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Made-with: Cursor

_docs/02_plans/diagrams/flows/flow_main_pipeline.md

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+```mermaid
+flowchart TD
+    subgraph Helpers
+        CFG[01_helper_config]
+        TYP[02_helper_types]
+    end
+
+    subgraph Components
+        T1[02_Tier1Detector]
+        T2[03_Tier2SpatialAnalyzer]
+        VLM[04_VLMClient]
+        GIM[05_GimbalDriver]
+        OUT[06_OutputManager]
+        SC[01_ScanController]
+    end
+
+    subgraph External
+        YOLO[Existing YOLO Pipeline]
+        CAM[ViewPro A40 Camera]
+        VLMD[NanoLLM Docker]
+        GPS[GPS-Denied System]
+        OP[Operator Display]
+        NVME[NVMe SSD]
+    end
+
+    CFG --> T1
+    CFG --> T2
+    CFG --> VLM
+    CFG --> GIM
+    CFG --> OUT
+    CFG --> SC
+    TYP --> T1
+    TYP --> T2
+    TYP --> VLM
+    TYP --> GIM
+    TYP --> OUT
+    TYP --> SC
+
+    SC -->|process_frame| T1
+    SC -->|"trace_mask / trace_cluster / analyze_roi"| T2
+    SC -->|analyze| VLM
+    SC -->|pan/tilt/zoom| GIM
+    SC -->|log/record| OUT
+
+    CAM -->|frames| SC
+    YOLO -->|detections| SC
+    GPS -->|coordinates| SC
+    VLM -->|IPC| VLMD
+    GIM -->|UART| CAM
+    OUT -->|JPEG + JSON| NVME
+    OUT -->|detections| OP
+```