# Configuration & Commands Behaviour is controlled by three layers: the **`config.ini`** file, **command-line flags** (which override the config), and **interactive console commands** typed while running. ## Config file resolution There are no hardcoded paths. The file is resolved in this order ([src/core/Paths.cpp](../src/core/Paths.cpp)): 1. `--config ` CLI flag 2. `$FGC_CONFIG` environment variable 3. `./config.ini` (current directory) 4. `/config.ini` 5. `$XDG_CONFIG_HOME/fire_gimbal_control/config.ini` (else `~/.config/...`) If none exist, the program prints every location it searched and exits. Start from the template: ```bash cp config/config.example.ini config.ini ``` ## `config.ini` keys Parsed and validated by `ConfigLoader` ([src/core/Config.cpp](../src/core/Config.cpp)) into a typed `AppConfig`. Invalid types/values fail fast with a clear message. | Section | Key | Type | Default | Meaning | |---------|-----|------|---------|---------| | `General` | `tower_name` | string | `Unnamed` | Tower identity; used in all MQTT topics/payloads | | `General` | `image_interval` | int > 0 | `5` | Seconds between captures (→ `image_rate = 1/interval`) | | `General` | `debug` | bool | `false` | Start with debug-level logging | | `Network` | `zkms_server_ip` | string | `127.0.0.1` | MQTT broker host/IP, or a full `tcp://…` URI | | `Network` | `mqtt_port` | int 1..65535 | `1883` | Broker port (`8883` for TLS). Ignored when `zkms_server_ip` carries its own port or a scheme | | `Network` | `mqtt_user` / `mqtt_pw` | string | — | MQTT credentials (see secrets below) | | `Serial` | `device` | string | `/dev/ttyACM0` | Motor-controller serial device | | `Serial` | `baud` | int | `115200` | Serial baud rate | | `Camera.` | `id` | string | — | USB `DEV_` id or GigE IP. Required when enabled | | `Camera.` | `driver` | `vimba` | `vimba` | Backend. Only `vimba` is implemented | | `Camera.` | `label` | string | the block name | Output subdirectory and `CamEvent` `cam` field | | `Camera.` | `profile_dir` | string | — | Directory of profile XMLs; a profile named X is `/X.xml`. A relative path resolves against the directory holding the `config.ini` in use | | `Camera.` | `profile` | string | `standard` | Profile to start in. Switch live with `set camera profile [] ` | | `Camera.` | `enabled` | bool | `true` | A disabled camera is not opened and does not affect the scan timing | | `Camera.` | `rotation_deg` | `0`/`90`/`180`/`270` | `0` | Clockwise rotation applied to that camera's saved images | | `Camera..` | `settle_wait_ms` | int ≥ 0 | `1000` | Hold after standstill before keeping a frame | | `Camera..` | `frame_timeout_ms` | int ≥ 0 | `2000` | Abandon the waypoint after this | | `Camera` | `jxl_distance` / `jxl_effort` | double ≥ 0 / int 1..9 | `0.8` / `4` | Encoder defaults inherited by every camera block | | `Camera.` | `jxl_distance` / `jxl_effort` | double ≥ 0 / int 1..9 | the `[Camera]` value | Per-camera override of the encoder settings | | `Paths` | `output_dir` | string | `$XDG_DATA_HOME/fire_gimbal_control/images` | Image output dir; supports `~`/`$ENV` | | `Features` | `enable_mqtt` | bool | `true` | Use MQTT (vs null channel) | | `Features` | `enable_camera` | bool | `true` | (reserved) | | `Features` | `enable_serial` | bool | `true` | (reserved) | | `Features` | `enable_imu` | bool | `false` | **Legacy.** Derived from `[Hardware] imu` wherever that is declared; kept only for towers without a `hardware.ini`. A flag contradicting the declaration is warned about and ignored | | `Features` | `mock_camera` | bool | `false` | Use the simulated camera | | `Features` | `mock_serial` | bool | `false` | Use the simulated motor controller | | `Features` | `mock_imu` | bool | `false` | Use the simulated IMU instead of the MTi | | `Features` | `enable_env` | bool | `false` | **Legacy.** Derived from `[Hardware] env` wherever that is declared; same rule as `enable_imu` | | `Features` | `mock_env` | bool | `false` | Use the simulated env sensor instead of the SHT41 | | `Features` | `mock_needcfg` | bool | `false` | Make the simulated motor controller run the config handshake (emit `NEED`, refuse to move until answered) | | `Features` | `strict_presence` | bool | `false` | Refuse to start when `hardware.ini` declares a subsystem this rig does not have. Off during the fleet rollout; turn it on per tower once that file is known good. `--degraded` overrides it | | `IMU` | `device` | string | — | MTi serial device (see `[IMU]` note); required when `enable_imu` | | `IMU` | `baud` | int | `115200` | MTi serial baud rate | | `IMU` | `x` / `y` / `z` | float ±360 | `0` | Mounting rotation in degrees about forward/right/down, applied to every IMU reading (see below). All zero = the IMU is aligned with the gimbal | | `Env` | `i2c_device` | string | `/dev/i2c-1` | SHT41 I2C bus device (see `[Env]` note); required when `enable_env` | | `Env` | `i2c_addr` | int | `68` (`0x44`) | SHT41 I2C slave address; decimal or `0x`-prefixed hex | | `Env` | `period_ms` | int | `2000` | Sample interval | | `Logging` | `level` | enum | `info` | **Console** log level (`--log-level` overrides). Does **not** silence the log file, which has its own | | `Logging` | `trace` | csv | — | Wire-trace categories, off by default (`--trace` overrides) | | `Logging` | `file` | bool | `true` | Write a persistent log file (`--no-log-file` overrides) | | `Logging` | `file_level` | enum | `debug` | **File** log level, independent of `level` (`--log-file-level` overrides) | | `Logging` | `file_max_mb` | int | `20` | Rotate past this size. Clamped to 1..1024 | | `Logging` | `file_keep` | int | `10` | How many `fgc_*.log` to retain, oldest deleted. Clamped to 1..100 | | `Logging` | `file_dir` | path | — | Defaults to the data log dir alongside the test and diag reports | | `UI` | `enable_tui` | bool | `false` | Full-screen terminal dashboard (`--tui`/`--no-tui` override; needs `WITH_TUI=ON`) | | `Motor` | `yaw_counts_per_deg` / `pitch_counts_per_deg` | float | `983.33` / — | Encoder counts per degree (**calibrate**; may be negative to flip) | | `Motor` | `yaw_center_count` / `pitch_center_count` | int | `500000` | Count homing **defines** as the middle of the found travel. **Must exceed half the travel**, or the negative end falls below zero — the `500000` default suits the Delta's ~89k half-travel, not a geared-up rig (the IOTA needs 1000000). A warning names it after each home | | `Motor` | `yaw_heading_at_center` | float | `0` | True bearing (0 = north) at that centre (**calibrate**) | | `Motor` | `pitch_angle_at_center` | float | `0` | Elevation above level at that centre (**calibrate**; not 0 on a real rig) | | `Motor` | `yaw_soft_margin_counts` / `pitch_soft_margin_counts` | int | `5000` | Clearance kept from each hard endstop; sent to the firmware, which enforces it | | `Motor` | `homing_timeout_s` | int | `65` | How long a full two-end homing may take before the host calls it failed. A property of the drivetrain — a high gear ratio searching gently takes minutes | | `Motor.` | `r_sense_ohm` | float | — | Sense resistor on that axis's TMC5160 board. **hardware.ini.** Makes the milliamp figures below mean something | | `Motor.` | `run_current_ma` / `homing_current_ma` | float | — | Coil current (mA RMS) for normal motion, and while hunting an endstop. **hardware.ini** | | `Motor.` | `travel_deg` | float | — | Mechanical angle between the hard endstops. **hardware.ini.** Homing divides the measured travel by it to derive `_counts_per_deg` | | `Motor.` | `scan_speed_deg_s` | float | `8.0` | Production move speed **in degrees per second**. **hardware.ini.** The host converts it to VMAX through `_counts_per_deg` and sends `SPEED`; a register value would not mean the same thing on two drivetrains | | `Motor.` | `homing_speed_deg_s` / `center_speed_deg_s` | float | — | Endstop-search and park speeds, also in °/s. **hardware.ini.** Both are needed *before* the first home, so they convert through the declared scale (`steps_per_rev / travel_deg`), not the homed one | | `Motor.` | `steps_per_rev` | int | — | Expected full mechanical travel, **in counts**. **hardware.ini.** The firmware's only guard against a phantom endstop | | `Motor.` | `enc_deviation` | int | — | \|XACTUAL−XENC\| that means "position untrustworthy". **hardware.ini** | | `Motor.` | `enc_const` | float | 12.8 | Microsteps per encoder count (the TMC's `ENC_CONST`), up to 4 decimals. **hardware.ini**, optional: only a drivetrain whose encoder differs declares it. Wrong by a few percent, the step counter and encoder drift apart as the axis turns, and homing takes the drift for a stop (staeffelsberg: 12.5, from its old firmware) | | `Motor.` | `sw_mode` / `has_encoder` | int / bool | — | TMC `SW_MODE` (physical endstop switches on REFL/REFR) and whether this axis's encoder is aligned and usable. **hardware.ini** | | `Scan` | `grid_file` | string | — | CSV of `yaw_deg,pitch_deg` waypoints. The only source of a scan grid; empty → auto-sweep disabled | ### `[Motor]` calibration & `[Scan]` grid The firmware reports only **encoder counts**; `[Motor]` maps them to the bearing/elevation degrees used by `mode pan`, `gimbal move` and `CamEvent`. **Yaw degrees are true bearings: 0 is north.** Pitch degrees are elevation above level, so 0 is horizontal. #### The counts are anchored by homing Homing finds both hard endstops, moves to the middle of that range, and **defines** the midpoint as `_center_count` (default 500000). Two consequences worth understanding: - **The origin is reproducible.** Power-cycle the gimbal, re-home, and the limits land on the same numbers. Before this change the count origin was whatever the free-running encoder register happened to hold at boot, so a saved `zero_count` silently pointed somewhere else after a restart. - **Both endstops contribute.** Anchoring on the midpoint averages the error of the two searches instead of inheriting whichever one was used as the reference. A large positive anchor also keeps the whole working range positive, which the driver wants. `*_min_deg`/`*_max_deg` are **no longer configured**. They are derived from the firmware's homed soft limits after every home — the only place they can be correct. The host verifies on each home that the reported midpoint really is `_center_count`; a mismatch means the firmware did not adopt the `CENTER` command (it predates this host) and is reported as an error rather than papered over. `*_soft_margin_counts` is the clearance kept from each hard endstop. It is sent to the firmware, which enforces it, and takes effect immediately without re-homing. It is in **counts, not degrees**, because it must apply at homing time — before any degrees↔counts map is trusted — and must stay correct even when the heading calibration is absent or wrong. #### `gimbal heading setup` — tying yaw to true north Aim at landmarks whose true bearing you know (a mast, a peak, a road junction on the map) and record the encoder position against each bearing. **No IMU is required**, which is the point: not every tower has one, and MTi yaw drifts too much to be a heading reference. It is four commands, so it works the same at the console, on the dashboard and over MQTT (manual mode only): | Command | Does | |---|---| | `gimbal heading setup` | start: claims the gimbal, so no sweep can start under it | | `gimbal heading mark ` | record where the gimbal points now as that landmark's true bearing | | `gimbal heading fit` | fit the marks and apply the result | | `gimbal heading cancel` | stop and drop the marks (so do `cancel` and Esc) | On the dashboard, type `:gimbal heading setup`; it then runs in the activity strip, which shows the position, the step size and the marks so far, and these keys apply: | Key | Action | |---|---| | `←` `→` | Aim yaw | | `↑` `↓` | Aim pitch (centre the landmark vertically) | | `Tab` | Cycle step size: coarse (5% of travel) → fine (0.5%) → very fine (25 counts, ≈0.05°) | | `Space` | Record an image + `CamEvent`, exactly as a scan waypoint would | | `Enter` | Open the command line with `gimbal heading mark ` filled in: type the bearing, Enter | | `f` | Fit and apply | | `Esc` | Cancel | Two landmarks are the minimum and fit the line exactly; more are least-squares fitted and report an R². **Sightings closer than 10° apart are refused** — two points always fit perfectly, so a short baseline produces a healthy-looking R² and a wildly wrong scale, and refusing is the only way you find out. A set spanning north is handled (bearings are unwrapped before fitting). The very-fine step is 25 counts rather than 1 because `ENC_CONST` makes the encoder advance in 12.8-microstep quanta: a smaller step moves the motor to a position it cannot reproduce. The result is applied to the live session immediately, and in the TUI the activity strip offers to save it to `[Motor]` (`y`/`n`). On a headless tower the same fit is available directly: ``` gimbal heading fit 480000:45.0 520000:115.0 gimbal heading offset -2.5 # shift the whole map by a known amount, and save ``` #### `gimbal pitch setup` — levelling pitch against gravity `gimbal pitch setup` (**requires the IMU**) fits `pitch_counts_per_deg` and `pitch_angle_at_center` by sweeping pitch and correlating encoder counts with the MTi's gravity-referenced pitch. It auto-homes if needed, dwells at each step, fits, then parks level. Writes `logs/pitch_setup_*.log`, reports R², and offers the same save prompt. `cancel` or Esc cancels. Timings are the `CalibParams` defaults in [PitchSetup.h](../include/fgc/PitchSetup.h). This is the one axis that genuinely needs the IMU — level is defined by gravity and nothing else on the tower can measure it. Yaw is untouched by it. #### Scan grid The capture **scan grid** is the ordered `(yaw,pitch)` waypoints auto-sweep visits, always front to back, then round to the first again — never in reverse. `[Scan] grid_file` points at an editable CSV ([config/scan.csv](../config/scan.csv)) and is the **only** source of waypoints. **Nothing is generated.** Leave `grid_file` blank (or name a file that is missing, malformed or empty) and the program logs why and leaves auto-sweep off, showing the reason in the TUI's scan-grid panel. A tower that invented its own arc would archive images under bearings nobody chose, with no file to read back to find out what was photographed. The pre-2026-09 keys `yaw_intervals`, `yaw_min_deg`, `yaw_max_deg` and `pitch_levels` are gone; a config still carrying them gets a startup warning naming them. **Grid yaw values are true bearings.** Yaw travel is under a full turn, so there is always an unreachable arc; waypoints falling in it are **skipped** with a warning rather than clamped to the nearest limit — clamping would image a direction nobody asked for and publish it under the bearing they did. A one-line audit after each home reports how many waypoints are affected. Write an arc crossing north monotonically (`340` → `380`) rather than letting it wrap back through zero. Each camera's output subfolder is its `[Camera.] label` (defaulting to the block name); nothing is derived from the order of the blocks. ### `[IMU]` — Xsens MTi orientation sensor Enable with `[Features] enable_imu = true` and point `[IMU] device` at the MTi's serial node. On the LattePanda the MTi is wired to the **RS-232 header**, i.e. an onboard hardware UART — a stable `/dev/ttyS*` node (e.g. `/dev/ttyS4`), **not** a USB device and not `/dev/ttyUSB0-3` (those are the modem). Find it with `ls /dev/ttyS*` / `dmesg | grep -iE 'ttyS|LPSS'`, or probe for the `0xFA`-framed stream. At startup the host reconfigures the MTi (`GoToConfig → SetOutputMode → SetOutputSettings → GoToMeasurement`) to a 100 Hz Euler + calibrated stream — so the device will start streaming even if it was left in Config state. Set `[Features] mock_imu = true` to use a synthetic IMU on dev machines (no hardware). Protocol/units are documented in the modules reference (`MtiProtocol`). During that same Config-state handshake the host also **reads back the device configuration** (`ReqProductCode`, `ReqDID`, `ReqFWRev`, `ReqPeriod`, `ReqOutputMode`, `ReqOutputSettings`, and the filter-profile / **XKF profile** via `ReqFilterProfile` + `ReqAvailableFilterProfiles`). The decoded values — product code, firmware, device ID, output mode/format, calibration channels, sample rate, and the list of supported **Xsens Kalman Filter (XKF) profiles** with the active one marked — are surfaced in the **IMU CONFIG** section of the expanded Sensors view (press `s`). This is read-only: it reports what the device is actually configured to do, which is the place to confirm the active XKF profile (e.g. `General` vs `VRU_general`) when diagnosing yaw drift. On the legacy MTi the same concept is called a "scenario" in the device manual (e.g. `Machine_nomagfield`); it is the same setting and shares the wire MIDs. Older MTi firmware that does not answer the `Req*` queries simply leaves the section absent (the host logs `no configuration acks received`). The config is read **once at startup** and cached, so if you change the XKF profile externally the view stays stale until you re-read it with `imu config`, which re-queries the device (briefly pausing the stream). #### The device configuration is verified, not assumed What the host asks the MTi for — `OutputMode` and `OutputSettings` — is a **wire-format contract, not a preference**, and is deliberately **not exposed in `config.ini`**. `parseMTData` decodes a fixed field order that follows from exactly those bits, so a settable value would only give you ways to break the parser. The payload length is therefore *derived* from the settings at compile time (`mtDataLen`), guarded by a `static_assert`: change a bit and the length follows, so the parser must be updated with it rather than silently mismatching at runtime. Since the handshake's writes were previously blind, the host now **compares the readback against what it asked for** (`checkImuDeviceConfig`) and reports every difference at `ERROR`. This matters because the length gate cannot see the two most damaging misconfigurations — a fixed-point instead of float data format, and the wrong coordinate system — since neither changes the payload length. A device that never answered the `Req*` queries is reported as **unverifiable**, never as a match. An `Error` message (MID `0x42`), i.e. the device rejecting a message outright, is also decoded and logged instead of being dropped. A failed check never stops the program: it logs at `ERROR`, shows a red **MISCONFIGURED** row in the **IMU CONFIG** section of the expanded Sensors view (`s`), a red ` IMU CFG ` badge on the compact Sensors panel, and repeats in `imu config`. The persistent surfaces matter because the handshake runs *before* the TUI installs its log sink, so the log line alone is wiped by the alt-screen. #### Earth reference — why pitch fell as the nose rose The MTi measures orientation against **its own local earth frame**, and the classic unit's is **NWU** (X North, Y West, Z **Up**). The gimbal frame is NED. A Z-up reference reports pitch with the opposite sign: with the body Y axis pointing left, a right-hand rotation about it tips the nose *down*, so "nose up" comes back negative. **No `[IMU] x/y/z` value can fix this.** Re-referencing the earth frame *left*-multiplies the reported orientation; a mount *right*-multiplies it, and no fixed right-multiplication reproduces a left-multiplication across all attitudes. With an upside-down IMU the mount alone does nothing but add 180° to roll — pitch passes straight through, which is exactly the symptom. Both corrections are applied, in `applyFrames` ([ImuMount.h](../include/fgc/ImuMount.h)): ``` R_ned←gimbal = nedFromReference(ref) · R_local←sensor · mountRotationZXY(mount) \______ earth ______/ \______ body ______/ ``` Only the **orientation** is re-referenced. `acc`, `gyr` and `mag` are body-frame directions — which way the sensor felt something, not where it points on the earth — so the earth frame leaves them alone and only the mount rotates them. The device is deliberately **not** asked to change its own coordinate system (`mtsettings::kCoordSysNed` stays `0`). Correcting on the host is deterministic, reversible and unit-testable without hardware; writing an unverified bit to the unit's non-volatile memory would be none of those. And because the host rewrites `OutputSettings` on every startup, the device's reference is pinned to what that word selects rather than to whatever was left in the unit — which is what lets `kMtiReference` ([MtiProtocol.h](../include/fgc/MtiProtocol.h)) state it with certainty. The active reference is stated on the startup log line (`IMU frames: reference NWU -> NED; mount ...`). It is not shown in the Sensors view: unlike the mount it is a fixed property of the device rather than something the operator sets, so it would be a permanent row nobody can act on. > **One thing to check on the rig.** NWU and ENU produce *identical* roll and pitch and > differ only in yaw, by exactly 90°. If the corrected yaw is 90° off a compass, the device > is ENU: change `kMtiReference` to `ImuReference::Enu`. Nothing else needs to move. #### Raw readings — nothing is flipped Roll, pitch, yaw, acceleration, rate of turn and magnetic field are reported **exactly as the device sends them**, including yaw's native **−180..180** (it used to be shifted to a 0..360 heading; that shift is gone). No axis is negated and no range is rewritten anywhere between the wire and the screen. **The parser applies no transformation at all**: no axis is negated and no range is rewritten between the wire and `ImuSample`. The two corrections that do apply are declared above and applied together in one place (`applyFrames`, via `MountedImuSource`) — the earth reference NWU → NED, and the `[IMU] x/y/z` mount. With a NED-referenced device and `x`/`y`/`z` all zero there is no transformation at all and you see the sensor's own numbers. Consumers that do arithmetic across yaw handle the ±180 wrap themselves with `unwrapNear` ([Calibration.h](../include/fgc/Calibration.h)): the calibration sweep unwraps per waypoint before fitting, and the IMU drift test unwraps before its slope and spread. That makes both independent of which heading the tower happens to face, rather than merely moving the problem to a different bearing. #### Mounting orientation (`x` / `y` / `z`) The MTi reports in **its own sensor frame**. `[IMU] x`, `y` and `z` say how it is bolted on, and every reading the program produces — orientation, acceleration, rate of turn and magnetic field — is rotated into the gimbal's frame accordingly. Nothing downstream sees the sensor frame: the rotation is applied at the source (`MountedImuSource`), so the calibration routine, the self-test suite, the Sensors view and `imu status` all speak gimbal coordinates. Both frames are NED body frames: ``` X = forward Y = right Z = down roll about X pitch about Y yaw about Z (right-hand rule) ``` `x`, `y` and `z` are degrees, and they are **the rotation you apply to the IMU to bring it into alignment with the gimbal** — the turns needed to get *from* the IMU's orientation *to* the gimbal's. An IMU that physically sits turned 90° to the right is therefore corrected with `z = -90`. They compose in **Z-X-Y order, intrinsically**: first `z` about down, then `x` about the forward axis *as it now stands*, then `y` about the new right — i.e. `R = Rz(z)·Rx(x)·Ry(y)`. Order matters as soon as two of them are non-zero. | The IMU is… | `x` | `y` | `z` | |---|---|---|---| | level, facing the same way as the gimbal | 0 | 0 | 0 | | upside down, still facing forward | 180 | 0 | 0 | | turned 90° clockwise seen from above | 0 | 0 | -90 | | lying on its right side, facing forward | -90 | 0 | 0 | | upside down and facing backwards | 180 | 0 | 180 | Values outside ±360° are rejected at startup, and a non-zero mount is logged at INFO so the session's log records which frame its readings are in. The expanded Sensors view (`s`) shows the mount in force on the `Mount (cfg)` row of **IMU CONFIG** — labelled `(cfg)` because, unlike everything else in that section, it comes from `config.ini` rather than from the device. **To check it on the rig:** level the gimbal — roll and pitch should read ≈0. Tip the nose up — pitch goes positive. Roll to the right — roll goes positive. Slew right — yaw increases. **Re-run `gimbal pitch setup` after changing the mount.** It fits IMU pitch against encoder counts, so a calibration made under a different (or absent) mount has that error baked into `pitch_angle_at_center`. Yaw is unaffected — `gimbal heading setup` uses landmarks, not the IMU. `imu zero` is unaffected: it acts on the device, before this rotation, and the two compose correctly — the mount is what makes "zero" mean zero *in the gimbal frame*. ### `[Camera]` — cameras and profiles Each camera gets its own `[Camera.]` block. Nothing is implied by position: the block names the camera, `label` names its output, and `driver` picks the backend. A camera's *settings* are not here at all. **The settings live in a profile XML exported from the VimbaX Viewer.** A profile named `X` is `/X.xml`, and the program hands that file straight to the Vimba X SDK. There is no other path by which settings reach the camera, and a missing XML is a startup error rather than a fallback. That indirection exists because GenICam validity is **stateful**: `AcquisitionFrameRate` is only writable once `AcquisitionFrameRateEnable` is set, `Width`'s maximum depends on binning, and `IntensityAutoPrecedence` accepts `Minimizenoise` but not `MinimizeNoise`. The Viewer greys out invalid combinations as you configure; a hand-written list has no such guardrail, and a line that silently fails leaves the camera on its previous value. **To change a camera's settings:** open the Viewer, configure, save the settings XML over `.xml`, restart. **The `.txt` beside each XML is generated and configures nothing.** It is a human-readable record of the same settings so a profile can be read and diffed without opening the Viewer. On startup the program hashes the XML and compares it with the hash recorded in the `.txt`; if they differ it regenerates the record and logs a warning naming every setting that moved: ``` [WARN ] camera 'rgb' profile 'standard': settings XML changed, regenerating standard.txt [WARN ] AcquisitionFrameRate 3.399707 -> 10 [WARN ] ExposureAutoMax 50000 -> 15000 ``` **Timing is per camera and per profile**, in `[Camera..]`. These are not camera settings — they are how long the program waits around them. With several cameras the scan uses the **longest** `settle_wait_ms` across the enabled ones, since the gimbal must stand still for all of them. Every `*.xml` in `profile_dir` is loaded at start-up, so a profile nobody is using today still fails at launch rather than the first time someone switches to it. ### `[Env]` — SHT41 ambient temperature/humidity sensor Enable with `[Features] enable_env = true` and point `[Env] i2c_device` at the LattePanda's **own native I2C bus** — this is a separate physical link from the motor Leonardo's serial connection, not the Arduino's D2 pin (the original DHT11 plan). `i2c_addr` accepts either form — `0x44` hex or `68` decimal. **Finding the bus.** The number varies by board, and on this LattePanda the sensor answers on `/dev/i2c-2`, not the `/dev/i2c-1` default. Two traps make this harder than it looks: - **`i2cdetect` false-negatives on the SHT4x.** Its probe (quick-write, or a plain read) is not a command the sensor answers, so the address can show empty on the very bus the sensor is on. Probe with a real measurement instead — `i2ctransfer -y N w1@0x44 0xfd`, wait ~10 ms, then `i2ctransfer -y N r6@0x44`; six bytes that pass the CRC is the bus. - **Not every `/dev/i2c-*` is a full I2C bus.** An SMBus-only adapter (`i2cdetect -F N` reports `I2C = no`) cannot carry the SHT4x's transfers at all, so that bus can never work regardless of wiring. A failed read is **logged** — once at the start of a failure streak (naming the bus, the address and an `i2ctransfer` probe to run), and again when the sensor recovers, so a wrong bus announces itself instead of leaving a silently empty panel, without reprinting the same line every `period_ms` for the life of the process. A sample that fails its CRC is logged separately each time. The backend (`Sht41EnvSensor`) polls at `period_ms`, discarding any sample that fails the SHT4x CRC-8 check (decode lives in the pure, unit-tested [Sht41Protocol](../include/fgc/sensors/Sht41Protocol.h)); once nothing valid arrives within **2× the period**, `sample()` reports absence rather than a frozen value, which is what turns the panel from `live` to `no fix`. Set `[Features] mock_env = true` (or pass `--mock-env`, which also implies `enable_env`) to use a synthetic reading on dev machines with no hardware. The sensor sits behind the generic `IEnvSensor` interface ([include/fgc/IEnvSensor.h](../include/fgc/IEnvSensor.h)), so swapping in a different ambient sensor later means adding a new backend, not touching `Application`, the UI, or MQTT. ### How much one picture covers: `[Hardware] pan_step_deg` `mode pan ` cuts its span into as many pictures as it takes at `pan_step_deg` degrees of bearing each (default **6**, until the lens is measured), both edges included - so `mode pan 90 30` takes six pictures, 75° to 105°. It is a property of the camera and lens, so it lives in `hardware.ini`. Must be above 0. See [mqtt-api.md](mqtt-api.md#modes-auto-pan-manual). ### The legacy towers: a DHT11 and a fan on the motor MCU Four towers carry an ambient DHT11 and an enclosure fan wired to the Leonardo itself, not to the host. They are declared, not branched: ```ini [Hardware] axes = yaw env = dht11 ; read by the motor MCU cooling = fan ; the MCU runs the fan from it [Pins] ; hardware/lattepanda-3-delta/pins-legacy.ini yaw_cs = 8 yaw_en = 7 dht = 9 fan_pwm = 10 fan_tach = 11 spi_idle_cs = 2 ``` - **The firmware is built with them only where they are declared** (`firmware/tools/gen_wiring.py`); a tower without them gets byte-for-byte the firmware it had. - **The fan is the MCU's job**, and keeps running with the host down. The law is the legacy firmware's: off up to 25 °C, +20/255 per degree, full from 37.75 °C. The fan runs **at full speed until the first good reading, and after three failed reads in a row**. - **What the host does:** the MCU reports every 10 s as `ENV t= h=<%> ok=<0|1> fan= rpm=`. The host shows it as the ambient sensor ("DHT11 (ambient, via MCU)"), with the fan's duty and rpm. - **A fan driven at half speed or more that reads 0 rpm on two readings** is logged as a warning, marked `FAN` on the Sensors panel, and fails `test hardware env`. This needs `fan_tach`. - **`spi_idle_cs`** holds a second SPI device's chip select high from power-up, so it never answers on the drivers' bus. ### One key, not two: declaring a sensor is what enables it `[Hardware] imu` and `[Hardware] env` name what is fitted. `[Features] enable_imu` and `enable_env` used to say the same thing a second time, and the two could disagree — declare `imu = mti-630`, forget the flag, and the program would report **missing hardware** for what was a missing config key. The declaration now wins wherever it exists: | `[Hardware] imu` | `[Features] enable_imu` | Result | |---|---|---| | *(absent)* | `true` / `false` | the flag governs, exactly as before — every un-migrated tower | | `mti-630` | *(absent)* | **enabled.** No second key is needed | | `mti-630` | `false` | **enabled**, and the clash is warned about so the stale key can be deleted | | `none` | `true` | **disabled.** A rig that says it has no IMU cannot be argued into having one | `mock_imu` / `mock_env` / `mock_camera` / `mock_serial` stay in `config.ini` and are untouched by this: substituting a simulated device is an operational choice about this *run*, not a statement about what is bolted to the tower. ### Declared vs found — what `hardware.ini` is checked against Everything in this program degrades gracefully: `TestRunner` skips the pitch and IMU leaves, `CamEvent` falls back to encoder pitch, `CaptureScheduler` sends the single-axis `MOVE Y` form. That is correct for a rig that genuinely lacks them, and **indistinguishable from a failure on a rig that does not**. A two-axis tower whose pitch stops enumerating becomes a yaw-only tower, captures one elevation band, and reports itself healthy. Declaring the assembly is what separates those two. At startup — once the motor, sensors and camera have all been brought up, so "found" means *came up* rather than *was configured* — the program compares `[Hardware]` against what it actually has: | Declared | Found | Result | |---|---|---| | present | present | one `INFO` line confirming the assembly | | absent | present | **warn**: `hardware.ini` is stale. Never fatal — more hardware than declared is a documentation fault | | **present** | **absent** | **warn, or refuse to start under `strict_presence`**, naming each missing subsystem | Two properties are deliberate: - **A tower with no `hardware.ini` is never reconciled**, whatever `strict_presence` says. Gaining that file must not be what changes how a tower behaves; nothing is compared until something is declared. - **An empty `axes` states nothing**, matching `hasAxis()` answering true for everything when nothing is said. Reconciling silence would turn a missing key into a fault. `strict_presence` defaults to **off** so the fleet rollout cannot change behaviour on upgrade. Turn it on per tower once that tower's file is known good; the fleet-wide flip is then a config change rather than a release. When it refuses, the program exits **3** (distinct from a config error's 1 and the single-instance lock's 2) before the control loop is entered. `--degraded` overrides a refusal for field triage, and logs `RUNNING DEGRADED BY REQUEST` with the list of what is missing — worded so it cannot be mistaken for a normal startup line. > Which camera is missing is reported as a count (`2 configured, only 1 opened`), because the camera > source reports how many it opened, not which. `test hardware camera` is what names the device. ### Secrets `mqtt_user` / `mqtt_pw` are read from the environment variables **`FGC_MQTT_USER` / `FGC_MQTT_PW`** first, falling back to the config file. Keep credentials out of `config.ini` (which is gitignored anyway) by exporting them or using a systemd `EnvironmentFile`. ### The log file A tower runs detached for days inside a tmux session, and in TUI mode every log line goes into a 500-line on-screen ring buffer and **nowhere else** — so the record of what it did dies with the session. The one moment you want it, "why is this axis not moving?", is exactly when it is gone. So the program also writes `~/.local/share/fire_gimbal_control/logs/fgc_..log`, alongside the existing `test_*`, `diag_*` and `pitch_setup_*` reports. On by default. **The file is deliberately more verbose than the console.** `level` governs the dashboard, `file_level` the file, and the two are independent — the default pair is a readable `info` on screen and a detailed `debug` on disk. Consequently `--log-level off` quietens the *console* and the tower keeps recording; use `--no-log-file` to stop writing. **Wire traces reach the file only when `trace` turns them on**, for both outputs at once. That gating is not cosmetic: the serial trace alone is about 4 `ST` lines per second, so steady-state logging goes from roughly **5 MB/day to 41 MB/day** — enough to churn through the whole retained window in a couple of days and age out the startup record you may also have wanted. A new file is started per run and rotated by size within it, oldest pruned by count, so the footprint is bounded at `file_keep × file_max_mb` (200 MB by default). Each file opens with a header naming the build, tower, PID, config and hardware paths and the full command line, re-emitted after every rotation so an archive found on its own is still self-describing. Lines carry a `YYYY-MM-DD` prefix the console ones do not, because a file may span days. > Failures before the config is read — bad arguments, no `config.ini` found — > happen before the log's own path is knowable and stay console-only. ## Command-line flags Parsed by Boost.Program_options ([main.cpp](../main.cpp)). Flags override `[Features]`. | Flag | Effect | |------|--------| | `-h, --help` | Show help and exit | | `-c, --config ` | Explicit config file path | | `-i, --init` | Run the endstop-finding init sequence before the loop | | `-s, --start` | Start capture automatically | | `--no-mqtt` | Disable MQTT (use the null channel) | | `--mock-camera` | Use the simulated camera | | `--mock-serial` | Use the simulated motor controller | | `--mock-env` | Use the simulated ambient temp/humidity sensor (implies `[Features] enable_env`) | | `--degraded` | Start even though declared hardware is missing (field triage; overrides `strict_presence` and says so loudly in the log) | | `--tui` | Show the full-screen terminal dashboard (overrides `[UI] enable_tui`) | | `--no-tui` | Force the headless line console (overrides config; wins over `--tui`) | | `--log-level ` | **Console** level: `trace`/`debug`/`info`/`warn`/`error`/`off`. Does not silence the log file | | `--no-log-file` | Do not write a persistent log file this run | | `--log-file-level ` | File level, independent of `--log-level` (default `debug`) | | `--trace ` | Verbatim wire trace; comma list `serial,mqtt,camera,control,all,none` | Typical headless dev run: `scripts/run.sh --mock-serial --mock-camera --no-mqtt --start`. ### Init sequence (`--init`) Sends `ENABLE Y`, `ENABLE P`, `HOME`, then polls telemetry until both axes report `READY` (firmware `ST` state `A`), bounded by the firmware's 60 s homing timeout, then sets `SPEED Y/P` ([src/core/Application.cpp](../src/core/Application.cpp), `runInitSequence`). ## Interactive console commands Lines on stdin are parsed by `parseCommand` ([src/core/CommandParser.cpp](../src/core/CommandParser.cpp)) — a whitespace tokenizer (` [device] [option] [value]`) that replaced the old fragile Boost.Spirit grammar. Handled in `Application::Impl::handleCommand`. | Type this | Meaning | |-----------|---------| | `mode` | Say which mode the tower is in: auto, pan or manual | | `mode auto` | Sweep the scan grid (camera acquisition + capture) | | `mode pan []` | Watch one direction: sweep `heading ± span/2` in `pan_step_deg` steps, pitch default 0 | | `mode manual` | Stop capturing; every command accepted. In auto and pan, only reading commands, `debug`/`trace`, `mode`, `cancel` and `exit` are | | `debug` | Toggle debug logging | | `trace [on\|off]` | Toggle a wire-trace category (`serial`/`mqtt`/`camera`/`control`) | | `trace all` / `trace off` | Enable every category / silence all | | `set camera profile [] ` | Switch a camera to another profile from its `profile_dir` (the camera may be omitted when only one is configured) | | `snapshot` | One image now, through the scan's settle-and-trigger path (manual mode, homed) | | `capture [on\|off]` | Continuous capture where the gimbal is aimed: one image per `image_interval` + standstill + `settle_wait_ms`, kept only at rest. Manual mode, homed; ends on any mode change, homing, heading setup or test. Bare: report | | `camera reset` | Reboot the cameras and put them back on their profiles | | `test camera [frames\|dark\|bright]` | Check the camera delivers frames and responds to exposure/gain | | `test [ []] []` | Run the hardware self-test suite (see below) | | `test list` / `test baseline` | List profiles / pin the last report as the comparison baseline | | `imu status` | One-line orientation + sample age | | `imu config` | The configuration read back from the device (product, firmware, output mode, sample rate, XKF profile) | | `imu profile []` | Show the available XKF profiles, or switch to one (by numeric type or by name, e.g. `VRU_general`) | | `imu zero` | Heading reset — make the current yaw the zero reference | | `imu norotation []` | Gyro-bias update; the sensor must be still for the whole window | | `help [topic]` | The command catalog, or one section/verb expanded | | `exit` | Quit (Ctrl-D also works) | The full catalog with per-command detail lives in `helpCatalog` ([src/core/HelpText.cpp](../src/core/HelpText.cpp)) and is what `help` prints — the table above is a summary, and the `gimbal …` positioning/diagnostic verbs are documented there and in the motor vocabulary section below. ### `test` — hardware self-test suite `test` validates the gimbal/IMU/host on real hardware, writes a text report to `logs/test_*.log`, and compares each run to a pinned baseline and the previous run. It is modular (`test gimbal`, `test imu drift`, `test host`, …) and driven by **profiles** configured under `[Test]` / `[TestProfile.]` in `config.ini` (repetition counts, sampling windows, pass thresholds; default `standard`). While a test (or calibration, or homing) runs, interfering commands are ignored and **Esc** cancels. Full reference: [test-command.md](test-command.md). Replaces the former `gimbal diag` (now folded into `test gimbal encoder`). ## Terminal dashboard (TUI) An **optional** full-screen interface (`--tui`, or `[UI] enable_tui = true`) renders the tower status as sectioned, colored panels updated in place, with a scrolling log pane and a nano-style key bar. It is built on [FTXUI](https://github.com/ArthurSonzogni/FTXUI) (fetched via [cmake/Ftxui.cmake](../cmake/Ftxui.cmake) when `WITH_TUI=ON`, the default) and is **fully decoupled from application logic**: the control loop publishes a plain `UiSnapshot` ([include/fgc/ui/UiSnapshot.h](../include/fgc/ui/UiSnapshot.h)) that the UI renders, and the UI forwards keystrokes/typed commands back through the same command queue the console uses. Headless operation is unchanged and remains the default — the same binary runs under systemd/ssh/pipes with logs on stdout. Dashboard panels: **Gimbal** (per-axis state, heading, encoder counts, flag badges, target), **Sensors** (the **Xsens MTi** shows live roll/pitch/yaw once `enable_imu`; the ambient **SHT41** shows live temp/humidity once `enable_env`. The SHT41's is the **only** temperature on the main window: the MTi's device-internal temp is diagnostic detail and appears solely in the expanded view), **Cameras** (count, capture state, rate, last capture), **Connectivity** (MQTT state, broker, tower, the mode as published on StatusCode). The **LOG** title names the file the log is being written to, and follows the newest line. Adding a panel later is a struct in `UiSnapshot.h` plus one node in [src/ui/TuiUi.cpp](../src/ui/TuiUi.cpp). **Expanded takeover views** replace the dashboard body full-screen (`Esc` or the same key closes): - **Gimbal** (`g`) — both axes side by side: live telemetry, the decoded firmware register **dump** (`d` requests a fresh one), the homing limits, and the **last calibration** result (per-axis `counts_per_deg` / `deg@ctr` / R² / age). - **Cameras** (`c`) — a block per configured camera: identity (`name`, `label`, `id`, `driver`, enabled), the active **profile** and the others available, the `profile_dir` and the exact XML applied, the per-profile `settle_wait_ms`, `rotation_deg` and the JPEG XL settings, plus live per-device telemetry (dimensions, streaming, frames, drops) and the scan grid. - **Connectivity** (`n`) — broker, tower, client id, connection state and mode, the delivery counters (sent / failed / connects / losses), and a **history of the last MQTT messages** — time, topic leaf and payload — so a publish can be confirmed without a broker-side subscriber. The compact Connectivity panel carries the `n` badge that opens it. - **Sensors** (`s`) — both sensors, in headed sections so every reading is attributable. **MTi**: every channel with units — orientation (°), acceleration (m/s²), rate-of-turn (rad/s), magnetic field (a.u.), `TEMP (internal)`, sample counter, plus an **IMU CONFIG** section (read back from the device at startup): product code, firmware, device ID, output mode/format, calibration channels, sample rate, and the **Xsens Kalman Filter (XKF) profile** list — every profile the device supports, by name, with the active one marked `●` (selected). **SHT41**: `TEMP (ambient)`, humidity, the age of the last sample, and the configured I2C bus (device, address, poll period — hidden for the mock). Empty states name what to enable (`enable_env` / `--mock-env`) or, when enabled but silent, the staleness window that was missed. **Activity strip** — a compact section between the log and the key bar that shows the currently-running special operation with live progress (`test`, `gimbal pitch setup`, homing, the auto sweep, a pan, heading setup) **and persists the last test/calibration result** (PASS/FAIL, age) so it doesn't scroll away in the log. It only appears once something has run. While a procedure is running, **Esc** cancels it. When a `gimbal pitch setup` or `gimbal heading fit` completes it is applied to the live session and the strip shows a highlighted yes/no prompt — **`Save the new [Motor] calibration to config as the default? (y / n)`**. Press **`y`** to write the `[Motor]` map — `*_counts_per_deg`, `*_center_count`, `yaw_heading_at_center`/`pitch_angle_at_center` and `*_soft_margin_counts` — back into the `config.ini` the program was launched with (replacing those keys in place, preserving comments and everything else) so it persists across restarts; press **`n`** to keep it for this session only. The keys are active only while the prompt is showing. The file is written to a temp file and renamed over the original, so an interrupted save cannot truncate your config. `gimbal heading offset` saves immediately without asking — it is a one-line correction, not a fit. **The key bar is contextual**: it advertises the keys that are useful in the current view, not every binding. `a` auto, `p` pan (30° around where the gimbal points now) and `m` manual lead everywhere — the mode can be changed from any view — and `:` command, `?` help and `q` quit close every set. The overview adds `h` home, `g s c n` views and `f` pause; an expanded view offers its own (`d` dump in the gimbal view, `Esc` close). In manual mode the arrow keys nudge the gimbal (yaw ±5 % / pitch ±10 %) from any view, `Space` takes a picture (`snapshot`) and `r` toggles continuous capture (`capture on|off`). Every key that acts sends a command, so nothing is dashboard-only. Every binding still *works* everywhere; only the advertising changes. **Scrolling is `PgUp`/`PgDn` only**, the arrows being the gimbal's. The log, the message history and a freshly pulled gimbal dump jump to their newest line whenever one arrives, so to read further back, pause first: `f` freezes the whole frame (log included) until `f` again, and the header says when it froze. It is also how to select and copy text. **`q` asks rather than quitting.** It opens a prompt: **`q`** quit (stop capture, close the camera, end the program), **`b`** background (detach and leave it running — the same as `Ctrl-b d`, shown dimmed and unavailable when the program is not inside a `scripts/fgc` tmux session), **`Esc`** cancel. Plain letters are used rather than Ctrl chords so terminal flow-control (`Ctrl-S`/`Ctrl-Q` XON/XOFF) can't swallow them. In TUI mode all log output is diverted from stdout into the on-screen log pane via a `Logger` sink, so the screen is never corrupted. Build without it (`-DWITH_TUI=OFF`) for a smaller, dependency-free binary; `--tui` then warns and runs headless. ## Logging: level vs. wire-trace categories Two **independent** controls, each settable via config (`[Logging]`), CLI, and a console command: - **Linear level** — `[Logging] level`, `--log-level`, console `debug`. Filters ordinary messages (`trace grid yaw=-90 pitch=0 (scheduler decisions + inbound console commands) ``` ## Motor command vocabulary (emitted by the software) The firmware speaks **full-word, newline-terminated** commands in absolute **encoder counts** (see `../firmware/docs/protocol.md`). The host converts degrees↔counts via the `[Motor]` calibration. | Command | When | Meaning | |---------|------|---------| | `ENABLE Y` / `ENABLE P` | init | energize the axis coils | | `HOME` | init | home all axes (firmware runs it non-blocking; watch `ST` state `R→H→A`) | | `SPEED Y\|P ` | init | set the production move speed (VMAX, counts/s) | | `CURRENT Y\|P ` | init, before `HOME` | motor current as TMC register fields, converted by the host from `[Motor.]` milliamps | | `CENTER Y\|P ` | init, before `HOME` | the count homing anchors the travel midpoint to | | `MARGIN Y\|P ` | init, before `HOME` | clearance kept from each hard endstop | | `MOVE ,` | each capture point | drive both axes to absolute counts (combined form) | | `MOVE Y\|P ` | — | single-axis absolute move (`gimbal raw`) | | `STOP Y\|P\|ALL` | — | ramp to a controlled stop | ### Motor current, and why the host computes it The TMC5160 expresses coil current as two dimensionless registers, and what a given pair delivers depends on the sense resistor soldered to the board. Only `hardware.ini` knows that resistor, so the **host** converts milliamps to registers and sends the result; the firmware keeps compile-time defaults so a bench board still behaves. `homing_current_ma` exists for one reason: **an endstop the motor can out-push is not an endstop.** Homing detects a stop by driving into it until the shaft falls behind the commanded position. On the IOTA tower, whose gear ratio was raised for wind stability, the motor simply sheared one screw-head stop past the other — it ran 1.8 turns past the stop with the encoder never falling behind. At 189 mA it homes against the same screw cleanly. The startup log names what the registers **actually** deliver, which is not always what was asked for: ``` yaw motor current: run 756 mA (GLOBALSCALER 80, IRUN 31), homing 189 mA (IRUN 7) -- R_sense 0.075 ohm from hardware.ini [Motor.yaw] ``` Because both registers are write-only on the chip, the firmware echoes them in `DUMP` and the host checks them **before** homing. If an axis declares a reduced homing current and the firmware has not adopted it, the host **refuses to home** rather than driving into a stop at full torque — the fire it is there to prevent. ### The config handshake — the firmware asks, `hardware.ini` answers The firmware used to carry a full parameter table and **guess** when the host said nothing, so every drivetrain value existed in two places and the two could disagree. It no longer guesses: it declares what it needs and refuses to move until it has it. ``` firmware -> BOOT build=abc123 firmware -> NEED Y steps_per_rev global_scaler sw_mode enc_deviation normal_speed ... host -> SET Y steps_per_rev 1210778 host -> SET Y global_scaler 80 host -> SET Y normal_speed 39830 ... ``` `SPEED`, `CENTER`, `MARGIN` and `CURRENT` remain as aliases, so an old firmware and a hand-typed session both keep working; `center` and `margin` are accepted as key names alongside `center_count` and `soft_margin` for the same reason. Three rules, each protecting against a different silent failure: - **A value the host does not have is left unanswered, never sent as zero.** A zero here is a real setting — a zeroed current is a motor that cannot hold, a zeroed VMAX is a stopped axis. The axis stays in `NEEDCFG` and the missing keys are named at `ERROR`, because nothing but editing `hardware.ini` will make the gimbal move. - **A key the host has never heard of is reported separately** from one it simply lacks. The first means the firmware is newer than the host and the fix is to upgrade the host; the second means `hardware.ini` is incomplete. Conflating them sends someone to edit the wrong file. - **A partial answer does not unlock the axis.** Most keys landing is the common case when a declaration is nearly complete, and it must not look like success. > An axis waiting on its config reports `NEEDCFG` in the dashboard and `C` in the > `ST` line — deliberately not red, and deliberately not "no telemetry": the link > is fine and the axis is talking, it just has not been told what it is driving. > > **Retuning needs only a restart.** The firmware asks exactly once, at boot, > and only while it is in `NEEDCFG` — so the handshake alone would mean that > editing `hardware.ini` and restarting the *host* changed nothing, because the > board is already configured and says nothing to reply to. The host therefore > re-sends the whole declared block on every connect, whether or not it was > asked. Edit, restart, done; no re-flash. > > It also makes the handshake robust to a `NEED` line lost on the wire: an axis > still sitting in `NEEDCFG` is completed by that re-send rather than refusing to > move until someone notices. > > **Both halves are live**, and validated on tower 121: the firmware emits `NEED` > at boot and refuses `HOME` / `MOVE` / `ENABLE` until every required key is > answered, and the host answers it. On a dev box with no board attached, set > `[Features] mock_needcfg = 1` to make the simulated controller run the same > handshake, or `0` to have it stand in for a board that is already configured — > which is what exercises the unprompted re-send. ### Why speed is declared in degrees per second `VMAX` is a register value, and what it *means* depends on the gear ratio: | | Tower 111 (Delta) | Tower 121 (IOTA) | |---|---|---| | `counts_per_deg` | 983.33 | 3552.87 | | `VMAX 30000` is | **21.8 °/s** | **6.0 °/s** | Both towers were carrying the same literal `30000`, running at speeds differing by 3.6× — exactly their gear-ratio difference. A register value copied between towers produces a silently different machine, which is why the speed is declared as the physical quantity and converted per tower. The conversion is `v[counts/s] = VMAX × f_CLK / 2²⁴` with `f_CLK` = 12 MHz, divided by `counts_per_deg`. That single factor suffices because the firmware keeps `XACTUAL` (step space) and `XENC` (encoder space) on the **same scale** — see `firmware/docs/hardware-notes.md`, *"Encoders track 1:1 but must be aligned to XACTUAL"*. The 0.7153 counts/s per VMAX unit this predicts is within 2% of the 0.73 measured across three homing runs on tower 121. The speed is sent at the end of the init sequence, **after** `counts_per_deg` has been re-derived from the travel just homed, so it always uses the current scale. What is logged is what the axis will actually do, which differs from the request by the integer quantisation: ``` yaw speed: 8.00012 deg/s (VMAX 32897) -- 2941.18 counts/deg ``` An axis whose scale is not trustworthy is **not commanded at all** — the firmware keeps its compile-time default and the reason is logged. The floor is physical: the AS5047P emits 4000 steps/rev in ABI mode, so even an ungeared axis reads 11.1 counts/deg, and anything below that is an uncalibrated axis still carrying `AxisMap`'s default of 1.0 rather than a real drivetrain. > **This replaced two hardcoded literals** — `SPEED Y 50000` and `SPEED P 150000` > — which contradicted the firmware's own tuned-down defaults and won. On the > Delta fleet that was 36.4 °/s against an intended 21.8 °/s. ### Deriving `counts_per_deg` from the homed travel `travel_deg` is a nameplate fact: the mechanical angle between the stops. Homing measures the same span in counts, so dividing gives the degree scale. On a successful home the host compares the two and, when they disagree by more than a factor of two, adopts the derived value and offers it at the usual `y`/`n` prompt, saving to `config.ini` with a `;prev` line. Within a factor of two it only logs the comparison. That guard matters: a `gimbal heading setup` landmark fit is a better measurement than this one, and a routine re-home must not quietly overwrite it. **The derived scale is only as good as `travel_deg`**, which is usually a rough figure — a 1 % error in the angle is a 1 % error in every bearing. `gimbal heading setup` supersedes it. Capture is a **move → settle → trigger** cycle: the scheduler issues a `MOVE`, waits until both axes report standstill at the target, then triggers the cameras. In **auto** mode it walks the scan grid (front to back, repeating); in **pan** mode it walks the pan's headings left to right at the pan's pitch, then starts again from the left edge (see [mqtt-api.md](mqtt-api.md#modes-auto-pan-manual)). Telemetry arrives as firmware `ST` lines (per-axis state + encoder counts), parsed by [TelemetryParser](../src/core/TelemetryParser.cpp).