CLAUDE: CUAS RT mode-0 path + L2 age/noise/flight-log (pre-JNA-migration checkpoint)

Checkpoint of the CUAS real-time work before the JCuda->JNA GPU-layer migration:
- OpticalFlow.buildSeries mode-0 curt_en fork: generate the merged-CUAS stack via
  CuasRanging.prepareFpixels() (GPU, explicit) then run the CUDA-free CuasDetectRT;
  coexists with the oracle (oracle gated off when curt_en).
- CuasDetectRT: file + in-memory(ImagePlus) entries via shared ingest(); -OFFSET gains
  an L2 "age" slice (5->6 ch), per-level noise scale, -LEV0 uniform naming, -OFFSET-<model> suffix.
- infer_server.py: L2 track-age (masked 5x5 max-pool, AGE_THR=0.2/AGE_K=0.5),
  per-level noise normalization (sqrt(2)^(L-3) default, Java-sent scale), nch + noise_scale
  + CMD_STATUS protocol additions; auto model-switch in CuasDnnRemote.ensureServer.
- cuasSynth + cuasNoise list SET keys (shared synth dir / inline per-level scales).
- CuasRanging.saveUasFlightLogCsv: per-frame UAS truth -> <name>-UAS_DATA.tsv (mode-0 only).
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java

@@ -68,7 +68,9 @@ public class EyesisCorrectionParameters {
     			"resultsDirectory", // 6
     			"cuasSeed",         // 7
     			"uasLogs",          // 8
-    			"skyMask"};         // 9  
+    			"skyMask",          // 9
+    			"cuasSynth",        // 10 shared synthetic-grid dir (curt_synth_src), valid for all sequences. By Claude on 06/24/2026
+    			"cuasNoise"};       // 11 INLINE per-level L2 noise-scale numbers (NOT a path); empty -> sqrt default. By Claude on 06/24/2026
     	public static final int KEY_INDEX_ROOT_DIRECTORY =    0;
     	public static final int KEY_INDEX_SOURCE_DIRECTORY =  1;
     	public static final int KEY_INDEX_LINKED_MODELS =     2;
@@ -79,6 +81,8 @@ public class EyesisCorrectionParameters {
     	public static final int KEY_INDEX_CUAS_SEED =         7;
     	public static final int KEY_INDEX_UAS_LOGS =          8;
     	public static final int KEY_INDEX_SKY_MASK =          9;
+    	public static final int KEY_INDEX_CUAS_SYNTH =       10; // By Claude on 06/24/2026
+    	public static final int KEY_INDEX_CUAS_NOISE =       11; // inline per-level noise scales. By Claude on 06/24/2026
     	
     	public static final String AUX_PREFIX = "AUX-";
     	public boolean swapSubchannels01=      true; // false; // (false: 0-1-2, true - 1-0-2)
@@ -129,6 +133,8 @@ public class EyesisCorrectionParameters {
     	public String cuasSeedDir=             "";
     	public boolean useCuasSeedDir=         false;
     	public String cuasSkyMask =            "";  // TIFF image 640x512 where 1.0 - sky, 0.0 - ground, blurred with GB (now sigma==2.0)
+    	public String cuasSynth =              "";  // shared dir holding the synthetic-grid TIFF (curt_synth_src) - valid for ALL sequences, resolved from the list SET key "cuasSynth" (relative to rootDirectory), like cuasSkyMask; empty -> per-sequence model dir (old behavior). By Claude on 06/24/2026
+    	public String cuasNoise =              "";  // INLINE per-level L2 noise-scale numbers from the list SET key "cuasNoise" (e.g. "0.354,0.5,0.707,1.0,1.414,2.0"); NOT a path. Empty -> theoretical sqrt(2)^(L-3) default (computed in CuasDetectRT). By Claude on 06/24/2026
     	public String cuasUasLogs =            "";  // json file path containing UAS logs
     	public double cuasUasTimeStamp =       0.0; // timestamp corresponding to the UAS time 0.0
     	public double [] cuasCameraATR =       {0, 0, 0};
@@ -322,6 +328,8 @@ public class EyesisCorrectionParameters {
   			cp.useCuasSeedDir=    	    this.useCuasSeedDir;
   			
   			cp.cuasSkyMask =            this.cuasSkyMask;
+  			cp.cuasSynth =              this.cuasSynth;
+  			cp.cuasNoise =              this.cuasNoise;
   			cp.cuasUasLogs =            this.cuasUasLogs;
   			cp.cuasUasTimeStamp =       this.cuasUasTimeStamp;
   			cp.cuasCameraATR =          this.cuasCameraATR.clone();
@@ -1833,7 +1841,7 @@ public class EyesisCorrectionParameters {
             		if (dir_map.get(KEY_DIRS[i]).length() > 0){
             			Path dir_path=base_path.resolve(Paths.get(dir_map.get(KEY_DIRS[i])));
             			File dir_file = new File(dir_path.toString());
-            			if ((i != KEY_INDEX_UAS_LOGS) && (i != KEY_INDEX_SKY_MASK)) { // cuasUasLogs, cuasSkyMask are files, not directories
+            			if ((i != KEY_INDEX_UAS_LOGS) && (i != KEY_INDEX_SKY_MASK) && (i != KEY_INDEX_CUAS_SYNTH) && (i != KEY_INDEX_CUAS_NOISE)) { // cuasUasLogs/cuasSkyMask=files; cuasSynth=input dir; cuasNoise=inline numbers (not a path) - don't auto-create. By Claude on 06/24/2026
             				if (!dir_file.exists()) {
             					if (MKDIRS_ALLOW) {
             						dir_file.mkdirs();
@@ -1902,6 +1910,19 @@ public class EyesisCorrectionParameters {
             			this.cuasSkyMask =     dir_string; // dir_path.toString();
             			System.out.println("this.cuasSkyMask=" + this.cuasSkyMask);
 
+            			break;
+            		case KEY_INDEX_CUAS_SYNTH: // 10: shared synthetic-grid dir (curt_synth_src), all sequences. By Claude on 06/24/2026
+            			this.cuasSynth =       dir_string;
+            			System.out.println("this.cuasSynth=" + this.cuasSynth);
+            			break;
+            		case KEY_INDEX_CUAS_NOISE: // 11: INLINE per-level noise scales (numbers, NOT a path). By Claude on 06/24/2026
+            			{
+            				StringBuilder nsb = new StringBuilder(dir_map.get(KEY_DIRS[i])); // first number
+            				ArrayList<String> nx = extra_map.get(KEY_DIRS[i]);              // remaining numbers
+            				if (nx != null) for (String v : nx) nsb.append(",").append(v);
+            				this.cuasNoise = nsb.toString();
+            			}
+            			System.out.println("this.cuasNoise=" + this.cuasNoise);
             			break;
             		}
             	}

src/main/java/com/elphel/imagej/cuas/CuasRanging.java

@@ -2881,6 +2881,64 @@ public class CuasRanging {
 		}
 	}
 
+	/** Standalone UAS flight-log extraction for the mode-0 RT path (NO CuasMotion / targets array): project the
+	 *  DJI flight log to per-scene px,py,range using center_CLT pose + uasLogReader, accumulate a TSV (same columns
+	 *  + UAS_DATA_SUFFIX as addUasData), save via the QuadCLT model dir. Timestamps = imp_targets slice labels
+	 *  (skip leading non-digit "average" slices, == CuasDetectRT.ingest). Needs QuadCLT pose, so mode-0 only (not
+	 *  the mode=3 file path). By Claude on 06/24/2026 */
+	public void saveUasFlightLogCsv(UasLogReader uasLogReader, ImagePlus imp_targets) {
+		if (uasLogReader == null) {
+			System.out.println("saveUasFlightLogCsv(): no UAS log reader - skipping flight-log CSV");
+			return;
+		}
+		if ((imp_targets == null) || (imp_targets.getStackSize() < 1)) {
+			System.out.println("saveUasFlightLogCsv(): no imp_targets - skipping flight-log CSV");
+			return;
+		}
+		// camera reference LLA from center_CLT (mirror addUasData)
+		if ((getCenter_CLT() != null) && getCenter_CLT().hasIns()) {
+			double [] cameraLla = getCenter_CLT().getLla();
+			if ((cameraLla != null) && ((cameraLla[0] != 0.0) || (cameraLla[1] != 0.0))) {
+				uasLogReader.setCameraLLA(cameraLla);
+			}
+		}
+		double [] cam_atr = uasLogReader.getCameraATR();
+		int tilesX = getCenter_CLT().getTileProcessor().getTilesX();
+		int tilesY = getCenter_CLT().getTileProcessor().getTilesY();
+		ij.ImageStack stack = imp_targets.getStack();
+		int num_slices = stack.getSize();
+		int first_slice = 1;
+		for (; (first_slice <= num_slices) && !Character.isDigit(stack.getSliceLabel(first_slice).charAt(0)); first_slice++);
+		StringBuffer sb = new StringBuffer();
+		sb.append("seq\tts\tstatus\tpx\tpy\ttile_x\ttile_y\trange\tlat\tlon\talt\tnorth\teast\tdown\tcam_az\tcam_tilt\tcam_roll\n");
+		int nseq = 0;
+		for (int slice = first_slice; slice <= num_slices; slice++, nseq++) {
+			// slice labels can carry a suffix (e.g. "1773135457.547099-0"); extract the bare timestamp the
+			// same way as QuadCLT.getTimeStamp (regex \d{5,10}\.\d{6}), but keep it a STRING - the double
+			// round-trip would lose microsecond precision at this magnitude. By Claude on 06/24/2026
+			String norm = stack.getSliceLabel(slice).replace("_", ".");
+			java.util.regex.Matcher tm = java.util.regex.Pattern.compile("\\d{5,10}\\.\\d{6}").matcher(norm);
+			String timestamp = tm.find() ? norm.substring(tm.start(), tm.end()) : norm;
+			double [] uas =    uasLogReader.getUasPxPyDRange(timestamp); // px, py, disparity, range
+			double [] llaned = uasLogReader.getUasLlaNed(timestamp);     // lat, lon, alt, N, E, D
+			if (uas != null) {
+				double px = uas[0], py = uas[1], range = uas[3];
+				int tileX = (int) (px / GPUTileProcessor.DTT_SIZE);
+				int tileY = (int) (py / GPUTileProcessor.DTT_SIZE);
+				String status = ((tileX >= 0) && (tileY >= 0) && (tileX < tilesX) && (tileY < tilesY)) ? "IN FoV" : "OUT OF FoV";
+				sb.append(nseq+"\t"+timestamp+"\t"+status+"\t"+px+"\t"+py+"\t"+tileX+"\t"+tileY+"\t"+range+"\t"+
+						llaned[0]+"\t"+llaned[1]+"\t"+llaned[2]+"\t"+llaned[3]+"\t"+llaned[4]+"\t"+llaned[5]+"\t"+
+						cam_atr[0]+"\t"+cam_atr[1]+"\t"+cam_atr[2]+"\n");
+			} else {
+				sb.append(nseq+"\t"+timestamp+"\tno entry\t\t\t\t\t\t"+
+						((llaned != null) ? (llaned[0]+"\t"+llaned[1]+"\t"+llaned[2]) : "\t\t")+
+						"\t\t\t\t"+cam_atr[0]+"\t"+cam_atr[1]+"\t"+cam_atr[2]+"\n");
+			}
+		}
+		getCenter_CLT().saveStringInModelDirectory(sb.toString(), UAS_DATA_SUFFIX, false);
+		System.out.println("saveUasFlightLogCsv(): wrote UAS flight log ("+nseq+" scenes) -> "+getCenter_CLT().getImageName()+UAS_DATA_SUFFIX);
+	}
+
 	// relies on calcMatchingTargetsLengths(.., true,...) called from recalcOmegas() to set [RSLT_GLOBAL]
 	public void saveTargetStats(
 			final double [][][] targets_single) {

src/main/java/com/elphel/imagej/cuas/rt/CuasDnnRemote.java

@@ -29,7 +29,7 @@ import java.nio.file.Files;
  *   BYE     : cmd=0
  */
 public class CuasDnnRemote implements AutoCloseable {
-	private static final int CMD_BYE = 0, CMD_UPLOAD = 1, CMD_INFER = 2, CMD_READBACK = 3;
+	private static final int CMD_BYE = 0, CMD_UPLOAD = 1, CMD_INFER = 2, CMD_READBACK = 3, CMD_STATUS = 4;
 	private final Socket sock;
 	private final DataInputStream  in;
 	private final DataOutputStream out;
@@ -73,27 +73,30 @@ public class CuasDnnRemote implements AutoCloseable {
 	 *  the GPU) + the total pure-GPU compute ms (continuous = production throughput). */
 	public static class BatchResult {
 		public double gpuMs;
-		public int H, W, count, nvel, rh, rw;
-		public float [][][] offset5;    // [count][5][H*W]
+		public int H, W, count, nvel, rh, rw, nch;   // nch = offset channels: 5 {dx,dy,s,Vx,Vy} or 6 (+L2 age). By Claude 06/24/2026
+		public float [][][] offset5;    // [count][nch][H*W]
 		public float [][][] roiField;   // [count][rh*rw][nvel]
 	}
 
 	/** Infer `count` scenes of a level in one round-trip (newest_s = start + s*stride). rmaxCells>0
 	 *  enables the on-GPU ghostbuster (== CuasDetectRT.dnnGhostbust). Keep `count` modest so the
 	 *  reply byte[] stays < 2GB (count*5*H*W*4): count<=64 is ~419MB at 640x512. */
-	public BatchResult inferBatch(int level, int start, int count, int stride, Rectangle roi, double rmaxCells) throws Exception {
+	public BatchResult inferBatch(int level, int start, int count, int stride, Rectangle roi, double rmaxCells,
+			boolean l2Enable, boolean l2Reset, double noiseScale) throws Exception {
 		out.writeInt(CMD_INFER); out.writeInt(level); out.writeInt(start); out.writeInt(count); out.writeInt(stride);
 		out.writeInt(roi.x); out.writeInt(roi.y); out.writeInt(roi.width); out.writeInt(roi.height);
 		out.writeDouble(rmaxCells);
+		out.writeInt(l2Enable ? 1 : 0); out.writeInt(l2Reset ? 1 : 0);   // run Layer-2 on the DGX; reset hidden state at a level's first chunk. By Claude 06/22/2026
+		out.writeDouble(noiseScale);   // per-level L1-input noise scale (Java is the source of truth; <=0 -> server sqrt fallback). By Claude 06/24/2026
 		out.flush();
 		BatchResult r = new BatchResult();
 		r.gpuMs = in.readDouble(); r.H = in.readInt(); r.W = in.readInt();
-		r.count = in.readInt(); r.nvel = in.readInt(); r.rh = in.readInt(); r.rw = in.readInt();
+		r.count = in.readInt(); r.nch = in.readInt(); r.nvel = in.readInt(); r.rh = in.readInt(); r.rw = in.readInt();   // +nch. By Claude 06/24/2026
 		int hw = r.H * r.W, rn = r.rh * r.rw;
-		byte [] ob = new byte [r.count * 5 * hw * 4]; in.readFully(ob);
+		byte [] ob = new byte [r.count * r.nch * hw * 4]; in.readFully(ob);
 		ByteBuffer obb = ByteBuffer.wrap(ob);
-		r.offset5 = new float [r.count][5][hw];
-		for (int s = 0; s < r.count; s++) for (int c = 0; c < 5; c++) for (int p = 0; p < hw; p++) r.offset5[s][c][p] = obb.getFloat();
+		r.offset5 = new float [r.count][r.nch][hw];
+		for (int s = 0; s < r.count; s++) for (int c = 0; c < r.nch; c++) for (int p = 0; p < hw; p++) r.offset5[s][c][p] = obb.getFloat();
 		byte [] rb = new byte [r.count * rn * r.nvel * 4]; in.readFully(rb);
 		ByteBuffer rbb = ByteBuffer.wrap(rb);
 		r.roiField = new float [r.count][rn][r.nvel];
@@ -148,21 +151,70 @@ public class CuasDnnRemote implements AutoCloseable {
 		if (p.waitFor() != 0) throw new Exception("deploy " + name + " to " + sshTarget + ":" + dest + " failed");
 	}
 
-	/** Ensure the DGX server is reachable at hostPort; if not, deploy the (bundled/override) scripts and
-	 *  ssh-launch run_infer_server.sh with RUN=model, then poll until it accepts connections. No manual step. */
-	public static void ensureServer(String hostPort, String model, String srcdir) throws Exception {
+	/** Query the running server for its loaded {L1 model, L2 model} paths (L2="" if L1-only), or null
+	 *  if unreachable or the server is too old to answer CMD_STATUS. A short read timeout keeps an old
+	 *  server (which ignores the opcode and never replies) from hanging the client. By Claude 06/24/2026 */
+	private static String [] queryModels(String host, int port) {
+		try (Socket s = new Socket()) {
+			s.connect(new InetSocketAddress(host, port), 1500);
+			s.setSoTimeout(2500);
+			DataOutputStream o = new DataOutputStream(s.getOutputStream());
+			DataInputStream  i = new DataInputStream (s.getInputStream());
+			o.writeInt(CMD_STATUS); o.flush();
+			int n1 = i.readInt(); byte [] b1 = new byte [n1]; i.readFully(b1);
+			int n2 = i.readInt(); byte [] b2 = new byte [n2]; i.readFully(b2);
+			try { o.writeInt(CMD_BYE); o.flush(); } catch (Exception e) { /* ignore */ }
+			return new String [] { new String(b1, java.nio.charset.StandardCharsets.UTF_8),
+			                       new String(b2, java.nio.charset.StandardCharsets.UTF_8) };
+		} catch (Exception e) {
+			return null;                                                          // unreachable, or old server (status read timed out)
+		}
+	}
+
+	/** ssh-stop the DGX server (docker rm -f) so the next launch can load a different model. By Claude 06/24/2026 */
+	private static void stopServer(String sshTarget, String code, int port) throws Exception {
+		ProcessBuilder pb = new ProcessBuilder("ssh", sshTarget,
+				"cd " + code + " && PORT=" + port + " ./run_infer_server.sh stop");
+		pb.inheritIO();
+		pb.start().waitFor();
+	}
+
+	/** Ensure the DGX server is up at hostPort WITH the requested L1+L2 models; if a different model is
+	 *  loaded (or the server is an old build that can't report), tear it down and relaunch. Then deploy the
+	 *  (bundled/override) scripts and ssh-launch run_infer_server.sh with RUN=model, polling until it accepts
+	 *  connections. No manual step. All decisions logged to System.out (-> ImageJ log file). By Claude 06/24/2026 */
+	public static void ensureServer(String hostPort, String model, String l2model, String srcdir) throws Exception {
 		String [] hp = hostPort.split(":");
 		String host = hp[0].trim();
 		int port = (hp.length > 1) ? Integer.parseInt(hp[1].trim()) : 5577;
-		if (canConnect(host, port, 1500)) return;                                 // already up
 		String sshTarget = "elphel@" + host;                                      // DGX login user
 		String code = "/home/elphel/c5p_dnn";                                     // DGX dir (model.py + runs/ live here)
-		System.out.println("CuasDnnRemote.ensureServer(): no server at " + host + ":" + port
-				+ " - deploying scripts + launching on " + sshTarget + " (model=" + model + ")");
+		String wantL2 = (l2model == null) ? "" : l2model;                         // normalize (server reports "" for L1-only)
+		if (canConnect(host, port, 1500)) {                                       // a server is listening - is it the right one?
+			String [] cur = queryModels(host, port);
+			if ((cur != null) && cur[0].equals(model) && cur[1].equals(wantL2)) {
+				System.out.println("CuasDnnRemote.ensureServer(): server at " + host + ":" + port
+						+ " already loaded with matching models (L1=" + model + ", L2=" + (wantL2.isEmpty()?"off":wantL2) + ") - reusing");
+				return;
+			}
+			if (cur == null) {
+				System.out.println("CuasDnnRemote.ensureServer(): server at " + host + ":" + port
+						+ " up but did not report models (old build) - restarting for L1=" + model + ", L2=" + (wantL2.isEmpty()?"off":wantL2));
+			} else {
+				System.out.println("CuasDnnRemote.ensureServer(): server model MISMATCH at " + host + ":" + port
+						+ " (has L1=" + cur[0] + ", L2=" + (cur[1].isEmpty()?"off":cur[1])
+						+ "; want L1=" + model + ", L2=" + (wantL2.isEmpty()?"off":wantL2) + ") - restarting");
+			}
+			stopServer(sshTarget, code, port);                                    // free the port so the relaunch loads the new model
+		}
+		String run2 = !wantL2.isEmpty() ? (" RUN2=" + wantL2) : "";               // optional Layer-2. By Claude 06/22/2026
+		System.out.println("CuasDnnRemote.ensureServer(): launching server on " + sshTarget
+				+ " (model=" + model + ", l2=" + (run2.isEmpty()?"off":wantL2) + ")");
 		deployScript("infer_server.py",     srcdir, sshTarget, code + "/infer_server.py");
+		deployScript("layer2.py",            srcdir, sshTarget, code + "/layer2.py");   // Layer-2 model module (Layer2Net). By Claude 06/22/2026
 		deployScript("run_infer_server.sh",  srcdir, sshTarget, code + "/run_infer_server.sh");
 		ProcessBuilder pb = new ProcessBuilder("ssh", sshTarget,
-				"cd " + code + " && chmod +x run_infer_server.sh && RUN=" + model + " PORT=" + port + " ./run_infer_server.sh start");
+				"cd " + code + " && chmod +x run_infer_server.sh && RUN=" + model + run2 + " PORT=" + port + " ./run_infer_server.sh start");
 		pb.inheritIO();
 		pb.start().waitFor();
 		long deadline = System.currentTimeMillis() + 90000;                       // model load + warm-up can take a bit

src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java

@@ -1168,6 +1168,8 @@ min_str_neib_fpn	0.35
 	public String   curt_dnn_remote_host = "192.168.0.62:5577"; // DGX inference server host:port for curt_dnn_remote (see attic/imagej-elphel-internal/c5p_dnn/infer_server.py) // By Claude on 06/20/2026
 	public String   curt_dnn_remote_model = "runs/weighted9_pm_s"; // DGX-side run dir (with model.pt) the auto-launched server loads (passed as RUN=) // By Claude on 06/20/2026
 	public String   curt_dnn_remote_srcdir = ""; // server-scripts override dir: empty = bundled jar resource (cuas_dnn/), set = local dir - same default-vs-override scheme as the GPU kernels (cuda_project_directory) // By Claude on 06/20/2026
+	public boolean  curt_dnn_l2 =          false; // run the trained Layer-2 (track-before-detect ConvGRU) on the DGX after L1: -OFFSET then carries L2 {det,Vx,Vy} (L1's full-res, NON-ghostbusted field fed in, recurrence over the scene/time axis). Off = L1 offset5 as before (re-run with this off to inspect L1). Requires curt_dnn_remote. // By Claude on 06/22/2026
+	public String   curt_dnn_l2_model =    "runs/l2_v1"; // DGX-side Layer-2 run dir (with model.pt) the auto-launched server loads (passed as RUN2=) // By Claude on 06/22/2026
 	public boolean  curt_dnn_recur_splat = false; // when feeding the DNN field to the recurrent layer: false = feed per-pixel field as-is; true = splat each pixel's velocity vector to its fractional offset (px+dx,py+dy) so neighbours reinforce in one sub-pixel bin // By Claude on 06/14/2026
 	public double   curt_dnn_recur_scale = 10.0;  // multiply the DNN field (softmax*s, peaks ~0.1) by this before the recurrent feed, to reach the recurrent's tuned scale (rs_min=1.0); ~10 -> peak ~1.0. Alternative to lowering curt_recur_rs_min // By Claude on 06/14/2026
 	public boolean  curt_synth_src =       true;  // default set for the synthetic B-measurement experiment (set false for real-data runs); reads *-CUAS-SYNTHETIC-CUAS.tiff, output titles get -SYNTH // By Claude on 06/12/2026
@@ -2702,8 +2704,8 @@ min_str_neib_fpn	0.35
 				"Maximal gain for motion blur correction (if needed more for 1 pixel, increase offset). Will be forced fro the last adjustment");
 		gd.addNumericField("Maximal gain pose",                      this.mb_max_gain_inter, 5,7,"x",
 				"Maximal gain for motion blur correction during interscene correlation. Will be used for all but the last adjustment.");
-		gd.addTab("CUAS","CUAS Parameters");
-		gd.addCheckbox ("Enable targets processing",                 this.cuas_targets_en,
+		gd.addTab("CUAS Oracle","CUAS OracleParameters");
+		gd.addCheckbox ("Enable Oracle targets processing",          this.cuas_targets_en,
 				"Enable extraction and processing targets.");
 		gd.addCheckbox ("Re-calculate center CLT",                   this.cuas_update_existing,
 				"Re-create center_CLT if it exists (FIXME: accumulates errors - need fixing).");
@@ -3478,6 +3480,10 @@ min_str_neib_fpn	0.35
 				"DGX-side run directory (containing model.pt) the auto-launched server loads, e.g. runs/weighted9_pm_s.");
 		gd.addStringField ("DNN remote server src (empty=bundled)",  this.curt_dnn_remote_srcdir, 40, // By Claude on 06/20/2026
 				"Override dir for the DGX server scripts (infer_server.py / run_infer_server.sh): empty = bundled jar resource (cuas_dnn/); set = local dir. Same default-vs-override (bundled resource vs local repo) scheme as the GPU kernels - bundled is the working version, refresh it after server-script dev.");
+		gd.addCheckbox    ("DNN Layer-2 (run on DGX)",               this.curt_dnn_l2, // By Claude on 06/22/2026
+				"Run the trained Layer-2 track-before-detect ConvGRU on the DGX after L1 (requires 'DNN remote'). -OFFSET then shows L2 {det,Vx,Vy} (L1's full-res non-ghostbusted field fed in, recurrence over time), titled -DNN-L2-. Uncheck to re-run the old L1 way."); // By Claude on 06/22/2026
+		gd.addStringField ("DNN Layer-2 model (DGX run dir)",        this.curt_dnn_l2_model, 24, // By Claude on 06/22/2026
+				"DGX-side Layer-2 run directory (containing model.pt) the auto-launched server loads as RUN2=, e.g. runs/l2_v1.");
 		gd.addNumericField("DNN s-threshold (VIZ ONLY)",             this.curt_dnn_thresh, 6,8,"", // By Claude on 06/13/2026, viz-only 06/20/2026
 				"VISUALIZATION ONLY - NaN's the -OFFSET Vx,Vy,dx,dy where s < this (0 = show all) so velocity shows only at detections. Does NOT gate Layer 2 (the recurrent always sees the full field) nor the -RECT/-HYPER-RECT data. Do NOT use for critical computation - it is a display mask.");
 		gd.addCheckbox ("DNN recurrent feed: offset-splat",          this.curt_dnn_recur_splat, // By Claude on 06/14/2026
@@ -5026,6 +5032,8 @@ min_str_neib_fpn	0.35
 		this.curt_dnn_remote_host =     gd.getNextString().trim(); // By Claude on 06/20/2026
 		this.curt_dnn_remote_model =    gd.getNextString().trim(); // By Claude on 06/20/2026
 		this.curt_dnn_remote_srcdir =   gd.getNextString().trim(); // By Claude on 06/20/2026
+		this.curt_dnn_l2 =              gd.getNextBoolean();     // By Claude on 06/22/2026
+		this.curt_dnn_l2_model =        gd.getNextString().trim(); // By Claude on 06/22/2026
 		this.curt_dnn_thresh =          gd.getNextNumber();      // By Claude on 06/13/2026
 		this.curt_dnn_recur_splat =     gd.getNextBoolean();     // By Claude on 06/14/2026
 		this.curt_dnn_recur_scale =     gd.getNextNumber();      // By Claude on 06/14/2026
@@ -6393,6 +6401,8 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"curt_dnn_remote_host", this.curt_dnn_remote_host);   // String // By Claude on 06/20/2026
 		properties.setProperty(prefix+"curt_dnn_remote_model", this.curt_dnn_remote_model); // String // By Claude on 06/20/2026
 		properties.setProperty(prefix+"curt_dnn_remote_srcdir", this.curt_dnn_remote_srcdir); // String // By Claude on 06/20/2026
+		properties.setProperty(prefix+"curt_dnn_l2",          this.curt_dnn_l2+"");         // boolean // By Claude on 06/22/2026
+		properties.setProperty(prefix+"curt_dnn_l2_model",    this.curt_dnn_l2_model);      // String // By Claude on 06/22/2026
 		properties.setProperty(prefix+"curt_synth_src",       this.curt_synth_src+"");      // boolean // By Claude on 06/11/2026
 		properties.setProperty(prefix+"curt_synth_scale",     this.curt_synth_scale+"");    // double  // By Claude on 06/12/2026
 		properties.setProperty(prefix+"curt_synth_bg_avg",    this.curt_synth_bg_avg+"");   // int     // By Claude on 06/20/2026
@@ -6788,6 +6798,8 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"curt_dnn_remote_host")!=null) this.curt_dnn_remote_host=(String) properties.getProperty(prefix+"curt_dnn_remote_host"); // By Claude on 06/20/2026
 		if (properties.getProperty(prefix+"curt_dnn_remote_model")!=null)  this.curt_dnn_remote_model=(String) properties.getProperty(prefix+"curt_dnn_remote_model"); // By Claude on 06/20/2026
 		if (properties.getProperty(prefix+"curt_dnn_remote_srcdir")!=null) this.curt_dnn_remote_srcdir=(String) properties.getProperty(prefix+"curt_dnn_remote_srcdir"); // By Claude on 06/20/2026
+		if (properties.getProperty(prefix+"curt_dnn_l2")!=null)         this.curt_dnn_l2=Boolean.parseBoolean(properties.getProperty(prefix+"curt_dnn_l2")); // By Claude on 06/22/2026
+		if (properties.getProperty(prefix+"curt_dnn_l2_model")!=null)   this.curt_dnn_l2_model=(String) properties.getProperty(prefix+"curt_dnn_l2_model"); // By Claude on 06/22/2026
 
 		if (properties.getProperty(prefix+"curt_synth_src")!=null)       this.curt_synth_src=Boolean.parseBoolean(properties.getProperty(prefix+"curt_synth_src"));         // By Claude on 06/11/2026
 		if (properties.getProperty(prefix+"curt_synth_scale")!=null)     this.curt_synth_scale=Double.parseDouble(properties.getProperty(prefix+"curt_synth_scale"));       // By Claude on 06/12/2026
@@ -9065,6 +9077,8 @@ min_str_neib_fpn	0.35
 		imp.curt_dnn_remote_host =  this.curt_dnn_remote_host; // By Claude on 06/20/2026
 		imp.curt_dnn_remote_model = this.curt_dnn_remote_model; // By Claude on 06/20/2026
 		imp.curt_dnn_remote_srcdir = this.curt_dnn_remote_srcdir; // By Claude on 06/20/2026
+		imp.curt_dnn_l2 =           this.curt_dnn_l2;        // By Claude on 06/22/2026
+		imp.curt_dnn_l2_model =     this.curt_dnn_l2_model;  // By Claude on 06/22/2026
 		imp.curt_synth_src =        this.curt_synth_src;     // By Claude on 06/11/2026
 		imp.curt_synth_scale =      this.curt_synth_scale;   // By Claude on 06/12/2026
 		imp.curt_synth_bg_avg =     this.curt_synth_bg_avg;  // By Claude on 06/20/2026

src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java

@@ -7239,9 +7239,9 @@ java.lang.NullPointerException
 		// Moved to the very end, after 3D
 //		boolean test_vegetation = true;
 
-		if (master_CLT.hasCenterClt() && clt_parameters.imp.cuas_targets_en) { // cuas mode
+		if (master_CLT.hasCenterClt() && clt_parameters.imp.cuas_targets_en && !clt_parameters.imp.curt_en) { // cuas mode
 			if (debugLevel >-3) {
-				System.out.println("===== Running CUAS ranging. =====");
+				System.out.println("===== Running CUAS ranging in Oracle mode. =====");
 			}
 			CuasRanging cuasRanging = new CuasRanging 	(
 					clt_parameters, // CLTParameters     clt_parameters,
@@ -7260,6 +7260,33 @@ java.lang.NullPointerException
 			}
 		}
 
+		// CUAS RT (our code) - coexists with the oracle CuasRanging above (separate buttons/modes, no interference).
+		// Generate the merged-CUAS stack on the GPU EXPLICITLY here (CuasRanging.prepareFpixels() uses the CUDA
+		// tile-processor kernels - may be incompatible with a future CUDA), then hand the plain ImagePlus to the
+		// CUDA-free CuasDetectRT. By Claude on 06/24/2026
+		if (clt_parameters.imp.curt_en && master_CLT.hasCenterClt()) {
+			System.out.println("===== Running CUAS RT detection (curt_en). =====");
+			CuasRanging cuasRangingRT = new CuasRanging(
+					clt_parameters, // CLTParameters     clt_parameters,
+					master_CLT,     // QuadCLT           center_CLT,
+					quadCLTs,       // QuadCLT []        scenes,
+					debugLevel);
+			ImagePlus imp_targets = cuasRangingRT.prepareFpixels();      // GPU generator (explicit, CUDA-sensitive)
+			cuasRangingRT.saveUasFlightLogCsv(uasLogReader, imp_targets); // UAS flight-log truth -> <name>-UAS_DATA.tsv (mode-0 only; needs QuadCLT pose). By Claude on 06/24/2026
+			new CuasDetectRT(
+					clt_parameters,               // CLTParameters     clt_parameters,
+					uasLogReader,                 // UasLogReader      uasLogReader,
+					imp_targets,                  // ImagePlus         imp_targets (no GPU inside CuasDetectRT)
+					master_CLT.getX3dDirectory(), // String            model_directory (outputs land like oracle)
+					master_CLT.getImageName(),    // String            core_base_name
+					master_CLT.correctionsParameters.cuasSynth, // String  cuas_synth_dir (shared, list SET; "" -> model_directory)
+					master_CLT.correctionsParameters.cuasNoise, // String  cuas_noise (inline per-level scales, list SET; "" -> sqrt default). By Claude on 06/24/2026
+					debugLevel).detectTargets(
+							clt_parameters,       // CLTParameters     clt_parameters,
+							batch_mode,           // boolean           batch_mode,
+							debugLevel);          // int               debugLevel
+		}
+
 		if (generate_mapped || reuse_video) { // modifies combo_dsn_final ?
 			int tilesX =  master_CLT.getTileProcessor().getTilesX();
 	        int tilesY =  master_CLT.getTileProcessor().getTilesY();

src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java

@@ -9241,6 +9241,8 @@ if (debugLevel > -100) return true; // temporarily !
 									 clt_parameters,  // CLTParameters     clt_parameters,
 									 uasLogReader,    // UasLogReader      uasLogReader,
 									 model_paths[i],  // 	String            model_directory) {
+									 quadCLT_main.correctionsParameters.cuasSynth, // String  cuas_synth_dir (shared, list SET; "" -> model_directory). By Claude on 06/24/2026
+									 quadCLT_main.correctionsParameters.cuasNoise, // String  cuas_noise (inline per-level scales, list SET; "" -> sqrt default). By Claude on 06/24/2026
 									 debugLevel);     // int               debugLevel)
 							CuasMotion cuasMotion= cuasDetectRT.detectTargets(
 									clt_parameters,          // CLTParameters     clt_parameters,

src/main/resources/cuas_dnn/run_infer_server.sh

 #!/usr/bin/env bash
 # Start/stop the CUAS DGX inference server (PyTorch RawFCN, cuDNN) in the NGC container.
 # By Claude on 06/20/2026.  Run on the DGX (elphel@192.168.0.62).
-#   start|stop|logs|status        env: RUN=runs/<model>  PORT=5577
+#   start|stop|logs|status        env: RUN=runs/<model>  RUN2=runs/<l2>  PORT=5577
 set -euo pipefail
 NAME=cuas_infer
 IMG=nvcr.io/nvidia/pytorch:25.10-py3
 CODE=/home/elphel/c5p_dnn
 RUN="${RUN:-runs/weighted9_pm_s}"
+RUN2="${RUN2:-}"                 # optional Layer-2 run dir; empty -> L1-only. By Claude 06/22/2026
 PORT="${PORT:-5577}"
 case "${1:-start}" in
   start)
     docker rm -f "$NAME" >/dev/null 2>&1 || true
+    L2ARG=""; [ -n "$RUN2" ] && L2ARG="--l2run $RUN2"
     docker run -d --name "$NAME" --gpus all --network host \
       -v "$CODE":/work -w /work "$IMG" \
-      python infer_server.py --run "$RUN" --port "$PORT" >/dev/null
-    echo "started $NAME (run=$RUN port=$PORT)"; sleep 3; docker logs "$NAME"
+      python infer_server.py --run "$RUN" $L2ARG --port "$PORT" >/dev/null
+    echo "started $NAME (run=$RUN l2=${RUN2:-off} port=$PORT)"; sleep 3; docker logs "$NAME"
     ;;
   stop)   docker rm -f "$NAME" >/dev/null 2>&1 && echo "stopped" || echo "not running" ;;
   logs)   docker logs --tail 60 "$NAME" ;;
   status) docker ps --filter "name=$NAME" --format "{{.Names}} {{.Status}}" ;;
-  *) echo "usage: $0 {start|stop|logs|status}  (env: RUN=, PORT=)"; exit 1 ;;
+  *) echo "usage: $0 {start|stop|logs|status}  (env: RUN=, RUN2=, PORT=)"; exit 1 ;;
 esac