Text only (DECISIONS, DOCS, CHANGELOG): a step load alarms on the same cycle as before; a steadily rising load alarms a little later; with peak_margin_w 0 a period can end up to 10 W over the limit without this alarm, as for 'Load too high' (SAFETY-81). Owner accepted 2026-10-31. test_safety126.py part 2: after a real overrun ends, _peak_landing()'s latch is reset and the night's later landings are quiet (review F3). Co-Authored-By: Claude <noreply@anthropic.com>