--calibrate SESSION [--write]: down from two level stretches (turning round cancels
the slope), forward from straight pull-aways and stops; saved to
/var/lib/yukart/imu/mount.json (StateDirectory), which the service reloads on change.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
Finds the module itself (every non-modem adapter, 115200 then 9600), so the
adapter can be swapped. Mounting by --forward/--right; attitude from a
complementary filter on gravity (gyro through motion, accelerometer near 1 g);
gravity removed from acceleration; yaw rate left-positive. Never writes to
the module. dialout via SupplementaryGroups.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
mikkeli