Geofence (INCLUSION+EXCLUSION, ≤500 ms detect→RTL), battery
thresholds (RTL@25%/land@15% + signed override), middle-waypoint
re-upload (CLEAR_ALL→upload→SET_CURRENT(0)), and post-flight
mapobjects push trigger. Adds production MAVLink command issuers
for both geofence and battery failsafe families.
Implements 6 ACs with 12 integration tests + module unit tests;
full workspace test suite green. See batch_09_cycle1_report.md
for AC coverage and known limitations.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh