HUD-Farbe konfigurierbar, Neigungskalibrierung, Auto-Rotate verbessert

- HUD-Farbe per Farbwähler im Admin einstellbar (localStorage)
- Schwarze Kontur auf HUD-Elementen via CSS drop-shadow und canvas shadowBlur
- Himmelsrichtungen auf Deutsch (O statt E, etc.)
- Roll/Pitch-Neigung kann im Admin genullt werden (imu_tilt_calibration.json)
- Neigungsoffset wird im Kamera-Overlay berücksichtigt
- Auto-Rotate läuft jetzt nativ als rospy-Script im Docker-Container
- Auto-Rotate erkennt aktuellen Locomotion-Mode und stellt ihn danach wieder her
- Auto-Rotate pausiert Web-GUI-Joystick via localStorage-Flag
- Feste 20%-Geschwindigkeit für Auto-Rotate (vel=4, Expo-äquivalent)
- Vignette entfernt

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

scripts/exomy_admin_api.py

@@ -85,6 +85,7 @@ IMU_ROS_LOCK = threading.Lock()
 IMU_ROS_THREAD = None
 IMU_ROS_CLIENT = None
 IMU_ROS_TOPICS = []
+LAST_LOCOMOTION_MODE = 1  # ACKERMANN als Fallback
 IMU_ROS_CACHE = {
     'state': 'unknown',
     'status': 'Warte auf ROS',
@@ -241,27 +242,23 @@ def _connect_imu_ros():
     mag_topic = roslibpy.Topic(client, '/imu/mag', 'sensor_msgs/MagneticField')
     status_topic = roslibpy.Topic(client, '/imu/status', 'std_msgs/String')
     rover_cmd_topic = roslibpy.Topic(client, '/rover_command', 'exomy/RoverCommand')
+    def _on_rover_cmd_message(message):
+        global LAST_LOCOMOTION_MODE
+        import imu_rotate
+        if not imu_rotate.get_rotate_status()['running']:
+            mode = message.get('locomotion_mode')
+            if mode is not None:
+                LAST_LOCOMOTION_MODE = int(mode)
+
     imu_topic.subscribe(_on_imu_data_message)
     mag_topic.subscribe(_on_imu_mag_message)
     status_topic.subscribe(_on_imu_status_message)
+    rover_cmd_topic.subscribe(_on_rover_cmd_message)
     rover_cmd_topic.advertise()
     IMU_ROS_CLIENT = client
     IMU_ROS_TOPICS = [imu_topic, mag_topic, status_topic, rover_cmd_topic]
     _imu_ros_cache_update(status='ROS verbunden', error='')
 
-    def _publish_rover_cmd(locomotion_mode, vel, steering):
-        try:
-            rover_cmd_topic.publish(roslibpy.Message({
-                'connected': True,
-                'motors_enabled': True,
-                'locomotion_mode': int(locomotion_mode),
-                'vel': int(vel),
-                'steering': int(steering),
-            }))
-        except Exception:
-            pass
-
-    imu_rotate.set_publish_fn(_publish_rover_cmd)
 
 
 def _imu_ros_worker():
@@ -1976,7 +1973,17 @@ class Handler(http.server.BaseHTTPRequestHandler):
     def do_GET(self):
         if self.path == '/api/imu/rotate-status':
             import imu_rotate
-            self.write_json(200, {'rotate': imu_rotate.get_rotate_status()})
+            status = imu_rotate.get_rotate_status()
+            if status.get('running') and status.get('target_deg') is not None:
+                calibration = read_imu_heading_calibration()
+                with IMU_ROS_LOCK:
+                    raw = IMU_ROS_CACHE.get('heading_deg')
+                corrected = get_corrected_heading_deg(raw, calibration['offset_deg']) if raw is not None else None
+                status['current_deg'] = round(corrected, 1) if corrected is not None else None
+                if corrected is not None:
+                    err = (status['target_deg'] - corrected + 540) % 360 - 180
+                    status['error_deg'] = round(err, 1)
+            self.write_json(200, {'rotate': status})
             return
         if self.path == '/api/delay':
             self.write_json(200, {'delay_seconds': get_delay()})
@@ -2326,15 +2333,10 @@ class Handler(http.server.BaseHTTPRequestHandler):
                 return
             import imu_rotate
             heading_offset = read_imu_heading_calibration()['offset_deg']
-
-            def _get_corrected_heading():
-                with IMU_ROS_LOCK:
-                    raw = IMU_ROS_CACHE.get('heading_deg')
-                return get_corrected_heading_deg(raw, heading_offset) if raw is not None else None
-
             status = imu_rotate.start_rotate(
                 target_deg=target_deg,
-                get_heading_fn=_get_corrected_heading,
+                heading_offset=heading_offset,
+                restore_mode=LAST_LOCOMOTION_MODE,
             )
             self.write_json(200, {'status': 'Drehung gestartet', 'rotate': status})
             return