Improve odometry with rotation estimation, daemon stability, and RTSP fixes

- Add rotation estimation via log-polar phase correlation (EstimateRotation,
  rotateGray) — de-rotate before translation to avoid aliasing
- Track cumulative field rotation in Tracker, reject low-confidence frames
- Extract RTSP grabber into internal/rtspgrab module
- Daemon: pause odometry during slew (motion blur), auto-resume after settle
  delay, add /pause and /resume HTTP endpoints, switch shooting mode before
  opening camera, use ReqOpenCamera with rtsp_encode_type=1
- WebSocket heartbeat (ping/pong every 10s) to prevent idle disconnects
- FFmpeg low-latency flags (-fflags nobuffer, -probesize, -analyzeduration)
- Add SendRaw API for custom payloads, increase daemon HTTP timeout to 60s

💘 Generated with Crush

Assisted-by: Crush:/models/Qwen3.6-27B-uncensored-heretic-v2-Native-MTP-Preserved-Q4_K_M.gguf

dwarfctl/internal/odometry/tracker.go

@@ -6,6 +6,11 @@ import (
 	"sync"
 )
 
+// minConfidence is the threshold below which a frame is rejected (not
+// accumulated into the orientation). Motion-blurred frames or frames with
+// too little texture produce confidence near 0 and corrupt the estimate.
+const minConfidence = 0.15
+
 // Tracker is a stateful visual odometry integrator. It accumulates the
 // frame-to-frame rotation measured by Estimate into a cumulative pointing
 // orientation (pan/tilt) relative to wherever the first frame was captured.
@@ -29,6 +34,7 @@ type Tracker struct {
 	// Cumulative orientation in degrees, relative to the first frame.
 	panDeg  float64
 	tiltDeg float64
+	rotDeg  float64 // cumulative field rotation
 
 	// Number of frames integrated.
 	frames int
@@ -61,11 +67,12 @@ func NewTracker(fovXDeg, fovYDeg float64, size int) *Tracker {
 
 // Orientation is a snapshot of the tracker's current state.
 type Orientation struct {
-	PanDeg     float64 // cumulative pan (right positive), degrees
-	TiltDeg    float64 // cumulative tilt (up positive), degrees
-	Frames     int     // number of frames integrated
-	Confidence float64 // EMA of per-frame phase-correlation confidence [0,1]
-	Primed     bool    // true once at least one frame has been processed
+	PanDeg     float64
+	TiltDeg    float64
+	RotDeg     float64 // cumulative field rotation (degrees)
+	Frames     int
+	Confidence float64
+	Primed     bool
 }
 
 func (o Orientation) String() string {
@@ -73,8 +80,8 @@ func (o Orientation) String() string {
 	if o.Primed {
 		state = "tracking"
 	}
-	return fmt.Sprintf("pan=%+.4f° tilt=%+.4f° conf=%.3f frames=%d [%s]",
-		o.PanDeg, o.TiltDeg, o.Confidence, o.Frames, state)
+	return fmt.Sprintf("pan=%+.4f° tilt=%+.4f° rot=%+.4f° conf=%.3f frames=%d [%s]",
+		o.PanDeg, o.TiltDeg, o.RotDeg, o.Confidence, o.Frames, state)
 }
 
 // Update feeds the tracker a new frame and returns the updated orientation.
@@ -96,16 +103,34 @@ func (t *Tracker) Update(img image.Image) (Orientation, error) {
 		return t.snapshot(), nil
 	}
 
-	dx, dy, conf := phaseCorrelation(t.prev, cur, t.size, t.size)
+	dx, dy, confTrans := phaseCorrelation(t.prev, cur, t.size, t.size)
+	rotDeg, confRot := EstimateRotation(t.prev, cur, t.size, t.size)
 
-	// Convert pixel shift to degrees. The scene shifts OPPOSITE to the telescope
-	// motion: if the telescope pans right, the background moves left in the
-	// image. We negate so PanDeg/TiltDeg track the optical axis, not the scene.
+	// Use the higher confidence for the EMA.
+	conf := confTrans
+	if confRot > conf {
+		conf = confRot
+	}
+
+	// Reject low-confidence frames (motion blur, bad texture, etc.).
+	if conf < minConfidence {
+		t.prev = cur // still update the reference frame
+		return t.snapshot(), nil
+	}
+
+	// De-rotate for accurate translation if rotation is significant.
+	if absf(rotDeg) > 0.3 {
+		curDerot := rotateGray(cur, t.size, rotDeg)
+		dx, dy, confTrans = phaseCorrelation(t.prev, curDerot, t.size, t.size)
+	}
+
+	// Convert pixel shift to degrees.
 	panStep := -dx * t.fovXDeg / float64(t.size)
 	tiltStep := -dy * t.fovYDeg / float64(t.size)
 
 	t.panDeg += panStep
 	t.tiltDeg += tiltStep
+	t.rotDeg += rotDeg
 	t.frames++
 
 	// Exponential moving average of the confidence.
@@ -134,6 +159,7 @@ func (t *Tracker) Reset() {
 	defer t.mu.Unlock()
 	t.panDeg = 0
 	t.tiltDeg = 0
+	t.rotDeg = 0
 	t.frames = 0
 	t.confidence = 0
 	t.prev = nil
@@ -157,6 +183,7 @@ func (t *Tracker) snapshot() Orientation {
 	return Orientation{
 		PanDeg:     t.panDeg,
 		TiltDeg:    t.tiltDeg,
+		RotDeg:     t.rotDeg,
 		Frames:     t.frames,
 		Confidence: t.confidence,
 		Primed:     t.primed,