diff --git a/dwarfctl/TEST_RESULTS.md b/dwarfctl/TEST_RESULTS.md
index e8c8e32..956c293 100644
--- a/dwarfctl/TEST_RESULTS.md
+++ b/dwarfctl/TEST_RESULTS.md
@@ -105,9 +105,9 @@ Tests en condition réelle, télescope posé verticalement sur trépied (pas en
 | Angle | Axe | Direction observée |
 |-------|-----|-------------------|
 | 0° | Azimut (horizontal) | Rotation horaire vue de dessus |
-| 90° | Altitude | **Descente** (vers le sol) |
+| 90° | Altitude | **Montée** (vers le ciel) |
 | 180° | Azimut | Rotation anti-horaire (opposé de 0°) |
-| 270° | Altitude | **Montée** (vers le ciel) |
+| 270° | Altitude | **Descente** (vers le sol) |
 
 **IMPORTANT** : ces directions sont validées pour une config alt-az simple (télescope vertical sur trépied). En mode équatorial (après EQ calibration), le mapping peut changer car les moteurs changent de référentiel.
 
diff --git a/dwarfctl/cmd/dwarfctl/main.go b/dwarfctl/cmd/dwarfctl/main.go
index 06e56a4..4e0ba08 100644
--- a/dwarfctl/cmd/dwarfctl/main.go
+++ b/dwarfctl/cmd/dwarfctl/main.go
@@ -1,6 +1,7 @@
 package main
 
 import (
+	"bufio"
 	"fmt"
 	"math"
 	"os"
@@ -9,7 +10,9 @@ import (
 	"time"
 
 	"github.com/antitbone/dwarfctl/internal/api"
+	pb "github.com/antitbone/dwarfctl/proto"
 	"github.com/spf13/cobra"
+	"google.golang.org/protobuf/proto"
 )
 
 var (
@@ -39,6 +42,7 @@ func main() {
 		cmdSystem(),
 		cmdPower(),
 		cmdMonitor(),
+		cmdInteractive(),
 		cmdPano(),
 	)
 
@@ -667,7 +671,8 @@ func cmdPano() *cobra.Command {
 
 // --- monitor ---
 
-func cmdMonitor() *cobra.Command {	return &cobra.Command{
+func cmdMonitor() *cobra.Command {
+	return &cobra.Command{
 		Use:   "monitor",
 		Short: "Listen for telescope notifications (Ctrl-C to stop)",
 		Run: func(_ *cobra.Command, _ []string) {
@@ -676,8 +681,71 @@ func cmdMonitor() *cobra.Command {	return &cobra.Command{
 			ch := scope.Notifications()
 			fmt.Println("Monitoring notifications (Ctrl-C to stop)...")
 			for pkt := range ch {
-				fmt.Printf("[NOTIFY] cmd=%d module=%d type=%d data_len=%d\n",
-					pkt.GetCmd(), pkt.GetModuleId(), pkt.GetType(), len(pkt.GetData()))
+				cmdID := pkt.GetCmd()
+				extra := ""
+				if cmdID == 15295 && len(pkt.GetData()) > 0 {
+					att := &pb.DeviceAttitude{}
+					if proto.Unmarshal(pkt.GetData(), att) == nil {
+						extra = fmt.Sprintf(" pitch=%.1f yaw=%.1f roll=%.1f", att.GetPitch(), att.GetYaw(), att.GetRoll())
+					}
+				}
+				fmt.Printf("[NOTIFY] cmd=%d module=%d type=%d data=%d%s\n",
+					cmdID, pkt.GetModuleId(), pkt.GetType(), len(pkt.GetData()), extra)
+			}
+		},
+	}
+}
+
+func cmdInteractive() *cobra.Command {
+	return &cobra.Command{
+		Use:   "interactive",
+		Short: "Interactive slew with real-time attitude (Ctrl-C to exit)",
+		Run: func(_ *cobra.Command, _ []string) {
+			scope, cleanup := dial()
+			defer cleanup()
+			ch := scope.Notifications()
+			go func() {
+				for pkt := range ch {
+					if pkt.GetCmd() == 15295 && len(pkt.GetData()) > 0 {
+						att := &pb.DeviceAttitude{}
+						if proto.Unmarshal(pkt.GetData(), att) == nil {
+							fmt.Printf("\r  [ATTITUDE] pitch=%.1f yaw=%.1f roll=%.1f   \n", att.GetPitch(), att.GetYaw(), att.GetRoll())
+						}
+					}
+				}
+			}()
+			fmt.Println("Interactive slew. Commands: <angle> <speed> [duration_s], stop, photo, state, q")
+			scanner := bufio.NewScanner(os.Stdin)
+			for {
+				fmt.Print("> ")
+				if !scanner.Scan() { break }
+				line := strings.TrimSpace(scanner.Text())
+				if line == "" { continue }
+				parts := strings.Fields(line)
+				switch parts[0] {
+				case "q", "quit", "exit":
+					return
+				case "stop":
+					must(scope.MotorJoystickStop())
+					fmt.Println("stopped")
+				case "photo":
+					must(scope.TakePhoto(api.CameraTele))
+					fmt.Println("photo taken")
+				case "state":
+					st, err := scope.GetDeviceState()
+					must(err)
+					fmt.Printf("battery=%d%% focus=%d\n", st.GetDeviceStateInfo().GetBatteryInfo().GetPercentage(), st.GetFocusMotorStateInfo().GetFocusPosition().GetPos())
+				default:
+					if len(parts) < 2 { fmt.Println("usage: <angle> <speed> [duration]"); continue }
+					angle := parseFloat(parts[0])
+					speed := parseFloat(parts[1])
+					dur := 1.0
+					if len(parts) > 2 { dur = parseFloat(parts[2]) }
+					must(scope.SlewJoystick(angle, speed))
+					time.Sleep(time.Duration(dur * float64(time.Second)))
+					must(scope.SlewJoystick(0, 0))
+					fmt.Println("done")
+				}
 			}
 		},
 	}