```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
```