Global vs ROV control frame toggle#60
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Adds a world-referenced translation mode alongside the default body-relative (ROV) frame. When global mode is enabled the current IMU yaw is captured as a reference and pilot surge/sway are rotated by the live yaw so 'forward' keeps driving the captured heading regardless of how the ROV has yawed. Falls back to ROV frame whenever IMU yaw is missing or stale. Implemented entirely topside (no firmware/protocol change): the Controller reads yaw from the injected IMU receiver. Toggle from the gamepad (B button), the home dashboard, or the debug page; current frame is also surfaced in /api/command/status. New endpoint: GET/POST /api/controller/frame. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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What
Adds a world-referenced translation mode alongside the default body-relative (ROV) frame.
Controllerreads yaw from the injected IMU receiver./api/command/status. New endpoint:GET/POST /api/controller/frame.Based on
feature/light-control(notmain) so the diff stays clean. Review/merge that one first; rebase this ontomainafterward.Verification
ruff check .+ruff format --check .— pass.pytest tests/test_controller.py— pass (added rotation, stale-fallback, ROV-identity, and toggle tests).Controller._apply_framefor a one-line flip.🤖 Generated with Claude Code