport.width&&box.height<=viewport.height,id+' must fit viewport');
         assert.equal(await page.evaluate(()=>canDrive()),false);
+        const closeGeometry=await page.locator('#'+id+' .modal-close').evaluate(button=>{
+          const b=button.getBoundingClientRect(),s=button.querySelector('svg').getBoundingClientRect();
+          return {dx:Math.abs(b.x+b.width/2-s.x-s.width/2),dy:Math.abs(b.y+b.height/2-s.y-s.height/2),bg:getComputedStyle(button).backgroundColor};
+        });
+        assert(closeGeometry.dx<.5&&closeGeometry.dy<.5,id+' close icon must be centered');
+        assert.equal(closeGeometry.bg,'rgba(0, 0, 0, 0)');
         await close(id);
       }
     }
     await page.setViewportSize({width:1080,height:720});await openLink();
     await page.screenshot({path:path.join(output,'link.png')});await close('link-modal');
+
+    await page.setViewportSize({width:1080,height:720});
+    await page.evaluate(()=>{Object.assign(testBridge.state,{connected:true,armed:false,armed_known:true,app_state:'connected_disarmed',battery:{voltage:15.8,percent:72,cells:4,low:false}});focusChanged(true);render(testBridge.state)});
+    await page.locator('#engage').focus();
+    assert.equal(await page.locator('#engage').evaluate(el=>getComputedStyle(el).outlineStyle),'none');
+    await page.evaluate(()=>startEngageHold());
+    assert.equal(await page.locator('#input-joystick').isDisabled(),true);
+    await page.evaluate(()=>cancelEngageHold(false));
+    assert.equal(await page.locator('#input-joystick').isDisabled(),false);
+    await page.locator('#input-joystick').click();
+    for(const pending of ['arm','disarm']){
+      await page.evaluate(pending=>{testBridge.state.pending_command=pending;render(testBridge.state)},pending);
+      assert.equal(await page.locator('#input-keyboard').isDisabled(),true);
+      assert.equal(await page.evaluate(()=>{setInputMode('keyboard');return inputMode}),'joystick');
+    }
+    await page.evaluate(()=>{delete testBridge.state.pending_command;testBridge.state.armed_known=false;render(testBridge.state)});
+    assert.equal(await page.locator('#input-keyboard').isDisabled(),true);
+    await setArmed(true);
+    assert.equal(await page.locator('#input-keyboard').isDisabled(),true);
+    await page.waitForFunction(()=>document.getElementById('controller-status').textContent.includes('Waiting'));
+    await page.evaluate(()=>testPads=[{connected:true,id:'Test controller',index:0,axes:[1,-1,0,-1]}]);
+    await page.waitForFunction(()=>document.getElementById('controller-status').textContent==='Center sticks to resume');
+    assert.deepEqual(await page.evaluate(()=>({...control})),{turn:0,forward:0,vertical:0});
+    await page.evaluate(()=>testPads[0].axes=[0,0,0,0]);
+    await page.waitForFunction(()=>!controllerNeedCenter);
+    await page.keyboard.down('w');await page.waitForTimeout(420);await page.keyboard.up('w');
+    assert.equal(await page.evaluate(()=>control.forward),0);
+    await page.evaluate(()=>testPads[0].axes=[1,-1,0,-1]);
+    await page.waitForFunction(()=>control.vertical>0&&control.vertical<.8);
+    await page.waitForFunction(()=>control.vertical>.99);
+    const matching=await page.evaluate(()=>{
+      const joy=joystick3D.getState(),sent=testBridge.calls.axes.at(-1);
+      return {length:Math.hypot(control.turn,control.forward),joy,vertical:control.vertical,sent,visual:testBridge.calls.axisVisual.at(-1),control:{...control}};
+    });
+    assert(matching.length<=1.00001);
+    assert.equal(matching.joy.x,matching.control.turn);assert.equal(matching.joy.y,-matching.control.forward);
+    assert.equal(matching.sent[0],-matching.visual.joy.y);assert.equal(matching.sent[1],matching.visual.joy.x);assert.equal(matching.sent[2],matching.visual.vertical);
+    // Dispatch even though CSS excludes pointers, to exercise the handler gate.
+    await page.locator('#joystick-canvas').dispatchEvent('pointerdown',{pointerId:91,clientX:20,clientY:20,button:0});
+    await page.locator('#heave').dispatchEvent('pointerdown',{pointerId:92,clientX:20,clientY:20,button:0});
+    assert.equal(await page.evaluate(()=>joystick3D.getState().active||verticalControl.getState().active),false);
+    await page.locator('#console').click();
+    await page.waitForFunction(()=>!document.getElementById('console-dock').hidden);
+    await page.waitForFunction(()=>document.querySelector('.rx-dot').classList.contains('lit')&&document.querySelector('.tx-dot').classList.contains('lit'));
+    await page.locator('#console-pause').click();
+    await page.waitForTimeout(500);
+    assert.equal(await page.locator('.rx-dot').evaluate(el=>el.classList.contains('lit')),false);
+    assert.equal(await page.locator('.tx-dot').evaluate(el=>el.classList.contains('lit')),false);
+    await page.locator('#console-pause').click();
+    assert.equal(await page.evaluate(()=>canDrive()),true);
+    assert.equal(await page.locator('#console-rx-output .console-row').count(),2);
+    await page.locator('#console-filter').selectOption('all');
+    assert.equal(await page.locator('#console-rx-output .console-row').count(),3);
+    await page.locator('#console-rx-output details').first().locator('summary').click();
+    await page.waitForTimeout(850);assert.equal(await page.locator('#console-rx-output details').first().evaluate(el=>el.open),true);
+    await page.screenshot({path:path.join(output,'controller-console.png')});await page.locator('#console-close').click();
+    await page.evaluate(()=>testPads[0].axes=[0,0,0,0]);
+    await page.waitForFunction(()=>control.vertical>0&&control.vertical<.95);
+    await page.waitForFunction(()=>control.vertical===0&&control.turn===0&&control.forward===0);
+    await setArmed(false);
+    assert.equal(await page.locator('#input-keyboard').isDisabled(),false);
+    await page.locator('#controller-settings').click();
+    await page.screenshot({path:path.join(output,'controller-setup.png')});
+    await page.locator('#controller-form [name="invertTurn"]').check();
+    await page.locator('#controller-form').getByRole('button',{name:'Cancel',exact:true}).click();
+    await page.waitForFunction(()=>!document.getElementById('controller-modal').open);
+    await page.locator('#controller-settings').click();
+    assert.equal(await page.locator('#controller-form [name="invertTurn"]').isChecked(),false);
+    await page.locator('#controller-form [name="invertTurn"]').check();
+    await page.locator('#controller-form').getByRole('button',{name:'Save mapping',exact:true}).click();
+    await page.waitForFunction(()=>!document.getElementById('controller-modal').open);
+    await setArmed(true);
+    await page.waitForFunction(()=>!controllerNeedCenter);
+    await page.evaluate(()=>testPads[0].axes=[.5,0,0,0]);
+    await page.waitForFunction(()=>control.turn<-.2);
+    await page.evaluate(()=>testPads=[]);
+    await page.waitForFunction(()=>control.turn===0);
+    await page.evaluate(()=>testPads=[{connected:true,id:'Test controller',index:0,axes:[.5,0,0,0]}]);
+    await page.waitForTimeout(300);assert.equal(await page.evaluate(()=>control.turn),0);
+    await page.evaluate(()=>testPads[0].axes=[0,0,0,0]);await page.waitForFunction(()=>!controllerNeedCenter);
+    await page.evaluate(()=>testPads[0].axes=[.5,0,0,0]);await page.waitForFunction(()=>control.turn<-.2);
+    await page.evaluate(()=>focusChanged(false));assert.equal(await page.evaluate(()=>control.turn),0);
+    await page.evaluate(()=>focusChanged(true));await page.waitForTimeout(300);assert.equal(await page.evaluate(()=>control.turn),0);
+    await page.evaluate(()=>testPads[0].axes=[0,0,0,0]);await page.waitForFunction(()=>!controllerNeedCenter);
+    await page.evaluate(()=>testPads[0].axes=[.5,0,0,0]);await page.waitForFunction(()=>control.turn<-.2);
+    await page.evaluate(()=>testPads[0].id='Different controller');
+    await page.waitForFunction(()=>control.turn===0);
+    assert.equal(await page.locator('#input-keyboard').isDisabled(),true);
+    await setArmed(false);
+    await page.locator('#input-keyboard').click();
+    await setArmed(true);
+    await page.keyboard.down('w');await page.waitForFunction(()=>control.forward>.9);await page.keyboard.up('w');
+    await page.waitForFunction(()=>control.forward===0);
+    await page.evaluate(()=>{Object.assign(testBridge.state,{connected:false,armed_known:false});render(testBridge.state)});
+    assert.equal(await page.evaluate(()=>canDrive()),false);
+
+    await setArmed(false);
+    const deckLayout=await page.evaluate(()=>{
+      const battery=document.querySelector('.battery-card'),sidebar=document.querySelector('.sidebar-deck'),actions=document.querySelector('.activity-actions'),heading=document.querySelector('.activity-heading');
+      return {last:battery===document.querySelector('.telemetry-zone').lastElementChild,title:heading.textContent,
+        actionHeight:actions.querySelector('button').getBoundingClientRect().height,
+        batteryHeight:battery.getBoundingClientRect().height,connectHeight:document.querySelector('#connect').getBoundingClientRect().height,
+        bottomGap:sidebar.getBoundingClientRect().bottom-battery.getBoundingClientRect().bottom,
+        overlay:getComputedStyle(document.querySelector('.battery-copy')).zIndex,
+        actionRightGap:actions.getBoundingClientRect().right-actions.lastElementChild.getBoundingClientRect().right,
+        sidebarPadding:getComputedStyle(sidebar).paddingTop,
+        workspacePadding:getComputedStyle(document.querySelector('.controls-workspace')).paddingTop};
+    });
+    assert.equal(deckLayout.last,true);assert.equal(deckLayout.title,'Activity:');
+    assert.equal(deckLayout.actionHeight,32);assert.equal(deckLayout.batteryHeight,62);assert.equal(deckLayout.connectHeight,62);
+    assert(deckLayout.bottomGap>=10&&deckLayout.bottomGap<=24);assert.equal(deckLayout.overlay,'1');
+    assert.equal(deckLayout.actionRightGap,0);assert.equal(deckLayout.sidebarPadding,deckLayout.workspacePadding);
+    const batteryReadout=await page.locator('.battery-card').evaluate(el=>{
+      const percent=el.querySelector('#battery-percent'),voltage=el.querySelector('#battery-title');
+      return {percent:percent.textContent,voltage:voltage.textContent,border:getComputedStyle(el).borderTopWidth,
+        mainSize:parseFloat(getComputedStyle(percent).fontSize),voltageSize:parseFloat(getComputedStyle(voltage).fontSize)};
+    });
+    assert.match(batteryReadout.percent,/^\d+%$/);assert.match(batteryReadout.voltage,/^\d+\.\d{2} V$/);
+    assert.equal(batteryReadout.border,'0px');assert(batteryReadout.mainSize>batteryReadout.voltageSize);
+    await page.screenshot({path:path.join(output,'ui-cleanup.png')});
     assert.deepEqual(errors,[]);
-    console.log('PASS: settings cancel/save/failure, saved baud, custom port rescan, motor confirmation/failure, heavy test, console pause/resume, keyboard gating, and five dialogs at two window sizes.');
+    console.log('PASS: settings cancel/save/failure, saved baud, custom port rescan, motor confirmation/failure, heavy test, console pause/resume, keyboard gating, five dialogs at two window sizes; controller conditioning/read-only graphics, actual bridge values, mapping, focus/unplug/identity safety and dock filtering; mode locking during hold/armed/pending/unknown states, centered SVG close icons and bottom battery layout.');
   }catch(error){
     const page=browser.contexts()[0]?.pages()[0];
     if(page){

web/app.js

@@ -14,7 +14,7 @@ function recordActivity(message){
   if(!message||activity[0]===message)return;
   activity.unshift(String(message));activity.length=Math.min(activity.length,3);
   ['#status-text','#activity-previous','#activity-oldest'].forEach((selector,i)=>{
-    const row=$(selector);if(row){row.textContent=activity[i]||'';row.hidden=!activity[i]}
+    const row=$(selector);if(row){const changed=row.textContent!==(activity[i]||'');row.textContent=activity[i]||'';row.hidden=!activity[i];if(changed&&!row.hidden&&!matchMedia('(prefers-reduced-motion:reduce)').matches)row.animate([{opacity:0},{opacity:1}],{duration:180,easing:'ease-out'})}
   });
 }
 function withTimeout(promise,ms=1500){return new Promise((resolve,reject)=>{const timer=setTimeout(()=>reject(new Error('Control bridge timed out')),ms);Promise.resolve(promise).then(value=>{clearTimeout(timer);resolve(value)},error=>{clearTimeout(timer);reject(error)})})}
@@ -22,7 +22,127 @@ let vehicleSnapshot={connected:false,armed:null}, view=ControlState.present(vehi
     bridgeStale=false,lastBridgeAt=performance.now(),axisBusy=false,inputSequence=Date.now(),
     localRequest=null,commandError='',requestSerial=0,demoCommandTimer=0,lastSafetyTick=performance.now();
 const canDrive=()=>view.drive&&!document.querySelector('dialog[open]')&&performance.now()-lastSafetyTick<750;
+
 window.canDrive=canDrive;
+let inputMode='keyboard',controllerKey=null,controllerConfig=null,controllerNeedCenter=true,controllerWasDriving=false;
+const controllerMotion=new ControllerInput.Motion();
+const controllerId=pad=>pad.index+':'+pad.id;
+function getControllers(){try{return [...(navigator.getGamepads?.()||[])].filter(pad=>pad?.connected)}catch(_){return []}}
+function loadControllerConfig(pad){
+  let saved=null;try{saved=JSON.parse(localStorage.getItem('sub-controller:'+pad.id))}catch(_){}
+  const defaults=ControllerInput.defaults(pad),config={...defaults,...(saved||{})};
+  return Number.isFinite(config.deadZone)&&config.deadZone>=0&&config.deadZone<=.3&&ControllerInput.read(pad,config)?config:defaults;
+}
+function selectController(pad){
+  resetInputs();controllerKey=controllerId(pad);controllerConfig=loadControllerConfig(pad);
+}
+function setInputMode(mode){
+  if(mode===inputMode||inputConfigurationLocked())return false;
+  resetInputs();inputMode=mode;document.body.dataset.inputMode=mode;
+  $('#input-keyboard').setAttribute('aria-pressed',String(mode==='keyboard'));
+  $('#input-joystick').setAttribute('aria-pressed',String(mode==='joystick'));
+  $('#controller-settings').hidden=mode!=='joystick';
+  $('#joystick-canvas').setAttribute('aria-label',mode==='joystick'?'Controller steering and throttle output; read only':'Steering and throttle joystick; W A S D keys');
+  $('#heave').setAttribute('aria-label',mode==='joystick'?'Controller vertical output; read only':'Vertical thrust control');
+  return true;
+}
+function inputConfigurationLocked(){
+  return !!(engageStart||localRequest||view.pending||vehicleSnapshot.armed===true||(vehicleSnapshot.connected&&!view.known));
+}
+function syncInputModeControls(){
+  const locked=inputConfigurationLocked(),pads=getControllers(),pad=pads.find(pad=>controllerId(pad)===controllerKey);
+  $('.input-mode-switch').dataset.locked=String(locked);
+  for(const button of [$('#input-keyboard'),$('#input-joystick')]){
+    button.disabled=locked;button.title=locked?'Disengage before changing input mode':'Choose input mode';
+  }
+  $('#controller-settings').disabled=locked||!pads.length;
+  $('#controller-settings').title=locked?'Disengage before changing joystick settings':'Joystick setup';
+  if($('#controller-modal').open){
+    const form=$('#controller-form');
+    for(const field of form.querySelectorAll('input,select,button[type="submit"]'))field.disabled=locked||!pad;
+    $('#controller-device').disabled=locked||!pads.length;
+    const feedback=form.querySelector('.form-feedback'),message='Disengage before changing joystick settings.';
+    if(locked)setFeedback(feedback,message);else if(feedback.textContent===message)setFeedback(feedback);
+  }
+}
+window.canTouchControl=()=>inputMode==='keyboard'&&canDrive();
+$('#input-keyboard').onclick=()=>setInputMode('keyboard');
+$('#input-joystick').onclick=()=>setInputMode('joystick');
+function fillControllerForm(){
+  const pads=getControllers(),device=$('#controller-device'),form=$('#controller-form');
+  device.replaceChildren(...pads.map(pad=>new Option(pad.id,controllerId(pad))));
+  if(!pads.length)device.add(new Option('No controller detected',''));
+  device.value=controllerKey||'';
+  const pad=pads.find(pad=>controllerId(pad)===controllerKey);
+  const config=controllerConfig||ControllerInput.defaults(pad);
+  for(const name of ['turn','forward','vertical']){
+    const field=form.elements[name];field.replaceChildren(new Option('Off','-1'));
+    for(let axis=0;axis<(pad?.axes.length||0);axis++)field.add(new Option('Axis '+axis,String(axis)));
+    field.value=String(config[name]);field.disabled=inputConfigurationLocked()||!pad;
+    const invert='invert'+name[0].toUpperCase()+name.slice(1);
+    form.elements[invert].checked=!!config[invert];form.elements[invert].disabled=inputConfigurationLocked()||!pad;
+  }
+  form.elements.deadZone.value=Math.round(config.deadZone*100);
+  device.disabled=inputConfigurationLocked()||!pads.length;
+  form.elements.deadZone.disabled=inputConfigurationLocked()||!pad;
+  form.querySelector('[type=submit]').disabled=inputConfigurationLocked()||!pad;
+}
+$('#controller-device').onchange=e=>{
+  if(inputConfigurationLocked())return;
+  const pad=getControllers().find(pad=>controllerId(pad)===e.target.value);
+  if(pad){selectController(pad);fillControllerForm()}
+};
+$('#controller-form').onsubmit=e=>{
+  e.preventDefault();const form=e.currentTarget,pad=getControllers().find(pad=>controllerId(pad)===controllerKey);
+  if(inputConfigurationLocked()){setFeedback(form.querySelector('.form-feedback'),'Disengage before changing joystick settings.');return}
+  if(!pad){setFeedback(form.querySelector('.form-feedback'),'Controller disconnected. Reconnect it before saving.');return}
+  const config={deadZone:Number(form.elements.deadZone.value)/100};
+  for(const name of ['turn','forward','vertical']){
+    config[name]=Number(form.elements[name].value);
+    const invert='invert'+name[0].toUpperCase()+name.slice(1);config[invert]=form.elements[invert].checked;
+  }
+  if(!ControllerInput.read(pad,config)||!Number.isFinite(config.deadZone)||config.deadZone<0||config.deadZone>.3){
+    setFeedback(form.querySelector('.form-feedback'),'Choose valid axes and a dead zone between 0 and 30%.');return;
+  }
+  controllerConfig=config;try{localStorage.setItem('sub-controller:'+pad.id,JSON.stringify(config))}catch(_){}
+  resetInputs();closeModal($('#controller-modal'));
+};
+function pollController(now){
+  try{
+    if(inputMode==='joystick'){
+      const pads=getControllers();
+      if(controllerKey===null&&pads.length)selectController(pads[0]);
+      const pad=pads.find(pad=>controllerId(pad)===controllerKey),target=pad&&ControllerInput.read(pad,controllerConfig);
+      let status=!navigator.getGamepads?'Controller input unavailable in this webview':!pad?(pads.length?'Selected controller unavailable · choose Setup':'Waiting for controller · press a button to detect it'):!target?'Invalid axis mapping · open Setup':!canDrive()?'Controller ready · '+pad.id:controllerNeedCenter?'Center sticks to resume':pad.id;
+      $('#controller-settings').disabled=inputConfigurationLocked()||!pads.length;
+      if(!target||!canDrive()){
+        if(controllerWasDriving)resetInputs();
+        controllerMotion.reset();controllerNeedCenter=true;controllerWasDriving=false;
+      }else{
+        if(controllerNeedCenter&&!Object.values(target).some(value=>value!==0)){controllerNeedCenter=false;status=pad.id}
+        if(!controllerNeedCenter){
+          const demand=controllerMotion.step(target,now);controllerWasDriving=true;
+          control.turn=demand.turn;control.forward=demand.forward;
+          window.joystick3D?.setVisual(demand.turn,-demand.forward);
+          setHeave(demand.vertical,false);updateReadouts();sendAxes();
+        }
+      }
+      if($('#controller-status').textContent!==status)$('#controller-status').textContent=status;
+      $('#controller-status').dataset.quiet=String(status===pad?.id||status.startsWith('Controller ready'));
+      if($('#controller-modal').open){
+        const axes=pad?'Axes · '+pad.axes.map((value,index)=>index+': '+value.toFixed(2)).join('   '):'Controller disconnected';
+        if($('#controller-axes').textContent!==axes)$('#controller-axes').textContent=axes;
+        if($('#controller-device').options.length!==Math.max(1,pads.length)||[...$('#controller-device').options].some(option=>option.value&&!pads.some(pad=>controllerId(pad)===option.value)))fillControllerForm();
+      }
+    }else {$('#controller-status').dataset.quiet='true';if($('#controller-status').textContent!=='Keyboard + touch')$('#controller-status').textContent='Keyboard + touch'}
+  }catch(error){
+    if(controllerWasDriving)resetInputs();
+    $('#controller-status').dataset.quiet='false';$('#controller-status').textContent='Controller unavailable · reconnect or use keyboard';
+  }
+  requestAnimationFrame(pollController);
+}
+document.body.dataset.inputMode=inputMode;
+
 function makeDemoState(){const servos={};for(let i=1;i<=16;i++)servos[String(i)]={function:i<=3?32+i:0,label:i<=3?`Motor ${i}`:'Unassigned',motor:i<=3?i:null,direction:i<=3?1:null};return {connected:true,link:'LINK OK',vehicle:'DEMO • DISARMED',armed:false,armed_known:true,mode:'MANUAL',app_state:'connected_disarmed',status:'Demo mode ready — no hardware or spoofer.',battery:{voltage:15.8,per_cell:3.95,percent:72,cells:4,low:false},link_quality:null,servos}}
 function updateDemo(patch){Object.assign(demoState,patch);render(demoState)}
 document.addEventListener('click',e=>{const btn=e.target.closest('.num-step');if(!btn)return;const pill=btn.closest('.number-pill');if(!pill)return;const input=pill.querySelector('input');if(!input)return;const step=+input.step||1,min=input.min!==''?+input.min:-Infinity,max=input.max!==''?+input.max:Infinity;let val=+input.value||0;if(btn.classList.contains('down'))val=Math.max(min,+(val-step).toFixed(4));else val=Math.min(max,+(val+step).toFixed(4));input.value=val;input.dispatchEvent(new Event('input',{bubbles:true}));input.dispatchEvent(new Event('change',{bubbles:true}))});
@@ -84,20 +204,21 @@ function sendAxes(){
 setInterval(()=>{if(canDrive())sendAxes()},250);
 function updateReadouts(){ if(!canDrive()){$('#surge-readout').textContent='—';$('#yaw-readout').textContent='—';$('#heave-readout').textContent='—';return;}$('#surge-readout').textContent=Math.round(control.forward*100);$('#yaw-readout').textContent=Math.round(control.turn*100);$('#heave-readout').textContent=Math.round(control.vertical*100);}
 
-window.setJoyControl=(x,y)=>{if(!canDrive())return;control.turn=x;control.forward=-y;updateReadouts();sendAxes();};
+window.setJoyControl=(x,y)=>{if(!window.canTouchControl())return;control.turn=x;control.forward=-y;updateReadouts();sendAxes();};
 function releaseHandle(el){el.classList.remove('pressed');el.classList.add('released');setTimeout(()=>el.classList.remove('released'),520)}
 
 const heave=$('#heave'),hknob=$('#heave-knob'),hfill=$('#heave-fill');let heavePointer=null,heaveAnim=0;
 function setHeave(v,send=true){if(!canDrive()&&v!==0)return;v=Math.max(-1,Math.min(1,v));control.vertical=v;heave.dataset.commanded=String(Math.abs(v)>.03);hknob.style.top=`${50-v*43}%`;hfill.style.top=v>=0?`${50-v*43}%`:'50%';hfill.style.height=`${Math.abs(v)*43}%`;updateReadouts();if(send&&canDrive())sendAxes();}
 function heaveEvent(e){const b=heave.getBoundingClientRect();setHeave((b.top+b.height/2-e.clientY)/(b.height*.43))}
 function releaseHeave(e){if(heavePointer===null||(e?.pointerId!=null&&e.pointerId!==heavePointer))return;const pointer=heavePointer;heavePointer=null;try{heave.releasePointerCapture(pointer)}catch(_){}releaseHandle(hknob);easeHeave()}
-heave.addEventListener('pointerdown',e=>{if(!canDrive()||heavePointer!==null||e.button>0)return;heavePointer=e.pointerId;hknob.classList.remove('released');hknob.classList.add('pressed');cancelAnimationFrame(heaveAnim);heave.setPointerCapture(e.pointerId);heaveEvent(e);e.preventDefault()});heave.addEventListener('pointermove',e=>{if(e.pointerId===heavePointer)heaveEvent(e)});heave.addEventListener('pointerup',releaseHeave);heave.addEventListener('pointercancel',releaseHeave);heave.addEventListener('lostpointercapture',e=>{if(e.pointerId===heavePointer)releaseHeave(e)});
+heave.addEventListener('pointerdown',e=>{if(!window.canTouchControl()||heavePointer!==null||e.button>0)return;heavePointer=e.pointerId;hknob.classList.remove('released');hknob.classList.add('pressed');cancelAnimationFrame(heaveAnim);heave.setPointerCapture(e.pointerId);heaveEvent(e);e.preventDefault()});heave.addEventListener('pointermove',e=>{if(e.pointerId===heavePointer)heaveEvent(e)});heave.addEventListener('pointerup',releaseHeave);heave.addEventListener('pointercancel',releaseHeave);heave.addEventListener('lostpointercapture',e=>{if(e.pointerId===heavePointer)releaseHeave(e)});
 function easeHeave(target=0){cancelAnimationFrame(heaveAnim);const sv=control.vertical,start=performance.now();function frame(now){const p=Math.min(1,(now-start)/400),smooth=p*p*(3-2*p);setHeave(sv+(target-sv)*smooth);if(p<1)heaveAnim=requestAnimationFrame(frame)}heaveAnim=requestAnimationFrame(frame)}
 window.verticalControl={setPos:value=>{cancelAnimationFrame(heaveAnim);setHeave(value)},easeBack:()=>{if(heavePointer===null)easeHeave()},getState:()=>({value:control.vertical,active:heavePointer!==null})};
 
-function applyKeys(){if(!canDrive()){pressedKeys.clear();return;}const turn=(pressedKeys.has('d')||pressedKeys.has('e')?1:0)-(pressedKeys.has('a')||pressedKeys.has('q')?1:0),forward=(pressedKeys.has('w')?1:0)-(pressedKeys.has('s')?1:0),vertical=(pressedKeys.has('r')?1:0)-(pressedKeys.has('f')?1:0);if(!window.joystick3D?.getState().active)window.joystick3D?.easeTo(turn,-forward);if(heavePointer===null)easeHeave(vertical)}
+function applyKeys(){if(inputMode!=='keyboard'||!canDrive()){pressedKeys.clear();return;}const turn=(pressedKeys.has('d')||pressedKeys.has('e')?1:0)-(pressedKeys.has('a')||pressedKeys.has('q')?1:0),forward=(pressedKeys.has('w')?1:0)-(pressedKeys.has('s')?1:0),vertical=(pressedKeys.has('r')?1:0)-(pressedKeys.has('f')?1:0);if(!window.joystick3D?.getState().active)window.joystick3D?.easeTo(turn,-forward);if(heavePointer===null)easeHeave(vertical)}
-addEventListener('keydown',e=>{if(e.key==='F3'){e.preventDefault();if(!e.repeat&&view.action==='disarm')requestControl('disarm');return;}if(document.querySelector('dialog[open]')||/^(INPUT|SELECT|TEXTAREA)$/.test(e.target.tagName))return;if(e.key==='F2'){e.preventDefault();if(!e.repeat)startEngageHold();return;}const k=e.key.toLowerCase();if('wasdqerf'.includes(k)&&k.length===1){if(!canDrive())return;e.preventDefault();if(!pressedKeys.has(k)){pressedKeys.add(k);applyKeys();}}});addEventListener('keyup',e=>{if(e.key==='F2'){e.preventDefault();cancelEngageHold(true);return;}const k=e.key.toLowerCase();if(pressedKeys.delete(k))applyKeys();});
+addEventListener('keydown',e=>{if(e.key==='F3'){e.preventDefault();if(!e.repeat&&view.action==='disarm')requestControl('disarm');return;}if(document.querySelector('dialog[open]')||/^(INPUT|SELECT|TEXTAREA)$/.test(e.target.tagName))return;if(e.key==='F2'){e.preventDefault();if(!e.repeat)startEngageHold();return;}const k=e.key.toLowerCase();if('wasdqerf'.includes(k)&&k.length===1){if(inputMode!=='keyboard'||!canDrive())return;e.preventDefault();if(e.repeat)return;if(!pressedKeys.has(k)){pressedKeys.add(k);applyKeys();}}});addEventListener('keyup',e=>{if(e.key==='F2'){e.preventDefault();cancelEngageHold(true);return;}const k=e.key.toLowerCase();if(pressedKeys.delete(k))applyKeys();});
 function resetInputs(){
+  controllerMotion.reset();controllerNeedCenter=true;controllerWasDriving=false;
   if(gainPointer!==null)releaseGain({pointerId:gainPointer});
   clearTimeout(axisTimer);axisTimer=0;pressedKeys.clear();cancelEngageHold(false);
   window.joystick3D?.reset();
@@ -120,9 +241,11 @@ function setFeedback(el,message=''){
 function openModal(id){
   const el=typeof id==='string'?document.getElementById(id):id;
   if(!el||el.open)return;
+  if(el.id==='controller-modal'&&inputConfigurationLocked()){toast('Disengage before changing joystick settings.');return}
   resetInputs();
   el._returnFocus=document.activeElement;
   if(el.id==='battery-modal')fillBatteryForm();
+  if(el.id==='controller-modal')fillControllerForm();
   if(el.id==='link-modal'){
     fillLinkForm();
     $('#custom-port-status').textContent='';
@@ -393,12 +516,14 @@ function startEngageHold(e){
   if(view.action!=='arm'||!inputFocused||engageStart)return;
   if(e&&e.button!==undefined&&e.button!==0)return;
   engagePointer=e?.pointerId??'keyboard';engageStart=performance.now();engageButton.classList.add('charging');engageButton.style.setProperty('--engage-progress','0%');
+  syncInputModeControls();
   if(e?.pointerId!=null)engageButton.setPointerCapture(e.pointerId);
   engageHoldTimer=requestAnimationFrame(updateEngageProgress);
 }
 function cancelEngageHold(showHint=true){
   if(!engageStart)return;
   const elapsed=performance.now()-engageStart,pointer=engagePointer;cancelAnimationFrame(engageHoldTimer);engageHoldTimer=null;engageStart=0;engagePointer=null;engageButton.classList.remove('charging');engageButton.classList.add('canceling');engageButton.style.setProperty('--engage-progress','0%');setTimeout(()=>engageButton.classList.remove('canceling'),280);if(typeof pointer==='number')try{engageButton.releasePointerCapture(pointer)}catch(_){}if(showHint&&elapsed>80)toast('Engagement canceled');
+  syncInputModeControls();
 }
 
 if(engageButton){
@@ -417,33 +542,55 @@ if(engageButton){
 }
 
 $('#logs').onclick=()=>api('open_logs');
-const consoleDialog=$('#console-modal'),consoleRx=$('#console-rx-output'),consoleTx=$('#console-tx-output');
+const consoleDock=$('#console-dock'),consoleRx=$('#console-rx-output'),consoleTx=$('#console-tx-output');
-let consoleRefreshBusy=false,consolePaused=false;
+let consoleRefreshBusy=false,consolePaused=false,consoleCache={rx:[],tx:[]},consoleSignature='',consoleOpen=false,consoleCloseTimer=0;
+const consolePulseTimers={};
+function pulseConsole(side){
+  const dot=$('.'+side+'-dot');
+  clearTimeout(consolePulseTimers[side]);dot.classList.add('lit');
+  consolePulseTimers[side]=setTimeout(()=>dot.classList.remove('lit'),260);
+}
+function renderConsole(){
+  const filter=$('#console-filter').value,signature=filter+JSON.stringify(consoleCache);
+  if(signature===consoleSignature)return;
+  consoleSignature=signature;ConsoleView.render(consoleRx,consoleCache.rx||[],filter);ConsoleView.render(consoleTx,consoleCache.tx||[],filter);
+}
+function setConsoleOpen(open){
+  consoleOpen=open;clearTimeout(consoleCloseTimer);consoleDock.classList.toggle('closing',!open);
+  if(open){consoleDock.hidden=false;$('.app-shell').classList.add('console-open')}
+  else consoleCloseTimer=setTimeout(()=>{consoleDock.hidden=true;$('.app-shell').classList.remove('console-open')},180);
+  $('#console').setAttribute('aria-expanded',String(open));
+  if(open)refreshConsole();else $('#console').focus({preventScroll:true});
+}
+$('#console').setAttribute('aria-controls','console-dock');
+$('#console').setAttribute('aria-expanded','false');
+$('#console').onclick=()=>setConsoleOpen(!consoleOpen);
+$('#console-close').onclick=()=>setConsoleOpen(false);
+$('#console-filter').onchange=renderConsole;
 $('#console-pause').onclick=()=>{
   consolePaused=!consolePaused;
   $('#console-pause').textContent=consolePaused?'Resume':'Pause';
   $('#console-pause').setAttribute('aria-pressed',String(consolePaused));
-  $('#console-state').textContent=consolePaused?'Paused · session logging continues':'Live · follows new messages';
+  $('#console-state').textContent=consolePaused?'Paused':'';
+  $('#console-state').hidden=!consolePaused;
   if(!consolePaused)refreshConsole();
 };
 async function refreshConsole(){
-  if(!consoleDialog?.open||!bridgeReady||consoleRefreshBusy||consolePaused)return;
+  if(!consoleOpen||!bridgeReady||consoleRefreshBusy||consolePaused)return;
   consoleRefreshBusy=true;
   try{
-    const rxAtBottom=consoleRx.scrollHeight-consoleRx.scrollTop-consoleRx.clientHeight<36;
+    const sides=await withTimeout(api('read_console',150),1500);
-    const txAtBottom=consoleTx.scrollHeight-consoleTx.scrollTop-consoleTx.clientHeight<36;
+    if(consolePaused||!consoleOpen)return;
-    const sides=await api('read_console',150);
+    const filter=$('#console-filter').value;
-    if(consolePaused||!consoleDialog.open)return;
+    for(const side of ['rx','tx']){
-    consoleRx.textContent=sides.rx?.length?sides.rx.join('\n'):'Waiting for vehicle data…';
+      const previous=new Set(consoleCache[side]||[]);
-    consoleTx.textContent=sides.tx?.length?sides.tx.join('\n'):'Waiting for transmitted data…';
+      if((sides[side]||[]).some(line=>!previous.has(line)&&(filter==='all'||!ConsoleView.parse(line).quiet)))pulseConsole(side);
-    if(rxAtBottom)consoleRx.scrollTop=consoleRx.scrollHeight;
-    if(txAtBottom)consoleTx.scrollTop=consoleTx.scrollHeight;
-  }catch(error){
-    $('#console-state').textContent=`Console unavailable: ${error.message}`;
     }
+    consoleCache=sides;renderConsole();
+    $('#console-state').textContent='';$('#console-state').hidden=true;
+  }catch(error){if(consoleOpen){$('#console-state').hidden=false;$('#console-state').textContent='Unavailable: '+error.message}}
   finally{consoleRefreshBusy=false}
 }
-$('#console').onclick=()=>{openModal(consoleDialog);refreshConsole()};
 setInterval(refreshConsole,750);
 function setGain(value){const gain=$('#gain');gain.value=Math.max(+gain.min,Math.min(+gain.max,value));$('#gain-value').textContent=`${gain.value}%`;if(bridgeReady)api('set_gain',+gain.value)}
 $('#gain').oninput=e=>setGain(+e.target.value);$('#gain-down').onclick=()=>setGain(+$('#gain').value-5);$('#gain-up').onclick=()=>setGain(+$('#gain').value+5);
@@ -564,6 +711,7 @@ function render(s,confirmed=false){
       (s.armed_known&&s.armed===(localRequest.name==='arm')))) localRequest=null;
   const previous=view;
   view=ControlState.present(s,{stale:bridgeStale,focused:inputFocused,pending:localRequest?.name,error:commandError});
+  syncInputModeControls();
   if((previous.drive&&!view.drive)||(previous.action==='arm'&&view.action!=='arm'))resetInputs();
   appState=bridgeStale&&s.connected?'link_degraded':s.app_state||'disconnected';
   renderHeavyQuality(s.heavy_quality,s.connected,s.armed);
@@ -615,13 +763,19 @@ function render(s,confirmed=false){
   const b=s.battery;
   if(b){
     $('#battery-title').textContent=`${b.voltage.toFixed(2)} V`;
-    $('#battery-percent').textContent=`${Math.round(b.percent)}% • ${b.cells}s${!view.known||s.battery_stale?' · stale':''}`;
+    $('#battery-percent').textContent=`${Math.round(b.percent)}%`;
+    $('.battery-card').dataset.stale=String(!view.known||!!s.battery_stale);
+    $('.battery-card').title=`Estimated charge from voltage · ${b.cells}S${!view.known||s.battery_stale?' · stale reading':''} · Battery settings`;
     $('#battery-fill').style.width=`${b.percent}%`;
-    $('#battery-fill').style.background=b.low?'var(--red)':'var(--acid)';
+    $('#battery-fill').style.background=b.low?'var(--battery-low)':'var(--battery-charge)';
+    $('.battery-card').dataset.low=String(!!b.low);
   }else{
-    $('#battery-title').textContent='—';
+    $('#battery-title').textContent='No voltage';
-    $('#battery-percent').textContent='waiting';
+    $('#battery-percent').textContent='—';
+    $('.battery-card').dataset.stale='false';
+    $('.battery-card').title='Waiting for battery voltage · Battery settings';
     $('#battery-fill').style.width='0';
+    $('.battery-card').dataset.low='false';
   }
   const quality=s.link_quality,qualityCard=$('#link-quality');
   if(qualityCard){
@@ -800,3 +954,6 @@ if(document.readyState==='loading'){
   loadDefaultModel();
   waitForBridge();
 }
+
+
+requestAnimationFrame(pollController);

web/console-view.js

@@ -0,0 +1,70 @@
+/* Read-only presentation of the existing local RX/TX logs. */
+((root)=>{
+  const quiet=/^(HEARTBEAT|TIMESYNC|LINK_PROBE|HEAVY_PROBE|GCS)/;
+  function parse(line){
+    const match=String(line).match(/^(\S+) \[([^\]]+)\] ([\s\S]*)$/);
+    if(!match)return {time:'',type:'Message',payload:String(line),raw:String(line),tone:'normal',quiet:false};
+    const [,timestamp,category,message]=match;
+    let payload=message,type=category.replace(/^(RX|TX)_?/,'')||category;
+    try{payload=JSON.parse(message);type=payload.mavpackettype||type}catch(_){}
+    const tone=/BAD_DATA|ERROR|TIMEOUT|FAIL/.test(category)||type==='STATUSTEXT'&&Number(payload.severity)<=4?'warning':/COMMAND|ACK|PARAM_SET|OPERATOR/.test(category+' '+type)?'command':'normal';
+    const time=timestamp.match(/T(\d{2}:\d{2}:\d{2}(?:\.\d+)?)/)?.[1]||timestamp;
+    const pairs=typeof payload==='string'?[...payload.matchAll(/(?:^|\s)([a-zA-Z_]\w*)=([^\s]+)/g)]:[];
+    const fields=pairs.length?Object.fromEntries(pairs.map(([,key,value])=>[key,value])):payload;
+    return {time,type,payload,fields,raw:String(line),tone,quiet:tone!=='warning'&&(quiet.test(type)||/LINK_PROBE|HEAVY_PROBE|HEARTBEAT/.test(category))};
+  }
+  function valueText(value){
+    if(typeof value==='number')return Number.isInteger(value)?String(value):Number(value.toFixed(3)).toString();
+    if(Array.isArray(value))return value.slice(0,6).map(valueText).join(', ')+(value.length>6?'…':'');
+    return typeof value==='object'?JSON.stringify(value):String(value);
+  }
+  function makeRow(row,previous){
+    if(previous&&previous.dataset.key===row.raw&&previous.dataset.tone===row.tone)return previous;
+    const details=previous||document.createElement('details');
+    details.className='console-row';details.dataset.key=row.raw;details.dataset.tone=row.tone;
+    let summary=details.querySelector('summary'),time,body,type,fields,raw;
+    if(!summary){
+      details.replaceChildren();summary=document.createElement('summary');time=document.createElement('time');
+      body=document.createElement('span');body.className='console-message';type=document.createElement('strong');
+      fields=document.createElement('span');fields.className='console-fields';body.append(type,fields);summary.append(time,body);
+      raw=document.createElement('pre');details.append(summary,raw);
+    }else{
+      time=summary.querySelector('time');body=summary.querySelector('.console-message');
+      type=body.querySelector('strong');fields=body.querySelector('.console-fields');raw=details.querySelector('pre');
+    }
+    time.textContent=row.time;type.textContent=row.type;fields.replaceChildren();
+    const values=row.fields??row.payload;
+    if(typeof values==='object'&&values!==null){
+      for(const [key,value] of Object.entries(values).filter(([key])=>key!=='mavpackettype').slice(0,6)){
+        const item=document.createElement('span'),label=document.createElement('i'),text=document.createElement('b');
+        label.textContent=key+' ';text.textContent=valueText(value);item.append(label,text);fields.append(item);
+      }
+    }else fields.textContent=row.payload;
+    raw.textContent=typeof row.payload==='object'?JSON.stringify(row.payload,null,2):row.raw;
+    return details;
+  }
+  function render(host,lines,filter){
+    const atBottom=host.scrollHeight-host.scrollTop-host.clientHeight<36,scroll=host.scrollTop;
+    const rows=lines.map(parse).filter(row=>filter==='all'||!row.quiet);
+    const existing=new Map();
+    for(const node of host.querySelectorAll('details.console-row')){
+      const key=node.dataset.key,list=existing.get(key)||[];list.push(node);existing.set(key,list);
+    }
+    if(!rows.length){
+      if(!host.querySelector('.console-empty')){
+        const empty=document.createElement('p');empty.className='console-empty';
+        empty.textContent='No messages';
+        empty.title=filter==='all'?'Waiting for session messages.':'Routine heartbeat and probe traffic is hidden. Choose All traffic to see it.';
+        host.replaceChildren(empty);
+      }
+      return;
+    }
+    const wanted=rows.map(row=>makeRow(row,existing.get(row.raw)?.shift()||null));
+    let cursor=host.firstElementChild;
+    for(const node of wanted){if(node!==cursor)host.insertBefore(node,cursor);cursor=node.nextElementSibling}
+    while(cursor){const next=cursor.nextElementSibling;cursor.remove();cursor=next}
+    if(atBottom&&!host.querySelector('details[open]'))host.scrollTop=host.scrollHeight;else host.scrollTop=scroll;
+  }
+  root.ConsoleView={parse,render};
+  if(typeof module!=='undefined')module.exports=root.ConsoleView;
+})(typeof window!=='undefined'?window:globalThis);

web/controller-input.js

@@ -0,0 +1,53 @@
+/* Controller conditioning is independent of drawing and MAVLink transport. */
+((root)=>{
+  const clamp=value=>Math.max(-1,Math.min(1,Number.isFinite(value)?value:0));
+  function deadZone(value,zone=.08){
+    value=clamp(value);zone=Math.max(0,Math.min(.4,zone));
+    return Math.abs(value)<=zone?0:Math.sign(value)*(Math.abs(value)-zone)/(1-zone);
+  }
+  function defaults(pad){
+    return {turn:0,forward:1,vertical:pad?.axes?.length>=4?3:pad?.axes?.length>=3?2:-1,
+      invertTurn:false,invertForward:true,invertVertical:true,deadZone:.08};
+  }
+  function read(pad,config){
+    if(!pad?.connected||!pad.axes)return null;
+    const axis=(index,invert)=>{
+      if(index===-1)return 0;
+      if(!Number.isInteger(index)||index<0||index>=pad.axes.length||!Number.isFinite(pad.axes[index]))return null;
+      return deadZone(pad.axes[index],config.deadZone)*(invert?-1:1);
+    };
+    let turn=axis(config.turn,config.invertTurn),forward=axis(config.forward,config.invertForward),vertical=axis(config.vertical,config.invertVertical);
+    if(turn===null||forward===null||vertical===null)return null;
+    const length=Math.hypot(turn,forward);if(length>1){turn/=length;forward/=length}
+    return {turn,forward,vertical};
+  }
+  class Smoother{
+    constructor(){this.reset()}
+    reset(){this.value=0;this.last=null;this.release=null}
+    step(target,now){
+      target=clamp(target);
+      const dt=this.last===null?0:Math.max(0,Math.min(.05,(now-this.last)/1000));this.last=now;
+      if(target===0){
+        if(!this.release)this.release={at:now,start:this.value};
+        const t=Math.min(1,Math.max(0,(now-this.release.at)/360)),ease=t*t*(3-2*t);
+        this.value=this.release.start*(1-ease);
+      }else{
+        this.release=null;
+        this.value+=(target-this.value)*(1-Math.exp(-dt/.1));
+        if(Math.abs(target-this.value)<.001)this.value=target;
+      }
+      return this.value;
+    }
+  }
+  class Motion{
+    constructor(){this.axes={turn:new Smoother(),forward:new Smoother(),vertical:new Smoother()}}
+    reset(){Object.values(this.axes).forEach(axis=>axis.reset())}
+    step(target,now){
+      const demand=Object.fromEntries(Object.entries(this.axes).map(([key,axis])=>[key,axis.step(target[key],now)]));
+      const length=Math.hypot(demand.turn,demand.forward);if(length>1){demand.turn/=length;demand.forward/=length}
+      return demand;
+    }
+  }
+  root.ControllerInput={deadZone,defaults,read,Motion};
+  if(typeof module!=='undefined')module.exports=root.ControllerInput;
+})(typeof window!=='undefined'?window:globalThis);

web/index.html

@@ -4,7 +4,7 @@
   <meta charset="utf-8">
   <meta name="viewport" content="width=device-width,initial-scale=1">
   <title>Sub Control</title>
-  <link rel="stylesheet" href="styles.css?v=20260930-dialogs-v1">
+  <link rel="stylesheet" href="styles.css?v=20261002-spacing-motion-v2">
 </head>
 <body>
   <main class="app-shell">
@@ -44,12 +44,6 @@
         </div>
       </div>
 
-      <!-- Battery Status -->
-      <button class="battery-card ghost" data-open="battery-modal">
-        <span><small>Battery</small><strong id="battery-title">—</strong></span><i id="battery-percent">waiting</i>
-        <b><em id="battery-fill"></em></b>
-      </button>
-
       <button id="link-quality" type="button" class="link-quality" data-grade="offline" title="Open link-quality details" aria-haspopup="dialog" aria-controls="link-quality-modal">
         <span class="link-quality-dot" aria-hidden="true"></span>
         <span><small>Data link</small><strong id="link-quality-grade">Offline</strong></span>
@@ -57,13 +51,18 @@
       </button>
 
       <div class="deck-status-bar">
+        <header class="activity-heading">Activity:</header>
         <ol class="activity-history" aria-label="Last three events" aria-live="polite">
           <li id="activity-oldest" hidden></li>
           <li id="activity-previous" hidden></li>
           <li id="status-text">Not connected</li>
         </ol>
-        <header class="activity-heading"><span>Recent activity</span><span class="activity-actions"><button type="button" id="console" class="logs-link" title="Read live console" aria-label="Read live console">Console</button><button type="button" id="logs" class="logs-link" title="Open session logs" aria-label="Open session logs">Logs</button></span></header>
+        <div class="activity-actions"><button type="button" id="console" class="logs-link" title="Read live console" aria-label="Read live console">Console</button><button type="button" id="logs" class="logs-link" title="Open session logs" aria-label="Open session logs">Logs</button></div>
       </div>
+      <button class="battery-card ghost" data-open="battery-modal" aria-label="Battery status and settings">
+        <span class="battery-meter" aria-hidden="true"><em id="battery-fill"></em></span>
+        <span class="battery-copy"><span class="battery-summary"><strong id="battery-percent">—</strong><small id="battery-title">No voltage</small></span></span>
+      </button>
       </section>
 
     </aside>
@@ -72,6 +71,7 @@
     <section class="controls-workspace" aria-label="Primary Vehicle Controls">
       <!-- Frameless Drag & Window Controls Header -->
       <div class="workspace-topbar">
+        <div class="input-mode-controls"><div class="input-mode-switch" role="group" aria-label="Control input"><button type="button" id="input-keyboard" aria-pressed="true">Keyboard</button><button type="button" id="input-joystick" aria-pressed="false">Joystick</button></div><button type="button" id="controller-settings" class="controller-settings" data-open="controller-modal" hidden>Setup</button></div>
         <div class="workspace-drag-area pywebview-drag-region"></div>
         <div class="window-actions">
           <button id="window-min" aria-label="Minimize" title="Minimize"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="M5 12h14"/></svg></button>
@@ -80,6 +80,7 @@
         </div>
       </div>
 
+      <p id="controller-status" class="controller-status" role="status">Keyboard + touch</p>
       <section class="primary-control-zone" aria-label="Primary Control Zone">
       <!-- Reserved Engage / Disarm row -->
       <div class="engage-header-zone">
@@ -98,12 +99,12 @@
         <!-- Steering / Throttle Joystick -->
         <article class="control-card steer-card">
           <header>
-            <div><small>steer + throttle</small></div>
+            <div title="Steer and throttle · W A S D"></div>
-            <span class="key-hint">w a s d</span>
+
           </header>
           <div class="joystick-pad">
             <div id="joystick" class="joystick" touch-action="none">
-              <canvas id="joystick-canvas" aria-label="Steering and throttle joystick; W A S D keys"></canvas>
+              <canvas id="joystick-canvas" title="Steer and throttle · W A S D" aria-label="Steering and throttle joystick; W A S D keys"></canvas>
             </div>
           </div>
           <footer>
@@ -115,13 +116,13 @@
         <!-- Vertical Thruster Slider -->
         <article class="control-card vertical-card">
           <header>
-            <div><small>vertical</small></div>
+            <div title="Vertical thrust · R / F"></div>
-            <span class="key-hint">r / f</span>
+
           </header>
           <div class="heave-pad">
             <div class="vertical-control">
               <span>rise</span>
-              <div id="heave" class="heave-track" touch-action="none">
+              <div id="heave" title="Vertical thrust · R / F" class="heave-track" touch-action="none">
                 <div class="heave-center"></div>
                 <div id="heave-fill" class="heave-fill"></div>
                 <div id="heave-knob" class="heave-knob"></div>
@@ -147,21 +148,27 @@
       </div>
       </section>
     </section>
+    <aside id="console-dock" class="console-dock" aria-labelledby="console-title" hidden>
+      <header class="console-dock-header"><div><h2 id="console-title" title="Local session messages. Select a message to expand its details.">Console</h2></div><button id="console-close" type="button" class="console-close" aria-label="Hide console" title="Hide console"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button></header>
+      <div class="console-toolbar"><label><span class="visually-hidden">Console filter</span><select id="console-filter"><option value="useful">Useful traffic</option><option value="all">All traffic</option></select></label><button id="console-pause" type="button" aria-pressed="false">Pause</button></div>
+      <p id="console-state" class="console-state" role="status" title="Pausing the viewer does not stop session logging." hidden></p>
+      <div class="console-streams"><section class="console-side"><header><i class="rx-dot" aria-hidden="true" title="Vehicle to PC · new displayed message"></i><span>RX</span></header><div id="console-rx-output" class="console-output" tabindex="0" aria-label="Received messages"></div></section><section class="console-side"><header><i class="tx-dot" aria-hidden="true" title="PC to vehicle · new displayed message"></i><span>TX</span></header><div id="console-tx-output" class="console-output" tabindex="0" aria-label="Sent messages"></div></section></div>
+    </aside>
   </main>
 
   <div id="toast" class="toast"></div>
 
   <!-- Modals -->
   <dialog id="link-modal" class="modal" aria-labelledby="link-title">
-    <button class="modal-close" type="button" data-close aria-label="Close window">×</button><small>Connection</small><h2 id="link-title">Link settings</h2>
+    <button class="modal-close" type="button" data-close aria-label="Close window"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button><h2 id="link-title">Link settings</h2>
-    <form id="link-form">
+    <form id="link-form" title="Baud changes apply on the next connection.">
       <section class="settings-section"><h3>Serial connection</h3>
         <div class="form-grid two"><label><span>Baud rate</span><select id="baud" name="baud"><option value="9600">9600</option><option value="19200">19200</option><option value="38400">38400</option><option value="57600" selected>57600</option><option value="115200">115200</option></select></label><label><span>Control rate · Hz</span><select id="rate" name="control_hz"><option value="10">10</option><option value="20" selected>20</option></select></label></div>
-        <p class="note">Baud changes apply on the next connection.</p>
+
         <label class="custom-port-label"><span>Custom port or endpoint</span><div class="custom-port-row"><input id="custom-port-input" placeholder="COM3 or tcp:127.0.0.1:5760" autocomplete="off"><button type="button" id="custom-port-btn" class="button subtle">Use port</button></div></label>
         <p id="custom-port-status" class="note" role="status"></p>
       </section>
-      <section class="settings-section"><h3>Live updates</h3>
+      <section class="settings-section"><h3 title="Lower rates leave more bandwidth for controls. Rates reset after a reboot.">Telemetry rates</h3>
         <div class="form-grid two">
           <label><span>Quality check · Hz</span><select name="ping_hz"><option value="1" selected>1</option><option value="2">2</option><option value="5">5</option><option value="10">10</option></select></label>
           <label><span>Battery / system · Hz</span><select name="system_hz"><option value="0">Off</option><option value="1" selected>1</option><option value="2">2</option><option value="5">5</option><option value="10">10</option></select></label>
@@ -169,17 +176,17 @@
           <label><span>RC channels · Hz</span><select name="rc_hz"><option value="0">Off</option><option value="1">1</option><option value="2" selected>2</option><option value="5">5</option><option value="10">10</option></select></label>
           <label><span>ESC telemetry · Hz</span><select name="esc_hz"><option value="0">Off</option><option value="1" selected>1</option><option value="2">2</option><option value="5">5</option><option value="10">10</option></select></label>
         </div>
-        <p class="note">Lower rates leave more bandwidth for controls. Vehicle telemetry rates reset after a reboot.</p>
+
       </section>
       <p class="form-feedback" role="alert" hidden></p>
       <div class="modal-actions"><button type="button" class="button subtle" data-close>Cancel</button><button type="submit" class="button modal-primary">Apply settings</button></div>
     </form>
   </dialog>
   <dialog id="link-quality-modal" class="modal quality-modal" aria-labelledby="quality-title">
-    <button class="modal-close" type="button" data-close aria-label="Close window">×</button><small>Connection</small><h2 id="quality-title">Link quality</h2>
+    <button class="modal-close" type="button" data-close aria-label="Close window"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button><h2 id="quality-title">Link quality</h2>
-    <p class="note">The live check watches round-trip replies, incoming packet loss, and heartbeat freshness.</p>
+
-    <div class="quality-summary"><div><span>Round trip</span><strong id="quality-detail-rtt">—</strong></div><div><span>Probe loss</span><strong id="quality-detail-loss">—</strong></div><div><span>FC → PC loss</span><strong id="quality-detail-downlink">—</strong></div></div>
+    <div class="quality-summary" title="Round-trip replies, incoming packet loss, and heartbeat freshness."><div><span>Round trip</span><strong id="quality-detail-rtt">—</strong></div><div><span>Probe loss</span><strong id="quality-detail-loss">—</strong></div><div><span>FC → PC loss</span><strong id="quality-detail-downlink">—</strong></div></div>
-    <section class="heavy-test-panel"><h3>Extended test</h3><p class="note">Checks 1, 5, then 10 Hz for about 35 seconds. Run while disarmed; the live echo resumes afterward.</p>
+    <section class="heavy-test-panel"><h3 title="Tests 1, 5 and 10 Hz for about 35 seconds while disarmed. The live check resumes afterward.">Extended test</h3>
       <div id="heavy-quality-status" class="heavy-quality-status" role="status">Connect to run an extended test.</div>
       <div id="heavy-quality-results" class="heavy-quality-results"></div>
       <p id="heavy-quality-error" class="form-feedback" role="alert" hidden></p>
@@ -187,8 +194,8 @@
     </section>
   </dialog>
   <dialog id="battery-modal" class="modal" aria-labelledby="battery-title-modal">
-    <button class="modal-close" type="button" data-close aria-label="Close window">×</button><small>Power</small><h2 id="battery-title-modal">Battery settings</h2><p class="note">Charge is estimated from voltage. Capacity and C rating describe your battery.</p>
+    <button class="modal-close" type="button" data-close aria-label="Close window"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button><h2 id="battery-title-modal">Battery settings</h2>
-    <form id="battery-form">
+    <form id="battery-form" title="Charge is estimated from voltage; capacity and C rating describe the battery.">
       <div class="form-grid two"><label><span>Cells · S</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease Cells · S">‹</button><input name="cells" type="number" min="1" step="1" max="16" required><button type="button" class="num-step up" aria-label="Increase Cells · S">›</button></div></label><label><span>Capacity · mAh</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease Capacity · mAh">‹</button><input name="capacity_mah" type="number" min="50" step="50" required><button type="button" class="num-step up" aria-label="Increase Capacity · mAh">›</button></div></label><label><span>C rating</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease C rating">‹</button><input name="c_rating" type="number" min="1" step="0.1" required><button type="button" class="num-step up" aria-label="Increase C rating">›</button></div></label><label><span>Low charge warning · %</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease Low charge warning · %">‹</button><input name="warning_percent" type="number" min="0" step="1" max="100" required><button type="button" class="num-step up" aria-label="Increase Low charge warning · %">›</button></div></label></div>
       <section class="settings-section"><h3>Voltage per cell</h3><div class="form-grid two"><label><span>Full · V</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease Full · V">‹</button><input name="full_v_per_cell" type="number" min="0.01" step="0.01" required><button type="button" class="num-step up" aria-label="Increase Full · V">›</button></div></label><label><span>Empty · V</span><div class="number-pill"><button type="button" class="num-step down" aria-label="Decrease Empty · V">‹</button><input name="empty_v_per_cell" type="number" min="0.01" step="0.01" required><button type="button" class="num-step up" aria-label="Increase Empty · V">›</button></div></label></div></section>
       <p class="form-feedback" role="alert" hidden></p>
@@ -196,20 +203,32 @@
     </form>
   </dialog>
   <dialog id="motors-modal" class="modal motor-modal" aria-labelledby="motors-title">
-    <button class="modal-close" type="button" data-close aria-label="Close window">×</button><small>Configuration</small><h2 id="motors-title">Motor outputs</h2><p id="motor-status" class="note" role="status">Waiting for motor assignments.</p>
+    <button class="modal-close" type="button" data-close aria-label="Close window"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button><h2 id="motors-title">Motor outputs</h2><p id="motor-status" class="note" role="status">Waiting for motor assignments.</p>
     <p id="motor-feedback" class="form-feedback" role="alert" hidden></p>
     <div class="motor-head"><span>Output</span><span>Assignment</span><span>Direction</span><span></span></div><div id="motor-list" class="motor-list"></div>
   </dialog>
-  <dialog id="console-modal" class="modal console-modal" aria-labelledby="console-title">
+  <dialog id="controller-modal" class="modal" aria-labelledby="controller-title">
-    <button class="modal-close" type="button" data-close aria-label="Close window">×</button><small>Local session</small><h2 id="console-title">Live console</h2>
+    <button class="modal-close" type="button" data-close aria-label="Close window"><svg viewBox="0 0 24 24" aria-hidden="true"><path d="m6 6 12 12M18 6 6 18"/></svg></button><h2 id="controller-title">Joystick setup</h2>
-    <div class="console-toolbar"><p id="console-state" class="note" role="status">Live · follows new messages</p><button id="console-pause" type="button" class="button subtle" aria-pressed="false">Pause</button></div>
+    <form id="controller-form" title="Center sticks after changing input mode or reconnecting before movement resumes.">
-    <div class="console-split"><section><header><i class="rx-dot"></i><span>RX</span><small>Vehicle → PC</small></header><pre id="console-rx-output" tabindex="0" aria-label="Received messages">Waiting for vehicle data…</pre></section><section><header><i class="tx-dot"></i><span>TX</span><small>PC → Vehicle</small></header><pre id="console-tx-output" tabindex="0" aria-label="Sent messages">Waiting for transmitted data…</pre></section></div>
+      <label><span>Controller</span><select id="controller-device"></select></label>
+      <p id="controller-axes" class="note">Move a stick or press a button to detect your controller.</p>
+      <div class="controller-mapping-head"><span>Movement</span><span>Axis</span><span>Invert</span></div>
+      <div class="controller-mapping-row"><span>Turn</span><select name="turn" aria-label="Turn axis"></select><input name="invertTurn" type="checkbox" aria-label="Invert Turn"></div>
+      <div class="controller-mapping-row"><span>Forward / back</span><select name="forward" aria-label="Forward / back axis"></select><input name="invertForward" type="checkbox" aria-label="Invert Forward / back"></div>
+      <div class="controller-mapping-row"><span>Rise / dive</span><select name="vertical" aria-label="Rise / dive axis"></select><input name="invertVertical" type="checkbox" aria-label="Invert Rise / dive"></div>
+      <label class="controller-deadzone"><span>Dead zone · %</span><input name="deadZone" type="number" min="0" max="30" step="1" required></label>
+
+      <p class="form-feedback" role="alert" hidden></p>
+      <div class="modal-actions"><button type="button" class="button subtle" data-close>Cancel</button><button type="submit" class="button modal-primary">Save mapping</button></div>
+    </form>
   </dialog>
 
   <script src="model-viewer.js?v=20260826-controls-v2"></script>
-  <script src="joystick-3d.js?v=20260827-keyboard-v7"></script>
+  <script src="joystick-3d.js?v=20261002-spacing-motion-v2"></script>
   <script src="control-state.js?v=20260827-state-v1"></script>
-  <script src="app.js?v=20260930-dialogs-v1"></script>
+  <script src="controller-input.js?v=20261001-controller-v1"></script>
+  <script src="console-view.js?v=20261002-console-v2"></script>
+  <script src="app.js?v=20261002-spacing-motion-v2"></script>
   <script src="cursor-light.js?v=20260827-directional-v10"></script>
 </body>
 </html>

web/joystick-3d.js

@@ -23,7 +23,9 @@
     if(amount>.025){ctx.beginPath();ctx.moveTo(cx,cy);ctx.lineTo(kx,ky);ctx.strokeStyle='rgba(78,91,85,.24)';ctx.lineWidth=3;ctx.lineCap='round';ctx.stroke()}
 
     ctx.save();ctx.shadowColor='rgba(17,25,21,.22)';ctx.shadowBlur=activePointer===null?8:12;ctx.shadowOffsetY=3;
-    ctx.beginPath();ctx.arc(kx,ky,knob,0,Math.PI*2);ctx.fillStyle=activePointer===null?'#555':'#353535';ctx.fill();ctx.restore();
+    const handle=ctx.createLinearGradient(kx-knob*.574,ky-knob*.819,kx+knob*.574,ky+knob*.819);
+    handle.addColorStop(0,activePointer===null?'#737373':'#606060');handle.addColorStop(1,activePointer===null?'#454545':'#393939');
+    ctx.beginPath();ctx.arc(kx,ky,knob,0,Math.PI*2);ctx.fillStyle=handle;ctx.fill();ctx.restore();
     ctx.beginPath();ctx.arc(kx,ky,knob,0,Math.PI*2);ctx.strokeStyle='rgba(255,255,255,.42)';ctx.lineWidth=1;ctx.stroke();
     ctx.beginPath();ctx.arc(kx,ky,4,0,Math.PI*2);ctx.fillStyle='#dfe5e1';ctx.fill();
   }
@@ -40,10 +42,10 @@
   function returnToCenter(){easeTo(0,0)}
   function release(event){if(activePointer===null||(event?.pointerId!=null&&event.pointerId!==activePointer))return;const pointer=activePointer;activePointer=null;try{canvas.releasePointerCapture(pointer)}catch(_){}canvas.classList.remove('is-active');draw();returnToCenter()}
 
-  canvas.addEventListener('pointerdown',event=>{if(activePointer!==null||!window.canDrive?.()||event.button>0)return;activePointer=event.pointerId;cancelAnimationFrame(returnFrame);canvas.setPointerCapture(event.pointerId);canvas.classList.add('is-active');positionFromEvent(event);event.preventDefault()});
+  canvas.addEventListener('pointerdown',event=>{if(activePointer!==null||!window.canTouchControl?.()||event.button>0)return;activePointer=event.pointerId;cancelAnimationFrame(returnFrame);canvas.setPointerCapture(event.pointerId);canvas.classList.add('is-active');positionFromEvent(event);event.preventDefault()});
   canvas.addEventListener('pointermove',event=>{if(event.pointerId===activePointer)positionFromEvent(event)});
   canvas.addEventListener('pointerup',release);canvas.addEventListener('pointercancel',release);canvas.addEventListener('lostpointercapture',event=>{if(event.pointerId===activePointer)release(event)});
   canvas.addEventListener('pointerleave',event=>{if(event.pointerType==='mouse'&&event.pointerId===activePointer)release(event)});
-  addEventListener('resize',resize);resize();
+  addEventListener('resize',resize);new ResizeObserver(resize).observe(host);resize();
-  window.joystick3D={setPos(nextX,nextY){cancelAnimationFrame(returnFrame);setPosition(nextX,nextY)},easeTo(nextX,nextY){if(activePointer===null)easeTo(nextX,nextY)},easeBack(){if(activePointer===null)returnToCenter()},reset(){const pointer=activePointer;activePointer=null;cancelAnimationFrame(returnFrame);if(pointer!==null)try{canvas.releasePointerCapture(pointer)}catch(_){}canvas.classList.remove('is-active');setPosition(0,0,false)},getState(){return {x,y,active:activePointer!==null}}};
+  window.joystick3D={setVisual(nextX,nextY){setPosition(nextX,nextY,false)},setPos(nextX,nextY){cancelAnimationFrame(returnFrame);setPosition(nextX,nextY)},easeTo(nextX,nextY){if(activePointer===null)easeTo(nextX,nextY)},easeBack(){if(activePointer===null)returnToCenter()},reset(){const pointer=activePointer;activePointer=null;cancelAnimationFrame(returnFrame);if(pointer!==null)try{canvas.releasePointerCapture(pointer)}catch(_){}canvas.classList.remove('is-active');setPosition(0,0,false)},getState(){return {x,y,active:activePointer!==null}}};
 })();

web/styles.css

@@ -1298,3 +1298,177 @@ body:not([data-controls-enabled="true"]) .controls-grid { opacity:.65; }
 @media (prefers-reduced-motion:reduce) {
   .modal[open],.modal.closing { animation:none; }
 }
+
+/* Input selection stays separate from vehicle arming and command ownership. */
+#engage:focus,#engage:focus-visible { outline:none!important; box-shadow:none!important; }
+.controls-workspace { container-type:inline-size; }
+.input-mode-controls { display:flex; align-items:center; gap:6px; flex-shrink:0; -webkit-app-region:no-drag; }
+.input-mode-switch { display:flex; padding:3px; gap:2px; background:#dedede; border-radius:999px; }
+.input-mode-switch button,.controller-settings { border:0; border-radius:999px; background:transparent; color:#686868; padding:7px 11px; font-size:12px; cursor:pointer; }
+.input-mode-switch button[aria-pressed="true"] { background:#fafafa; color:#252525; box-shadow:0 1px 3px #0000000c; }
+.controller-settings { background:#dedede; }
+.controller-status { margin:0; height:24px; flex-shrink:0; font-size:12px; line-height:20px; color:#6d7478; overflow:hidden; text-overflow:ellipsis; white-space:nowrap; }
+body[data-input-mode="joystick"] .key-hint { visibility:hidden; }
+body[data-input-mode="joystick"] :is(#joystick-canvas,#heave) { pointer-events:none; cursor:default; }
+.controls-grid { --joy-size:min(52vh,calc(100cqw - 136px),460px); }
+.control-toolbar { flex-wrap:wrap; gap:8px 14px; }
+.primary-control-zone { grid-template-rows:120px minmax(0,1fr) auto; }
+.control-toolbar { min-height:52px; }
+.engage-face > span { font-size:clamp(52px,11cqw,90px); }
+.controller-mapping-head,.controller-mapping-row { display:grid; grid-template-columns:1fr 1.25fr 50px; gap:14px; align-items:center; }
+.controller-mapping-head { color:#777; font-size:12px; margin-bottom:8px; }
+.controller-mapping-row { margin:8px 0; }
+.modal .controller-mapping-row input[type="checkbox"] { width:22px; height:22px; min-height:0; margin:auto; padding:0; accent-color:#527f9b; }
+.controller-mapping-row label { display:flex; align-items:center; }
+#controller-axes { min-height:22px; margin:12px 0; font-variant-numeric:tabular-nums; overflow-wrap:anywhere; color:#65737d; font-size:12px; }
+#controller-form > label { margin-top:18px; }
+.visually-hidden { position:absolute; width:1px; height:1px; padding:0; margin:-1px; overflow:hidden; clip:rect(0,0,0,0); white-space:nowrap; border:0; }
+
+/* Read-only local console, not a modal: driving stays available while it is open. */
+.app-shell.console-open { grid-template-columns:260px minmax(0,1fr) 340px; }
+.console-dock[hidden] { display:none!important; }
+.console-dock { display:flex; flex-direction:column; min-width:0; min-height:0; padding:18px 16px; background:#f5f5f5; border-left:1px solid #d8dcde; color:#29343b; color-scheme:light; }
+.console-dock-header { display:flex; align-items:center; justify-content:space-between; gap:12px; margin-bottom:14px; }
+.console-dock-header small { font-size:11px; color:#81888d; }
+.console-dock-header h2 { font-size:22px; font-weight:400; margin:4px 0 0; letter-spacing:-.02em; }
+.console-close { width:38px; height:38px; flex-shrink:0; border:0; border-radius:999px; background:#e7e8e9; color:#48525a; font-size:25px; cursor:pointer; }
+.console-toolbar { display:flex; align-items:center; justify-content:space-between; gap:8px; }
+.console-toolbar label { flex:1; min-width:0; }
+.console-toolbar select,.console-toolbar button { height:34px; border:0; border-radius:999px; background:#e7e9ea; color:#42525e; font-size:12px; padding:0 12px; }
+.console-toolbar select { width:100%; }
+.console-toolbar button { cursor:pointer; }
+.console-state { min-height:28px; margin:10px 0 8px; font-size:11px; color:#7e868b; line-height:1.4; }
+.console-streams { display:grid; grid-template-rows:1fr 1fr; gap:14px; min-height:0; flex:1; }
+.console-side { display:flex; flex-direction:column; min-height:0; }
+.console-side > header { display:flex; align-items:center; gap:6px; padding:0 4px 8px; font-size:12px; font-weight:500; color:#435966; }
+.console-side > header small { margin-left:auto; font-size:11px; font-weight:300; color:#899198; }
+.console-side > header i { width:6px; height:6px; border-radius:50%; background:#5888a3; }
+.console-side > header .tx-dot { background:#659287; }
+.console-output { min-height:0; flex:1; overflow:auto; overscroll-behavior:contain; padding:0 8px; border:1px solid #e0e3e5; border-radius:12px; background:#fafbfc; color:#343d43; font:12px/1.5 "Helvetica Neue",Helvetica,Arial,sans-serif; }
+.console-row { border-bottom:1px solid #e9edef; }
+.console-row:last-child { border-bottom:0; }
+.console-row summary { display:flex; gap:8px; cursor:pointer; padding:10px 0; list-style:none; }
+.console-row summary::-webkit-details-marker { display:none; }
+.console-row time { flex-shrink:0; color:#929ba1; font:10px/1.8 ui-monospace,Consolas,monospace; font-variant-numeric:tabular-nums; }
+.console-message { min-width:0; display:block; overflow-wrap:anywhere; }
+.console-message strong { display:block; font-size:11px; font-weight:500; color:#517c97; letter-spacing:.025em; }
+.console-row[data-tone="command"] strong { color:#467a69; }
+.console-row[data-tone="warning"] strong { color:#aa664b; }
+.console-fields { display:flex; flex-wrap:wrap; gap:2px 8px; font-size:11px; }
+.console-fields i { color:#929a9f; font-style:normal; }
+.console-fields b { font-weight:400; color:#45535d; }
+.console-row pre { margin:0 0 10px; padding:10px; border-radius:8px; background:#eef1f3; color:#52616c; font:11px/1.5 ui-monospace,Consolas,monospace; white-space:pre-wrap; overflow-wrap:anywhere; }
+.console-empty { color:#959da3; font-size:12px; line-height:1.6; margin:14px 0; }
+@media (max-height:610px) { .primary-control-zone { grid-template-rows:100px minmax(0,1fr) auto; } .controls-grid { --joy-size:min(46vh,calc(100cqw - 136px),420px); } }
+@media (max-width:1000px) {
+  .app-shell.console-open { grid-template-columns:260px minmax(0,1fr); }
+  .console-dock { position:absolute; top:0; right:0; bottom:0; width:min(340px,calc(100vw - 32px)); z-index:12; box-shadow:-8px 0 24px #00000012; border-radius:12px 0 0 12px; }
+}
+
+/* Three shared sizes: compact 32px, standard 40px, primary 62px. */
+:root {
+  --pill-sm:32px; --pill-md:40px; --pill-lg:62px; --pill-radius:999px;
+  --battery-charge:#63cb85; --battery-low:#e98a7b;
+}
+.port-row select,.icon-button { height:var(--pill-sm); }
+.icon-button { width:var(--pill-sm); }
+body #connect { height:var(--pill-lg); border-radius:var(--pill-radius); }
+.input-mode-switch { height:var(--pill-md); padding:4px; }
+.input-mode-switch button { height:var(--pill-sm); padding:0 12px; }
+.controller-settings { height:var(--pill-md); padding:0 14px; }
+.input-mode-switch button:disabled { opacity:.65!important; }
+.input-mode-switch button[aria-pressed="true"]:disabled { opacity:1!important; }
+.control-toolbar .range-pill,.control-toolbar .config-btn { height:var(--pill-md); border-radius:var(--pill-radius); }
+.control-toolbar .range-pill button { height:var(--pill-md); }
+.window-actions button { width:var(--pill-md); height:var(--pill-md); }
+.console-toolbar select,.console-toolbar button { height:var(--pill-sm); border-radius:var(--pill-radius); }
+.modal input,.modal select,.modal .number-pill { height:var(--pill-md); border-radius:var(--pill-radius); }
+.modal .number-pill input,.modal .number-pill button { height:calc(var(--pill-md) - 2px); }
+.modal .button { min-height:var(--pill-md); padding:8px 18px; border-radius:var(--pill-radius); }
+.modal .motor-row .button { min-height:var(--pill-sm); padding:6px 12px; }
+.modal .controller-mapping-row input[type="checkbox"] { height:22px; border-radius:4px; }
+
+/* Fixed SVG geometry avoids font baselines shifting the close icon. */
+.modal-close,.modal-close:hover,.console-close,.console-close:hover,.window-actions .window-close,.window-actions .window-close:hover {
+  display:grid; place-items:center; width:var(--pill-md); height:var(--pill-md);
+  padding:0; border:0; border-radius:0; background:transparent; box-shadow:none;
+}
+.modal-close svg,.console-close svg { display:block; width:20px; height:20px; fill:none; stroke:currentColor; stroke-width:1.7; stroke-linecap:round; }
+.modal-close:hover,.console-close:hover { color:#222; }
+.heave-knob { height:var(--pill-md); background:linear-gradient(145deg,#737373,#454545); }
+
+/* Activity has a heading, compact event history, then explicit actions. */
+.telemetry-zone { gap:16px; }
+.deck-status-bar { flex-shrink:0; margin-top:0; padding-top:12px; }
+.activity-heading { display:block; margin:0 0 8px; color:#eee; font-size:14px; font-weight:650; }
+.activity-history { gap:4px; margin:0 0 10px; }
+.activity-actions { display:flex; gap:8px; }
+.activity-actions .logs-link {
+  display:inline-flex; align-items:center; justify-content:center; box-sizing:border-box;
+  height:var(--pill-sm); min-width:76px; padding:0 14px; margin:0;
+  border:0; border-radius:var(--pill-radius); background:#414141; color:#eee;
+  font-size:12px; font-weight:400; letter-spacing:0; line-height:1; cursor:pointer;
+}
+.activity-actions .logs-link:hover { background:#4b4b4b; }
+.activity-actions .logs-link:focus-visible { outline:2px solid #a5c0d0; outline-offset:2px; }
+.activity-actions .logs-link[aria-expanded="true"] { background:#555; }
+
+/* Battery is the final deck item: text floats above the charge fill. */
+.battery-card {
+  position:relative; display:block; flex-shrink:0; width:100%; height:var(--pill-lg);
+  min-height:var(--pill-lg); margin:0; padding:0; overflow:hidden;
+  border:0; border-radius:var(--pill-radius); background:#314b3a;
+  color:#f2f5f2; isolation:isolate;
+}
+.battery-meter { position:absolute; inset:0; z-index:0; overflow:hidden; border-radius:inherit; pointer-events:none; }
+.battery-meter #battery-fill { display:block; height:100%; width:0; border-radius:inherit; background:var(--battery-charge); opacity:.55; transition:width .35s ease,background .2s ease,opacity .18s ease-out; }
+.battery-card .battery-copy { position:absolute; inset:0; z-index:1; display:flex; flex-direction:row; align-items:center; justify-content:space-between; gap:8px; padding:0 18px; pointer-events:none; }
+.battery-summary { display:flex; flex-direction:column; gap:3px; flex-shrink:0; }
+.battery-card small { color:#d7e8dc; font-size:12px; line-height:1; font-variant-numeric:tabular-nums; }
+.battery-card strong { font-size:26px; font-weight:400; line-height:1.15; font-variant-numeric:tabular-nums; }
+.battery-card i { align-self:auto; color:#d9e0da; text-align:right; font-size:12px; line-height:1.35; font-style:normal; }
+.battery-card[data-low="true"] { background:#4a3734; }
+.battery-card[data-stale="true"] #battery-fill { opacity:.25; }
+.battery-card:focus-visible { outline:2px solid #a5c0d0; outline-offset:2px; }
+
+/* The same slender, rounded scrollbar is used by every scrollable panel. */
+*::-webkit-scrollbar { width:8px; height:8px; }
+*::-webkit-scrollbar-track,*::-webkit-scrollbar-corner { background:transparent; }
+*::-webkit-scrollbar-thumb { min-height:28px; border:2px solid transparent; border-radius:var(--pill-radius); background:#aeb6ba; background-clip:padding-box; }
+*::-webkit-scrollbar-thumb:hover { background:#87959e; background-clip:padding-box; }
+*::-webkit-scrollbar-button { display:none; width:0; height:0; }
+.sidebar-deck::-webkit-scrollbar-thumb { background:#666; background-clip:padding-box; }
+.modal { scrollbar-gutter:stable; }
+@supports not selector(::-webkit-scrollbar) { * { scrollbar-width:thin; scrollbar-color:#aeb6ba transparent; } }
+@media (max-height:610px) { .telemetry-zone { gap:12px; } }
+
+/* Shared panel geometry and quiet, presentational motion. Never ease command data. */
+:root { --panel-inset:20px; --ui-gap:12px; --ui-duration:180ms; --ui-ease:cubic-bezier(.2,0,.2,1); }
+.sidebar-deck,.controls-workspace,.console-dock { padding:var(--panel-inset); }
+.sidebar-deck,.telemetry-zone,.deck-connection,.port-row,.activity-actions,.input-mode-controls,.console-toolbar,.console-streams { gap:var(--ui-gap); }
+.deck-connection { padding-bottom:var(--ui-gap); }
+.workspace-topbar,.console-dock-header { min-height:var(--pill-md); height:var(--pill-md); margin-bottom:var(--ui-gap); }
+.port-row select,.port-row .icon-button { height:var(--pill-md); }
+.port-row .icon-button { width:var(--pill-md); }
+.activity-actions { display:grid; grid-template-columns:repeat(2,minmax(0,1fr)); }
+.activity-actions .logs-link { min-width:0; width:100%; }
+.console-dock-header h2 { margin:0; }
+.console-toolbar { margin-bottom:var(--ui-gap); }
+.console-state { min-height:0; margin:0 0 var(--ui-gap); font-size:12px; }
+.console-side > header { padding-left:0; padding-right:0; }
+.console-side > header i { background:#b4bdc2; transition:background-color var(--ui-duration) ease-out,box-shadow var(--ui-duration) ease-out; }
+.console-side > header .rx-dot.lit { background:#4fa4cf; box-shadow:0 0 5px #4fa4cf66; }
+.console-side > header .tx-dot.lit { background:#56ae8a; box-shadow:0 0 5px #56ae8a66; }
+:is(button,select,input,.input-mode-switch,.console-row summary,.heave-knob,.heave-fill,.control-status,.battery-card)::before,
+:is(button,select,input,.input-mode-switch,.console-row summary,.heave-knob,.heave-fill,.control-status,.battery-card)::after,
+:is(button,select,input,.input-mode-switch,.console-row summary,.heave-knob,.heave-fill,.control-status,.battery-card) {
+  transition-property:background-color,border-color,color,opacity,box-shadow,filter;
+  transition-duration:var(--ui-duration); transition-timing-function:var(--ui-ease);
+}
+/* Keep pointer positions immediate; the existing conditioning owns motor easing. */
+.modal[open],.console-dock:not([hidden]),.form-feedback:not([hidden]),.console-state:not([hidden]),.console-row pre { animation:ui-fade-in var(--ui-duration) var(--ui-ease); }
+.modal.closing,.console-dock.closing { animation:ui-fade-out var(--ui-duration) ease-out forwards; pointer-events:none; }
+@keyframes ui-fade-in { from { opacity:0; } to { opacity:1; } }
+@keyframes ui-fade-out { from { opacity:1; } to { opacity:0; } }
+.controller-status { transition:opacity var(--ui-duration) ease-out; }
+.controller-status[data-quiet="true"] { opacity:0; pointer-events:none; }