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# Prior-art & invention notebook — the practice
The design log already timestamps every design decision in git (signed commits on a public
repo = strong prior-art evidence). This file formalizes it:
1. **Anything that feels novel gets a dated entry here** the day it's conceived, with a
sketch or the commit hash that embodies it.
2. Git history is the authoritative timeline; this file is the index.
## Entries
- **2026-06-26** — ESP32 fail-to-neutral lap-bar position loop between an FC's PWM and hydro
lap bars (commit cf700c1). Watchdog-loss → spring-to-neutral behavior.
- **2026-07-12** — No-pivot coverage planning for heavy ZTRs: headland-inset rows with
smooth-U / 3-point-K waypoint generation sized to hydro-holdable arc radius (commit 40ce7d5).
- **2026-07-12** — Speed-proportional tow-sprayer dosing slaved to RTK ground speed with
yaw-rate application pause (commit 40ce7d5).
*(Defensive publication: all of this is public + MIT — that's the strategy: nobody can patent
it out from under the project.)*
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