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User Story #76

open

Epic #7: EPIC — FPV rendering, aim & heading (device-lens milestone)

FPV heading-drift reference — fix 'anchors drift in and out of view'

User Story #76: FPV heading-drift reference — fix 'anchors drift in and out of view'

Added by knight8241 about 1 month ago.

Status:
New
Priority:
High
Assignee:
-
Target version:
v1.0.0
Start date:
08/07/2026
Due date:
% Done:

0%

Estimated time:

Description

Imported from the Aether local task tracker (task ref: #64).
Tasker: Claude Code agent (on behalf of runknight / )

ISSUES ENCOUNTERED
yawCorr is disabled (1c02fce) because AoA self-yaw was ±40° garbage on a divergent frame → the camera drifts on free gyro heading. BLOCKED BY #70 (mesh must converge first).

SOLUTION
Planned: after convergence gives correct bearings, re-measure aoaResid and re-enable the F2 reconcile if AoA is now reliable; else magnetometer fallback (Pixel 8 Pro has one) or robustify self-AoA; add a boresight/heading-sign check.

ARTIFACTS

  • repo: design/MISSION_AND_FEASIBILITY.md (in runknight-mofe/tome-client)

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