From 9218b95e6e756b01514f600c66cee7bef45a9929 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Thomas=20M=C3=BCller?= <ich@eskimue.de>
Date: Sat, 30 May 2026 08:52:10 +0200
Subject: [PATCH] =?UTF-8?q?Dreh-Speed=20Dropdown=20im=20Admin,=20Kalibrier?=
 =?UTF-8?q?ungsversuch=20r=C3=BCckg=C3=A4ngig=20gemacht?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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- Auto-Rotate Speed wählbar: 20-50% in 5er-Schritten (Standard 20%)
- BNO085 Magnetometer-Kalibrierung: calibration_status liefert immer 0,
  da der Sensor 3D-Bewegung benötigt die am Boden nicht möglich ist.
  Kalibrierungs-Feature vollständig entfernt.
- Empfehlung: Nord-Offset nach jedem Neustart neu setzen.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
---
 gui/admin.html             | 19 ++++++++++++++++++-
 scripts/exomy_admin_api.py |  4 ++++
 2 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/gui/admin.html b/gui/admin.html
index e7b66f8..a6cff26 100644
--- a/gui/admin.html
+++ b/gui/admin.html
@@ -189,6 +189,21 @@
               <span style="font-size:11px;color:#888;">° (0=N, 90=O, 180=S, 270=W)</span>
             </span>
           </div>
+          <div class="sr">
+            <span class="sr-led led-off"></span>
+            <span class="sr-key">Dreh-Speed</span>
+            <span class="sr-val">
+              <select id="rotate_speed" class="ctrl-select" style="font-size:11px;padding:2px 4px;">
+                <option value="20" selected>20 % (Standard)</option>
+                <option value="25">25 %</option>
+                <option value="30">30 %</option>
+                <option value="35">35 %</option>
+                <option value="40">40 %</option>
+                <option value="45">45 %</option>
+                <option value="50">50 %</option>
+              </select>
+            </span>
+          </div>
           <div class="act-grid">
             <button class="act-btn subtle full" id="rotate_start_btn" onclick="startRotate()">Zu Heading drehen</button>
             <button class="act-btn subtle full" id="rotate_stop_btn" onclick="stopRotate()" style="display:none;">Drehung abbrechen</button>
@@ -2946,14 +2961,16 @@
 
   async function startRotate() {
     var input = document.getElementById('rotate_target');
+    var speedEl = document.getElementById('rotate_speed');
     var target = parseFloat(input ? input.value : 0);
+    var speedPct = speedEl ? parseInt(speedEl.value) : 20;
     if (isNaN(target)) { alert('Ungültiger Winkel'); return; }
     setAdminStatus('Starte Drehung zu ' + target + '°…');
     try {
       var response = await fetch(adminApiBase + '/api/imu/rotate-to', {
         method: 'POST',
         headers: {'Content-Type': 'application/json'},
-        body: JSON.stringify({target_deg: target})
+        body: JSON.stringify({target_deg: target, speed_pct: speedPct})
       });
       var data = await response.json();
       if (!response.ok) throw new Error(data.status || ('status ' + response.status));
diff --git a/scripts/exomy_admin_api.py b/scripts/exomy_admin_api.py
index 96abdae..588b1b0 100644
--- a/scripts/exomy_admin_api.py
+++ b/scripts/exomy_admin_api.py
@@ -2319,10 +2319,12 @@ class Handler(http.server.BaseHTTPRequestHandler):
             self.write_json(status_code, response)
             return
 
+
         if self.path == '/api/imu/rotate-to':
             try:
                 payload = json.loads(raw_body.decode('utf-8'))
                 target_deg = float(payload.get('target_deg', 0))
+                speed_pct = max(20, min(50, int(payload.get('speed_pct', 20))))
             except (UnicodeDecodeError, json.JSONDecodeError, TypeError, ValueError):
                 self.write_json(400, {'status': 'Ungültige Anfrage'})
                 return
@@ -2333,10 +2335,12 @@ class Handler(http.server.BaseHTTPRequestHandler):
                 return
             import imu_rotate
             heading_offset = read_imu_heading_calibration()['offset_deg']
+            vel = max(1, int(100.0 * (speed_pct / 100.0) ** 2.0))
             status = imu_rotate.start_rotate(
                 target_deg=target_deg,
                 heading_offset=heading_offset,
                 restore_mode=LAST_LOCOMOTION_MODE,
+                vel=vel,
             )
             self.write_json(200, {'status': 'Drehung gestartet', 'rotate': status})
             return