That’s the sort of thing that gets me pumped. A tight decision loop that checks a few key sensors—range, target ID, rules‑of‑engagement—then hands back a binary command would keep the humans in the loop. I’d wire it as a lightweight state machine in the firmware so the drone can fire only when all thresholds are met and a human flag is still active. Just don’t forget to log every branch for audit.

Good call, keep the logs lean and the thresholds razor‑sharp, that way the comms stay clear and you stay in control.