:root {
    color-scheme: light;
    font-family: Arial, Helvetica, sans-serif;
    font-size: 13px;
    line-height: 1.4;
    color: #202220;
    background: #fff;
    --mono: "SFMono-Regular", Consolas, "Liberation Mono", monospace;
    --muted: #646963;
    --line: #c7ccc5;
    --ink: #242b26;
    --accent: #194fcd;
    --surface: #f5f6f3;
}
* { box-sizing: border-box; }
body { margin: 0; }
main { width: 100%; max-width: 1200px; margin: auto; padding: 14px 16px 12px; }
header { margin-bottom: 12px; text-align: center; }
h1 { margin: 0; line-height: 1; }
h1 img { display: block; width: 200px; height: auto; margin: auto; }
.toolbar, .drone-control, .session-controls, .selector { display: flex; align-items: center; gap: 10px; }
.toolbar { justify-content: space-between; flex-wrap: wrap; gap: 8px 20px; padding: 9px 0; border-top: 1px solid var(--ink); border-bottom: 1px solid var(--line); }
.drone-control { flex-wrap: wrap; gap: 8px 20px; }
.selector { gap: 8px; }
.selector > span { color: var(--muted); font: 10px var(--mono); letter-spacing: .07em; text-transform: uppercase; }
.session-controls { margin-left: auto; gap: 14px; }
select, button { font: inherit; color: inherit; background: #fff; border: 1px solid #9da59b; border-radius: 0; padding: 4px 8px; min-height: 28px; }
select {
    max-width: 100%;
    appearance: none;
    padding-right: 30px;
    background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='12' height='8' viewBox='0 0 12 8'%3E%3Cpath d='m1 1 5 5 5-5' fill='none' stroke='%23646963' stroke-width='1.2'/%3E%3C/svg%3E");
    background-repeat: no-repeat;
    background-position: right 10px center;
}
button { font-size: 12px; }
select:enabled, button:enabled { cursor: pointer; }
button:hover:enabled, select:hover:enabled { border-color: var(--ink); background-color: var(--surface); }
button:active:enabled { background: #e5e9e2; }
button:disabled { opacity: .5; }
#flight-state { display: flex; align-items: center; gap: 7px; color: var(--muted); font: 11px var(--mono); white-space: nowrap; }
#flight-state::before { content: ""; width: 6px; height: 6px; background: #a5aaa1; }
body.ready #flight-state::before { background: #3b8050; }
body.controlling #flight-state { color: var(--accent); }
body.controlling #flight-state::before { background: var(--accent); }
.status-bar, .status-heading { display: flex; align-items: baseline; justify-content: space-between; gap: 12px; }
.status-bar { min-height: 28px; padding: 7px 0; color: var(--muted); font: 10px/1.4 var(--mono); }
.loading-status { flex: 1; min-width: 0; }
#status { overflow-wrap: anywhere; }
#fps, #progress-percent { white-space: nowrap; font-variant-numeric: tabular-nums; }
#fps { min-height: 0; padding: 0; border: 0; background: transparent; color: var(--ink); font: inherit; text-decoration: underline dotted var(--muted); text-underline-offset: 3px; }
#fps:hover { color: var(--accent); }
progress { display: block; width: 100%; height: 4px; margin-top: 6px; accent-color: var(--accent); }
[hidden] { display: none !important; }
#error { padding: 10px; border: 1px solid #b86a62; color: #8a2920; white-space: pre-wrap; overflow-wrap: anywhere; }
.views { display: grid; gap: 10px; }
.rgb-views { grid-template-columns: repeat(2, minmax(0, 1fr)); }
.sensor-views { grid-template-columns: repeat(4, minmax(0, 1fr)); margin-top: 10px; }
.view { display: flex; flex-direction: column; margin: 0; min-width: 0; border: 1px solid var(--line); }
figcaption { display: flex; flex: 1; align-items: center; justify-content: space-between; gap: 6px; padding: 6px 8px; border-bottom: 1px solid var(--line); background: var(--surface); font-size: 12px; font-weight: 600; }
.view-format { color: var(--muted); font: 10px var(--mono); white-space: nowrap; }
canvas { display: block; flex-shrink: 0; width: 100%; height: auto; aspect-ratio: 16 / 9; background: var(--surface); }
.camera-frame { position: relative; }
.camera-frame canvas { cursor: pointer; outline: none; }
body.mouse-controlling .camera-frame canvas { cursor: none; }
.control-hint { display: none; position: absolute; top: 14px; left: 50%; transform: translateX(-50%); flex-direction: column; gap: 5px; width: max-content; max-width: calc(100% - 24px); padding: 11px 13px; border: 1px solid var(--ink); background: #fff; pointer-events: none; user-select: none; }
body.ready:not(.controlling) .control-hint { display: flex; }
.hint-action { display: flex; align-items: center; justify-content: space-between; gap: 20px; color: var(--accent); font-size: 14px; font-weight: 600; }
.hint-action > span:last-child { font-size: 18px; line-height: 1; }
.hint-keys { color: var(--muted); font: 10px var(--mono); }
.camera-frame:hover .control-hint { border-color: var(--accent); background: #f0f4ff; }
.flight-footer { display: flex; flex-wrap: wrap; align-items: center; justify-content: space-between; gap: 7px 16px; margin-top: 10px; padding-top: 9px; border-top: 1px solid var(--ink); }
.instructions { display: flex; flex-wrap: wrap; align-items: center; gap: 7px 12px; color: var(--muted); font-size: 10px; }
.instructions > span { display: inline-flex; align-items: center; gap: 4px; }
.pose-readout { display: flex; flex-wrap: wrap; gap: 4px 14px; color: var(--muted); font: 10px/1.5 var(--mono); }
.pose-readout > span { display: inline-flex; align-items: baseline; gap: 6px; }
.pose-values { color: var(--ink); font-variant-numeric: tabular-nums; white-space: nowrap; }
kbd { display: inline-block; min-width: 18px; padding: 1px 4px; border: 1px solid var(--line); background: var(--surface); color: var(--ink); font: 10px/1.5 var(--mono); text-align: center; }
.instructions kbd:last-of-type { margin-right: 3px; }
#flight-tuning, #frame-rate-tuning { width: min(400px, calc(100% - 24px)); max-height: calc(100% - 24px); padding: 18px; border: 1px solid var(--ink); color: inherit; background: #fff; }
#flight-tuning::backdrop, #frame-rate-tuning::backdrop { background: #17251940; }
.tuning-heading, .tuning-actions, .tuning-control label { display: flex; justify-content: space-between; align-items: center; gap: 10px; }
.tuning-heading { padding-bottom: 12px; border-bottom: 1px solid var(--line); }
.tuning-heading h2 { margin: 0; font-size: 16px; }
.tuning-description, .tuning-control p, .tuning-actions span { font-size: 12px; color: var(--muted); }
.tuning-description { margin: 12px 0 0; }
.tuning-control { margin: 16px 0; }
.tuning-control output { color: var(--accent); font: 12px var(--mono); font-variant-numeric: tabular-nums; }
.tuning-control input { width: 100%; margin: 6px 0 0; accent-color: var(--accent); cursor: pointer; }
.tuning-control p { margin: 3px 0 0; }
.tuning-actions { flex-wrap: wrap; padding-top: 12px; border-top: 1px solid var(--line); }
:focus-visible { outline: 2px solid var(--accent); outline-offset: 2px; }
.touch-controls, .touch-hint, #touch-tuning { display: none; }
.touch-ui .mouse-hint { display: none; }
.touch-ui .touch-hint, .touch-ui #touch-tuning { display: block; }
.touch-ui main { max-width: 1200px; padding-left: max(10px, env(safe-area-inset-left)); padding-right: max(10px, env(safe-area-inset-right)); padding-bottom: max(12px, env(safe-area-inset-bottom)); }
.touch-ui .rgb-views { grid-template-areas: "onboard external" "left right"; }
.touch-ui .onboard-view { grid-area: onboard; }
.touch-ui .external-view { grid-area: external; }
.touch-ui .touch-controls { display: contents; }
.stick-left { grid-area: left; }
.stick-right { grid-area: right; }
.stick-group { display: flex; flex-direction: column; align-items: center; gap: 6px; padding: 6px 0; user-select: none; -webkit-user-select: none; }
.stick-title { color: var(--ink); font: 10px var(--mono); letter-spacing: .07em; text-transform: uppercase; }
.stick-help { color: var(--muted); font: 10px var(--mono); text-align: center; }
.touch-stick { position: relative; width: 124px; height: 124px; flex-shrink: 0; border: 1px solid var(--line); border-radius: 50%; background: linear-gradient(var(--line), var(--line)) center / 1px 100% no-repeat, linear-gradient(var(--line), var(--line)) center / 100% 1px no-repeat, var(--surface); touch-action: none; -webkit-touch-callout: none; }
.touch-stick[aria-disabled="true"] { opacity: .4; }
.touch-controlling .touch-stick { border-color: var(--ink); }
.stick-thumb { position: absolute; left: 50%; top: 50%; width: 42px; height: 42px; border: 1px solid var(--accent); border-radius: 50%; background: #e8eefc; pointer-events: none; transform: translate(calc(-50% + var(--stick-x, 0px)), calc(-50% + var(--stick-y, 0px))); }
.touch-ui button, .touch-ui select { min-height: 44px; }
.touch-ui .session-controls { gap: 8px; }
.touch-ui #fps { min-width: 64px; }
@media (min-width: 800px) {
    main { max-width: clamp(680px, calc((100dvh - 269px) * 64 / 27), 1200px); }
}
@media (max-width: 799px) {
    .sensor-views { grid-template-columns: repeat(2, minmax(0, 1fr)); }
    .control-hint { top: 10px; padding: 9px 10px; }
    .hint-action { font-size: 12px; gap: 10px; }
    .hint-keys { font-size: 9px; }
}
@media (max-width: 540px) {
    main { padding: 10px; }
    header { margin-bottom: 10px; }
    h1 img { width: 180px; }
    .drone-control { width: 100%; justify-content: space-between; gap: 8px; }
    .selector { align-items: flex-start; flex-direction: column; gap: 4px; }
    .session-controls { justify-content: space-between; width: 100%; margin-left: 0; }
    .rgb-views { grid-template-columns: minmax(0, 1fr); }
    .touch-ui .rgb-views { grid-template-columns: repeat(2, minmax(0, 1fr)); grid-template-areas: "onboard onboard" "left right" "external external"; }
    .touch-ui #flight-state { font-size: 10px; }
    .touch-ui .drone-control { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); }
    .touch-ui .selector { min-width: 0; }
    .touch-ui select { width: 100%; }
    .touch-controlling #flight-state { display: none; }
    .touch-ui .session-controls { gap: 6px; }
    .touch-ui .session-controls button { padding: 4px 6px; font-size: 11px; }
}
@media (orientation: landscape) and (max-height: 540px) {
    .touch-ui main { padding-top: 6px; }
    .touch-ui header { margin-bottom: 5px; }
    .touch-ui h1 img { width: 120px; }
    .touch-ui .toolbar { padding: 3px 0; gap: 4px; }
    .touch-ui .drone-control { gap: 8px; }
    .touch-ui .selector { gap: 4px; }
    .touch-ui .selector > span { display: none; }
    .touch-ui .status-bar { padding: 2px 0; }
    .touch-ui .rgb-views { grid-template-columns: minmax(132px, 1fr) minmax(0, 3fr) minmax(132px, 1fr); grid-template-areas: "left onboard right" ". external ."; align-items: center; }
    .touch-ui .onboard-view { width: min(100%, calc((100dvh - 182px) * 16 / 9)); justify-self: center; }
    .touch-ui .external-view { margin-top: 10px; }
}
@media (orientation: landscape) and (max-height: 540px) and (max-width: 760px) {
    .touch-ui #flight-state { display: none; }
}
@media (orientation: portrait) and (max-height: 620px) {
    .touch-ui main { padding-top: 6px; }
    .touch-ui header { margin-bottom: 6px; }
    .touch-ui h1 img { width: 140px; }
    .touch-ui .touch-stick { width: 100px; height: 100px; }
    .touch-ui .stick-group { gap: 4px; padding: 4px 0; }
}