diff --git a/dwarfctl/ODOMETRY.md b/dwarfctl/ODOMETRY.md
index a379655..94815ea 100644
--- a/dwarfctl/ODOMETRY.md
+++ b/dwarfctl/ODOMETRY.md
@@ -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
diff --git a/dwarfctl/README.md b/dwarfctl/README.md
index 4dd8131..7bd7606 100644
--- a/dwarfctl/README.md
+++ b/dwarfctl/README.md
@@ -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
diff --git a/dwarfctl/internal/odometry/odometry.go b/dwarfctl/internal/odometry/odometry.go
index 5fd33a1..553b043 100644
--- a/dwarfctl/internal/odometry/odometry.go
+++ b/dwarfctl/internal/odometry/odometry.go
@@ -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.