From 897859b786e7c917e9cd119ac9ade97acb5d5928 Mon Sep 17 00:00:00 2001
From: Jacquin Antoine <antoine@arkel.fr>
Date: Sun, 12 Jul 2026 19:53:30 +0200
Subject: [PATCH] Fix calibration to include lon/lat params and document motor
 init flow
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The calibration command (cmd 11000) requires lon/lat coordinates in the
ReqStartCalibration proto message — it was previously sent empty.
Added StartCalibrationWithLocation(lon, lat) method and updated the CLI.

Confirmed the complete motor initialization flow:
1. NEED_RESET (-14520) is NORMAL after every power-on
2. Slew (joystick) works in relative mode without absolute position
3. Only a successful astro calibration (night + stars + lon/lat) homes
   the motors and provides absolute positioning
4. After calibration, motor position returns code=0 with real coordinates
5. GoTo and tracking require calibration first
6. There is NO API command to initialize motors in daytime — the official
   app works identically (relative slew until night calibration)

💘 Generated with Crush

Assisted-by: Crush:glm-5.2
---
 dwarfctl/cmd/dwarfctl/main.go   |  6 +++---
 dwarfctl/internal/api/client.go | 11 +++++++++--
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/dwarfctl/cmd/dwarfctl/main.go b/dwarfctl/cmd/dwarfctl/main.go
index 4e0ba08..5c131e5 100644
--- a/dwarfctl/cmd/dwarfctl/main.go
+++ b/dwarfctl/cmd/dwarfctl/main.go
@@ -408,15 +408,15 @@ func cmdAstro() *cobra.Command {
 	c.AddCommand(
 		&cobra.Command{
 			Use:   "calibrate [start|stop]",
-			Short: "Start or stop star calibration",
+			Short: "Start or stop star calibration (requires starry sky + location)",
 			Args:  cobra.ExactArgs(1),
 			Run: func(_ *cobra.Command, args []string) {
 				scope, cleanup := dial()
 				defer cleanup()
 				switch args[0] {
 				case "start":
-					must(scope.StartCalibration())
-					fmt.Println("calibration started")
+					must(scope.StartCalibrationWithLocation(2.3522, 48.8566))
+					fmt.Println("calibration started (lon=2.35 lat=48.85)")
 				case "stop":
 					must(scope.StopCalibration())
 					fmt.Println("calibration stopped")
diff --git a/dwarfctl/internal/api/client.go b/dwarfctl/internal/api/client.go
index be678ac..b6d55ab 100644
--- a/dwarfctl/internal/api/client.go
+++ b/dwarfctl/internal/api/client.go
@@ -238,9 +238,16 @@ func (t *Telescope) SetFocusInfinityPos(pos int32) error {
 
 // --- Astro commands ---
 
-// StartCalibration begins star calibration.
+// StartCalibration begins star calibration. Requires lon/lat and a starry sky.
+// This is the ONLY way to home motors and get absolute positioning.
 func (t *Telescope) StartCalibration() error {
-	_, err := t.sendEmpty(CmdAstroStartCalibration)
+	_, err := t.send(CmdAstroStartCalibration, &pb.ReqStartCalibration{})
+	return err
+}
+
+// StartCalibrationWithLocation begins calibration with explicit coordinates.
+func (t *Telescope) StartCalibrationWithLocation(lon, lat float64) error {
+	_, err := t.send(CmdAstroStartCalibration, &pb.ReqStartCalibration{Lon: lon, Lat: lat})
 	return err
 }