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+ "blocking",
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+ "event-listener",
+ "futures-core",
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+ "futures-util",
+ "hex",
+ "nix",
+ "ordered-stream",
+ "rand",
+ "serde",
+ "serde_repr",
+ "sha1",
+ "static_assertions",
+ "tracing",
+ "uds_windows",
+ "windows-sys 0.52.0",
+ "xdg-home",
+ "zbus_macros",
+ "zbus_names",
+ "zvariant",
+]
+
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+ "zvariant",
+]
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+ "quote",
+ "syn",
+ "zbus-lockstep",
+ "zbus_xml",
+ "zvariant",
+]
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+ "quote",
+ "syn",
+ "zvariant_utils",
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+ "serde",
+ "static_assertions",
+ "zbus_names",
+ "zvariant",
+]
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+ "quote",
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+ "synstructure",
+]
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+ "zerofrom",
+]
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+ "zerofrom",
+ "zerovec-derive",
+]
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+ "syn",
+]
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+dependencies = [
+ "zune-core",
+]
+
+[[package]]
+name = "zvariant"
+version = "4.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2084290ab9a1c471c38fc524945837734fbf124487e105daec2bb57fd48c81fe"
+dependencies = [
+ "endi",
+ "enumflags2",
+ "serde",
+ "static_assertions",
+ "zvariant_derive",
+]
+
+[[package]]
+name = "zvariant_derive"
+version = "4.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73e2ba546bda683a90652bac4a279bc146adad1386f25379cf73200d2002c449"
+dependencies = [
+ "proc-macro-crate",
+ "proc-macro2",
+ "quote",
+ "syn",
+ "zvariant_utils",
+]
+
+[[package]]
+name = "zvariant_utils"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c51bcff7cc3dbb5055396bcf774748c3dab426b4b8659046963523cee4808340"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
diff --git a/crates/jio-fw/Cargo.toml b/crates/jio-fw/Cargo.toml
new file mode 100644
index 0000000..6bb987f
--- /dev/null
+++ b/crates/jio-fw/Cargo.toml
@@ -0,0 +1,11 @@
+[package]
+name = "jio-fw"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+eframe = "0.31"
+egui = "0.31"
+egui_plot = "0.31"
+glam = "0.32.1"
+jio = { version = "0.1.0", path = "../jio" }
diff --git a/crates/jio-fw/src/lib.rs b/crates/jio-fw/src/lib.rs
new file mode 100644
index 0000000..e5830aa
--- /dev/null
+++ b/crates/jio-fw/src/lib.rs
@@ -0,0 +1,7 @@
+pub mod math;
+pub mod model;
+pub mod pid;
+pub mod plot;
+pub mod state;
+
+pub use jio;
diff --git a/crates/jio-fw/src/math.rs b/crates/jio-fw/src/math.rs
new file mode 100644
index 0000000..c0b0d35
--- /dev/null
+++ b/crates/jio-fw/src/math.rs
@@ -0,0 +1,46 @@
+use std::f32::consts::PI;
+
+use glam::{Vec2, Vec3};
+
+/// Returns `b − a` normalized to `(−π, π]` radians.
+pub fn angle_difference(a: f32, b: f32) -> f32 {
+    (b - a + PI).rem_euclid(2.0 * PI) - PI
+}
+
+/// Returns `b − a` normalized to `(−180, 180]` degrees.
+pub fn angle_difference_deg(a: f32, b: f32) -> f32 {
+    (b - a + 180.0).rem_euclid(360.0) - 180.0
+}
+
+/// Converts world-space (heading_error, pitch_error) into body-frame (yaw, pitch)
+/// control inputs by rotating by the craft's current roll angle.
+/// All angles in degrees.
+pub fn heading_pitch_to_yaw_pitch(heading_error: f32, pitch_error: f32, roll: f32) -> (f32, f32) {
+    let (sin_r, cos_r) = roll.to_radians().sin_cos();
+    let yaw = heading_error * cos_r - pitch_error * sin_r;
+    let pitch = pitch_error * cos_r + heading_error * sin_r;
+    (yaw, pitch)
+}
+
+pub fn horizontal_dir_heading(surface_velocity: Vec3, nav_east: Vec3, nav_north: Vec3) -> f32 {
+    let h_vel = horizontal_velocity(surface_velocity, nav_east, nav_north);
+    h_vel.y.atan2(h_vel.x).to_degrees() + 90.0
+}
+
+pub fn horizontal_velocity(surface_velocity: Vec3, nav_east: Vec3, nav_north: Vec3) -> Vec2 {
+    let h_vel_east = surface_velocity.dot(nav_east);
+    let h_vel_north = surface_velocity.dot(nav_north);
+    Vec2::new(h_vel_east, h_vel_north)
+}
+
+/// Returns the effective horizontal pitch, which is over 90 degrees when the craft is flying
+/// backwards.
+pub fn effective_h_pitch(heading: f32, pitch: f32) -> f32 {
+    let h_pitch = if heading.abs() <= 90.0 {
+        pitch
+    } else {
+        180.0 - pitch
+    };
+
+    h_pitch
+}
diff --git a/crates/jio-fw/src/model/coords.rs b/crates/jio-fw/src/model/coords.rs
new file mode 100644
index 0000000..fda0d28
--- /dev/null
+++ b/crates/jio-fw/src/model/coords.rs
@@ -0,0 +1,13 @@
+use jio::glam::Vec3;
+
+/// Planet-Centered Inertial position vector.
+#[derive(Debug, Clone, Copy)]
+pub struct Pci(pub Vec3);
+
+/// Geodetic position: latitude, longitude (degrees), altitude (meters).
+#[derive(Debug, Clone, Copy)]
+pub struct Lla {
+    pub lat_deg: f32,
+    pub lon_deg: f32,
+    pub alt_m: f32,
+}
diff --git a/crates/jio-fw/src/model/craft.rs b/crates/jio-fw/src/model/craft.rs
new file mode 100644
index 0000000..49eae34
--- /dev/null
+++ b/crates/jio-fw/src/model/craft.rs
@@ -0,0 +1,21 @@
+use super::{Lla, Pci, Planet};
+
+pub trait CraftExt {
+    fn planet(&self) -> Planet;
+    fn position_pci(&self) -> Pci;
+    fn position_lla(&self) -> Lla;
+}
+
+impl CraftExt for jio::Craft {
+    fn planet(&self) -> Planet {
+        Planet::from(&self.state)
+    }
+
+    fn position_pci(&self) -> Pci {
+        Pci(self.state.position)
+    }
+
+    fn position_lla(&self) -> Lla {
+        self.position_pci().to_lla(&self.planet())
+    }
+}
diff --git a/crates/jio-fw/src/model/mod.rs b/crates/jio-fw/src/model/mod.rs
new file mode 100644
index 0000000..98694d2
--- /dev/null
+++ b/crates/jio-fw/src/model/mod.rs
@@ -0,0 +1,7 @@
+mod coords;
+mod craft;
+mod planet;
+
+pub use coords::{Lla, Pci};
+pub use craft::CraftExt;
+pub use planet::Planet;
diff --git a/crates/jio-fw/src/model/planet.rs b/crates/jio-fw/src/model/planet.rs
new file mode 100644
index 0000000..10a7fe1
--- /dev/null
+++ b/crates/jio-fw/src/model/planet.rs
@@ -0,0 +1,52 @@
+use jio::glam::Vec3;
+
+use super::coords::{Lla, Pci};
+
+pub struct Planet {
+    pub radius: f32,
+    pub rotation_angle: f32,
+}
+
+impl From<&jio::State> for Planet {
+    fn from(s: &jio::State) -> Self {
+        Planet { radius: s.planet_radius, rotation_angle: 0.0 }
+    }
+}
+
+impl Planet {
+    pub fn pci_to_lla(&self, pci: &Pci) -> Lla {
+        let v = pci.0;
+        let r = v.length();
+        let alt_m = r - self.radius;
+        let lat_deg = (v.y / r).asin().to_degrees();
+        let inertial_lon = f32::atan2(v.z, v.x);
+        let mut lon_deg = (inertial_lon - self.rotation_angle).to_degrees();
+        if lon_deg > 180.0 { lon_deg -= 360.0; }
+        if lon_deg < -180.0 { lon_deg += 360.0; }
+        Lla { lat_deg, lon_deg, alt_m }
+    }
+
+    pub fn lla_to_pci(&self, lla: &Lla) -> Pci {
+        let lat = lla.lat_deg.to_radians();
+        let lon = lla.lon_deg.to_radians();
+        let r = self.radius + lla.alt_m;
+        let inertial_lon = lon + self.rotation_angle;
+        Pci(Vec3::new(
+            r * lat.cos() * inertial_lon.cos(),
+            r * lat.sin(),
+            r * lat.cos() * inertial_lon.sin(),
+        ))
+    }
+}
+
+impl Pci {
+    pub fn to_lla(&self, planet: &Planet) -> Lla {
+        planet.pci_to_lla(self)
+    }
+}
+
+impl Lla {
+    pub fn to_pci(&self, planet: &Planet) -> Pci {
+        planet.lla_to_pci(self)
+    }
+}
diff --git a/crates/jio-fw/src/pid.rs b/crates/jio-fw/src/pid.rs
new file mode 100644
index 0000000..5ae2974
--- /dev/null
+++ b/crates/jio-fw/src/pid.rs
@@ -0,0 +1,72 @@
+#[derive(Debug, Clone)]
+pub struct Pid {
+    pub kp: f32,
+    pub ki: f32,
+    pub kd: f32,
+    integral: f32,
+    prev_error: f32,
+    prev_time: Option<f64>,
+}
+
+#[derive(Debug, Clone, Copy, Default, PartialEq)]
+pub struct PidSample {
+    pub error: f32,
+    pub p_term: f32,
+    pub i_term: f32,
+    pub d_term: f32,
+    pub output: f32,
+}
+
+impl Pid {
+    pub fn new(kp: f32, ki: f32, kd: f32) -> Self {
+        Self {
+            kp,
+            ki,
+            kd,
+            integral: 0.0,
+            prev_error: 0.0,
+            prev_time: None,
+        }
+    }
+
+    pub fn reset(&mut self) {
+        self.integral = 0.0;
+        self.prev_error = 0.0;
+        self.prev_time = None;
+    }
+
+    pub fn update_by_error(&mut self, error: f32, now: f64) -> PidSample {
+        let Some(prev) = self.prev_time else {
+            self.prev_time = Some(now);
+            self.prev_error = error;
+            return PidSample::default();
+        };
+
+        let dt = (now - prev) as f32;
+        self.prev_time = Some(now);
+
+        if dt <= 0.0 {
+            return PidSample::default();
+        }
+
+        self.integral += error * dt;
+        let derivative = (error - self.prev_error) / dt;
+        self.prev_error = error;
+
+        let p_term = self.kp * error;
+        let i_term = self.ki * self.integral;
+        let d_term = self.kd * derivative;
+        PidSample {
+            error,
+            p_term,
+            i_term,
+            d_term,
+            output: p_term + i_term + d_term,
+        }
+    }
+
+    pub fn update(&mut self, current: f32, target: f32, now: f64) -> PidSample {
+        let error = target - current;
+        self.update_by_error(error, now)
+    }
+}
diff --git a/crates/jio-fw/src/plot/channel.rs b/crates/jio-fw/src/plot/channel.rs
new file mode 100644
index 0000000..b61198d
--- /dev/null
+++ b/crates/jio-fw/src/plot/channel.rs
@@ -0,0 +1,39 @@
+use std::collections::VecDeque;
+use std::sync::{Arc, RwLock};
+
+struct ChannelInner {
+    label: String,
+    buf: RwLock<VecDeque<[f64; 2]>>,
+    capacity: usize,
+}
+
+#[derive(Clone)]
+pub struct Channel(Arc<ChannelInner>);
+
+impl Channel {
+    pub(super) fn new(label: impl Into<String>, capacity: usize) -> Self {
+        Channel(Arc::new(ChannelInner {
+            label: label.into(),
+            buf: RwLock::new(VecDeque::with_capacity(capacity)),
+            capacity,
+        }))
+    }
+
+    /// Push a (time, value) sample from the sim thread.
+    /// Drops the oldest point when the ring buffer is full.
+    pub fn push(&self, t: f64, value: f64) {
+        let mut b = self.0.buf.write().unwrap();
+        if b.len() == self.0.capacity {
+            b.pop_front();
+        }
+        b.push_back([t, value]);
+    }
+
+    pub(super) fn label(&self) -> &str {
+        &self.0.label
+    }
+
+    pub(super) fn snapshot(&self) -> Vec<[f64; 2]> {
+        self.0.buf.read().unwrap().iter().copied().collect()
+    }
+}
diff --git a/crates/jio-fw/src/plot/group.rs b/crates/jio-fw/src/plot/group.rs
new file mode 100644
index 0000000..0f6c7fa
--- /dev/null
+++ b/crates/jio-fw/src/plot/group.rs
@@ -0,0 +1,193 @@
+use std::collections::HashMap;
+
+use egui_plot::{Line, Plot, PlotPoints};
+
+use super::channel::Channel;
+
+// ── Bound ────────────────────────────────────────────────────────────────────
+
+pub(crate) enum Bound {
+    Fixed(f64),
+    /// Receives the current data-min or data-max of the subplot, returns the bound.
+    Fn(Box<dyn Fn(f64) -> f64 + Send + Sync>),
+}
+
+impl Bound {
+    fn resolve(&self, data_extreme: f64) -> f64 {
+        match self {
+            Bound::Fixed(v) => *v,
+            Bound::Fn(f) => f(data_extreme),
+        }
+    }
+}
+
+/// Accepts either a fixed `f64` or a closure `|data_extreme: f64| -> f64`.
+pub(crate) trait IntoBound: sealed::Sealed {
+    #[doc(hidden)]
+    fn into_bound(self) -> Bound;
+}
+
+mod sealed {
+    pub trait Sealed {}
+    impl Sealed for f64 {}
+    impl<F: Fn(f64) -> f64 + Send + Sync + 'static> Sealed for F {}
+}
+
+impl IntoBound for f64 {
+    fn into_bound(self) -> Bound { Bound::Fixed(self) }
+}
+
+impl<F: Fn(f64) -> f64 + Send + Sync + 'static> IntoBound for F {
+    fn into_bound(self) -> Bound { Bound::Fn(Box::new(self)) }
+}
+
+// ── SubplotSpec ───────────────────────────────────────────────────────────────
+
+struct SubplotSpec {
+    title: String,
+    xlabel: Option<String>,
+    ylabel: Option<String>,
+    channels: Vec<Channel>,
+    ymin: Option<Bound>,
+    ymax: Option<Bound>,
+}
+
+// ── PlotGroup ─────────────────────────────────────────────────────────────────
+
+pub struct PlotGroup {
+    channels: HashMap<String, Channel>,
+    subplots: Vec<SubplotSpec>,
+    capacity: usize,
+}
+
+impl PlotGroup {
+    pub fn new(capacity: usize) -> Self {
+        Self { channels: HashMap::new(), subplots: vec![], capacity }
+    }
+
+    /// Register a named streaming channel in the global registry.
+    pub fn channel(&mut self, label: impl Into<String>) {
+        let label = label.into();
+        self.channels.insert(label.clone(), Channel::new(label, self.capacity));
+    }
+
+    /// Install all registered channels into the global registry.
+    /// Call once before `run_plot_window` so `jio_fw::plot::push` works from any thread.
+    pub fn install(&self) {
+        super::set_global(
+            self.channels.iter().map(|(k, v)| (k.clone(), v.clone())).collect(),
+        );
+    }
+
+    /// Declare a subplot and attach channels to it via the returned builder.
+    pub fn subplot(&mut self, title: impl Into<String>) -> PlotBuilder<'_> {
+        self.subplots.push(SubplotSpec {
+            title: title.into(),
+            xlabel: None,
+            ylabel: None,
+            channels: vec![],
+            ymin: None,
+            ymax: None,
+        });
+        PlotBuilder { group: self }
+    }
+
+    /// Render all subplots in a responsive grid. Call every frame from `eframe::App::update`.
+    pub fn show(&self, ui: &mut egui::Ui) {
+        let n = self.subplots.len();
+        if n == 0 { return; }
+
+        let spacing = 4.0_f32;
+        let min_plot_w = 400.0_f32;
+        let plot_h = 300.0_f32;
+
+        let avail_w = ui.available_width();
+        let cols = (((avail_w + spacing) / (min_plot_w + spacing)).floor() as usize)
+            .max(1)
+            .min(n);
+        let plot_w = (avail_w - spacing * (cols as f32 - 1.0)) / cols as f32;
+
+        egui::ScrollArea::vertical().show(ui, |ui| {
+            for (row_idx, chunk) in self.subplots.chunks(cols).enumerate() {
+                if row_idx > 0 {
+                    ui.add_space(spacing);
+                }
+                ui.horizontal(|ui| {
+                    ui.spacing_mut().item_spacing.x = spacing;
+                    for spec in chunk {
+                        let mut plot = Plot::new(&spec.title).width(plot_w).height(plot_h);
+                        if let Some(xl) = &spec.xlabel { plot = plot.x_axis_label(xl); }
+                        if let Some(yl) = &spec.ylabel { plot = plot.y_axis_label(yl); }
+
+                        let snapshots: Vec<Vec<[f64; 2]>> =
+                            spec.channels.iter().map(|ch| ch.snapshot()).collect();
+
+                        if spec.ymin.is_some() || spec.ymax.is_some() {
+                            let all_y = snapshots.iter().flatten().map(|p| p[1]);
+                            let data_min = all_y.clone().fold(f64::INFINITY, f64::min);
+                            let data_max = all_y.fold(f64::NEG_INFINITY, f64::max);
+
+                            if let Some(b) = &spec.ymin {
+                                if data_min.is_finite() || matches!(b, Bound::Fixed(_)) {
+                                    plot = plot.include_y(b.resolve(data_min));
+                                }
+                            }
+                            if let Some(b) = &spec.ymax {
+                                if data_max.is_finite() || matches!(b, Bound::Fixed(_)) {
+                                    plot = plot.include_y(b.resolve(data_max));
+                                }
+                            }
+                        }
+
+                        plot.show(ui, |pui| {
+                            for (ch, pts) in spec.channels.iter().zip(snapshots) {
+                                pui.line(Line::new(PlotPoints::new(pts)).name(ch.label()));
+                            }
+                        });
+                    }
+                });
+            }
+        });
+    }
+}
+
+// ── PlotBuilder ───────────────────────────────────────────────────────────────
+
+pub struct PlotBuilder<'a> {
+    group: &'a mut PlotGroup,
+}
+
+impl<'a> PlotBuilder<'a> {
+    /// Attach a registered channel by name to this subplot.
+    pub fn line(self, name: &str) -> Self {
+        let ch = self.group.channels.get(name)
+            .unwrap_or_else(|| panic!("unknown channel: {name}"))
+            .clone();
+        self.group.subplots.last_mut().unwrap().channels.push(ch);
+        self
+    }
+
+    pub fn xlabel(self, label: impl Into<String>) -> Self {
+        self.group.subplots.last_mut().unwrap().xlabel = Some(label.into());
+        self
+    }
+
+    pub fn ylabel(self, label: impl Into<String>) -> Self {
+        self.group.subplots.last_mut().unwrap().ylabel = Some(label.into());
+        self
+    }
+
+    /// Set the y-axis lower bound. Accepts a fixed `f64` or a closure `|data_min| data_min - 5.0`.
+    #[allow(private_bounds)]
+    pub fn ymin(self, bound: impl IntoBound) -> Self {
+        self.group.subplots.last_mut().unwrap().ymin = Some(bound.into_bound());
+        self
+    }
+
+    /// Set the y-axis upper bound. Accepts a fixed `f64` or a closure `|data_max| data_max + 10.0`.
+    #[allow(private_bounds)]
+    pub fn ymax(self, bound: impl IntoBound) -> Self {
+        self.group.subplots.last_mut().unwrap().ymax = Some(bound.into_bound());
+        self
+    }
+}
diff --git a/crates/jio-fw/src/plot/mod.rs b/crates/jio-fw/src/plot/mod.rs
new file mode 100644
index 0000000..005301f
--- /dev/null
+++ b/crates/jio-fw/src/plot/mod.rs
@@ -0,0 +1,26 @@
+mod channel;
+mod group;
+mod window;
+
+use std::collections::HashMap;
+use std::sync::OnceLock;
+
+pub use channel::Channel;
+pub use group::{PlotBuilder, PlotGroup};
+pub use window::run_plot_window;
+
+static GLOBAL: OnceLock<HashMap<String, Channel>> = OnceLock::new();
+
+pub(crate) fn set_global(map: HashMap<String, Channel>) {
+    GLOBAL.set(map).ok();
+}
+
+/// Push a (time, value) sample to a named channel.
+/// No-op if the channel name is unknown or `PlotGroup::install` hasn't been called.
+pub fn push(name: &str, t: f64, value: f64) {
+    if let Some(map) = GLOBAL.get() {
+        if let Some(ch) = map.get(name) {
+            ch.push(t, value);
+        }
+    }
+}
diff --git a/crates/jio-fw/src/plot/window.rs b/crates/jio-fw/src/plot/window.rs
new file mode 100644
index 0000000..f41ca42
--- /dev/null
+++ b/crates/jio-fw/src/plot/window.rs
@@ -0,0 +1,31 @@
+use egui::CentralPanel;
+
+use super::group::PlotGroup;
+
+struct PlotApp {
+    group: PlotGroup,
+}
+
+impl eframe::App for PlotApp {
+    fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
+        ctx.request_repaint();
+        CentralPanel::default().show(ctx, |ui| {
+            self.group.show(ui);
+        });
+    }
+}
+
+/// Spawn `sim` on a background thread, then open a blocking eframe window
+/// that renders `group` until the window is closed.
+pub fn run_plot_window<F>(title: &str, group: PlotGroup, sim: F)
+where
+    F: FnOnce() + Send + 'static,
+{
+    std::thread::spawn(sim);
+    eframe::run_native(
+        title,
+        eframe::NativeOptions::default(),
+        Box::new(|_cc| Ok(Box::new(PlotApp { group }))),
+    )
+    .unwrap();
+}
diff --git a/crates/jio-fw/src/state/executor.rs b/crates/jio-fw/src/state/executor.rs
new file mode 100644
index 0000000..8bdeb0e
--- /dev/null
+++ b/crates/jio-fw/src/state/executor.rs
@@ -0,0 +1,31 @@
+use super::{StateCtx, Transition};
+use super::traits::JunoState;
+
+pub struct Executor {
+    current: Box<dyn JunoState>,
+    done: bool,
+}
+
+impl Executor {
+    pub fn new(initial: impl JunoState) -> Self {
+        Self { current: Box::new(initial), done: false }
+    }
+
+    pub fn is_done(&self) -> bool {
+        self.done
+    }
+
+    pub fn step(&mut self, ctx: &mut StateCtx<'_>) {
+        if self.done {
+            return;
+        }
+        match self.current.step(ctx) {
+            Transition::Stay => {}
+            Transition::Next(mut next) => {
+                next.init(ctx);
+                self.current = next;
+            }
+            Transition::Done => self.done = true,
+        }
+    }
+}
diff --git a/crates/jio-fw/src/state/mod.rs b/crates/jio-fw/src/state/mod.rs
new file mode 100644
index 0000000..3c23b97
--- /dev/null
+++ b/crates/jio-fw/src/state/mod.rs
@@ -0,0 +1,21 @@
+mod executor;
+mod script;
+mod traits;
+
+pub use executor::Executor;
+pub use script::Script;
+pub use traits::{JunoState, Transition};
+
+pub struct StateCtx<'a> {
+    pub telemetry: &'a jio::Telemetry,
+    pub control: &'a mut jio::Control,
+    pub client: &'a jio::Client,
+    pub dt: f32,
+    pub now: f64,
+}
+
+impl StateCtx<'_> {
+    pub fn craft(&self) -> Option<&jio::Craft> {
+        self.telemetry.active()
+    }
+}
diff --git a/crates/jio-fw/src/state/script.rs b/crates/jio-fw/src/state/script.rs
new file mode 100644
index 0000000..15dbb6a
--- /dev/null
+++ b/crates/jio-fw/src/state/script.rs
@@ -0,0 +1,79 @@
+use super::{JunoState, StateCtx, Transition};
+
+enum ScriptStep {
+    Act(Box<dyn FnMut(&mut StateCtx<'_>) + Send>),
+    Wait(f64),
+    WaitUntil(Box<dyn FnMut(&mut StateCtx<'_>) -> bool + Send>),
+}
+
+pub struct Script {
+    steps: Vec<ScriptStep>,
+    idx: usize,
+    step_entered_at: Option<f64>,
+    on_done: Option<Box<dyn JunoState>>,
+}
+
+impl Script {
+    pub fn new() -> Self {
+        Self { steps: vec![], idx: 0, step_entered_at: None, on_done: None }
+    }
+
+    /// Run a closure once, then immediately advance to the next step.
+    pub fn act(mut self, f: impl FnMut(&mut StateCtx<'_>) + Send + 'static) -> Self {
+        self.steps.push(ScriptStep::Act(Box::new(f)));
+        self
+    }
+
+    /// Block for `secs` seconds of mission time before advancing.
+    pub fn wait(mut self, secs: f64) -> Self {
+        self.steps.push(ScriptStep::Wait(secs));
+        self
+    }
+
+    /// Block each tick, calling `f(ctx)` until it returns `true`. The closure
+    /// receives `&mut StateCtx` so it can issue control commands while waiting.
+    pub fn wait_until(mut self, f: impl FnMut(&mut StateCtx<'_>) -> bool + Send + 'static) -> Self {
+        self.steps.push(ScriptStep::WaitUntil(Box::new(f)));
+        self
+    }
+
+    /// Configure the terminal transition emitted after all steps complete.
+    /// Without this, the script emits `Transition::Done`.
+    pub fn then(mut self, next: impl JunoState) -> Self {
+        self.on_done = Some(Box::new(next));
+        self
+    }
+}
+
+impl Default for Script {
+    fn default() -> Self { Self::new() }
+}
+
+impl JunoState for Script {
+    fn step(&mut self, ctx: &mut StateCtx<'_>) -> Transition {
+        loop {
+            let Some(step) = self.steps.get_mut(self.idx) else {
+                return match self.on_done.take() {
+                    Some(next) => Transition::Next(next),
+                    None => Transition::Done,
+                };
+            };
+
+            let advance = match step {
+                ScriptStep::Act(f) => { f(ctx); true }
+                ScriptStep::Wait(secs) => {
+                    let start = *self.step_entered_at.get_or_insert(ctx.now);
+                    ctx.now >= start + *secs
+                }
+                ScriptStep::WaitUntil(f) => f(ctx),
+            };
+
+            if advance {
+                self.idx += 1;
+                self.step_entered_at = None;
+            } else {
+                return Transition::Stay;
+            }
+        }
+    }
+}
diff --git a/crates/jio-fw/src/state/traits.rs b/crates/jio-fw/src/state/traits.rs
new file mode 100644
index 0000000..0571aaf
--- /dev/null
+++ b/crates/jio-fw/src/state/traits.rs
@@ -0,0 +1,19 @@
+use super::StateCtx;
+
+pub enum Transition {
+    Stay,
+    Next(Box<dyn JunoState>),
+    Done,
+}
+
+impl Transition {
+    pub fn next(next: impl JunoState) -> Self {
+        Transition::Next(Box::new(next))
+    }
+}
+
+pub trait JunoState: Send + 'static {
+    /// Called once when the executor first enters this state.
+    fn init(&mut self, _ctx: &mut StateCtx<'_>) {}
+    fn step(&mut self, ctx: &mut StateCtx<'_>) -> Transition;
+}
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new file mode 100644
index 0000000..e725a60
--- /dev/null
+++ b/crates/jio/Cargo.lock
@@ -0,0 +1,215 @@
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diff --git a/crates/jio/Cargo.toml b/crates/jio/Cargo.toml
new file mode 100644
index 0000000..d963f5c
--- /dev/null
+++ b/crates/jio/Cargo.toml
@@ -0,0 +1,11 @@
+[package]
+name = "jio"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+glam = "0.32.1"
+serde = { version = "1.0.228", features = ["derive"] }
+serde_json = "1.0.149"
+thiserror = "2.0.18"
+tokio = { version = "1.52.3", features = ["rt-multi-thread", "net", "macros", "time", "sync"] }
diff --git a/crates/jio/examples/hover.rs b/crates/jio/examples/hover.rs
new file mode 100644
index 0000000..263b382
--- /dev/null
+++ b/crates/jio/examples/hover.rs
@@ -0,0 +1,19 @@
+//! Minimal flight controller: hold ~100 m AGL with bang-bang throttle.
+
+use jio::{Client, Control, Result};
+
+#[tokio::main]
+async fn main() -> Result<()> {
+    let mut client = Client::connect().await?;
+    let mut ctrl = Control::default();
+    ctrl.display("jio hover", 5.0);
+
+    loop {
+        let tel = client.next_telemetry().await?;
+        let Some(craft) = tel.active() else { continue };
+
+        ctrl.throttle(if craft.state.altitude_agl < 100.0 { 0.6 } else { 0.2 });
+        client.send_control(tel.seq, &ctrl).await?;
+        ctrl.clear_transient();
+    }
+}
diff --git a/crates/jio/src/client.rs b/crates/jio/src/client.rs
new file mode 100644
index 0000000..de23763
--- /dev/null
+++ b/crates/jio/src/client.rs
@@ -0,0 +1,177 @@
+//! Public async entry point. The user drives this from their own `loop {}`.
+
+use std::sync::atomic::{AtomicI64, Ordering};
+use std::time::Duration;
+
+use serde_json::{json, Value};
+
+use glam::Vec3;
+
+use crate::control::Control;
+use crate::error::{Error, Result};
+use crate::protocol::{RawRpcResponse, RawTelemetry};
+use crate::state::Telemetry;
+use crate::transport::{Addresses, UdpBridge};
+use crate::world::RayHit;
+
+pub struct Client {
+    bridge: UdpBridge,
+    last_seq: i64,
+    next_rpc_id: AtomicI64,
+}
+
+impl Client {
+    pub async fn connect() -> Result<Self> {
+        Self::connect_with(Addresses::default()).await
+    }
+
+    pub async fn connect_with(addrs: Addresses) -> Result<Self> {
+        Ok(Self {
+            bridge: UdpBridge::bind(addrs).await?,
+            last_seq: -1,
+            next_rpc_id: AtomicI64::new(1),
+        })
+    }
+
+    /// Await the next telemetry packet with a higher `seq` than the last
+    /// one we returned. Drops stale/replay packets internally.
+    pub async fn next_telemetry(&mut self) -> Result<Telemetry> {
+        loop {
+            let bytes = self.bridge.recv_latest_telemetry().await?;
+            let raw: RawTelemetry = match serde_json::from_slice(&bytes) {
+                Ok(t) => t,
+                Err(_) => continue,
+            };
+            let Some(tel) = raw.vectorize() else { continue };
+            if tel.seq <= self.last_seq {
+                continue;
+            }
+            self.last_seq = tel.seq;
+            return Ok(tel);
+        }
+    }
+
+    /// Fire-and-forget control send. `seq` should typically be the seq of
+    /// the telemetry packet you're responding to.
+    pub async fn send_control(&self, seq: i64, control: &Control) -> Result<()> {
+        self.bridge.send_command(&control.encode(seq)).await
+    }
+
+    /// Synchronous RPC: send a request, await the matching response.
+    pub async fn rpc(
+        &self,
+        method: &str,
+        args: Value,
+        timeout: Duration,
+    ) -> Result<Value> {
+        let id = self.next_rpc_id.fetch_add(1, Ordering::Relaxed);
+        let request = json!({
+            "type": "rpc_request",
+            "id": id,
+            "method": method,
+            "args": args,
+        });
+        let payload = serde_json::to_vec(&request)?;
+        self.bridge.send_rpc_request(&payload).await?;
+
+        let method_owned = method.to_string();
+        let result = tokio::time::timeout(timeout, async {
+            loop {
+                let bytes = self.bridge.recv_rpc_response().await?;
+                let resp: RawRpcResponse = match serde_json::from_slice(&bytes) {
+                    Ok(r) => r,
+                    Err(_) => continue,
+                };
+                if resp.kind != "rpc_response" || resp.id != id {
+                    continue;
+                }
+                if !resp.ok {
+                    let msg = resp
+                        .error
+                        .map(|e| {
+                            if e.message.is_empty() {
+                                format!("{} ({})", e.code, method_owned)
+                            } else {
+                                e.message
+                            }
+                        })
+                        .unwrap_or_else(|| format!("rpc failed: {method_owned}"));
+                    return Err(Error::Rpc(msg));
+                }
+                return Ok(resp.result);
+            }
+        })
+        .await;
+
+        match result {
+            Ok(inner) => inner,
+            Err(_) => Err(Error::RpcTimeout(method.to_string())),
+        }
+    }
+
+    /// Seq of the last telemetry packet handed to the caller. Useful when
+    /// you want to send control without re-reading telemetry.
+    pub fn last_seq(&self) -> i64 {
+        self.last_seq
+    }
+
+    pub async fn terrain_height(
+        &self,
+        lat_deg: f32,
+        lon_deg: f32,
+        body: Option<&str>,
+    ) -> Result<f32> {
+        let result = self
+            .rpc(
+                "world_get_terrain_height",
+                json!({ "lat_deg": lat_deg, "lon_deg": lon_deg, "body": body }),
+                Duration::from_secs(5),
+            )
+            .await?;
+        result["height"]
+            .as_f64()
+            .map(|h| h as f32)
+            .ok_or_else(|| Error::Rpc("missing height in terrain response".into()))
+    }
+
+    pub async fn cast_ray(
+        &self,
+        origin: Vec3,
+        direction: Vec3,
+        max_distance: Option<f32>,
+    ) -> Result<Option<RayHit>> {
+        let result = self
+            .rpc(
+                "world_cast_ray",
+                json!({
+                    "origin":    { "x": origin.x,    "y": origin.y,    "z": origin.z },
+                    "direction": { "x": direction.x, "y": direction.y, "z": direction.z },
+                    "max_distance": max_distance,
+                }),
+                Duration::from_secs(5),
+            )
+            .await?;
+        let hit = &result["hit"];
+        if hit.is_null() {
+            return Ok(None);
+        }
+        Ok(Some(RayHit {
+            hit_type: hit["hit_type"].as_str().unwrap_or("world").to_string(),
+            distance: hit["distance"].as_f64().unwrap_or(0.0) as f32,
+            point: vec3_from_json(&hit["point"]),
+            normal: vec3_from_json(&hit["normal"]),
+            craft_id: hit["part"]["craft_id"].as_str().map(|s| s.to_string()),
+            part_id: hit["part"]["part_id"]["value"]
+                .as_i64()
+                .or_else(|| hit["part"]["part_id"].as_i64()),
+        }))
+    }
+}
+
+fn vec3_from_json(v: &Value) -> Vec3 {
+    Vec3::new(
+        v["x"].as_f64().unwrap_or(0.0) as f32,
+        v["y"].as_f64().unwrap_or(0.0) as f32,
+        v["z"].as_f64().unwrap_or(0.0) as f32,
+    )
+}
diff --git a/crates/jio/src/control.rs b/crates/jio/src/control.rs
new file mode 100644
index 0000000..0d60795
--- /dev/null
+++ b/crates/jio/src/control.rs
@@ -0,0 +1,410 @@
+//! Sparse outbound control: only fields the user has touched go on the wire.
+
+use glam::Vec3;
+use serde_json::{json, Map, Value};
+
+#[derive(Debug, Clone, Copy)]
+pub enum HeadingLockMode {
+    None,
+    Prograde,
+    Retrograde,
+    Target,
+    BurnNode,
+    Current,
+}
+
+impl HeadingLockMode {
+    fn as_str(self) -> &'static str {
+        match self {
+            HeadingLockMode::None => "none",
+            HeadingLockMode::Prograde => "prograde",
+            HeadingLockMode::Retrograde => "retrograde",
+            HeadingLockMode::Target => "target",
+            HeadingLockMode::BurnNode => "burnnode",
+            HeadingLockMode::Current => "current",
+        }
+    }
+}
+
+#[derive(Debug, Clone)]
+pub enum MessageScope {
+    Broadcast,
+    Craft { craft_id: String },
+    Nearby { radius: Option<f32> },
+}
+
+#[derive(Debug, Clone)]
+pub struct OutboundMessage {
+    pub scope: MessageScope,
+    pub name: String,
+    pub data: Value,
+}
+
+#[derive(Debug, Default, Clone)]
+pub struct Control {
+    // Axes
+    throttle: Option<f32>,
+    pitch: Option<f32>,
+    roll: Option<f32>,
+    yaw: Option<f32>,
+    brake: Option<f32>,
+    translate_forward: Option<f32>,
+    translate_right: Option<f32>,
+    translate_up: Option<f32>,
+    slider_1: Option<f32>,
+    slider_2: Option<f32>,
+    slider_3: Option<f32>,
+    slider_4: Option<f32>,
+    translation_mode_enabled: Option<bool>,
+
+    // Side channels
+    display: Option<(String, f32)>,
+    flight_log: Option<(String, bool)>,
+    stage_activate_next: bool,
+    time_warp: Option<u32>,
+    heading_lock: Option<HeadingLockMode>,
+    heading_lock_vector: Option<Vec3>,
+    attitude_target: Option<(Option<f32>, Option<f32>)>,
+    activation_group: Option<(u32, bool)>,
+    target_burn_node: bool,
+    pid_gains_pitch: Option<(f32, f32, f32)>,
+    pid_gains_roll: Option<(f32, f32, f32)>,
+    messages: Vec<OutboundMessage>,
+}
+
+fn clamp(v: f32, lo: f32, hi: f32) -> f32 {
+    if v.is_nan() { lo } else { v.clamp(lo, hi) }
+}
+
+impl Control {
+    pub fn throttle(&mut self, v: f32) -> &mut Self {
+        self.throttle = Some(clamp(v, 0.0, 1.0));
+        self
+    }
+    pub fn pitch(&mut self, v: f32) -> &mut Self {
+        self.pitch = Some(clamp(v, -1.0, 1.0));
+        self
+    }
+    pub fn roll(&mut self, v: f32) -> &mut Self {
+        self.roll = Some(clamp(v, -1.0, 1.0));
+        self
+    }
+    pub fn yaw(&mut self, v: f32) -> &mut Self {
+        self.yaw = Some(clamp(v, -1.0, 1.0));
+        self
+    }
+    pub fn brake(&mut self, v: f32) -> &mut Self {
+        self.brake = Some(clamp(v, 0.0, 1.0));
+        self
+    }
+    pub fn translate_forward(&mut self, v: f32) -> &mut Self {
+        self.translate_forward = Some(clamp(v, -1.0, 1.0));
+        self
+    }
+    pub fn translate_right(&mut self, v: f32) -> &mut Self {
+        self.translate_right = Some(clamp(v, -1.0, 1.0));
+        self
+    }
+    pub fn translate_up(&mut self, v: f32) -> &mut Self {
+        self.translate_up = Some(clamp(v, -1.0, 1.0));
+        self
+    }
+    pub fn slider_1(&mut self, v: f32) -> &mut Self {
+        self.slider_1 = Some(clamp(v, -1.0, 1.0));
+        self
+    }
+    pub fn slider_2(&mut self, v: f32) -> &mut Self {
+        self.slider_2 = Some(clamp(v, -1.0, 1.0));
+        self
+    }
+    pub fn slider_3(&mut self, v: f32) -> &mut Self {
+        self.slider_3 = Some(clamp(v, -1.0, 1.0));
+        self
+    }
+    pub fn slider_4(&mut self, v: f32) -> &mut Self {
+        self.slider_4 = Some(clamp(v, -1.0, 1.0));
+        self
+    }
+    pub fn translation_mode(&mut self, enabled: bool) -> &mut Self {
+        self.translation_mode_enabled = Some(enabled);
+        self
+    }
+
+    pub fn display(&mut self, message: impl Into<String>, duration: f32) -> &mut Self {
+        self.display = Some((message.into(), duration.max(0.0)));
+        self
+    }
+    pub fn flight_log(&mut self, message: impl Into<String>, replace: bool) -> &mut Self {
+        self.flight_log = Some((message.into(), replace));
+        self
+    }
+    pub fn stage(&mut self) -> &mut Self {
+        self.stage_activate_next = true;
+        self
+    }
+    pub fn time_warp(&mut self, mode: u32) -> &mut Self {
+        self.time_warp = Some(mode);
+        self
+    }
+    pub fn heading_lock(&mut self, mode: HeadingLockMode) -> &mut Self {
+        self.heading_lock = Some(mode);
+        self
+    }
+    pub fn heading_lock_vector(&mut self, vector: Vec3) -> &mut Self {
+        self.heading_lock_vector = Some(vector);
+        self
+    }
+    pub fn attitude_target(
+        &mut self,
+        heading_deg: Option<f32>,
+        pitch_deg: Option<f32>,
+    ) -> &mut Self {
+        self.attitude_target = Some((heading_deg, pitch_deg));
+        self
+    }
+    pub fn activation_group(&mut self, group: u32, enabled: bool) -> &mut Self {
+        self.activation_group = Some((group.max(1), enabled));
+        self
+    }
+    pub fn target_burn_node(&mut self) -> &mut Self {
+        self.target_burn_node = true;
+        self
+    }
+    pub fn pid_gains_pitch(&mut self, p: f32, i: f32, d: f32) -> &mut Self {
+        self.pid_gains_pitch = Some((p, i, d));
+        self
+    }
+    pub fn pid_gains_roll(&mut self, p: f32, i: f32, d: f32) -> &mut Self {
+        self.pid_gains_roll = Some((p, i, d));
+        self
+    }
+
+    pub fn broadcast(&mut self, message: impl Into<String>, data: Value) -> &mut Self {
+        self.messages.push(OutboundMessage {
+            scope: MessageScope::Broadcast,
+            name: message.into(),
+            data,
+        });
+        self
+    }
+    pub fn broadcast_to_craft(
+        &mut self,
+        craft_id: impl Into<String>,
+        message: impl Into<String>,
+        data: Value,
+    ) -> &mut Self {
+        self.messages.push(OutboundMessage {
+            scope: MessageScope::Craft {
+                craft_id: craft_id.into(),
+            },
+            name: message.into(),
+            data,
+        });
+        self
+    }
+    pub fn broadcast_to_nearby(
+        &mut self,
+        message: impl Into<String>,
+        data: Value,
+        radius: Option<f32>,
+    ) -> &mut Self {
+        self.messages.push(OutboundMessage {
+            scope: MessageScope::Nearby { radius },
+            name: message.into(),
+            data,
+        });
+        self
+    }
+
+    /// Drop side-channel one-shots; keep continuous axis settings.
+    pub fn clear_transient(&mut self) {
+        self.display = None;
+        self.flight_log = None;
+        self.stage_activate_next = false;
+        self.time_warp = None;
+        self.heading_lock = None;
+        self.heading_lock_vector = None;
+        self.attitude_target = None;
+        self.activation_group = None;
+        self.target_burn_node = false;
+        self.pid_gains_pitch = None;
+        self.pid_gains_roll = None;
+        self.messages.clear();
+    }
+
+    /// Drop every field.
+    pub fn clear(&mut self) {
+        *self = Self::default();
+    }
+
+    pub(crate) fn encode(&self, seq: i64) -> Vec<u8> {
+        let mut root = Map::new();
+        root.insert("seq".into(), json!(seq.max(0)));
+
+        let mut control = Map::new();
+        if let Some(v) = self.throttle {
+            control.insert("throttle".into(), json!(v));
+        }
+        if let Some(v) = self.pitch {
+            control.insert("pitch".into(), json!(v));
+        }
+        if let Some(v) = self.roll {
+            control.insert("roll".into(), json!(v));
+        }
+        if let Some(v) = self.yaw {
+            control.insert("yaw".into(), json!(v));
+        }
+        if let Some(v) = self.brake {
+            control.insert("brake".into(), json!(v));
+        }
+        if let Some(v) = self.translate_forward {
+            control.insert("translate_forward".into(), json!(v));
+        }
+        if let Some(v) = self.translate_right {
+            control.insert("translate_right".into(), json!(v));
+        }
+        if let Some(v) = self.translate_up {
+            control.insert("translate_up".into(), json!(v));
+        }
+        if let Some(v) = self.slider_1 {
+            control.insert("slider_1".into(), json!(v));
+        }
+        if let Some(v) = self.slider_2 {
+            control.insert("slider_2".into(), json!(v));
+        }
+        if let Some(v) = self.slider_3 {
+            control.insert("slider_3".into(), json!(v));
+        }
+        if let Some(v) = self.slider_4 {
+            control.insert("slider_4".into(), json!(v));
+        }
+        if let Some(v) = self.translation_mode_enabled {
+            control.insert("translation_mode_enabled".into(), json!(v));
+        }
+        root.insert("control".into(), Value::Object(control));
+
+        if let Some((text, duration)) = &self.display {
+            root.insert(
+                "display".into(),
+                json!({ "message": text, "duration": duration }),
+            );
+        }
+        if let Some((text, replace)) = &self.flight_log {
+            root.insert(
+                "flight_log".into(),
+                json!({ "message": text, "replace": replace }),
+            );
+        }
+        if self.stage_activate_next {
+            root.insert("stage".into(), json!({ "activate_next": true }));
+        }
+        if let Some(mode) = self.time_warp {
+            root.insert("time_warp".into(), json!({ "mode": mode }));
+        }
+        if let Some(mode) = self.heading_lock {
+            root.insert("heading_lock".into(), json!({ "mode": mode.as_str() }));
+        }
+        if let Some(vector) = self.heading_lock_vector {
+            root.insert(
+                "heading_lock_vector".into(),
+                json!({ "x": vector.x, "y": vector.y, "z": vector.z }),
+            );
+        }
+        if let Some((heading_deg, pitch_deg)) = self.attitude_target {
+            let mut payload = Map::new();
+            if let Some(h) = heading_deg {
+                payload.insert("heading_deg".into(), json!(h));
+            }
+            if let Some(p) = pitch_deg {
+                payload.insert("pitch_deg".into(), json!(p));
+            }
+            if !payload.is_empty() {
+                root.insert("attitude_target".into(), Value::Object(payload));
+            }
+        }
+        if let Some((group, enabled)) = self.activation_group {
+            root.insert(
+                "activation_group".into(),
+                json!({ "group": group, "enabled": enabled }),
+            );
+        }
+        if self.target_burn_node {
+            root.insert("target_node".into(), json!({ "name": "burnnode" }));
+        }
+        if let Some((p, i, d)) = self.pid_gains_pitch {
+            root.insert("pid_gains_pitch".into(), json!({ "p": p, "i": i, "d": d }));
+        }
+        if let Some((p, i, d)) = self.pid_gains_roll {
+            root.insert("pid_gains_roll".into(), json!({ "p": p, "i": i, "d": d }));
+        }
+        if !self.messages.is_empty() {
+            let messages: Vec<Value> = self
+                .messages
+                .iter()
+                .map(|m| {
+                    let mut payload = Map::new();
+                    let scope_name = match &m.scope {
+                        MessageScope::Broadcast => "broadcast",
+                        MessageScope::Craft { .. } => "craft",
+                        MessageScope::Nearby { .. } => "nearby",
+                    };
+                    payload.insert("scope".into(), json!(scope_name));
+                    payload.insert("message".into(), json!(m.name));
+                    payload.insert("data".into(), m.data.clone());
+                    if let MessageScope::Craft { craft_id } = &m.scope {
+                        payload.insert("craft_id".into(), json!(craft_id));
+                    }
+                    if let MessageScope::Nearby { radius: Some(r) } = &m.scope {
+                        payload.insert("radius".into(), json!(r));
+                    }
+                    Value::Object(payload)
+                })
+                .collect();
+            root.insert("messages".into(), Value::Array(messages));
+        }
+
+        serde_json::to_vec(&Value::Object(root)).expect("control encode")
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn sparse_encoding_only_includes_set_fields() {
+        let mut c = Control::default();
+        c.throttle(0.5).pitch(-0.25);
+        let bytes = c.encode(3);
+        let v: Value = serde_json::from_slice(&bytes).unwrap();
+        assert_eq!(v["seq"], 3);
+        let control = v["control"].as_object().unwrap();
+        assert_eq!(control.len(), 2);
+        assert_eq!(control["throttle"], 0.5);
+        assert_eq!(control["pitch"], -0.25);
+        assert!(v.get("display").is_none());
+        assert!(v.get("stage").is_none());
+    }
+
+    #[test]
+    fn clamps_axes() {
+        let mut c = Control::default();
+        c.throttle(2.0).pitch(-5.0);
+        let bytes = c.encode(1);
+        let v: Value = serde_json::from_slice(&bytes).unwrap();
+        assert_eq!(v["control"]["throttle"], 1.0);
+        assert_eq!(v["control"]["pitch"], -1.0);
+    }
+
+    #[test]
+    fn side_channels_emit_when_set() {
+        let mut c = Control::default();
+        c.display("hello", 5.0).stage().heading_lock(HeadingLockMode::Prograde);
+        let bytes = c.encode(0);
+        let v: Value = serde_json::from_slice(&bytes).unwrap();
+        assert_eq!(v["display"]["message"], "hello");
+        assert_eq!(v["display"]["duration"], 5.0);
+        assert_eq!(v["stage"]["activate_next"], true);
+        assert_eq!(v["heading_lock"]["mode"], "prograde");
+    }
+}
diff --git a/crates/jio/src/error.rs b/crates/jio/src/error.rs
new file mode 100644
index 0000000..8fcf507
--- /dev/null
+++ b/crates/jio/src/error.rs
@@ -0,0 +1,15 @@
+use thiserror::Error;
+
+#[derive(Debug, Error)]
+pub enum Error {
+    #[error("io: {0}")]
+    Io(#[from] std::io::Error),
+    #[error("json: {0}")]
+    Json(#[from] serde_json::Error),
+    #[error("rpc error: {0}")]
+    Rpc(String),
+    #[error("rpc timed out: {0}")]
+    RpcTimeout(String),
+}
+
+pub type Result<T> = std::result::Result<T, Error>;
diff --git a/crates/jio/src/lib.rs b/crates/jio/src/lib.rs
new file mode 100644
index 0000000..c92bcb2
--- /dev/null
+++ b/crates/jio/src/lib.rs
@@ -0,0 +1,51 @@
+//! `jio` — a tiny Rust client for the JunoIO Unity mod UDP protocol.
+//!
+//! Four JSON-over-UDP channels on `127.0.0.1`:
+//!
+//! | Port | Direction      | Purpose                       |
+//! | ---- | -------------- | ----------------------------- |
+//! | 5005 | Unity → client | Telemetry snapshots + events  |
+//! | 5006 | client → Unity | Control + side-channel cmds   |
+//! | 5007 | client → Unity | RPC request                   |
+//! | 5008 | Unity → client | RPC response                  |
+//!
+//! Usage shape:
+//!
+//! ```no_run
+//! use jio::{Client, Control, Result};
+//!
+//! #[tokio::main]
+//! async fn main() -> Result<()> {
+//!     let mut client = Client::connect().await?;
+//!     let mut ctrl = Control::default();
+//!     ctrl.display("jio hover", 5.0);
+//!
+//!     loop {
+//!         let tel = client.next_telemetry().await?;
+//!         let Some(craft) = tel.active() else { continue };
+//!         ctrl.throttle(if craft.state.altitude_agl < 100.0 { 0.6 } else { 0.2 });
+//!         client.send_control(tel.seq, &ctrl).await?;
+//!         ctrl.clear_transient();
+//!     }
+//! }
+//! ```
+
+mod client;
+mod control;
+mod error;
+mod protocol;
+mod state;
+mod transport;
+mod world;
+
+pub use client::Client;
+pub use control::{Control, HeadingLockMode, MessageScope, OutboundMessage};
+pub use error::{Error, Result};
+pub use state::{BodyRef, Craft, Event, EventCommon, State, Target, TargetCommon, Telemetry};
+pub use world::RayHit;
+pub use transport::{
+    Addresses, DEFAULT_COMMAND_PORT, DEFAULT_HOST, DEFAULT_RPC_REQUEST_PORT,
+    DEFAULT_RPC_RESPONSE_PORT, DEFAULT_TELEMETRY_PORT,
+};
+
+pub use glam;
diff --git a/crates/jio/src/protocol.rs b/crates/jio/src/protocol.rs
new file mode 100644
index 0000000..f6b7659
--- /dev/null
+++ b/crates/jio/src/protocol.rs
@@ -0,0 +1,712 @@
+//! Raw wire types (serde) and conversion into the public `state` types.
+
+use glam::Vec3;
+use serde::Deserialize;
+use std::collections::HashMap;
+
+use crate::state::{
+    BodyRef, Craft, Event, EventCommon, State, Target, TargetCommon, Telemetry,
+};
+
+#[derive(Debug, Deserialize)]
+pub(crate) struct RawTelemetry {
+    #[serde(rename = "type")]
+    pub kind: String,
+    pub seq: i64,
+    #[serde(default, rename = "t")]
+    pub t: f64,
+    #[serde(default)]
+    pub active_craft_id: String,
+    #[serde(default)]
+    pub crafts: HashMap<String, RawCraft>,
+    #[serde(default)]
+    pub target: Option<RawTarget>,
+    #[serde(default)]
+    pub events: Vec<RawEvent>,
+}
+
+#[derive(Debug, Deserialize)]
+pub(crate) struct RawCraft {
+    #[serde(default)]
+    pub craft_id: String,
+    #[serde(default)]
+    pub name: String,
+    #[serde(default)]
+    pub state: Option<RawState>,
+}
+
+#[derive(Debug, Deserialize)]
+pub(crate) struct RawVec3 {
+    #[serde(default)]
+    pub x: f32,
+    #[serde(default)]
+    pub y: f32,
+    #[serde(default)]
+    pub z: f32,
+}
+
+impl RawVec3 {
+    fn to_vec3(&self) -> Vec3 {
+        Vec3::new(self.x, self.y, self.z)
+    }
+}
+
+#[derive(Debug, Deserialize)]
+pub(crate) struct RawBodyRef {
+    #[serde(default)]
+    pub body_id: String,
+    #[serde(default)]
+    pub name: String,
+}
+
+impl RawBodyRef {
+    fn into_body_ref(self) -> BodyRef {
+        BodyRef {
+            body_id: self.body_id,
+            name: self.name,
+        }
+    }
+}
+
+#[derive(Debug, Deserialize)]
+pub(crate) struct RawTarget {
+    #[serde(default)]
+    pub target_type: String,
+    #[serde(default)]
+    pub target_id: String,
+    #[serde(default)]
+    pub name: String,
+    #[serde(default)]
+    pub parent_body: Option<RawBodyRef>,
+    #[serde(default)]
+    pub parent_body_id: Option<String>,
+    #[serde(default)]
+    pub parent_body_name: Option<String>,
+    #[serde(default)]
+    pub position: Option<RawVec3>,
+    #[serde(default)]
+    pub velocity: Option<RawVec3>,
+    #[serde(default)]
+    pub craft_id: Option<String>,
+    #[serde(default)]
+    pub part_id: Option<i64>,
+    #[serde(default)]
+    pub part_name: Option<String>,
+    #[serde(default)]
+    pub parent_craft_id: Option<String>,
+    #[serde(default)]
+    pub parent_craft_name: Option<String>,
+    #[serde(default)]
+    pub body_id: Option<String>,
+    #[serde(default)]
+    pub radius: Option<f32>,
+    #[serde(default)]
+    pub mass: Option<f32>,
+    #[serde(default)]
+    pub mu: Option<f32>,
+    #[serde(default)]
+    pub angular_velocity: Option<f32>,
+    #[serde(default)]
+    pub landmark_id: Option<String>,
+    #[serde(default)]
+    pub latitude_deg: Option<f32>,
+    #[serde(default)]
+    pub longitude_deg: Option<f32>,
+}
+
+#[derive(Debug, Deserialize)]
+pub(crate) struct RawEvent {
+    #[serde(default)]
+    pub event_type: String,
+    #[serde(default)]
+    pub event_id: String,
+    #[serde(default)]
+    pub time: f32,
+    #[serde(default)]
+    pub craft_id: Option<String>,
+    #[serde(default)]
+    pub craft_name: Option<String>,
+    #[serde(default)]
+    pub sender_craft_id: Option<String>,
+    #[serde(default)]
+    pub sender_craft_name: Option<String>,
+    #[serde(default)]
+    pub other_craft_id: Option<String>,
+    #[serde(default)]
+    pub other_craft_name: Option<String>,
+    #[serde(default)]
+    pub part_id: Option<i64>,
+    #[serde(default)]
+    pub part_name: Option<String>,
+    #[serde(default)]
+    pub other_part_id: Option<i64>,
+    #[serde(default)]
+    pub other_part_name: Option<String>,
+    #[serde(default)]
+    pub message_name: Option<String>,
+    #[serde(default)]
+    pub message_data: serde_json::Value,
+    #[serde(default)]
+    pub delivery_scope: Option<String>,
+    #[serde(default)]
+    pub parent_body: Option<RawBodyRef>,
+    #[serde(default)]
+    pub parent_body_id: Option<String>,
+    #[serde(default)]
+    pub parent_body_name: Option<String>,
+    #[serde(default)]
+    pub new_parent_body: Option<RawBodyRef>,
+    #[serde(default)]
+    pub relative_velocity: Option<f32>,
+    #[serde(default)]
+    pub impulse: Option<f32>,
+    #[serde(default)]
+    pub is_ground_collision: Option<bool>,
+    #[serde(default)]
+    pub point: Option<RawVec3>,
+    #[serde(default)]
+    pub normal: Option<RawVec3>,
+}
+
+#[derive(Debug, Deserialize)]
+pub(crate) struct RawRpcResponse {
+    #[serde(rename = "type")]
+    pub kind: String,
+    pub id: i64,
+    pub ok: bool,
+    #[serde(default)]
+    pub result: serde_json::Value,
+    #[serde(default)]
+    pub error: Option<RawRpcError>,
+}
+
+#[derive(Debug, Deserialize)]
+pub(crate) struct RawRpcError {
+    #[serde(default)]
+    pub code: String,
+    #[serde(default)]
+    pub message: String,
+}
+
+/// Raw flat state block. All fields default to 0/false so a missing key
+/// is tolerated, mirroring `_as_float(default=0.0)` in the Python parser.
+#[derive(Debug, Deserialize, Default)]
+#[serde(default)]
+pub(crate) struct RawState {
+    pub altitude_asl: f32,
+    pub altitude_agl: f32,
+    pub altitude_terrain: f32,
+    pub mass: f32,
+    pub fuel_mass_scaled: f32,
+    pub remaining_fuel_in_stage_fraction: f32,
+    pub remaining_monopropellant_fraction: f32,
+    pub remaining_battery_fraction: f32,
+    pub surface_speed: f32,
+    pub horizontal_speed: f32,
+    pub vertical_speed: f32,
+    pub orbital_speed: f32,
+    pub pitch: f32,
+    pub bank_angle: f32,
+    pub heading: f32,
+    pub angle_of_attack: f32,
+    pub side_slip: f32,
+    pub latitude_deg: f32,
+    pub longitude_deg: f32,
+    pub distance_from_center: f32,
+    pub acceleration: f32,
+    pub drag_acceleration: f32,
+    pub g_force: f32,
+    pub angular_speed: f32,
+    pub current_engine_thrust: f32,
+    pub current_rcs_thrust_scaled: f32,
+    pub active_engine_count: i32,
+    pub active_rcs_count: i32,
+    pub grounded: bool,
+    pub in_water: bool,
+    pub supports_warp_burn: bool,
+    pub mach_number: f32,
+    pub current_isp: f32,
+    pub delta_v_stage: f32,
+    pub thrust_to_weight_ratio: f32,
+    pub remaining_burn_time: f32,
+    pub fuel_all_stages_fraction: f32,
+    pub weighted_throttle_response: f32,
+    pub weighted_throttle_response_time: f32,
+    pub planet_name: String,
+    pub planet_radius: f32,
+    pub planet_surface_gravity: f32,
+
+    pub position_x: f32,
+    pub position_y: f32,
+    pub position_z: f32,
+    pub velocity_x: f32,
+    pub velocity_y: f32,
+    pub velocity_z: f32,
+    pub surface_velocity_x: f32,
+    pub surface_velocity_y: f32,
+    pub surface_velocity_z: f32,
+    pub target_velocity_x: f32,
+    pub target_velocity_y: f32,
+    pub target_velocity_z: f32,
+    pub acceleration_x: f32,
+    pub acceleration_y: f32,
+    pub acceleration_z: f32,
+    pub angular_velocity_x: f32,
+    pub angular_velocity_y: f32,
+    pub angular_velocity_z: f32,
+    pub craft_forward_x: f32,
+    pub craft_forward_y: f32,
+    pub craft_forward_z: f32,
+    pub craft_right_x: f32,
+    pub craft_right_y: f32,
+    pub craft_right_z: f32,
+    pub craft_up_x: f32,
+    pub craft_up_y: f32,
+    pub craft_up_z: f32,
+    pub nav_north_x: f32,
+    pub nav_north_y: f32,
+    pub nav_north_z: f32,
+    pub nav_east_x: f32,
+    pub nav_east_y: f32,
+    pub nav_east_z: f32,
+    pub nav_up_x: f32,
+    pub nav_up_y: f32,
+    pub nav_up_z: f32,
+    pub nav_craft_roll_axis_x: f32,
+    pub nav_craft_roll_axis_y: f32,
+    pub nav_craft_roll_axis_z: f32,
+    pub nav_craft_pitch_axis_x: f32,
+    pub nav_craft_pitch_axis_y: f32,
+    pub nav_craft_pitch_axis_z: f32,
+    pub nav_craft_yaw_axis_x: f32,
+    pub nav_craft_yaw_axis_y: f32,
+    pub nav_craft_yaw_axis_z: f32,
+    pub body_velocity_forward: f32,
+    pub body_velocity_right: f32,
+    pub body_velocity_up: f32,
+    pub surface_body_velocity_forward: f32,
+    pub surface_body_velocity_right: f32,
+    pub surface_body_velocity_up: f32,
+
+    pub control_throttle: f32,
+    pub control_pitch: f32,
+    pub control_roll: f32,
+    pub control_yaw: f32,
+    pub control_brake: f32,
+    pub control_translate_forward: f32,
+    pub control_translate_right: f32,
+    pub control_translate_up: f32,
+    pub control_slider_1: f32,
+    pub control_slider_2: f32,
+    pub control_slider_3: f32,
+    pub control_slider_4: f32,
+    pub control_translation_mode_enabled: bool,
+    pub control_pitch_input_received: bool,
+    pub control_roll_input_received: bool,
+    pub control_yaw_input_received: bool,
+
+    pub environment_air_density: f32,
+    pub environment_air_pressure: f32,
+    pub environment_temperature: f32,
+    pub environment_speed_of_sound: f32,
+    pub environment_atmosphere_height: f32,
+    pub environment_sample_altitude: f32,
+    pub environment_surface_air_density: f32,
+    pub max_engine_thrust: f32,
+    pub gravity_acceleration: f32,
+    pub gravity_acceleration_x: f32,
+    pub gravity_acceleration_y: f32,
+    pub gravity_acceleration_z: f32,
+    pub engine_force_x: f32,
+    pub engine_force_y: f32,
+    pub engine_force_z: f32,
+    pub lift_force_x: f32,
+    pub lift_force_y: f32,
+    pub lift_force_z: f32,
+    pub drag_force_x: f32,
+    pub drag_force_y: f32,
+    pub drag_force_z: f32,
+    pub solar_radiation_intensity: f32,
+
+    pub orbit_apoapsis_altitude: f32,
+    pub orbit_apoapsis_time: f32,
+    pub orbit_periapsis_altitude: f32,
+    pub orbit_periapsis_time: f32,
+    pub orbit_eccentricity: f32,
+    pub orbit_inclination_rad: f32,
+    pub orbit_period: f32,
+
+    pub frame_delta_time: f32,
+    pub time_since_launch: f32,
+    pub total_time: f32,
+    pub warp_amount: f32,
+    pub real_time: f32,
+}
+
+impl RawState {
+    fn into_state(self, seq: i64, time: f64) -> State {
+        State {
+            seq,
+            time,
+            altitude_asl: self.altitude_asl,
+            altitude_agl: self.altitude_agl,
+            altitude_terrain: self.altitude_terrain,
+            mass: self.mass,
+            fuel_mass_scaled: self.fuel_mass_scaled,
+            remaining_fuel_in_stage_fraction: self.remaining_fuel_in_stage_fraction,
+            remaining_monopropellant_fraction: self.remaining_monopropellant_fraction,
+            remaining_battery_fraction: self.remaining_battery_fraction,
+            surface_speed: self.surface_speed,
+            horizontal_speed: self.horizontal_speed,
+            vertical_speed: self.vertical_speed,
+            orbital_speed: self.orbital_speed,
+            pitch: self.pitch,
+            bank_angle: self.bank_angle,
+            heading: self.heading,
+            angle_of_attack: self.angle_of_attack,
+            side_slip: self.side_slip,
+            latitude_deg: self.latitude_deg,
+            longitude_deg: self.longitude_deg,
+            distance_from_center: self.distance_from_center,
+            acceleration_mag: self.acceleration,
+            drag_acceleration: self.drag_acceleration,
+            g_force: self.g_force,
+            angular_speed: self.angular_speed,
+            current_engine_thrust: self.current_engine_thrust,
+            current_rcs_thrust_scaled: self.current_rcs_thrust_scaled,
+            active_engine_count: self.active_engine_count,
+            active_rcs_count: self.active_rcs_count,
+            grounded: self.grounded,
+            in_water: self.in_water,
+            supports_warp_burn: self.supports_warp_burn,
+            mach_number: self.mach_number,
+            current_isp: self.current_isp,
+            delta_v_stage: self.delta_v_stage,
+            thrust_to_weight_ratio: self.thrust_to_weight_ratio,
+            remaining_burn_time: self.remaining_burn_time,
+            fuel_all_stages_fraction: self.fuel_all_stages_fraction,
+            weighted_throttle_response: self.weighted_throttle_response,
+            weighted_throttle_response_time: self.weighted_throttle_response_time,
+            planet_name: self.planet_name,
+            planet_radius: self.planet_radius,
+            planet_surface_gravity: self.planet_surface_gravity,
+
+            position: Vec3::new(self.position_x, self.position_y, self.position_z),
+            velocity: Vec3::new(self.velocity_x, self.velocity_y, self.velocity_z),
+            surface_velocity: Vec3::new(
+                self.surface_velocity_x,
+                self.surface_velocity_y,
+                self.surface_velocity_z,
+            ),
+            target_velocity: Vec3::new(
+                self.target_velocity_x,
+                self.target_velocity_y,
+                self.target_velocity_z,
+            ),
+            acceleration: Vec3::new(
+                self.acceleration_x,
+                self.acceleration_y,
+                self.acceleration_z,
+            ),
+            angular_velocity: Vec3::new(
+                self.angular_velocity_x,
+                self.angular_velocity_y,
+                self.angular_velocity_z,
+            ),
+            craft_forward: Vec3::new(
+                self.craft_forward_x,
+                self.craft_forward_y,
+                self.craft_forward_z,
+            ),
+            craft_right: Vec3::new(self.craft_right_x, self.craft_right_y, self.craft_right_z),
+            craft_up: Vec3::new(self.craft_up_x, self.craft_up_y, self.craft_up_z),
+            nav_north: Vec3::new(self.nav_north_x, self.nav_north_y, self.nav_north_z),
+            nav_east: Vec3::new(self.nav_east_x, self.nav_east_y, self.nav_east_z),
+            nav_up: Vec3::new(self.nav_up_x, self.nav_up_y, self.nav_up_z),
+            nav_craft_roll_axis: Vec3::new(
+                self.nav_craft_roll_axis_x,
+                self.nav_craft_roll_axis_y,
+                self.nav_craft_roll_axis_z,
+            ),
+            nav_craft_pitch_axis: Vec3::new(
+                self.nav_craft_pitch_axis_x,
+                self.nav_craft_pitch_axis_y,
+                self.nav_craft_pitch_axis_z,
+            ),
+            nav_craft_yaw_axis: Vec3::new(
+                self.nav_craft_yaw_axis_x,
+                self.nav_craft_yaw_axis_y,
+                self.nav_craft_yaw_axis_z,
+            ),
+            body_velocity: Vec3::new(
+                self.body_velocity_forward,
+                self.body_velocity_right,
+                self.body_velocity_up,
+            ),
+            surface_body_velocity: Vec3::new(
+                self.surface_body_velocity_forward,
+                self.surface_body_velocity_right,
+                self.surface_body_velocity_up,
+            ),
+
+            control_throttle: self.control_throttle,
+            control_pitch: self.control_pitch,
+            control_roll: self.control_roll,
+            control_yaw: self.control_yaw,
+            control_brake: self.control_brake,
+            control_translate_forward: self.control_translate_forward,
+            control_translate_right: self.control_translate_right,
+            control_translate_up: self.control_translate_up,
+            control_slider_1: self.control_slider_1,
+            control_slider_2: self.control_slider_2,
+            control_slider_3: self.control_slider_3,
+            control_slider_4: self.control_slider_4,
+            control_translation_mode_enabled: self.control_translation_mode_enabled,
+            control_pitch_input_received: self.control_pitch_input_received,
+            control_roll_input_received: self.control_roll_input_received,
+            control_yaw_input_received: self.control_yaw_input_received,
+
+            environment_air_density: self.environment_air_density,
+            environment_air_pressure: self.environment_air_pressure,
+            environment_temperature: self.environment_temperature,
+            environment_speed_of_sound: self.environment_speed_of_sound,
+            environment_atmosphere_height: self.environment_atmosphere_height,
+            environment_sample_altitude: self.environment_sample_altitude,
+            environment_surface_air_density: self.environment_surface_air_density,
+
+            max_engine_thrust: self.max_engine_thrust,
+            gravity_acceleration_mag: self.gravity_acceleration,
+            gravity_acceleration: Vec3::new(
+                self.gravity_acceleration_x,
+                self.gravity_acceleration_y,
+                self.gravity_acceleration_z,
+            ),
+            engine_force: Vec3::new(
+                self.engine_force_x,
+                self.engine_force_y,
+                self.engine_force_z,
+            ),
+            lift_force: Vec3::new(self.lift_force_x, self.lift_force_y, self.lift_force_z),
+            drag_force: Vec3::new(self.drag_force_x, self.drag_force_y, self.drag_force_z),
+            solar_radiation_intensity: self.solar_radiation_intensity,
+
+            orbit_apoapsis_altitude: self.orbit_apoapsis_altitude,
+            orbit_apoapsis_time: self.orbit_apoapsis_time,
+            orbit_periapsis_altitude: self.orbit_periapsis_altitude,
+            orbit_periapsis_time: self.orbit_periapsis_time,
+            orbit_eccentricity: self.orbit_eccentricity,
+            orbit_inclination_rad: self.orbit_inclination_rad,
+            orbit_period: self.orbit_period,
+
+            frame_delta_time: self.frame_delta_time,
+            time_since_launch: self.time_since_launch,
+            total_time: self.total_time,
+            warp_amount: self.warp_amount,
+            real_time: self.real_time,
+        }
+    }
+}
+
+impl RawTelemetry {
+    pub(crate) fn vectorize(self) -> Option<Telemetry> {
+        if self.kind != "telemetry" {
+            return None;
+        }
+
+        let seq = self.seq;
+        let time = self.t;
+
+        let crafts = self
+            .crafts
+            .into_iter()
+            .filter_map(|(id, raw)| {
+                let state = raw.state?.into_state(seq, time);
+                let craft_id = if raw.craft_id.is_empty() {
+                    id.clone()
+                } else {
+                    raw.craft_id
+                };
+                Some((
+                    id,
+                    Craft {
+                        craft_id,
+                        name: raw.name,
+                        state,
+                    },
+                ))
+            })
+            .collect();
+
+        Some(Telemetry {
+            seq,
+            time,
+            active_craft_id: self.active_craft_id,
+            crafts,
+            target: self.target.map(RawTarget::into_target),
+            events: self.events.into_iter().map(RawEvent::into_event).collect(),
+        })
+    }
+}
+
+impl RawTarget {
+    fn into_target(self) -> Target {
+        let parent_body = match (self.parent_body, self.parent_body_id, self.parent_body_name) {
+            (Some(nested), _, _) => Some(nested.into_body_ref()),
+            (None, Some(id), name) => Some(BodyRef {
+                body_id: id,
+                name: name.unwrap_or_default(),
+            }),
+            (None, None, Some(name)) => Some(BodyRef {
+                body_id: String::new(),
+                name,
+            }),
+            _ => None,
+        };
+
+        let base = TargetCommon {
+            target_id: self.target_id,
+            name: self.name,
+            parent_body,
+            position: self.position.map(|v| v.to_vec3()),
+            velocity: self.velocity.map(|v| v.to_vec3()),
+        };
+
+        match self.target_type.as_str() {
+            "craft" => Target::Craft {
+                base,
+                craft_id: self.craft_id,
+            },
+            "body" => Target::Body {
+                base,
+                body_id: self.body_id,
+                radius: self.radius,
+                mass: self.mass,
+                mu: self.mu,
+                angular_velocity: self.angular_velocity,
+            },
+            "landmark" => Target::Landmark {
+                base,
+                landmark_id: self.landmark_id,
+                latitude_deg: self.latitude_deg,
+                longitude_deg: self.longitude_deg,
+            },
+            "part" => Target::Part {
+                base,
+                part_id: self.part_id,
+                part_name: self.part_name,
+                parent_craft_id: self.parent_craft_id,
+                parent_craft_name: self.parent_craft_name,
+            },
+            "position" => Target::Position { base },
+            other => Target::Other {
+                target_type: other.to_string(),
+                base,
+            },
+        }
+    }
+}
+
+impl RawEvent {
+    fn into_event(self) -> Event {
+        let parent_body = match (self.parent_body, self.parent_body_id, self.parent_body_name) {
+            (Some(nested), _, _) => Some(nested.into_body_ref()),
+            (None, Some(id), name) => Some(BodyRef {
+                body_id: id,
+                name: name.unwrap_or_default(),
+            }),
+            (None, None, Some(name)) => Some(BodyRef {
+                body_id: String::new(),
+                name,
+            }),
+            _ => None,
+        };
+
+        let base = EventCommon {
+            event_id: self.event_id,
+            time: self.time,
+            craft_id: self.craft_id,
+            craft_name: self.craft_name,
+            parent_body,
+        };
+
+        match self.event_type.as_str() {
+            "collision" => Event::Collision {
+                base,
+                part_id: self.part_id,
+                part_name: self.part_name,
+                other_part_id: self.other_part_id,
+                other_part_name: self.other_part_name,
+                other_craft_id: self.other_craft_id,
+                other_craft_name: self.other_craft_name,
+                relative_velocity: self.relative_velocity,
+                impulse: self.impulse,
+                is_ground_collision: self.is_ground_collision,
+                point: self.point.map(|v| v.to_vec3()),
+                normal: self.normal.map(|v| v.to_vec3()),
+            },
+            "part_exploded" => Event::PartExploded {
+                base,
+                part_id: self.part_id,
+                part_name: self.part_name,
+            },
+            "craft_docked" => Event::CraftDocked {
+                base,
+                other_craft_id: self.other_craft_id,
+                other_craft_name: self.other_craft_name,
+            },
+            "entered_soi" => Event::EnteredSoi {
+                base,
+                new_parent_body: self.new_parent_body.map(|r| r.into_body_ref()),
+            },
+            "message_received" => Event::MessageReceived {
+                base,
+                message: self.message_name,
+                data: self.message_data,
+                sender_craft_id: self.sender_craft_id,
+                sender_craft_name: self.sender_craft_name,
+                delivery_scope: self.delivery_scope,
+            },
+            other => Event::Other {
+                event_type: other.to_string(),
+                base,
+            },
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn vectorizes_basic_telemetry() {
+        let payload = serde_json::json!({
+            "type": "telemetry",
+            "seq": 7,
+            "t": 12.5,
+            "active_craft_id": "craft_0",
+            "crafts": {
+                "craft_0": {
+                    "craft_id": "craft_0",
+                    "name": "Demo",
+                    "state": {
+                        "altitude_agl": 42.0,
+                        "position_x": 1.0, "position_y": 2.0, "position_z": 3.0,
+                        "velocity_x": -1.5, "velocity_y": 0.5, "velocity_z": 9.0,
+                        "craft_forward_x": 0.0, "craft_forward_y": 0.0, "craft_forward_z": 1.0
+                    }
+                }
+            }
+        });
+
+        let raw: RawTelemetry = serde_json::from_value(payload).unwrap();
+        let tel = raw.vectorize().expect("telemetry");
+        assert_eq!(tel.seq, 7);
+        let craft = tel.active().unwrap();
+        assert_eq!(craft.name, "Demo");
+        assert_eq!(craft.state.altitude_agl, 42.0);
+        assert_eq!(craft.state.position, Vec3::new(1.0, 2.0, 3.0));
+        assert_eq!(craft.state.velocity, Vec3::new(-1.5, 0.5, 9.0));
+        assert_eq!(craft.state.craft_forward, Vec3::Z);
+    }
+}
diff --git a/crates/jio/src/state.rs b/crates/jio/src/state.rs
new file mode 100644
index 0000000..c1d51b0
--- /dev/null
+++ b/crates/jio/src/state.rs
@@ -0,0 +1,259 @@
+use glam::Vec3;
+use std::collections::HashMap;
+
+#[derive(Debug, Clone, Default)]
+pub struct State {
+    pub seq: i64,
+    pub time: f64,
+
+    // Altitudes / mass / fuel
+    pub altitude_asl: f32,
+    pub altitude_agl: f32,
+    pub altitude_terrain: f32,
+    pub mass: f32,
+    pub fuel_mass_scaled: f32,
+    pub remaining_fuel_in_stage_fraction: f32,
+    pub remaining_monopropellant_fraction: f32,
+    pub remaining_battery_fraction: f32,
+
+    // Speeds
+    pub surface_speed: f32,
+    pub horizontal_speed: f32,
+    pub vertical_speed: f32,
+    pub orbital_speed: f32,
+
+    // Attitude scalars
+    pub pitch: f32,
+    pub bank_angle: f32,
+    pub heading: f32,
+    pub angle_of_attack: f32,
+    pub side_slip: f32,
+
+    pub latitude_deg: f32,
+    pub longitude_deg: f32,
+    pub distance_from_center: f32,
+
+    pub acceleration_mag: f32,
+    pub drag_acceleration: f32,
+    pub g_force: f32,
+    pub angular_speed: f32,
+
+    pub current_engine_thrust: f32,
+    pub current_rcs_thrust_scaled: f32,
+    pub active_engine_count: i32,
+    pub active_rcs_count: i32,
+
+    pub grounded: bool,
+    pub in_water: bool,
+    pub supports_warp_burn: bool,
+
+    pub mach_number: f32,
+    pub current_isp: f32,
+    pub delta_v_stage: f32,
+    pub thrust_to_weight_ratio: f32,
+    pub remaining_burn_time: f32,
+    pub fuel_all_stages_fraction: f32,
+    pub weighted_throttle_response: f32,
+    pub weighted_throttle_response_time: f32,
+
+    pub planet_name: String,
+    pub planet_radius: f32,
+    pub planet_surface_gravity: f32,
+
+    // Vectorized
+    pub position: Vec3,
+    pub velocity: Vec3,
+    pub surface_velocity: Vec3,
+    pub target_velocity: Vec3,
+    pub acceleration: Vec3,
+    pub angular_velocity: Vec3,
+    pub craft_forward: Vec3,
+    pub craft_right: Vec3,
+    pub craft_up: Vec3,
+    pub nav_north: Vec3,
+    pub nav_east: Vec3,
+    pub nav_up: Vec3,
+    pub nav_craft_roll_axis: Vec3,
+    pub nav_craft_pitch_axis: Vec3,
+    pub nav_craft_yaw_axis: Vec3,
+    pub body_velocity: Vec3,         // forward / right / up
+    pub surface_body_velocity: Vec3, // forward / right / up
+
+    // Control read-back (scalar)
+    pub control_throttle: f32,
+    pub control_pitch: f32,
+    pub control_roll: f32,
+    pub control_yaw: f32,
+    pub control_brake: f32,
+    pub control_translate_forward: f32,
+    pub control_translate_right: f32,
+    pub control_translate_up: f32,
+    pub control_slider_1: f32,
+    pub control_slider_2: f32,
+    pub control_slider_3: f32,
+    pub control_slider_4: f32,
+    pub control_translation_mode_enabled: bool,
+    pub control_pitch_input_received: bool,
+    pub control_roll_input_received: bool,
+    pub control_yaw_input_received: bool,
+
+    // Environment
+    pub environment_air_density: f32,
+    pub environment_air_pressure: f32,
+    pub environment_temperature: f32,
+    pub environment_speed_of_sound: f32,
+    pub environment_atmosphere_height: f32,
+    pub environment_sample_altitude: f32,
+    pub environment_surface_air_density: f32,
+
+    pub max_engine_thrust: f32,
+    pub gravity_acceleration_mag: f32,
+    pub gravity_acceleration: Vec3,
+    pub engine_force: Vec3,
+    pub lift_force: Vec3,
+    pub drag_force: Vec3,
+    pub solar_radiation_intensity: f32,
+
+    // Orbit
+    pub orbit_apoapsis_altitude: f32,
+    pub orbit_apoapsis_time: f32,
+    pub orbit_periapsis_altitude: f32,
+    pub orbit_periapsis_time: f32,
+    pub orbit_eccentricity: f32,
+    pub orbit_inclination_rad: f32,
+    pub orbit_period: f32,
+
+    // Time
+    pub frame_delta_time: f32,
+    pub time_since_launch: f32,
+    pub total_time: f32,
+    pub warp_amount: f32,
+    pub real_time: f32,
+}
+
+#[derive(Debug, Clone, Default)]
+pub struct Craft {
+    pub craft_id: String,
+    pub name: String,
+    pub state: State,
+}
+
+#[derive(Debug, Clone, Default)]
+pub struct Telemetry {
+    pub seq: i64,
+    pub time: f64,
+    pub active_craft_id: String,
+    pub crafts: HashMap<String, Craft>,
+    pub target: Option<Target>,
+    pub events: Vec<Event>,
+}
+
+impl Telemetry {
+    pub fn active(&self) -> Option<&Craft> {
+        self.crafts.get(&self.active_craft_id)
+    }
+}
+
+#[derive(Debug, Clone, Default)]
+pub struct BodyRef {
+    pub body_id: String,
+    pub name: String,
+}
+
+#[derive(Debug, Clone, Default)]
+pub struct TargetCommon {
+    pub target_id: String,
+    pub name: String,
+    pub parent_body: Option<BodyRef>,
+    pub position: Option<Vec3>,
+    pub velocity: Option<Vec3>,
+}
+
+#[derive(Debug, Clone)]
+pub enum Target {
+    Craft {
+        base: TargetCommon,
+        craft_id: Option<String>,
+    },
+    Body {
+        base: TargetCommon,
+        body_id: Option<String>,
+        radius: Option<f32>,
+        mass: Option<f32>,
+        mu: Option<f32>,
+        angular_velocity: Option<f32>,
+    },
+    Landmark {
+        base: TargetCommon,
+        landmark_id: Option<String>,
+        latitude_deg: Option<f32>,
+        longitude_deg: Option<f32>,
+    },
+    Part {
+        base: TargetCommon,
+        part_id: Option<i64>,
+        part_name: Option<String>,
+        parent_craft_id: Option<String>,
+        parent_craft_name: Option<String>,
+    },
+    Position {
+        base: TargetCommon,
+    },
+    Other {
+        target_type: String,
+        base: TargetCommon,
+    },
+}
+
+#[derive(Debug, Clone, Default)]
+pub struct EventCommon {
+    pub event_id: String,
+    pub time: f32,
+    pub craft_id: Option<String>,
+    pub craft_name: Option<String>,
+    pub parent_body: Option<BodyRef>,
+}
+
+#[derive(Debug, Clone)]
+pub enum Event {
+    Collision {
+        base: EventCommon,
+        part_id: Option<i64>,
+        part_name: Option<String>,
+        other_part_id: Option<i64>,
+        other_part_name: Option<String>,
+        other_craft_id: Option<String>,
+        other_craft_name: Option<String>,
+        relative_velocity: Option<f32>,
+        impulse: Option<f32>,
+        is_ground_collision: Option<bool>,
+        point: Option<Vec3>,
+        normal: Option<Vec3>,
+    },
+    PartExploded {
+        base: EventCommon,
+        part_id: Option<i64>,
+        part_name: Option<String>,
+    },
+    CraftDocked {
+        base: EventCommon,
+        other_craft_id: Option<String>,
+        other_craft_name: Option<String>,
+    },
+    EnteredSoi {
+        base: EventCommon,
+        new_parent_body: Option<BodyRef>,
+    },
+    MessageReceived {
+        base: EventCommon,
+        message: Option<String>,
+        data: serde_json::Value,
+        sender_craft_id: Option<String>,
+        sender_craft_name: Option<String>,
+        delivery_scope: Option<String>,
+    },
+    Other {
+        event_type: String,
+        base: EventCommon,
+    },
+}
diff --git a/crates/jio/src/transport.rs b/crates/jio/src/transport.rs
new file mode 100644
index 0000000..17ef3c4
--- /dev/null
+++ b/crates/jio/src/transport.rs
@@ -0,0 +1,102 @@
+//! Four UDP sockets matching the Python reference: two bound for inbound
+//! traffic, two connected for outbound traffic.
+
+use std::io;
+use std::net::SocketAddr;
+
+use tokio::net::UdpSocket;
+
+use crate::error::Result;
+
+pub const DEFAULT_HOST: &str = "127.0.0.1";
+pub const DEFAULT_TELEMETRY_PORT: u16 = 5005;
+pub const DEFAULT_COMMAND_PORT: u16 = 5006;
+pub const DEFAULT_RPC_REQUEST_PORT: u16 = 5007;
+pub const DEFAULT_RPC_RESPONSE_PORT: u16 = 5008;
+
+#[derive(Debug, Clone, Copy)]
+pub struct Addresses {
+    pub telemetry: SocketAddr,
+    pub command: SocketAddr,
+    pub rpc_request: SocketAddr,
+    pub rpc_response: SocketAddr,
+}
+
+impl Default for Addresses {
+    fn default() -> Self {
+        let host = DEFAULT_HOST;
+        Self {
+            telemetry: format!("{host}:{DEFAULT_TELEMETRY_PORT}").parse().unwrap(),
+            command: format!("{host}:{DEFAULT_COMMAND_PORT}").parse().unwrap(),
+            rpc_request: format!("{host}:{DEFAULT_RPC_REQUEST_PORT}").parse().unwrap(),
+            rpc_response: format!("{host}:{DEFAULT_RPC_RESPONSE_PORT}").parse().unwrap(),
+        }
+    }
+}
+
+pub(crate) struct UdpBridge {
+    telemetry: UdpSocket,
+    command: UdpSocket,
+    rpc_request: UdpSocket,
+    rpc_response: UdpSocket,
+}
+
+impl UdpBridge {
+    pub async fn bind(addrs: Addresses) -> Result<Self> {
+        let telemetry = UdpSocket::bind(addrs.telemetry).await?;
+
+        let command = UdpSocket::bind("0.0.0.0:0").await?;
+        command.connect(addrs.command).await?;
+
+        let rpc_response = UdpSocket::bind(addrs.rpc_response).await?;
+
+        let rpc_request = UdpSocket::bind("0.0.0.0:0").await?;
+        rpc_request.connect(addrs.rpc_request).await?;
+
+        Ok(Self {
+            telemetry,
+            command,
+            rpc_request,
+            rpc_response,
+        })
+    }
+
+    /// Await at least one telemetry datagram, then drain any backlog and
+    /// return only the freshest packet. Mirrors `receive_latest_snapshot`
+    /// in transport.py.
+    pub async fn recv_latest_telemetry(&self) -> Result<Vec<u8>> {
+        let mut buf = vec![0u8; 65535];
+        let n = self.telemetry.recv(&mut buf).await?;
+        let mut latest = buf[..n].to_vec();
+
+        loop {
+            match self.telemetry.try_recv(&mut buf) {
+                Ok(m) => {
+                    latest.clear();
+                    latest.extend_from_slice(&buf[..m]);
+                }
+                Err(e) if e.kind() == io::ErrorKind::WouldBlock => break,
+                Err(e) => return Err(e.into()),
+            }
+        }
+
+        Ok(latest)
+    }
+
+    pub async fn send_command(&self, bytes: &[u8]) -> Result<()> {
+        self.command.send(bytes).await?;
+        Ok(())
+    }
+
+    pub async fn send_rpc_request(&self, bytes: &[u8]) -> Result<()> {
+        self.rpc_request.send(bytes).await?;
+        Ok(())
+    }
+
+    pub async fn recv_rpc_response(&self) -> Result<Vec<u8>> {
+        let mut buf = vec![0u8; 65535];
+        let n = self.rpc_response.recv(&mut buf).await?;
+        buf.truncate(n);
+        Ok(buf)
+    }
+}
diff --git a/crates/jio/src/world.rs b/crates/jio/src/world.rs
new file mode 100644
index 0000000..8dd6144
--- /dev/null
+++ b/crates/jio/src/world.rs
@@ -0,0 +1,10 @@
+use glam::Vec3;
+
+pub struct RayHit {
+    pub hit_type: String,
+    pub distance: f32,
+    pub point: Vec3,
+    pub normal: Vec3,
+    pub craft_id: Option<String>,
+    pub part_id: Option<i64>,
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 0000000..8147f04
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,71 @@
+{
+  description = "EGui Flake";
+
+  inputs = {
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+    flake-utils.url = "github:numtide/flake-utils";
+  };
+
+  outputs =
+    {
+      self,
+      nixpkgs,
+      flake-utils,
+    }:
+    flake-utils.lib.eachDefaultSystem (
+      system:
+      let
+        pkgs = nixpkgs.legacyPackages.${system};
+      in
+      {
+        devShells.default = pkgs.mkShell rec {
+          name = "egui";
+          nativeBuildInputs = with pkgs; [
+            pkg-config
+            libxkbcommon
+            wayland
+            libGL
+          ];
+
+          buildInputs = with pkgs; [
+            wayland
+            pkg-config
+            openssl
+            pango
+
+            cmake
+            ninja
+            ccache
+            udev
+
+            libclang
+            linuxHeaders
+
+            libGL
+            libxkbcommon
+            vulkan-loader
+            glibc.dev
+            atk
+            gdk-pixbuf
+            gobject-introspection
+            cairo
+            gtk3
+            glib
+          ];
+
+          shellHook = ''
+            export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:${
+              pkgs.lib.makeLibraryPath [
+                pkgs.wayland
+                pkgs.libxkbcommon
+              ]
+            }"
+
+                    export BINDGEN_EXTRA_CLANG_ARGS="\
+                      -isystem ${pkgs.linuxHeaders}/include \
+                      -isystem ${pkgs.glibc.dev}/include"
+          '';
+        };
+      }
+    );
+}
diff --git a/junoio-unity-mod/Assets/Scripts/JunoIoBridge.cs b/junoio-unity-mod/Assets/Scripts/JunoIoBridge.cs
index e1ae137..499af4b 100644
--- a/junoio-unity-mod/Assets/Scripts/JunoIoBridge.cs
+++ b/junoio-unity-mod/Assets/Scripts/JunoIoBridge.cs
@@ -346,56 +346,67 @@ private void Update()
                 if (_hasCommandedPitch)
                 {
                     craftScript.ActiveCommandPod.Controls.Pitch = _commandedPitch;
+                    craftScript.ActiveCommandPod.Controls.OffsetPitch = _commandedPitch;
                 }
 
                 if (_hasCommandedRoll)
                 {
                     craftScript.ActiveCommandPod.Controls.Roll = _commandedRoll;
+                    craftScript.ActiveCommandPod.Controls.OffsetRoll = _commandedRoll;
                 }
 
                 if (_hasCommandedYaw)
                 {
                     craftScript.ActiveCommandPod.Controls.Yaw = _commandedYaw;
+                    craftScript.ActiveCommandPod.Controls.OffsetYaw = _commandedYaw;
                 }
 
                 if (_hasCommandedBrake)
                 {
                     craftScript.ActiveCommandPod.Controls.Brake = _commandedBrake;
+                    craftScript.ActiveCommandPod.Controls.OffsetBrake = _commandedBrake;
                 }
 
                 if (_hasCommandedTranslateForward)
                 {
                     craftScript.ActiveCommandPod.Controls.TranslateForward = _commandedTranslateForward;
+                    craftScript.ActiveCommandPod.Controls.OffsetTranslateForward = _commandedTranslateForward;
                 }
 
                 if (_hasCommandedTranslateRight)
                 {
                     craftScript.ActiveCommandPod.Controls.TranslateRight = _commandedTranslateRight;
+                    craftScript.ActiveCommandPod.Controls.OffsetTranslateRight = _commandedTranslateRight;
                 }
 
                 if (_hasCommandedTranslateUp)
                 {
                     craftScript.ActiveCommandPod.Controls.TranslateUp = _commandedTranslateUp;
+                    craftScript.ActiveCommandPod.Controls.OffsetTranslateUp = _commandedTranslateUp;
                 }
 
                 if (_hasCommandedSlider1)
                 {
                     craftScript.ActiveCommandPod.Controls.Slider1 = _commandedSlider1;
+                    craftScript.ActiveCommandPod.Controls.OffsetSlider1 = _commandedSlider1;
                 }
 
                 if (_hasCommandedSlider2)
                 {
                     craftScript.ActiveCommandPod.Controls.Slider2 = _commandedSlider2;
+                    craftScript.ActiveCommandPod.Controls.OffsetSlider2 = _commandedSlider2;
                 }
 
                 if (_hasCommandedSlider3)
                 {
                     craftScript.ActiveCommandPod.Controls.Slider3 = _commandedSlider3;
+                    craftScript.ActiveCommandPod.Controls.OffsetSlider3 = _commandedSlider3;
                 }
 
                 if (_hasCommandedSlider4)
                 {
                     craftScript.ActiveCommandPod.Controls.Slider4 = _commandedSlider4;
+                    craftScript.ActiveCommandPod.Controls.OffsetSlider4 = _commandedSlider4;
                 }
 
                 if (_hasCommandedTranslationModeEnabled)