gitfeber · gitfeber · Jun 13, 2026 · Jun 13, 2026
diff --git a/README.md b/README.md
@@ -58,8 +58,8 @@ Prefer bench testing and disconnected telemetry validation before using the soft
 - **Telemetry sidebar** — **Text** or **Inst** (mini gauges with the same telemetry fields as text mode); drag card headers (⠿) to reorder (shared order for both views, stored in `uav-gcs.sidebar.order`); **Reset** restores recommended flight-priority order; alerts stay fixed at the top
 - **Serial link** — port picker (USB/PNP preferred), manual path entry, common baud rates
 - **Activity log** — connection status, parser stats, frame message stats
-- **Optional video stream** (MJPEG, etc.) via environment variables; crosshair overlay for ground-target estimation
-- **Ground target estimation** (desktop) — image-center target with GeoTIFF DEM ray marching, map marker, line-of-sight, and sample-log export
+- **Optional video stream** (MJPEG, etc.) via environment variables; crosshair overlay; when the stream is live, a **Ground Target** panel docks beside the camera feed
+- **Ground target estimation** (desktop) — image-center target with GeoTIFF DEM ray marching, map marker, line-of-sight, and sample-log export (shown next to the camera when video is live)
 - **Preflight health advisory** — sensor and link health checks with configurable thresholds
 - **Session logging** and reset for new flights
 - **Onboarding tour** — first-run walkthrough of link controls, telemetry sidebar, map, camera, and activity log; skip anytime; restart from the **?** button in the top bar (`localStorage` keys `uav-gcs.onboarding.*`)
@@ -223,7 +223,7 @@ Empty system ports without device metadata are hidden; unusual paths can be ente
 
 ### Ground target terrain model (desktop)
 
-Real elevation for **ground target estimation** is desktop-only (see [`docs/adr/0005-target-estimation-ts-rust-split.md`](docs/adr/0005-target-estimation-ts-rust-split.md)). Use **Browse…** in the Ground Target card to pick a local GeoTIFF/DGM, or paste a path manually; the Rust backend keeps a sliding **4 km × 4 km** window around the UAV and serves batched elevation queries for ray marching. **EPSG:25832** (ETRS89 / UTM 32N) projected GeoTIFFs — including common 1 m DGM-class tiles — are sampled in projected meters; WGS84 UAV coordinates are transformed before lookup. Geographic **EPSG:4326** GeoTIFFs continue to use lat/lon sampling.
+Real elevation for **ground target estimation** is desktop-only (see [`docs/adr/0005-target-estimation-ts-rust-split.md`](docs/adr/0005-target-estimation-ts-rust-split.md)). When the camera stream is live, use **Browse…** in the Ground Target panel beside the video feed to pick a local GeoTIFF/DGM, or paste a path manually; the Rust backend keeps a sliding **4 km × 4 km** window around the UAV and serves batched elevation queries for ray marching. **EPSG:25832** (ETRS89 / UTM 32N) projected GeoTIFFs — including common 1 m DGM-class tiles — are sampled in projected meters; WGS84 UAV coordinates are transformed before lookup. Geographic **EPSG:4326** GeoTIFFs continue to use lat/lon sampling.
 
 **CRS detection:** the desktop DEM loader prefers GeoTIFF **GeoKey** EPSG tags (`projected_type` / `geographic_type` via the `geotiff` 0.1 reader). When those tags are missing, it falls back to model-extent heuristics for EPSG:25832 / UTM32 and WGS84 geographic tiles. Unsupported CRS values fail at load time with a clear error instead of sampling with the wrong axis order.
 
@@ -233,10 +233,10 @@ Use a **small GeoTIFF clipped around your flight area** (full-state tiles are la
 
 1. Start the desktop app with live telemetry over the flight area.
 2. **No DEM loaded** — Ground Target estimate should be **bad** with `dem_not_loaded`; map marker/LOS hidden.
-3. **Browse…** or paste a DEM path in the Ground Target card, then confirm metadata loads.
+3. **Browse…** or paste a DEM path in the Ground Target panel (beside the camera feed when video is live), then confirm metadata loads.
 4. **Metadata check** — expect **EPSG:25832** (ETRS89 / UTM zone 32N) for projected tiles, resolution about **1 m** for DGM-class data, and a plausible source path.
 5. **Valid/warn estimate** — orange map marker and dashed LOS appear when gimbal/GPS gates pass.
-6. **Bad estimate** — marker/LOS hidden; inspect reasons in the Ground Target card.
+6. **Bad estimate** — marker/LOS hidden; inspect reasons in the Ground Target panel beside the camera feed.
 7. If **every** sample is `dem_out_of_coverage`, the tile CRS is likely wrong, the UAV is outside the GeoTIFF extent, or the file is not EPSG:25832 / UTM32. `dem_nodata` means the raster cell is empty/NoData inside coverage.
 8. Calibration, terrain path, and sample-log JSON/CSV export should persist across reload (`localStorage` + in-memory log). Desktop **Save JSON…** / **Save CSV…** use native file dialogs.
 
@@ -254,7 +254,7 @@ Frontend wrapper: [`apps/web/src/lib/tauriDemTerrain.ts`](apps/web/src/lib/tauri
 
 ### Ground target estimation (live)
 
-Ground target estimation (image center) runs in **live** mode only. Use the sortable **Ground Target** sidebar card for full readout and settings (`localStorage` keys `uav-gcs.target.*`, including video latency, altitude mode/offset, gimbal calibration offsets, raycast range/step/min-down-angle, and stale-telemetry threshold; values are range-validated on load). The camera panel shows a crosshair plus compact lat/lon, slant range, and quality. Valid or warn estimates also draw an orange map marker and dashed line-of-sight from the UAV; **bad** estimates hide the marker/LOS. Desktop requires a loaded DEM — missing terrain surfaces `dem_not_loaded` instead of silently using flat terrain; load rejects path traversal, non-GeoTIFF extensions, and oversized rasters. Browser dev uses synthetic flat terrain only. The sidebar also keeps an in-memory **target sample log** (600 samples) with manual JSON/CSV export; desktop can save to disk via native file dialogs (`save_target_log`, `.json`/`.csv` only).
+Ground target estimation (image center) runs in **live** mode only. When the camera stream is **live**, the **Ground Target** panel appears beside the video feed with full readout and settings (`localStorage` keys `uav-gcs.target.*`, including video latency, altitude mode/offset, gimbal calibration offsets, raycast range/step/min-down-angle, and stale-telemetry threshold; values are range-validated on load). Valid or warn estimates draw an orange map marker and dashed line-of-sight from the UAV; **bad** estimates hide the marker/LOS. Desktop requires a loaded DEM — missing terrain surfaces `dem_not_loaded` instead of silently using flat terrain; load rejects path traversal, non-GeoTIFF extensions, and oversized rasters. Browser dev uses synthetic flat terrain only. The panel keeps an in-memory **target sample log** (600 samples) with manual JSON/CSV export; desktop can save to disk via native file dialogs (`save_target_log`, `.json`/`.csv` only).
 
 On the **desktop** link, gimbal attitude for estimation comes from MAVLink **285** (`GIMBAL_DEVICE_ATTITUDE_STATUS`, preferred) or compact legacy **265** euler payloads (skipped when the frame is large enough to be standard `MOUNT_ORIENTATION`). Vehicle **ATTITUDE** remains the body-fixed fallback in TypeScript when no gimbal message is present. Pose-related frames also populate `sampledAtMs` for ring-buffer alignment; check the activity panel for `GIMBAL_DEVICE_ATTITUDE_STATUS` / `GIMBAL_LEGACY` frame counts.
 

diff --git a/apps/desktop/package.json b/apps/desktop/package.json
@@ -1,6 +1,6 @@
 {
   "name": "@uav-ground-control-station/desktop",
-  "version": "0.2.38",
+  "version": "0.2.39",
   "private": true,
   "license": "GPL-3.0-only",
   "type": "module",

diff --git a/apps/desktop/src-tauri/Cargo.toml b/apps/desktop/src-tauri/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "uav-ground-control-station"
-version = "0.2.38"
+version = "0.2.39"
 description = "Native desktop shell for UAV Ground Control Station"
 authors = ["F. Eber"]
 license = "GPL-3.0-only"

diff --git a/apps/desktop/src-tauri/tauri.conf.json b/apps/desktop/src-tauri/tauri.conf.json
@@ -1,7 +1,7 @@
 {
   "$schema": "https://schema.tauri.app/config/2",
   "productName": "UAV Ground Control Station",
-  "version": "0.2.38",
+  "version": "0.2.39",
   "identifier": "com.uav.ground-control-station",
   "build": {
     "beforeDevCommand": "pnpm --filter @uav-ground-control-station/web dev",

diff --git a/apps/web/src/App.tsx b/apps/web/src/App.tsx
@@ -175,7 +175,6 @@ export function App() {
                 distanceFromHome={distanceFromHome}
                 alerts={alerts}
                 preflight={preflight}
-                targetEstimation={targetEstimation}
                 telemetryStale={telemetryStale}
               />
               <ErrorBoundary>
@@ -190,7 +189,7 @@ export function App() {
                 />
               </ErrorBoundary>
               <ActivityLogPanel logs={logs} messages={status.mavlinkMessages ?? []} onClear={clearLogs} />
-              <VideoPanel estimate={targetEstimation.estimate} />
+              <VideoPanel targetEstimation={targetEstimation} />
 
               {activeSourceMode !== "live" && (
                 <div className="absolute right-4 top-4 z-20">

diff --git a/apps/web/src/components/TelemetrySidebar.tsx b/apps/web/src/components/TelemetrySidebar.tsx
@@ -5,8 +5,6 @@ import { clampBatteryPercent, elapsedTime, formatInteger, formatNumber, percenta
 import { sensorHealthSummary } from "../lib/sensorHealth";
 import { defaultSidebarOrder, loadSidebarOrder, saveSidebarOrder, type SidebarCardId } from "../lib/sidebarCardOrder";
 import type { PreflightHealth } from "../lib/preflight";
-import type { TargetEstimationController } from "../hooks/useTargetEstimation";
-import { GroundTargetPanel } from "./GroundTargetPanel";
 import { Badge, Metric, Panel } from "./Panel";
 import { PreflightHealthCard } from "./PreflightHealthCard";
 import type { SidebarDragHandlers } from "./SidebarSortableList";
@@ -22,7 +20,6 @@ interface TelemetrySidebarProps {
   distanceFromHome: number | null;
   alerts: AlertItem[];
   preflight: PreflightHealth;
-  targetEstimation: TargetEstimationController;
   telemetryStale?: boolean;
 }
 
@@ -31,7 +28,6 @@ export function TelemetrySidebar({
   distanceFromHome,
   alerts,
   preflight,
-  targetEstimation,
   telemetryStale = false
 }: TelemetrySidebarProps) {
   const [view, setView] = useState<SidebarView>(() => readSidebarView());
@@ -107,7 +103,7 @@ export function TelemetrySidebar({
           mode="text"
           order={cardOrder}
           onOrderChange={setCardOrder}
-          renderCard={(id, drag) => renderTextCard(id, { telemetry, distanceFromHome, batteryPercent, sensorSummary, targetEstimation }, drag)}
+          renderCard={(id, drag) => renderTextCard(id, { telemetry, distanceFromHome, batteryPercent, sensorSummary }, drag)}
         />
       )}
     </aside>
@@ -119,23 +115,13 @@ interface TextRenderContext {
   distanceFromHome: number | null;
   batteryPercent: number | null;
   sensorSummary: string;
-  targetEstimation: TargetEstimationController;
 }
 
 function renderTextCard(id: SidebarCardId, ctx: TextRenderContext, drag: SidebarDragHandlers) {
-  const { telemetry, distanceFromHome, batteryPercent, sensorSummary, targetEstimation } = ctx;
+  const { telemetry, distanceFromHome, batteryPercent, sensorSummary } = ctx;
   const sortable = { sortable: true as const, onDragStart: drag.onDragStart, onDragEnd: drag.onDragEnd };
 
   switch (id) {
-    case "groundTarget":
-      return (
-        <GroundTargetPanel
-          {...targetEstimation}
-          sortable
-          onDragStart={drag.onDragStart}
-          onDragEnd={drag.onDragEnd}
-        />
-      );
     case "vehicle":
       return (
         <Panel title="Vehicle" {...sortable}>