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Record that tower 111 comes back by itself after a reboot

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pgdalmeida 2026-09-24 15:06:10 +02:00
parent 91cc8af915
commit e8293f736d
Signed by: pedro.almeida
GPG Key ID: D4A6C394DF13F1D7
4 changed files with 13 additions and 7 deletions
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2
docs/deployment.md
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@ -215,7 +215,7 @@ choice, and the installer asks for the arguments.
| Tower | Service | Starts with | | Tower | Service | Starts with |
|---|---|---| |---|---|---|
| 111 | enabled 2026-09-24 | `--init --start`: homes and captures at boot. Not yet exercised by a reboot | | 111 | enabled 2026-09-24 | `--init --start`: homes and captures at boot - `[verified]` by a reboot 2026-09-24 |
| 121 | enabled 2026-09-23 | no arguments: starts idle, neither homes nor captures (the development tower) | | 121 | enabled 2026-09-23 | no arguments: starts idle, neither homes nor captures (the development tower) |
`[verified]` on tower 121, 2026-09-23: the service came up by itself after a `[verified]` on tower 121, 2026-09-23: the service came up by itself after a

2
docs/known-issues.md
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@ -31,7 +31,7 @@ doctest unit-test suite (`ctest`).
| 14 | Capture sweep on hardware | **Mechanically verified on the rig (2026-08-07).** A full `--init --start` run homed both axes and completed `MOVE → settle → trigger` for 15/15 waypoints with 0 dropped frames, 0 stalls and 0 acquisition failures. `kSettleTolCounts` (600) and the per-interval timing in [CaptureScheduler.cpp](../src/core/CaptureScheduler.cpp) have **not** been tuned against observed `ST` behaviour yet, and the settle tolerance has not been checked against a sharp image (see #16). | | 14 | Capture sweep on hardware | **Mechanically verified on the rig (2026-08-07).** A full `--init --start` run homed both axes and completed `MOVE → settle → trigger` for 15/15 waypoints with 0 dropped frames, 0 stalls and 0 acquisition failures. `kSettleTolCounts` (600) and the per-interval timing in [CaptureScheduler.cpp](../src/core/CaptureScheduler.cpp) have **not** been tuned against observed `ST` behaviour yet, and the settle tolerance has not been checked against a sharp image (see #16). |
| 15 | **Camera profiles unverified on a lit scene** | The `standard`/`night` profiles must be exported from the VimbaX Viewer (see `config/camera_profiles/rgb/README.md`) and have not been measured against real light. Confirm on the rig that `LoadSettings` succeeds, that `standard` sustains 10 fps with `frames_dropped` at 0, and that the auto-exposure lands on a sensible `ExposureTime` outdoors. The only previous rig test ran with the lens covered. | | 15 | **Camera profiles unverified on a lit scene** | The `standard`/`night` profiles must be exported from the VimbaX Viewer (see `config/camera_profiles/rgb/README.md`) and have not been measured against real light. Confirm on the rig that `LoadSettings` succeeds, that `standard` sustains 10 fps with `frames_dropped` at 0, and that the auto-exposure lands on a sensible `ExposureTime` outdoors. The only previous rig test ran with the lens covered. |
| 16 | **`settle_wait_ms` untuned** | `standard` waits 1 s and `night` 2.5 s after standstill before keeping a frame. Both are reasoned (≫ one frame period; long enough for the auto-exposure to see the new scene) but not measured. Check on a lit scene that the kept frame shows no slew blur and that its exposure has actually converged for that heading, and shorten the wait if it has. | | 16 | **`settle_wait_ms` untuned** | `standard` waits 1 s and `night` 2.5 s after standstill before keeping a frame. Both are reasoned (≫ one frame period; long enough for the auto-exposure to see the new scene) but not measured. Check on a lit scene that the kept frame shows no slew blur and that its exposure has actually converged for that heading, and shorten the wait if it has. |
| 19 | **USB preconditions do not survive a reboot** | `usbcore.usbfs_memory_mb` reverts to 16 (needs 1000) and USB3 LPM re-enables on the camera's port. **Both were wrong on the LattePanda when tested on 2026-08-07**, and frame delivery stalls without them regardless of application code. **Solved on tower 121 by the setup kit** (`hardware/lattepanda-iota/preconditions/`): a systemd-tmpfiles drop-in for usbfs and two udev rules, all installed by `install.sh --preconditions`. Verified 2026-09-23 — `usbfs_memory_mb` reads 1000 after **6 days of uptime**, so it survived the boot, and both rules are in `/etc/udev/rules.d/`; and again across a deliberate reboot the same day, when `install-tower --verify` read `usbfs_memory_mb` 1000 and the camera port's `usb3_lpm_permit` 0 (a check `test hardware camera` now makes too, once `[Test] usb3_lpm_path` is set - the installer sets it). Note it is **tmpfiles, not the kernel cmdline** the original entry proposed. **On the Delta fleet**: tower 111 read 16 and `u1_u2` on 2026-09-23, and the Delta kit (`hardware/lattepanda-3-delta/`, the same two files) was applied the same day - 1000 and `0` afterwards, confirmed by `test hardware camera`. **Not yet confirmed across a reboot on a Delta.** | | 19 | **USB preconditions do not survive a reboot** | `usbcore.usbfs_memory_mb` reverts to 16 (needs 1000) and USB3 LPM re-enables on the camera's port. **Both were wrong on the LattePanda when tested on 2026-08-07**, and frame delivery stalls without them regardless of application code. **Solved on tower 121 by the setup kit** (`hardware/lattepanda-iota/preconditions/`): a systemd-tmpfiles drop-in for usbfs and two udev rules, all installed by `install.sh --preconditions`. Verified 2026-09-23 — `usbfs_memory_mb` reads 1000 after **6 days of uptime**, so it survived the boot, and both rules are in `/etc/udev/rules.d/`; and again across a deliberate reboot the same day, when `install-tower --verify` read `usbfs_memory_mb` 1000 and the camera port's `usb3_lpm_permit` 0 (a check `test hardware camera` now makes too, once `[Test] usb3_lpm_path` is set - the installer sets it). Note it is **tmpfiles, not the kernel cmdline** the original entry proposed. **On the Delta fleet**: tower 111 read 16 and `u1_u2` on 2026-09-23, and the Delta kit (`hardware/lattepanda-3-delta/`, the same two files) was applied the same day - 1000 and `0` afterwards, confirmed by `test hardware camera`. Confirmed across a reboot on 2026-09-24 (`install-tower --verify`). **Solved on both boards**; open only for Delta towers the kit has not reached. |
## Camera acquisition (USB3) — root cause + approach ## Camera acquisition (USB3) — root cause + approach

10
docs/tower-installation.md
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@ -193,8 +193,8 @@ first reboot, since surviving one is the entire point.
> **The Delta kit carries the same two files** (`hardware/lattepanda-3-delta/`, > **The Delta kit carries the same two files** (`hardware/lattepanda-3-delta/`,
> as symlinks to these). Tower 111 had neither - `usbfs_memory_mb` 16, camera > as symlinks to these). Tower 111 had neither - `usbfs_memory_mb` 16, camera
> LPM `u1_u2`, checked 2026-09-15 and again 2026-09-23 - and got both on > LPM `u1_u2`, checked 2026-09-15 and again 2026-09-23 - and got both on
> 2026-09-23, reading 1000 and `0` afterwards. Not yet confirmed across a reboot > 2026-09-23, reading 1000 and `0` afterwards - and still after a reboot on
> on a Delta. > 2026-09-24.
## 4. Vimba X SDK `[verified]` ## 4. Vimba X SDK `[verified]`
@ -1065,7 +1065,7 @@ freshly flashed board is not failed for values the host had not sent yet.
|---|---|---|---| |---|---|---|---|
| Key-only ssh | `ssh ggs@<tower> hostname`, no prompt | ✅ | ✅ | | Key-only ssh | `ssh ggs@<tower> hostname`, no prompt | ✅ | ✅ |
| Preconditions applied | `--verify`: `usbfs_memory_mb 1000`, camera LPM `0` | ✅ | ✅ 2026-09-23 (were 16 and `u1_u2`) | | Preconditions applied | `--verify`: `usbfs_memory_mb 1000`, camera LPM `0` | ✅ | ✅ 2026-09-23 (were 16 and `u1_u2`) |
| Preconditions survive a reboot | reboot, then `--verify` | ✅ confirmed across a real reboot | ❓ not rebooted yet | | Preconditions survive a reboot | reboot, then `--verify` | ✅ confirmed across a real reboot | ✅ 2026-09-24 |
| `hardware.ini` found unaided | startup names `/etc/fire_gimbal_control/hardware.ini` | ✅ | ✅ | | `hardware.ini` found unaided | startup names `/etc/fire_gimbal_control/hardware.ini` | ✅ | ✅ |
| Declared hardware matches | startup logs `declared assembly confirmed`; `test hardware axes` | ✅ yaw | ✅ yaw, pitch | | Declared hardware matches | startup logs `declared assembly confirmed`; `test hardware axes` | ✅ yaw | ✅ yaw, pitch |
| IMU / ambient sensor | `test hardware imu` / `env` | none declared | ✅ MTi streaming, SHT41 CRC-valid on a real I2C bus | | IMU / ambient sensor | `test hardware imu` / `env` | none declared | ✅ MTi streaming, SHT41 CRC-valid on a real I2C bus |
@ -1079,5 +1079,5 @@ freshly flashed board is not failed for values the host had not sent yet.
| Endstop survives homing | the axis must stall against the stop, not push through | ✅ at 189 mA, after failing at full torque | not inspected; full current, as for its whole service life | | Endstop survives homing | the axis must stall against the stop, not push through | ✅ at 189 mA, after failing at full torque | not inspected; full current, as for its whole service life |
| Degree scale derived | startup logs `counts_per_deg` agreeing with the homed travel | ✅ 3552.87 | ✅ agrees, calibration left alone | | Degree scale derived | startup logs `counts_per_deg` agreeing with the homed travel | ✅ 3552.87 | ✅ agrees, calibration left alone |
| Images land | `.jxl` files appear under the configured output dir | ❌ needs a capture run | ✅ | | Images land | `.jxl` files appear under the configured output dir | ❌ needs a capture run | ✅ |
| Starts at boot | reboot with nobody logged in; `scripts/fgc status` from a later ssh | ✅ lock under `/run/user/1000` | ❓ service enabled (`--init --start`), not rebooted yet | | Starts at boot | reboot with nobody logged in; `scripts/fgc status` from a later ssh | ✅ lock under `/run/user/1000` | ✅ 2026-09-24: homed and captured by itself within ~35 s. The Delta logs a desktop session in at boot, so lingering was not what put the lock in `/run/user` here |
| Reports to a broker | topics arrive at the configured broker | ❌ no broker on this tower yet | ❓ not checked | | Reports to a broker | topics arrive at the configured broker | ❌ no broker on this tower yet | ✅ connects to its own RabbitMQ (retrying until Docker has it up at boot); forwarding to the ground station not checked |

6
hardware/lattepanda-3-delta/NOTES.md
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@ -35,6 +35,12 @@ both boards. `tools/flash.sh` flashed it through the Leonardo's 1200-baud touch
unchanged. The new firmware asked, the host answered, `test hardware` passed unchanged. The new firmware asked, the host answered, `test hardware` passed
every leaf, and it homed to within 0.03 % of the old firmware's travel. every leaf, and it homed to within 0.03 % of the old firmware's travel.
Rebooted 2026-09-24 over ssh: the boot service started it with `--init --start`,
it homed and resumed capturing within ~35 s, and `install-tower --verify` passed
every check, the USB preconditions included. The Leonardo was **not** reset by
that warm reboot - USB power stayed up, its uptime carried on - so the boot-time
config request was not exercised there; the host's re-send on connect covered it.
## What this kit has NOT done yet ## What this kit has NOT done yet
In particular: In particular: