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goflying: Instructions file for Claude Code

CLAUDE.md

goflying CLAUDE.md is an instructions file for Claude Code from westphae/goflying. It costs 3,236 tokens per session, scanned B, original, MIT.

A development guide for a Go project that reads flight-sensor data, performs orientation calculations, and provides simulation and browser-based visualization tools. AHRS is software that estimates an object's orientation from sensors.

In plain words
What is it for?
Use it when testing the orientation algorithms, building the simulator or visualization server, or working on Raspberry Pi sensor-driver programs.
Why use it?
It collects the required Go version, dependencies, build commands, tests, and coordinate-frame rules in one place.

Instructions file for Claude Code

Written for Claude Code: the file is CLAUDE.md. Also seen: mentions CLAUDE.md; mentions Claude Code.

This is westphae/goflying's own configuration. It tells Claude Code how to work on goflying itself, so it is not a mod to install elsewhere. Copy it as a starting point and replace the rules that are about this project. Everything goflying configures →

Needs its repository: it reads a path above its own folder, which exists only inside the repository. The line is cd ../icm20948-mod.

not rated 22repo 3mo ago B scan 3,236 tokens original MIT
View source ↗ westphae/goflying
Reuse

Borrowing it

Nothing to install: this file belongs to westphae/goflying. Take a copy, put it at the same path in your own repository, and replace the rules that are about this project with yours.

Copy the file
curl -O https://raw.githubusercontent.com/westphae/goflying/master/CLAUDE.md
Clone the repo
git clone --depth 1 https://github.com/westphae/goflying

Made for: Claude Code.

Wrote this? Show the measurements

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README.md
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Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.

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<a href="https://agentmods.dev/instructions/westphae/goflying/claude-md"><img src="https://agentmods.dev/badge/instructions/westphae/goflying/claude-md.svg" alt="Reviewed on agentmods" width="80" height="20"></a>
Per session 3,236 This file is loaded in full into every session.
When invoked 3,236 The same file — it is already loaded in full.
Security scan B 1 finding. A grade says what 26 rules found in the file — not that it is safe.
Origin original No closer match found in the catalogue.
Token cost

What it costs to keep this loaded

Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.

ModelPer sessionOnce invoked
Fable 5.1 $0.03236 $0.03236
Opus 5.5 $0.01294 $0.01294
Sonnet 5.5 $0.00647 $0.00647
Haiku 4.5 $0.00324 $0.00324

Measured 2mo ago against content hash 45509d6deac0, method: parsed. Prices are Anthropic first-party input rates as of 2026-10-07, from the pricing page.

Security

Grade B, and why

goflying CLAUDE.md scanned grade B with 1 finding against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 2mo ago.

A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.

Asks for rootmediumPrivilege escalation

A mod that escalates privileges can change anything on the machine, not only the project.

sudo modprobe bmp280-i2c
CLAUDE.md · 183 lines

How it starts

The opening of the file, as written. The whole thing — 183 lines — stays where its author put it; the contents beside it link to each section on GitHub.

CLAUDE.md

This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.

Build & test

This is a Go modules project (go.mod at the repo root, go 1.22 — the floor imposed by the westphae/go-iio dep; otherwise only Go 1.18 features are used).

External deps (gorilla/websocket, skelterjohn/go.matrix, westphae/go-iio, westphae/quaternion) are pinned in go.mod / go.sum; go mod tidy keeps them in sync. The repo conventionally lives at $GOPATH/src/github.com/westphae/goflying because that's where its sibling consumers (see below) expect it, but module mode no longer requires it.

Common commands (run from repo root):

  • go test ./ahrs/... — unit tests (quaternion math, AHRS algorithms). Single test: go test ./ahrs -run TestName -v.
  • go build ./sim — builds the simulation/replay binary (ahrs_sim); main package.
  • go build ./ahrsweb/cmd/ahrsweb_server — websocket visualization server (serves templates from res/ — run from the cmd dir).
  • go build ./sensors/bmp280/test, ./sensors/icm20948/test — small main programs that exercise the sensor drivers; these only run on a Raspberry Pi.
  • go build ./... — compile every package; CI sanity check.

The sensor test/ binaries will compile on any platform but only function with real hardware. They stream from /sys/bus/iio/devices/... (kernel drivers, see hardware setup below).

Consumers

Two known downstream consumers live alongside this repo in GOPATH:

  • ../magkal — Go-modules build with its own go.mod and a replace github.com/westphae/goflying => ../goflying directive. Imports github.com/westphae/goflying/sensors/icm20948 (and may grow others). Local changes here flow into magkal builds immediately; verify with cd ../magkal && go build ./... after touching this repo.
  • ../stratux — GOPATH-style; consumes this repo as a git submodule mounted at stratux/goflying/. The submodule is pinned to a specific commit, so canonical-goflying changes do not reach stratux until its submodule pointer is bumped. Stratux's imports look like "../goflying/ahrs" etc.; do not be alarmed by their pre-3efece4 package layout — they refer to the pinned submodule.

Read the full file on GitHub · 183 lines

Changes

What this file has done since we first saw it

Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.

  1. 2mo ago First seen · 183 lines · 3,236 tokens per session scan B 45509d6deac0

Subscribe to this mod's changes

goflying CLAUDE.md is an instructions file published in the GitHub repository westphae/goflying (22 stars, last pushed 3mo ago), licensed MIT. It adds 3,236 tokens to every session, about $0.0129 per session on Opus 5.5. A static security scan graded it B with 1 finding (asks for root). No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-30.

ahrsaviationflyingkalman-filterstratux
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