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Phase 2 completed#40

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markrozin wants to merge 5 commits intoUWARG:mainfrom
markrozin:main
Open

Phase 2 completed#40
markrozin wants to merge 5 commits intoUWARG:mainfrom
markrozin:main

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Mark Rozin and others added 5 commits January 19, 2026 18:28
The timer was only NUM_TRIALS seconds, but the drone consumes one
extra heartbeat via wait_heartbeat() before the loop. Extend the
timer to NUM_TRIALS + 1 so the worker sends enough heartbeats.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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