65 lines
3.9 KiB
Markdown
65 lines
3.9 KiB
Markdown
# Fire Gimbal Control — Roadmap
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Forward-looking plan for the software/firmware. Present-state docs live alongside
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this one ([architecture.md](architecture.md), [modules-reference.md](modules-reference.md),
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[known-issues.md](known-issues.md), …); this file records **intent**, not status.
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Keep entries dated; move shipped items into the reference docs.
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## Near-term / in progress
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- **Hardware self-test framework (`test` command).** Modular on-rig validation
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with profiles, on-disk text reports, and baseline/drift comparison — replaces
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`gimbal diag`. Covers gimbal (homing, encoder, friction, backlash, balance), IMU
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(config, health, drift), and host/LattePanda (thermal, disk, memory, load). See
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[test-command.md](test-command.md); tests blocked on not-yet-integrated
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components are tracked in [test-roadmap.md](test-roadmap.md).
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- **Firmware support (next):** a homing-report `HM` line (firmware-measured
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homing duration + endstop counts) and a load-capture `LP` primitive
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(peak/mean CS, SG, PWM during a move) so the friction/balance/homing-time
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metrics come off the firmware clock instead of host `ST` sampling; plus a
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`PING`/`PONG` link-health command for `test system link`.
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- ⚠️ **This collides with AVR flash headroom.** Three new commands are the
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kind of growth the ATmega32U4 no longer has room for — it sits at **79.8 %
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of its 28 KB** (5828 B free, measured 2026-09-23), up from 19254 B at the
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phase 2 gate. The RP2040 is a non-issue at 0.6 % of 8 MB. So either these
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land RP2040-only behind the `platform_*.h` split, or the Delta fleet gets a
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deliberate answer on flash first — `PROGMEM` for the string tables, dropping
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a command, or accepting that the Delta is feature-frozen. Note §14 of the
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config plan *cost* 222 B rather than freeing any, so the obvious saving has
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already been spent. See [hardware-porting-plan.md](hardware-porting-plan.md).
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## Planned components & integrations
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- **MQTT → RabbitMQ migration.** Move the control/telemetry channel onto the
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project's RabbitMQ stack. Decision pending between (a) RabbitMQ's MQTT plugin
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(near-zero firmware change, keeps QoS/retain/reconnect) and (b) native AMQP via
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a new `IControlChannel` implementation (richer routing/durable queues, but must
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re-engineer retained "last value" semantics). The abstraction seam already
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exists (`IControlChannel`). _(TODO: confirm approach, target release.)_
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- **RGB camera.** _Largely landed._ The Alvium 1800 U-2040c runs end-to-end on the
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rig (free-running acquire → settle wait → JXL → `CamEvent`), so the
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`camera/rgb` self-test is no longer blocked on integration. What remains is
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confirming the shipped `standard`/`night` modes against a real scene, and that
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10 Hz sustains with zero dropped frames on the LattePanda. The capture logic is
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described in [architecture.md](architecture.md#image-capture) and the modes in
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[configuration.md](configuration.md).
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- **A dusk/dawn mode, and automatic switching.** `standard` and `night` are
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chosen by hand (`set camera profile <name>`). A third profile for the transition, and
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a rule to pick between them — by clock, sun angle, or measured scene brightness
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— is the obvious follow-on. _(TODO: decide the trigger.)_
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- **Thermal camera.** Add the thermal sensor with radiometric handling (NUC,
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temperature range); enables the `camera/thermal` self-test. _(TODO: model/SDK,
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calibration workflow.)_
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## Cross-cutting / later
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- **Supply-voltage telemetry** (bus-voltage sense → firmware) to enable
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`gimbal/supply` and brown-out detection. _(TODO: hardware path.)_
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- **Generic, multi-tower deployment.** Continue removing site-specific
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assumptions (tower identity is already config-driven). _(TODO.)_
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- _Stubs to expand: long-term storage/offload, remote update,
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observability/metrics, security hardening._
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> Detailed, implementer-ready specs for tests blocked on the above hardware live
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> in [test-roadmap.md](test-roadmap.md).
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