Face-down dock-hold (lock attitude + precision gain)#61
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Adds a one-button dock-hold that locks the ROV face-down for docking and gives the pilot finer control for the approach: - Engage: capture current heading and send a setpoint override holding pitch ~90deg nose-down, roll level, and current yaw; save the current gains and drop to a precision master gain. Surge/sway/heave stay under pilot control. - Release: clear the override and restore the saved gains. Relies on the already-tuned pitch/roll/yaw PID (the override only holds attitude when those gains are non-zero) and reuses the existing setpoint-override service (UDP 5007) -- no firmware/protocol change. Toggle from the gamepad (Y button), the home Docking button (previously an unwired stub), or the debug page. New endpoints: /api/dock/toggle|engage|release |status; dock state also surfaced in /api/command/status. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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What
One-button dock-hold that locks the ROV face-down for docking and gives the pilot finer control for the approach.
DOCK_GAIN). Surge/sway/heave stay under pilot control./api/dock/{toggle,engage,release,status}; dock state also in/api/command/status.Based on
feature/global-frame(which is based onfeature/light-control). Review/merge the stack in order: light-control → global-frame → dock-hold.Depends on tuned PID
The override only physically holds attitude when pitch/roll/yaw PID gains are non-zero/tuned (confirmed tuned by the team).
Verification
ruff check .+ruff format --check .— pass.pytest tests/test_controller.py— pass (engage locks attitude + applies gain; release clears + restores gains; toggle; missing-client error).DOCK_PITCH_DEGsign/magnitude for true face-down (firmware negates pitch internally); tuneDOCK_GAIN.🤖 Generated with Claude Code