fwt_software/tools/camera-bench/results-2026-10-08-tower111-throttle/guard_run.log

16:56:32.187 [INFO ] hardware: /etc/fire_gimbal_control/hardware.ini  board lattepanda-3-delta  axes yaw, pitch
16:56:32.188 [INFO ] logging to /home/ggs/.local/share/fire_gimbal_control/logs/fgc_20261008-165632.000.log (level debug, 10 x 20 MB)
16:56:32.188 [INFO ] Loaded config: /home/ggs/.config/fire_gimbal_control/config.ini
16:56:32.188 [INFO ] Single-instance lock held: /run/user/1000/fire_gimbal_control.lock
16:56:32.188 [INFO ] wire trace enabled: mqtt
16:56:32.246 [INFO ] camera 'rgb': 3 profile(s) from /home/ggs/.config/fire_gimbal_control/camera_profiles/rgb; active 'standard'
16:56:32.247 [INFO ] IMU frames: reference NWU -> NED; mount x 180  y 0  z 0 (deg, Z-X-Y); readings are in the gimbal frame
16:56:32.258 [INFO ] MQTT (re)connected; subscribing
16:56:32.258 [INFO ] MQTT connected to tcp://127.0.0.1:1883 as 'dev'
16:56:32.258 [INFO ] capture output dir: /home/ggs/projects/fwt_2a/images
16:56:32.258 [INFO ] image saving: 1 worker(s) x 4 thread(s), up to 4 frame(s) waiting
16:56:32.258 [INFO ] scan grid: 15 waypoints
16:56:32.258 [INFO ] keep rule: fixed wait of 1000 ms after standstill
16:56:32.259 [INFO ] CPU guard: pictures slow down at 85 °C or when the CPU throttles, and pause at 92 °C (resume at 75 °C)
16:56:32.259 [INFO ] yaw motor current: run 756 mA (GLOBALSCALER 80, IRUN 31), homing 756 mA (IRUN 31) -- R_sense 0.075 ohm from hardware.ini [Motor.yaw]
16:56:32.259 [INFO ] pitch motor current: run 472 mA (GLOBALSCALER 50, IRUN 31), homing 472 mA (IRUN 31) -- R_sense 0.075 ohm from hardware.ini [Motor.pitch]
16:56:32.259 [INFO ] Serial controller started on /dev/serial/by-id/usb-Arduino_LLC_Arduino_Leonardo-if00 @ 115200
16:56:32.941 [INFO ] MTi config: MTi-28A53G35 fw 2.6.1 scenario 7 (machine_nomagfield) @ 100 Hz, mode 0x0007 settings 0x00000005
16:56:33.002 [INFO ] MTi IMU started on /dev/ttyS0 @ 115200
16:56:34.025 [INFO ] Opened camera 'rgb' DEV_1AB22C049CD1 (1800 U-1240c)
16:56:43.189 [ERROR] camera: applying profile 'standard' from /home/ggs/.config/fire_gimbal_control/camera_profiles/rgb/standard.xml failed (error -39)
16:56:43.190 [INFO ] hardware: declared assembly confirmed (yaw, pitch)
16:56:43.190 [MQTT] PUB GGS/FWT/dev/StatusCode 2
16:56:43.282 [INFO ] Running gimbal init sequence (enable + home)
16:56:43.282 [INFO ] drivetrain re-sent to axis Y: 12 values from hardware.ini
16:56:43.282 [INFO ] drivetrain re-sent to axis P: 12 values from hardware.ini
16:57:26.384 [INFO ] Gimbal homed (both axes READY)
16:57:26.441 [INFO ] firmware dump:
DUMP BEGIN build=8efa63b uptime=84894318 mcusr=0x0 reset=none free_ram=1607
DUMP Y state=3 hsub=8 enabled=1 lim_neg=408820 lim_pos=591181 hold_target=500000 speed=5908 center=500000 soft_margin=5000 gs=80 irun=31 irun_home=31 steps_per_rev=177000 enc_dev=1500 homing_speed=12362 center_speed=25753 sw_mode=2208 cfg_rx=0x1FFE limp=0 hold_corr=4 hold_peak=142693 hold_cumul=2969 has_encoder=1 cs=8 en=7
DUMP Y TMC GCONF=0x0000000C GSTAT=0x00000000 IOIN=0x3000002C TSTEP=0x000FFFFF RAMPMODE=0x00000000 XACTUAL=0x0007A120 VACTUAL=0x00000000 XTARGET=0x0007A120 SW_MODE=0x000008A0 RAMP_STAT=0x00000680 X_ENC=0x0007A117 ENC_STATUS=0x00000000 CHOPCONF=0x00410043 DRV_STATUS=0x801F4000 PWM_SCALE=0x00000040 PWM_AUTO=0x006C003E
DUMP P state=3 hsub=8 enabled=1 lim_neg=213898 lim_pos=786103 hold_target=500000 speed=157403 center=500000 soft_margin=5000 gs=50 irun=31 irun_home=31 steps_per_rev=500000 enc_dev=1500 homing_speed=170978 center_speed=68470 sw_mode=2211 cfg_rx=0x1FFE limp=0 hold_corr=2 hold_peak=245129 hold_cumul=615 has_encoder=1 cs=1 en=0
DUMP P TMC GCONF=0x0000000C GSTAT=0x00000000 IOIN=0x30000008 TSTEP=0x000FFFFF RAMPMODE=0x00000000 XACTUAL=0x0007A120 VACTUAL=0x00000000 XTARGET=0x0007A120 SW_MODE=0x000008A3 RAMP_STAT=0x00001688 X_ENC=0x0007A113 ENC_STATUS=0x00000000 CHOPCONF=0x00410043 DRV_STATUS=0x80084000 PWM_SCALE=0x0000000F PWM_AUTO=0x001E0038
DUMP ENV t=21 h=52 ok=1 fan=0 rpm=0 dht=9 fan_pwm=10 fan_tach=11
DUMP END

16:57:26.500 [INFO ] yaw counts_per_deg 528.254 agrees with the homed travel (182361 counts / 345 deg = 528.583); leaving the calibration alone
16:57:26.500 [INFO ] pitch counts_per_deg -14072.9 agrees with the homed travel (572205 counts / 40.5 deg = -14128.5); leaving the calibration alone
16:57:26.500 [INFO ] homed yaw travel: 112.4..438.684 deg (headings 112.4..78.6844 true), centre 500000 = 275.541 deg
16:57:26.500 [INFO ] homed pitch travel: -27.3943..12.5553 deg, centre 500000 = -7.41947 deg
16:57:26.500 [WARN ] 3 of 15 scan waypoints lie outside the reachable yaw arc (112.4..78.6844 true) and will be skipped
16:57:26.500 [INFO ] yaw speed: 7.99943 deg/s (VMAX 5908) -- 528.254 counts/deg
16:57:26.500 [INFO ] pitch speed: 8.00003 deg/s (VMAX 157403) -- -14072.9 counts/deg
16:57:26.500 [INFO ] Gimbal init finished
16:57:26.509 [INFO ] mode auto
16:57:26.509 [MQTT] PUB GGS/FWT/dev/StatusCode 0
16:57:26.509 [INFO ] Entering control loop (type 'exit' to quit, or Ctrl-C)
16:57:26.509 [INFO ] scan move 1/15: yaw 0 pitch 10 (deg)
16:57:26.511 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"normal","reason":"","guard":true,"cpu_c":51.0,"cpu_mhz":2800,"cpu_busy_pct":null,"throttling":false,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":0,"save_ms_mean":null,"save_ms_max":null,"held_s":0,"interval_s":5.0,"time":1791471446511}
16:57:38.211 [INFO ] captured waypoint 1/15
16:57:38.222 [INFO ] scan move 2/15: yaw 45 pitch 10 (deg)
16:57:39.022 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":3598, "pit":86, "time":1791471458131 }
16:57:45.060 [WARN ] waypoint 2/15: 6.8 s since the last picture, over the 5.0 s interval (move 5.8 s, exposure 1.0 s)
16:57:45.084 [INFO ] captured waypoint 2/15
16:57:45.095 [WARN ] scan waypoint 3/15 heading 90 deg is outside the reachable yaw arc; skipping it (further unreachable waypoints are skipped silently)
16:57:45.095 [INFO ] scan move 4/15: yaw 135 pitch 10 (deg)
16:57:45.692 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":450, "pit":86, "time":1791471464990 }
16:58:19.746 [WARN ] waypoint 4/15: 34.7 s since the last picture, over the 5.0 s interval (move 33.6 s, exposure 1.0 s)
16:58:19.760 [INFO ] captured waypoint 4/15
16:58:19.770 [INFO ] scan move 5/15: yaw 180 pitch 10 (deg)
16:58:20.384 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1353, "pit":93, "time":1791471499666 }
16:58:26.626 [WARN ] waypoint 5/15: 6.9 s since the last picture, over the 5.0 s interval (move 5.8 s, exposure 1.0 s)
16:58:26.637 [INFO ] captured waypoint 5/15
16:58:26.639 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"normal","reason":"","guard":true,"cpu_c":53.0,"cpu_mhz":1077,"cpu_busy_pct":15,"throttling":false,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":3,"save_ms_mean":681,"save_ms_max":812,"held_s":0,"interval_s":5.0,"time":1791471506639}
16:58:26.650 [INFO ] scan move 6/15: yaw 0 pitch 5 (deg)
16:58:27.239 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1800, "pit":98, "time":1791471506525 }
16:58:50.079 [WARN ] waypoint 6/15: 23.4 s since the last picture, over the 5.0 s interval (move 22.4 s, exposure 1.0 s)
16:58:50.087 [INFO ] captured waypoint 6/15
16:58:50.097 [INFO ] scan move 7/15: yaw 45 pitch 5 (deg)
16:58:50.779 [INFO ] saving: 3 pictures in the last minute, 639 ms each on average (longest 692 ms)
16:58:50.779 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":3598, "pit":36, "time":1791471530055 }
16:58:56.963 [WARN ] waypoint 7/15: 6.9 s since the last picture, over the 5.0 s interval (move 5.9 s, exposure 1.0 s)
16:58:56.977 [INFO ] captured waypoint 7/15
16:58:56.987 [INFO ] scan move 9/15: yaw 135 pitch 5 (deg)
16:58:57.604 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":451, "pit":36, "time":1791471536914 }
16:59:26.757 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"normal","reason":"","guard":true,"cpu_c":52.0,"cpu_mhz":778,"cpu_busy_pct":14,"throttling":false,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":3,"save_ms_mean":640,"save_ms_max":692,"held_s":0,"interval_s":5.0,"time":1791471566757}
16:59:31.624 [WARN ] waypoint 9/15: 34.6 s since the last picture, over the 5.0 s interval (move 33.6 s, exposure 1.0 s)
16:59:31.660 [INFO ] captured waypoint 9/15
16:59:31.670 [INFO ] scan move 10/15: yaw 180 pitch 5 (deg)
16:59:32.194 [INFO ] CPU: 52 °C (x86_pkg_temp), 2.8 GHz of 2.9 GHz, 14% busy
16:59:32.194 [INFO ] throttling: no, 0 in the last minute, 0 since start
16:59:32.194 [INFO ] scan pace: normal, one picture every 5.0 s
16:59:32.194 [INFO ] saving: 2 in the last minute, 659 ms each (longest 692 ms)
16:59:32.194 [INFO ] limits: slows at 85 °C, pauses at 92 °C for 20 s, resumes at 75 °C after at least 300 s
16:59:32.571 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1352, "pit":43, "time":1791471571589 }
16:59:36.780 [WARN ] CPU is running slow while busy (judged from its clock, not the kernel's count): 53 °C, running at 0.8 GHz of 2.9 GHz
16:59:36.780 [WARN ] CPU is slowing itself down: one picture every 10.0 s instead of 5.0 until the CPU is below 80 °C and keeping up for 2 min
16:59:36.780 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"slowed","reason":"CPU is slowing itself down","guard":true,"cpu_c":53.0,"cpu_mhz":800,"cpu_busy_pct":68,"throttling":true,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":3,"save_ms_mean":743,"save_ms_max":911,"held_s":0,"interval_s":10.0,"time":1791471576780}
16:59:41.678 [INFO ] captured waypoint 10/15
16:59:41.690 [INFO ] scan move 11/15: yaw 0 pitch 15 (deg)
16:59:45.715 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1800, "pit":48, "time":1791471581592 }
17:00:05.030 [WARN ] waypoint 11/15: 23.4 s since the last picture, over the 10.0 s interval (move 22.3 s, exposure 1.0 s)
17:00:05.052 [INFO ] captured waypoint 11/15
17:00:05.064 [INFO ] scan move 12/15: yaw 45 pitch 15 (deg)
17:00:08.937 [INFO ] saving: 3 pictures in the last minute, 2943 ms each on average (longest 4035 ms)
17:00:08.937 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":3598, "pit":111, "time":1791471604932 }
17:00:15.076 [INFO ] captured waypoint 12/15
17:00:15.087 [INFO ] scan move 14/15: yaw 135 pitch 15 (deg)
17:00:18.694 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":451, "pit":111, "time":1791471615030 }
17:00:36.922 [WARN ] CPU still slowed: clock low all minute, 53 °C, running at 0.8 GHz of 2.9 GHz
17:00:36.923 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"slowed","reason":"CPU is slowing itself down","guard":true,"cpu_c":53.0,"cpu_mhz":800,"cpu_busy_pct":68,"throttling":true,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":3,"save_ms_mean":3846,"save_ms_max":4035,"held_s":0,"interval_s":10.0,"time":1791471636922}
17:00:49.639 [WARN ] waypoint 14/15: 34.6 s since the last picture, over the 10.0 s interval (move 33.5 s, exposure 1.0 s)
17:00:49.658 [INFO ] captured waypoint 14/15
17:00:49.669 [INFO ] scan move 15/15: yaw 180 pitch 15 (deg)
17:00:53.137 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1353, "pit":119, "time":1791471649611 }
17:00:59.678 [INFO ] captured waypoint 15/15
17:00:59.691 [INFO ] scan move 1/15: yaw 0 pitch 10 (deg)
17:01:03.230 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1800, "pit":123, "time":1791471659613 }
17:01:23.125 [INFO ] captured waypoint 1/15
17:01:23.136 [INFO ] scan move 2/15: yaw 45 pitch 10 (deg)
17:01:27.270 [INFO ] saving: 3 pictures in the last minute, 3725 ms each on average (longest 4145 ms)
17:01:27.270 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":3598, "pit":86, "time":1791471682953 }
17:01:32.235 [INFO ] CPU: 54 °C (x86_pkg_temp), 0.8 GHz of 2.9 GHz, 69% busy
17:01:32.235 [INFO ] throttling: yes (clock), 0 in the last minute, 0 since start
17:01:32.235 [INFO ] scan pace: slowed - CPU is slowing itself down, one picture every 10.0 s
17:01:32.235 [INFO ] saving: 3 in the last minute, 3725 ms each (longest 4145 ms)
17:01:32.235 [INFO ] limits: slows at 85 °C, pauses at 92 °C for 20 s, resumes at 75 °C after at least 300 s
17:01:33.145 [INFO ] captured waypoint 2/15
17:01:33.157 [INFO ] scan move 4/15: yaw 135 pitch 10 (deg)
17:01:36.745 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":451, "pit":85, "time":1791471693053 }
17:01:37.060 [WARN ] CPU still slowed: clock low all minute, 55 °C, running at 0.8 GHz of 2.9 GHz
17:01:37.061 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"slowed","reason":"CPU is slowing itself down","guard":true,"cpu_c":55.0,"cpu_mhz":800,"cpu_busy_pct":91,"throttling":true,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":4,"save_ms_mean":3693,"save_ms_max":4145,"held_s":0,"interval_s":10.0,"time":1791471697060}
17:02:07.648 [WARN ] waypoint 4/15: 34.5 s since the last picture, over the 10.0 s interval (move 33.5 s, exposure 1.0 s)
17:02:07.666 [INFO ] captured waypoint 4/15
17:02:07.677 [INFO ] scan move 5/15: yaw 180 pitch 10 (deg)
17:02:11.187 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1353, "pit":93, "time":1791471727633 }
17:02:17.729 [INFO ] captured waypoint 5/15
17:02:17.741 [INFO ] scan move 6/15: yaw 0 pitch 5 (deg)
17:02:21.530 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1800, "pit":98, "time":1791471737641 }
17:02:37.221 [WARN ] CPU still slowed: clock low all minute, 54 °C, running at 0.8 GHz of 2.9 GHz
17:02:37.222 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"slowed","reason":"CPU is slowing itself down","guard":true,"cpu_c":54.0,"cpu_mhz":800,"cpu_busy_pct":66,"throttling":true,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":2,"save_ms_mean":3660,"save_ms_max":3799,"held_s":0,"interval_s":10.0,"time":1791471757221}
17:02:41.302 [WARN ] waypoint 6/15: 23.6 s since the last picture, over the 10.0 s interval (move 22.6 s, exposure 1.0 s)
17:02:41.322 [INFO ] captured waypoint 6/15
17:02:41.332 [INFO ] scan move 7/15: yaw 45 pitch 5 (deg)
17:02:45.136 [INFO ] saving: 3 pictures in the last minute, 3711 ms each on average (longest 3814 ms)
17:02:45.136 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":3598, "pit":34, "time":1791471761260 }
17:02:51.339 [INFO ] captured waypoint 7/15
17:02:51.351 [INFO ] scan move 9/15: yaw 135 pitch 5 (deg)
17:02:54.779 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":451, "pit":36, "time":1791471771262 }
17:03:25.914 [WARN ] waypoint 9/15: 34.6 s since the last picture, over the 10.0 s interval (move 33.6 s, exposure 1.0 s)
17:03:25.932 [INFO ] captured waypoint 9/15
17:03:25.945 [INFO ] scan move 10/15: yaw 180 pitch 5 (deg)
17:03:29.611 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1352, "pit":43, "time":1791471805843 }
17:03:32.234 [INFO ] CPU: 56 °C (x86_pkg_temp), 0.8 GHz of 2.9 GHz, 72% busy
17:03:32.234 [INFO ] throttling: yes (clock), 0 in the last minute, 0 since start
17:03:32.234 [INFO ] scan pace: slowed - CPU is slowing itself down, one picture every 10.0 s
17:03:32.234 [INFO ] saving: 3 in the last minute, 3644 ms each (longest 3814 ms)
17:03:32.234 [INFO ] limits: slows at 85 °C, pauses at 92 °C for 20 s, resumes at 75 °C after at least 300 s
17:03:35.956 [INFO ] captured waypoint 10/15
17:03:35.967 [INFO ] scan move 11/15: yaw 0 pitch 15 (deg)
17:03:37.373 [WARN ] CPU still slowed: clock low all minute, 55 °C, running at 0.8 GHz of 2.9 GHz
17:03:37.374 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"slowed","reason":"CPU is slowing itself down","guard":true,"cpu_c":55.0,"cpu_mhz":800,"cpu_busy_pct":88,"throttling":true,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":3,"save_ms_mean":3644,"save_ms_max":3814,"held_s":0,"interval_s":10.0,"time":1791471817373}
17:03:39.531 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1800, "pit":46, "time":1791471815845 }
17:03:59.314 [WARN ] waypoint 11/15: 23.4 s since the last picture, over the 10.0 s interval (move 22.3 s, exposure 1.0 s)
17:03:59.419 [INFO ] captured waypoint 11/15
17:03:59.433 [INFO ] scan move 12/15: yaw 45 pitch 15 (deg)
17:04:03.336 [INFO ] saving: 3 pictures in the last minute, 3723 ms each on average (longest 3917 ms)
17:04:03.336 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":3598, "pit":110, "time":1791471839281 }
17:04:09.440 [INFO ] captured waypoint 12/15
17:04:09.460 [INFO ] scan move 14/15: yaw 135 pitch 15 (deg)
17:04:12.912 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":451, "pit":110, "time":1791471849379 }
17:04:37.498 [WARN ] CPU still slowed: clock low all minute, 55 °C, running at 0.8 GHz of 2.9 GHz
17:04:37.498 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"slowed","reason":"CPU is slowing itself down","guard":true,"cpu_c":55.0,"cpu_mhz":800,"cpu_busy_pct":68,"throttling":true,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":3,"save_ms_mean":3654,"save_ms_max":3917,"held_s":0,"interval_s":10.0,"time":1791471877498}
17:04:43.926 [WARN ] waypoint 14/15: 34.5 s since the last picture, over the 10.0 s interval (move 33.5 s, exposure 1.0 s)
17:04:43.945 [INFO ] captured waypoint 14/15
17:04:43.958 [INFO ] scan move 15/15: yaw 180 pitch 15 (deg)
17:04:47.588 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1353, "pit":118, "time":1791471883866 }
17:04:54.005 [INFO ] captured waypoint 15/15
17:04:54.015 [INFO ] scan move 1/15: yaw 0 pitch 10 (deg)
17:04:57.678 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1800, "pit":122, "time":1791471893874 }
17:05:17.599 [INFO ] captured waypoint 1/15
17:05:17.618 [INFO ] scan move 2/15: yaw 45 pitch 10 (deg)
17:05:21.659 [INFO ] saving: 3 pictures in the last minute, 3790 ms each on average (longest 4059 ms)
17:05:21.659 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":3598, "pit":86, "time":1791471917492 }
17:05:27.622 [INFO ] captured waypoint 2/15
17:05:27.636 [INFO ] scan move 4/15: yaw 135 pitch 10 (deg)
17:05:31.188 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":451, "pit":85, "time":1791471927590 }
17:05:32.236 [INFO ] CPU: 55 °C (x86_pkg_temp), 0.8 GHz of 2.9 GHz, 89% busy
17:05:32.236 [INFO ] throttling: yes (clock), 0 in the last minute, 0 since start
17:05:32.236 [INFO ] scan pace: slowed - CPU is slowing itself down, one picture every 10.0 s
17:05:32.237 [INFO ] saving: 4 in the last minute, 3734 ms each (longest 4059 ms)
17:05:32.237 [INFO ] limits: slows at 85 °C, pauses at 92 °C for 20 s, resumes at 75 °C after at least 300 s
17:05:37.647 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"slowed","reason":"CPU is slowing itself down","guard":true,"cpu_c":54.0,"cpu_mhz":800,"cpu_busy_pct":14,"throttling":true,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":4,"save_ms_mean":3734,"save_ms_max":4059,"held_s":0,"interval_s":10.0,"time":1791471937647}
17:06:02.200 [WARN ] waypoint 4/15: 34.6 s since the last picture, over the 10.0 s interval (move 33.6 s, exposure 1.0 s)
17:06:02.214 [INFO ] captured waypoint 4/15
17:06:02.225 [INFO ] scan move 5/15: yaw 180 pitch 10 (deg)
17:06:02.858 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1352, "pit":92, "time":1791471962171 }
17:06:12.236 [INFO ] captured waypoint 5/15
17:06:12.247 [INFO ] scan move 6/15: yaw 0 pitch 5 (deg)
17:06:12.864 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1800, "pit":97, "time":1791471972173 }
17:06:31.739 [INFO ] CPU back to full speed: 55 °C, 0.8 GHz
17:06:31.740 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"slowed","reason":"CPU is slowing itself down","guard":true,"cpu_c":55.0,"cpu_mhz":800,"cpu_busy_pct":12,"throttling":false,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":2,"save_ms_mean":636,"save_ms_max":644,"held_s":0,"interval_s":10.0,"time":1791471991739}
17:06:35.594 [WARN ] waypoint 6/15: 23.4 s since the last picture, over the 10.0 s interval (move 22.3 s, exposure 1.0 s)
17:06:35.608 [INFO ] captured waypoint 6/15
17:06:35.619 [INFO ] scan move 7/15: yaw 45 pitch 5 (deg)
17:06:36.330 [INFO ] saving: 3 pictures in the last minute, 664 ms each on average (longest 722 ms)
17:06:36.330 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":3598, "pit":36, "time":1791471995513 }
17:06:45.624 [INFO ] captured waypoint 7/15
17:06:45.634 [INFO ] scan move 9/15: yaw 135 pitch 5 (deg)
17:06:46.258 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":451, "pit":33, "time":1791472005515 }
17:07:02.295 [INFO ] CPU: 55 °C (x86_pkg_temp), 2.8 GHz of 2.9 GHz, 13% busy
17:07:02.295 [INFO ] throttling: no, 0 in the last minute, 0 since start
17:07:02.295 [INFO ] scan pace: slowed - CPU is slowing itself down, one picture every 10.0 s
17:07:02.295 [INFO ] saving: 4 in the last minute, 657 ms each (longest 722 ms)
17:07:02.295 [INFO ] limits: slows at 85 °C, pauses at 92 °C for 20 s, resumes at 75 °C after at least 300 s
17:07:20.203 [WARN ] waypoint 9/15: 34.6 s since the last picture, over the 10.0 s interval (move 33.6 s, exposure 1.0 s)
17:07:20.215 [INFO ] captured waypoint 9/15
17:07:20.226 [INFO ] scan move 10/15: yaw 180 pitch 5 (deg)
17:07:20.864 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1352, "pit":43, "time":1791472040191 }
17:07:30.234 [INFO ] captured waypoint 10/15
17:07:30.244 [INFO ] scan move 11/15: yaw 0 pitch 15 (deg)
17:07:30.864 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":1800, "pit":47, "time":1791472050194 }
17:07:31.859 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"slowed","reason":"CPU is slowing itself down","guard":true,"cpu_c":55.0,"cpu_mhz":800,"cpu_busy_pct":29,"throttling":false,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":4,"save_ms_mean":659,"save_ms_max":722,"held_s":0,"interval_s":10.0,"time":1791472051859}
17:07:53.593 [WARN ] waypoint 11/15: 23.4 s since the last picture, over the 10.0 s interval (move 22.3 s, exposure 1.0 s)
17:07:53.604 [INFO ] captured waypoint 11/15
17:07:53.614 [INFO ] scan move 12/15: yaw 45 pitch 15 (deg)
17:07:54.293 [INFO ] saving: 3 pictures in the last minute, 656 ms each on average (longest 689 ms)
17:07:54.293 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":3598, "pit":111, "time":1791472073533 }
17:08:03.621 [INFO ] captured waypoint 12/15
17:08:03.631 [INFO ] scan move 14/15: yaw 135 pitch 15 (deg)
17:08:04.270 [MQTT] PUB GGS/FWT/dev/CamEvent { "fwt":"dev", "cam":"RGB", "hdg":451, "pit":110, "time":1791472083536 }
17:08:31.957 [INFO ] CPU at 54 °C: back to the normal picture pace
17:08:31.957 [MQTT] PUB GGS/FWT/dev/Health {"fwt":"dev","state":"normal","reason":"","guard":true,"cpu_c":54.0,"cpu_mhz":800,"cpu_busy_pct":15,"throttling":false,"throttle_events_last_min":0,"enclosure_c":21.0,"saved_last_min":2,"save_ms_mean":669,"save_ms_max":689,"held_s":0,"interval_s":5.0,"time":1791472111957}
17:08:32.296 [INFO ] CPU: 54 °C (x86_pkg_temp), 0.8 GHz of 2.9 GHz, 15% busy
17:08:32.296 [INFO ] throttling: no, 0 in the last minute, 0 since start
17:08:32.296 [INFO ] scan pace: normal, one picture every 5.0 s
17:08:32.296 [INFO ] saving: 2 in the last minute, 669 ms each (longest 689 ms)
17:08:32.296 [INFO ] limits: slows at 85 °C, pauses at 92 °C for 20 s, resumes at 75 °C after at least 300 s
17:08:37.309 [INFO ] Shutting down