What is goflying CLAUDE.md?

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.

Use it when testing the orientation algorithms, building the simulator or visualization server, or working on Raspberry Pi sensor-driver programs.

It collects the required Go version, dependencies, build commands, tests, and coordinate-frame rules in one place.

goflying CLAUDE.md — Instructions file by westphae

Install

Getting it into your agent

One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.

agentmods

npx agentmods add instructions/westphae/goflying/claude-md

Clone the repo

git clone --depth 1 https://github.com/westphae/goflying

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. Scan, not verified.

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.

Model	Per session	Once invoked
Fable 5	$0.03236	$0.03236
Opus 5	$0.01618	$0.01618
Sonnet 5	$0.00647	$0.00647
Haiku 4.5	$0.00324	$0.00324

Measured 3d ago against content hash 45509d6deac0, method: parsed. Prices are Anthropic first-party input rates as of 2026-08-30, 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 3d 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.

3d 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 1mo ago), licensed MIT. It adds 3,236 tokens to every session, about $0.0162 per session on Opus 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.

ahrs aviation flying kalman-filter stratux

goflying CLAUDE.md

Getting it into your agent

What it costs to keep this loaded

Grade B, and why

Asks for rootmediumPrivilege escalation

How it starts

CLAUDE.md

Build & test

Consumers

What this file has done since we first saw it

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