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fix: use real wide camera FoV (42.65° × 24.45°) for DWARF Mini

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The app display value (8.0×6.5) is a digitally-cropped view. The firmware
reports the true physical FoV via GetDeviceState. Update DefaultFoVH/V,
README, and ODOMETRY docs accordingly.

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This commit is contained in:
Jacquin Antoine
2026-07-13 23:16:38 +02:00
parent 8da878cdd2
commit f1ad03b2f8
3 changed files with 9 additions and 10 deletions
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7
dwarfctl/ODOMETRY.md
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@ -156,10 +156,9 @@ radix-2).
### Champ de vision (FoV)
Les valeurs par défaut (`8.0°` × `6.5°`) correspondent au DWARF Mini
affiché, mais le FoV réel rapporté par le firmware peut varier largement
(voir `analysis/DEVICE_MODELS.md`). **Calibrer avec un mouvement moteur
connu** : slew d'un angle connu, comparer avec la mesure odometry.
Les valeurs par défaut (`42.65°` × `24.45°`) correspondent au FoV physique réel
rapporté par le firmware (`GetDeviceState`), pas à la valeur d'affichage de
l'app (8.0×6.5 qui est un crop numériquement zoomé).
```bash
# Override FoV via daemon HTTP API

2
dwarfctl/README.md
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@ -115,7 +115,7 @@ dwarfctl serve --ip 192.168.88.1 --cam wide
# With custom settings
dwarfctl serve --ip 192.168.88.1 --cam wide --addr 127.0.0.1:7777 \
--interval 5s --fov-h 8.0 --fov-v 6.5
--interval 5s --fov-h 42.65 --fov-v 24.45
```
### How it works

10
dwarfctl/internal/odometry/odometry.go
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@ -47,12 +47,12 @@ func (r Result) String() string {
// to ~0.1px; 512 improves sub-pixel resolution at ~4x the CPU cost.
const DefaultSize = 256
// DefaultFoVH/V are the documented DWARF Mini "wide" display FoV (degrees).
// NOTE: firmware-reported live FoV can differ widely (see analysis/DEVICE_MODELS.md),
// so these are only a starting point — calibrate with a known motor move.
// DefaultFoVH/V are the DWARF Mini wide camera physical FoV (degrees).
// Source: GetDeviceState live firmware report (42.650×24.450), not the
// app display value (8.0×6.5 which is a digitally-zoomed view).
const (
DefaultFoVH = 8.0
DefaultFoVV = 6.5
DefaultFoVH = 42.65
DefaultFoVV = 24.45
)
// Estimate computes the rotation between two decoded images.