Heavy-Lift Hexacopter Single-Motor-Out Mixer Saturation & Canted-Mount Yaw Verifier

Deterministic 6x4 -> 5x4 actuation effectiveness matrix rank & nullspace LP feasibility (Thrust, Roll, Pitch, Yaw) with motor cant-angle lateral force coupling engine (.json, .csv, .pdf) built for Freefly Alta 6/X, CubePilot ArduCopter, PX4 Autopilot, T-Motor U8 — zero-upload ephemeral Wasm RAM execution.

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