config/scan-staeffelsberg.csv

@@ -1,61 +1,64 @@
-# Scan grid — capture waypoints, one "yaw_deg,pitch_deg" per line.
+# Staeffelsberg scan grid: 56 bearings round the full circle at one elevation,
-# 52 Positionen, Yaw gegen den Uhrzeigersinn (fallend, über Nord 0°/360°)
+# matching the old firmware's 'ud56' sweep. Generated once from the retired
-# von 131.5° (East) bis West Limit 160.0°
+# [Scan] grid generator (0 -> 353.57 deg in 56 steps, pitch 0) and kept here as
-# (Sperrzone 131.5°–160.0° über Süden, mechanisch nicht erreichbar).
+# the explicit list, because the CSV is now the only source of waypoints.
-# Schrittweite konstant 6.5° = exakt FoV -> 0.0° Überlappung (Kante an Kante).
-# Pitch konstant 0. Blank lines and lines starting with '#' are ignored.
 #
-# Reference this file from config.ini:  [Scan] grid_file = config/scan.csv
+# The sweep runs first to last, then returns to the first and repeats - always
-
+# the same order, never in reverse. The return leg is one long slew back across
-131.5,0
+# the arc; that is the price of every pass being directly comparable.
-125.0,0
+0.00,0
-118.5,0
+6.43,0
-112.0,0
+12.86,0
-105.5,0
+19.29,0
-99.0,0
+25.71,0
-92.5,0
+32.14,0
-86.0,0
+38.57,0
-79.5,0
+45.00,0
-73.0,0
+51.43,0
-66.5,0
+57.86,0
-60.0,0
+64.29,0
-53.5,0
+70.71,0
-47.0,0
+77.14,0
-40.5,0
+83.57,0
-34.0,0
+90.00,0
-27.5,0
+96.43,0
-21.0,0
+102.86,0
-14.5,0
+109.29,0
-8.0,0
+115.71,0
-1.5,0
+122.14,0
-355.0,0
+128.57,0
-348.5,0
+135.00,0
-342.0,0
+141.43,0
-335.5,0
+147.86,0
-329.0,0
+154.29,0
-322.5,0
+160.71,0
-316.0,0
+167.14,0
-309.5,0
+173.57,0
-303.0,0
+180.00,0
-296.5,0
+186.43,0
-290.0,0
+192.86,0
-283.5,0
+199.28,0
-277.0,0
+205.71,0
-270.5,0
+212.14,0
-264.0,0
+218.57,0
-257.5,0
+225.00,0
-251.0,0
+231.43,0
-244.5,0
+237.86,0
-238.0,0
+244.28,0
-231.5,0
+250.71,0
-225.0,0
+257.14,0
-218.5,0
+263.57,0
-212.0,0
+270.00,0
-205.5,0
+276.43,0
-199.0,0
+282.86,0
-192.5,0
+289.28,0
-186.0,0
+295.71,0
-179.5,0
+302.14,0
-173.0,0
+308.57,0
-# 166.5,0 blocked view
+315.00,0
-160.0,0
+321.43,0
+327.86,0
+334.28,0
+340.71,0
+347.14,0
+353.57,0