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