Rietschen's RGB camera came with ExposureAutoAlg = FitRange and a 10 %
tolerance. FitRange fits the histogram wherever the mean lands, and the
camera stopped adjusting 10 % off its target, so the keep rule's 50 +- 5 %
band was never reached: at a 3 s interval every waypoint ran into its 2 s
frame_timeout (2026-10-21). The gige recipe now sets Mean and 5 %, as the
NIR camera already had. By day the exposure floor goes from 200 to 20 us:
at noon the camera sat at 200-600 us with no room to darken a bright view,
and without chunk data the host cannot tell a camera at its limit from one
still settling.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
A free-running Manta runs at AcquisitionFrameRateAbs, not at its limit:
rietschen's RGB camera came set to 0.955 fps and delivered 5 frames in 5.2 s.
The gige recipe now writes a short fixed exposure and then the rate, clamped
to the camera's maximum (4.7 fps at 60 MB/s), before auto-exposure goes back
on. The export summary shows the rate set, not the limit, which had read
4.71 fps for a camera running at 0.96.
test hardware env asked for a DHT11 reading at once, but the firmware reads
it every 10 s, the first time 2 s after it starts. install-tower --verify
failed on rietschen 1.4 s into its run, 36 s after the same test had passed.
It now waits one read period for the first reading. Tests 542/542 (mock).
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Rietschen has three Manta G-1236 on one GbE port, whose firmware predates the
names the program uses. A feature missing by its SFNC name is now looked up by
the older one (ExposureTimeAbs, AcquisitionFrameRateAbs, ExposureAutoTarget,
ExposureAutoAdjustTol), so test camera, the telemetry and the keep rule's
reads work. export_camera_profile.py picks a gige recipe for such a camera:
frame trigger off, BayerRG8 or Mono8, 60 MB/s, auto-exposure target 50 %.
At the cameras' old target of 25 every waypoint ran into frame_timeout_ms.
The camera probe now lists every camera. With several, the hardware.ini kit
writes CHOOSE_ONE, install-tower asks which is the colour one, and the profile
export is given that id - the first one the SDK lists was the NIR camera.
install-tower names the unit that holds the motor port instead of assuming
start_gimbal.service.
Tested on rietschen's NIR camera with the motor mocked, beside the running old
program: test camera PASS, a snapshot as a 3008x4112 grey JXL, a scan keeping
a picture every 5 s. Tests 542/542 (mock build). The colour camera is not yet
tested; the old program has it open.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Peter Bochmann
pgdalmeida