IMU Norden kann kalibriert werden

gui/index.html

@@ -323,6 +323,7 @@ var imuOverlayState = {
   rollDeg: 0,
   pitchDeg: 0,
   yawDeg: 0,
+  yawOffsetDeg: 0,
   lastUpdateAt: 0
 };
 
@@ -364,6 +365,10 @@ function normalizeHeadingDeg(value) {
   return heading;
 }
 
+function applyImuHeadingOffset(yawDeg) {
+  return normalizeHeadingDeg(Number(yawDeg || 0) + Number(imuOverlayState.yawOffsetDeg || 0));
+}
+
 function updateImuOverlaySvg() {
   var group = document.getElementById("imu-horizon-group");
   var frame = document.getElementById("imu-horizon-frame");
@@ -381,7 +386,7 @@ function updateImuOverlaySvg() {
 
   var rollDeg = Number(imuOverlayState.rollDeg || 0);
   var pitchDeg = Number(imuOverlayState.pitchDeg || 0);
-  var headingDeg = normalizeHeadingDeg(imuOverlayState.yawDeg);
+  var headingDeg = applyImuHeadingOffset(imuOverlayState.yawDeg);
   var pitchOffset = Math.max(-55, Math.min(55, pitchDeg * 2.2));
 
   group.setAttribute("opacity", "1");
@@ -986,8 +991,13 @@ function updateUndervoltageDisplay(text, state) {
 function updateServiceState(payload) {
   var system = payload.system || {};
   var services = payload.services || {};
+  var imuHeading = payload.imu_heading || {};
   var cameraServiceState = String(services.camera || "");
   var cameraSettingsVersion = Number(services.camera_settings_version || 0);
+  if (typeof imuHeading.offset_deg === "number" && !isNaN(imuHeading.offset_deg)) {
+    imuOverlayState.yawOffsetDeg = Number(imuHeading.offset_deg);
+    updateImuOverlaySvg();
+  }
   updateUndervoltageDisplay(system.undervoltage || "unbekannt", system.undervoltage_state || "unknown");
   if (cameraServiceState === "active" && lastCameraServiceState && lastCameraServiceState !== "active") {
     setText("cam-state", "Verbinde...");
@@ -1114,7 +1124,7 @@ function drawImuHorizonOverlay(context, canvasWidth, canvasHeight, size) {
   var unit = size / 220;
   var rollRad = Number(imuOverlayState.rollDeg || 0) * Math.PI / 180;
   var pitchOffsetPx = Math.max(-55, Math.min(55, Number(imuOverlayState.pitchDeg || 0) * 2.2)) * unit;
-  var headingDeg = normalizeHeadingDeg(imuOverlayState.yawDeg);
+  var headingDeg = applyImuHeadingOffset(imuOverlayState.yawDeg);
   var rollDeg = Number(imuOverlayState.rollDeg || 0);
   var pitchDeg = Number(imuOverlayState.pitchDeg || 0);