Stop addressing an axis this tower does not have, and carry the live calibration

include/fgc/ui/UiSnapshot.h

@@ -289,11 +289,22 @@ struct CalibAxisView {
     double r2 = 0;
     int    n = 0;
 };
+// The degrees<->counts map an axis is actually using right now: from config.ini
+// at startup, replaced in memory by a fit or a homing derivation. Distinct from
+// CalibAxisView, which describes the last FIT and only exists once one has run.
+struct AxisMapView {
+    double counts_per_deg = 0;
+    double deg_at_center  = 0;
+};
+
 struct CalibResultView {
-    bool          has = false;
+    bool          has = false;      // has a fit run THIS SESSION?
     long long     ts_ms = 0;
     bool          pitch_present = false;
     CalibAxisView yaw, pitch;
+    // Always populated. "No fit this session" is not the same as "uncalibrated":
+    // the working calibration usually comes from config.ini and predates the run.
+    AxisMapView   live_yaw, live_pitch;
 };
 
 // Worst-case encoder tracking error from the last DIAG run, per axis, for the

src/core/Application.cpp

@@ -907,6 +907,9 @@ struct Application::Impl {
         // --- Activity strip + last calibration ---
         s.calib = last_calib_view;
         s.calib.pitch_present = s.gimbal.pitch_present || s.calib.pitch_present;
+        // The map in force right now, whether or not anything was fitted today.
+        s.calib.live_yaw   = {cfg.geometry.yaw.counts_per_deg, cfg.geometry.yaw.deg_at_center};
+        s.calib.live_pitch = {cfg.geometry.pitch.counts_per_deg, cfg.geometry.pitch.deg_at_center};
         s.diag = last_diag_view;
         s.test = last_test_view;
         fillActivity(s);
@@ -1040,7 +1043,11 @@ struct Application::Impl {
         } clear_homing{homing_active_};
 
         motor->sendCommand("ENABLE Y");
-        motor->sendCommand("ENABLE P");
+        // Only address axes this tower actually has. A yaw-only rig answers
+        // "ERR axis not present" to every pitch command, which arrives in the log
+        // as a row of warnings at every startup - noise that trains an operator to
+        // ignore exactly the channel that reports real faults.
+        if (cfg.hardware.hasAxis("pitch")) motor->sendCommand("ENABLE P");
         // Tell the firmware where to anchor the homed midpoint and how much
         // clearance to keep from each endstop, BEFORE homing: finishHoming() uses
         // the centre count to re-origin, so a late send would apply to the next
@@ -1050,7 +1057,10 @@ struct Application::Impl {
         // Confirm the current landed BEFORE driving into anything. This is the
         // only check standing between a stale firmware and an endstop that cannot
         // survive full torque.
-        if (yaw_current_.ok || pitch_current_.ok) {
+        // Only when a reduction is actually depended on. An axis running at one
+        // current for everything has nothing to lose if the command went astray,
+        // and the check costs a DUMP round trip whose output floods the log.
+        if (cfg.drivetrain.yaw.reducesForHoming() || cfg.drivetrain.pitch.reducesForHoming()) {
             if (auto dd = freshDump(std::chrono::seconds(3))) {
                 if (!verifyCurrentAdoption(*dd)) return;
             } else {
@@ -1122,7 +1132,7 @@ struct Application::Impl {
         }
         // Production move speeds for subsequent MOVE commands.
         motor->sendCommand("SPEED Y 50000");
-        motor->sendCommand("SPEED P 150000");
+        if (cfg.hardware.hasAxis("pitch")) motor->sendCommand("SPEED P 150000");
         LOG_INFO << "Gimbal init finished";
     }
 
@@ -1208,9 +1218,11 @@ struct Application::Impl {
     // clampTarget() keeps clear of each hard limit.
     void sendAnchorConfig() {
         motor->sendCommand("CENTER Y " + std::to_string(cfg.geometry.yaw.center_count));
-        motor->sendCommand("CENTER P " + std::to_string(cfg.geometry.pitch.center_count));
         motor->sendCommand("MARGIN Y " + std::to_string(cfg.yaw_soft_margin_counts));
-        motor->sendCommand("MARGIN P " + std::to_string(cfg.pitch_soft_margin_counts));
+        if (cfg.hardware.hasAxis("pitch")) {
+            motor->sendCommand("CENTER P " + std::to_string(cfg.geometry.pitch.center_count));
+            motor->sendCommand("MARGIN P " + std::to_string(cfg.pitch_soft_margin_counts));
+        }
         // Motor current belongs here too: it governs homing torque, so it has to
         // land before the search, not after it.
         auto sendCurrent = [&](char axis, const TmcCurrentPlan& p) {