2026-04-14T11:36:27+00:00 [WARNING] kernel [    0.101283] 30800000.aips-bus:usbphynop1 supply vcc not found, using dummy regulator
2026-04-14T11:36:27+00:00 [WARNING] kernel [    0.101451] 30800000.aips-bus:usbphynop2 supply vcc not found, using dummy regulator
2026-04-14T11:36:27+00:00 [WARNING] kernel [    0.174127] imx-sdma 30bd0000.sdma: no iram assigned, using external mem
2026-04-14T11:36:27+00:00 [ERR] kernel [    0.209080] gpmi-nand 33002000.gpmi-nand: mode:5 ,failed in set feature.
2026-04-14T11:36:27+00:00 [WARNING] kernel [    0.234186] 30b10200.usbmisc supply vbus-wakeup not found, using dummy regulator
2026-04-14T11:36:27+00:00 [WARNING] kernel [    0.234272] 30b30200.usbmisc supply vbus-wakeup not found, using dummy regulator
2026-04-14T11:36:27+00:00 [WARNING] kernel [    0.234399] 30b20200.usbmisc supply vbus-wakeup not found, using dummy regulator
2026-04-14T11:36:27+00:00 [WARNING] kernel [    0.768601] clk: Not disabling unused clocks
2026-04-14T11:36:27+00:00 [ERR] kernel [    4.596971] xpad 1-1.3:1.0: xpad_try_sending_next_out_packet - usb_submit_urb failed with result -19
2026-04-14T11:36:27+00:00 [ERR] kernel [    5.103315] hid-generic 0003:2DC8:3107.0001: device has no listeners, quitting
2026-04-14T11:36:27+00:00 [ERR] kv-client scewo-messages: Cannot open local socket /tmp/kv-server.sock: No such file or directory
2026-04-14T11:36:27+00:00 [ERR] kv-client scewo-messages: Cannot open local socket /tmp/kv-server.sock: No such file or directory
2026-04-14T11:36:28+00:00 [INFO] kv-server root: Starting kv-server version 0.7.1 (master - v0.7.1)
2026-04-14T11:36:28+00:00 [INFO] kv-logs root: Starting /usr/bin/kv-logs version 0.7.0 (master - v0.7.0)
2026-04-14T11:36:28+00:00 [INFO] kv-tcp-proxy root: Starting /usr/bin/kv-tcp-proxy version 0.7.1 (master - v0.7.1)
2026-04-14T11:36:28+00:00 [INFO] parameters-storage root: Starting parameters-storage version 0.7.0 (master - v0.7.0)
2026-04-14T11:36:28+00:00 [INFO] parameters-storage root: Last main storage update: Sun Apr 12 06:51:24 2026
2026-04-14T11:36:28+00:00 [INFO] parameters-storage root: Last alternate storage update: Sun Apr 12 06:51:23 2026
2026-04-14T11:36:28+00:00 [INFO] parameters-storage root: Reading key/values from main storage
2026-04-14T11:36:29+00:00 [INFO] parameters-storage root: Last main storage update: Mon Mar 23 13:26:05 2026
2026-04-14T11:36:29+00:00 [INFO] parameters-storage root: Last alternate storage update: Mon Mar 23 13:26:06 2026
2026-04-14T11:36:29+00:00 [INFO] parameters-storage root: Reading key/values from alternate storage
2026-04-14T11:36:29+00:00 [INFO] kv-m4-gateway root: Starting kv-m4-gateway version 0.7.0 (master - v0.7.0)
2026-04-14T11:36:29+00:00 [INFO] kv-m4-gateway root: Storage configuration loaded, forwarding stream!
2026-04-14T11:36:32+00:00 [INFO] xow [        76f7b340] - xow v0.1.0 ©Severin v. W.
2026-04-14T11:36:32+00:00 [INFO] xow [        76f7b340] - Waiting for device...
2026-04-14T11:36:32+00:00 [WARNING] kv-logs M4: Could not read configuration for single step detection, set to default: 0
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: version.rtoscewo.firmware: 0.13.1 (HEAD - v0.13.1)
2026-04-14T11:36:32+00:00 [WARNING] kv-logs M4: Unsupported ping value type: 0
2026-04-14T11:36:32+00:00 [INFO] analytics-daemon root: Starting /usr/bin/analytics-daemon version 0.8.1 (master - v0.8.1)
2026-04-14T11:36:32+00:00 [WARNING] kv-logs M4: Could not read request-save-COG-config!
2026-04-14T11:36:32+00:00 [WARNING] kv-logs M4: Could not read user confirmation ack key/value
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: Set balance-config pitch offset to 0.470 deg
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: Set balance-config seat slider to 3.201 mm
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: Set balance-config backrest to 52.375 mm
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: Set balance-config footrest to 46.050 mm
2026-04-14T11:36:32+00:00 [WARNING] kv-logs M4: Could not read request-reset-COG-config!
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: ATS trigger counter set from 0 to 6
2026-04-14T11:36:32+00:00 [WARNING] kv-logs M4: No values received for command-favorite-position-save
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: Set single step detection to 0
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: Set single step detection to 0
2026-04-14T11:36:32+00:00 [INFO] misc-versions root: Published version.linux.misc-versions: 1.2.0 (master - v1.2.0)
2026-04-14T11:36:32+00:00 [INFO] misc-versions root: Published version.linux.scewo-library: 0.7.0 (master - v0.7.0)
2026-04-14T11:36:32+00:00 [INFO] misc-versions root: Published version.linux.scewo-messages: 4.12.0 (master - v4.12.0)
2026-04-14T11:36:32+00:00 [INFO] misc-versions root: Published version.linux.kernel: 4.9.84+g084d10b6ee2e
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: Communication send task started
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: TOF Front LEFT connected via UART
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: TOF Front RIGHT connected via UART
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 0
2026-04-14T11:36:32+00:00 [INFO] kv-timestamps root: Starting /usr/bin/kv-timestamps version 0.3.0 (master - v0.3.0)
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: ToF output format set to mm
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: ToF Nr. 0 configuration successful
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 1
2026-04-14T11:36:32+00:00 [INFO] gamepads root: Starting gamepads version 0.7.0 (master - v0.7.0)
2026-04-14T11:36:32+00:00 [INFO] misc-versions root: Published version.linux.root-file-system: SCEWO Linux / 24.9.3 / Lagoon / scewo-bro-image
2026-04-14T11:36:32+00:00 [INFO] misc-versions root: Published version.linux.software-release-nickname: Lagoon
2026-04-14T11:36:32+00:00 [INFO] misc-versions root: Published version.u-boot: 2016.11-scewo-bro+gbfb061e159
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: ToF output format set to mm
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: ToF Nr. 1 configuration successful
2026-04-14T11:36:32+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 2
2026-04-14T11:36:32+00:00 [INFO] notifications-daemon root: Starting notifications daemon version 0.12.0 (master - v0.12.0)
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: ToF output format set to mm
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: ToF Nr. 2 configuration successful
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 3
2026-04-14T11:36:33+00:00 [INFO] /usr/sbin/kv-network-config No IP address configured in kv-server
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: ToF output format set to mm
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: ToF Nr. 3 configuration successful
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: Set balance-config pitch offset to 0.470 deg
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: Set balance-config seat slider to 3.201 mm
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: Set balance-config backrest to 52.375 mm
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: Set balance-config footrest to 46.050 mm
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 0
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 1
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 2
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 3
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 6
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 7
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: ATS trigger counter set from 6 to 6
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: ATS trigger counter set from 6 to 6
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: IMU model LSM6DSL (who-am-I-reg: 0x6A)
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: Track task: Failed to send special command 'ENABLE_SOFT_START_STOP'=1 during init (0x0)
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: Tracks initialized
2026-04-14T11:36:33+00:00 [INFO] favorite-positions root: Starting /usr/bin/favorite-positions version 0.3.1 (master - v0.3.1)
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: Main motor init successful
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: RXO already registered, only callback updated
2026-04-14T11:36:33+00:00 [INFO] misc-versions root: Starting misc_versions 1.2.0 (master - v1.2.0)
2026-04-14T11:36:33+00:00 [DEBUG] kv-logs M4: Configuration-input-trackpad loaded 1
2026-04-14T11:36:33+00:00 [DEBUG] kv-logs M4: input-speed-setting loaded 0
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: Input module initialized
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 236
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 237
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 238
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 384
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 385
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 400
2026-04-14T11:36:33+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 438
2026-04-14T11:36:33+00:00 [INFO] /usr/sbin/kv-network-config No netmask configured in kv-server
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.linux-monitor is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.rust.black-box is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0)
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.black-box (v4.12.0 != �q

2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.linux-monitor is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.rust.black-box is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0)
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.black-box (v4.12.0 != �q

2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.rust.black-box is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released ()
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0)
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 
2026-04-14T11:36:33+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.black-box (v4.12.0 != �q

2026-04-14T11:36:33+00:00 [INFO] modem-daemon root: Building modem Huawei E3531 dialing on /dev/ttyUSB0 AT on /dev/ttyUSB2
2026-04-14T11:36:33+00:00 [INFO] /usr/sbin/kv-network-config No gateway configured in kv-server
2026-04-14T11:36:33+00:00 [INFO] kv-logs M4: Control task started
2026-04-14T11:36:33+00:00 [INFO] modem-daemon root: New modem inserted!
2026-04-14T11:36:33+00:00 [DEBUG] kv-logs M4: Loaded calibrated IMU mounting angles: YPR [0.00 20.12 0.08] deg
2026-04-14T11:36:33+00:00 [DEBUG] kv-logs M4: Applying calibrated IMU mounting angles: YPR [0.00 20.12 0.08] deg
2026-04-14T11:36:33+00:00 [INFO] /usr/sbin/kv-network-config No dns server configured in kv-server
2026-04-14T11:36:33+00:00 [INFO] /usr/sbin/kv-network-config Missing static network configuration in kv-server using default
2026-04-14T11:36:33+00:00 [INFO] swupdate RUN [main] : software set: dev mode: system2
2026-04-14T11:36:33+00:00 [NOTICE] root usb_modeswitch: switched to 12d1:155e on 001/009
2026-04-14T11:36:34+00:00 [INFO] black-box Daemon started!
2026-04-14T11:36:34+00:00 [INFO] black-box The crash recording are stored in: /mnt/sdcard/.blackbox
2026-04-14T11:36:34+00:00 [INFO] black-box daemon version: 1.0.0 (main - v1.0.0)
2026-04-14T11:36:34+00:00 [INFO] black-box scewo_messages version: 4.12.0 (HEAD - v4.12.0)
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: Angular velocity bias calibrated: [-0.077, 0.0089, 0.0068] rad/s
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: Applying IMU calibration angular velocity static bias: [-0.077 0.0089 0.0068] rad/s
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Sensor task started
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: ToF calibration data loaded [3.425, 3.051, 35.258, 23.804]
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Track task started
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Checking support-motor miControl FW and eventually updating it...
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: miControl: current FW for 0x11 @ 0: v0.3.0
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [2ms]
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Checking seat-slider-motor miControl FW and eventually updating it...
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: miControl: current FW for 0x31 @ 1: v0.3.0
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [2ms]
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Checking foot-support-motor miControl FW and eventually updating it...
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: miControl: current FW for 0x32 @ 1: v0.3.0
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [2ms]
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Checking back-support-motor miControl FW and eventually updating it...
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: miControl: current FW for 0x33 @ 1: v0.3.0
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [2ms]
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Support system task started
2026-04-14T11:36:34+00:00 [WARNING] kv-logs M4: No force sensor provided, falling back to legacy touch ground
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0)
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Old min: 1077.440 mV, max: 3803.230 mV, 
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Old offset: 6.585 mm
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Seat Task started
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Old min: 0.000 mm, max: 116.415 mm, 
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: New min: 1077.440 mV, max: 3803.230 mV, 
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: New offset: 6.585 mm
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: New min: 0.000 mm, max: 116.415 mm, 
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: System health task started
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Old min: 1077.440 mV, max: 3803.230 mV, 
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Old offset: 6.585 mm
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Old min: 0.000 mm, max: 116.415 mm, 
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: New min: 1077.440 mV, max: 3803.230 mV, 
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: New offset: 6.585 mm
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: New min: 0.000 mm, max: 116.415 mm, 
2026-04-14T11:36:34+00:00 [WARNING] kv-logs M4: Could not read standby request
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: New standby timeout 1800
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Type approval changed to GERMANY
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Type approval changed to GERMANY
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Type approval changed to GERMANY
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Disable speed limit changed to 0
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Old wheel clearance offset: -1.211
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: New wheel clearance offset: -1.211
2026-04-14T11:36:34+00:00 [WARNING] kv-logs M4: RTR message missed 0xa = 0x0-0x7f
2026-04-14T11:36:34+00:00 [WARNING] kv-logs M4: RTR message missed 0xb = 0x0-0x7f
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Old wheel clearance offset: -1.211
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: New wheel clearance offset: -1.211
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Init main motor controller 10
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_SUPPORT to 100.0mV
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting filter fault detection threshold level for CAN_ID_SUPPORT to 18.7mV
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_BACKREST to 60.0mV
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: CAN_ID_SUPPORT init position: 43.930
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_FOOTREST to 60.0mV
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_SLIDER to 60.0mV
2026-04-14T11:36:34+00:00 [INFO] black-box Available space for crash records: 29444 MB
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: CAN_ID_BACKREST init position: 52.518
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: CAN_ID_FOOTREST init position: 46.025
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: CAN_ID_SLIDER init position: 4.472
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Sh Task started
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Monitoring task started
2026-04-14T11:36:34+00:00 [INFO] ntp-daemon Daemon started!
2026-04-14T11:36:34+00:00 [WARNING] kv-logs M4: Could not read Bluetooth command, set to default: ON
2026-04-14T11:36:34+00:00 [WARNING] kv-logs M4: Could not read Bluetooth command, set to default: ON
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: Toradex serial number: '07223259'
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.IMU.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.IMU.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000005
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000005
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000005
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000005
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000001
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00200000
2026-04-14T11:36:34+00:00 [INFO] black-box New recording started on /mnt/sdcard/.blackbox/2026-04-14.0.csv
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00140000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00040000
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: Reinit main motor controllers - prev_power_state = L:2 R:2
2026-04-14T11:36:34+00:00 [ERR] notifications-daemon root: Push TOF_ERROR [65]
2026-04-14T11:36:34+00:00 [ERR] notifications-daemon root: Push INTERFACE_DISCONNECTED [29]
2026-04-14T11:36:34+00:00 [INFO] notifications-daemon root: Clear INTERFACE_DISCONNECTED [29]
2026-04-14T11:36:34+00:00 [ERR] notifications-daemon root: Push INTERFACE_DISCONNECTED [29]
2026-04-14T11:36:34+00:00 [ERR] notifications-daemon root: Push TOF_ERROR [65]
2026-04-14T11:36:34+00:00 [INFO] notifications-daemon root: Clear TOF_ERROR [65]
2026-04-14T11:36:34+00:00 [ERR] kv-logs M4: Unable to turn off the Bro 0x6
2026-04-14T11:36:34+00:00 [ERR] kv-logs M4: Current Operation Mode: 13
2026-04-14T11:36:34+00:00 [ERR] kv-logs M4: Unable to turn off the Bro 0x6
2026-04-14T11:36:34+00:00 [ERR] kv-logs M4: Current Operation Mode: 13
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 
2026-04-14T11:36:34+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T11:36:34+00:00 [ERR] kv-logs M4: Unable to turn off the Bro 0x6
2026-04-14T11:36:34+00:00 [ERR] kv-logs M4: Current Operation Mode: 13
2026-04-14T11:36:34+00:00 [INFO] update-daemon root: Exiting error state
2026-04-14T11:36:34+00:00 [INFO] update-daemon root: Entering state: INIT
2026-04-14T11:36:34+00:00 [INFO] update-daemon root: Starting /usr/bin/update-daemon version 1.1.0 (master - v1.1.0)
2026-04-14T11:36:34+00:00 [INFO] update-daemon root: Entering state: IDLE
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released ()
2026-04-14T11:36:34+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 
2026-04-14T11:36:34+00:00 [INFO] kv-logs M4: State machine task started
2026-04-14T11:36:34+00:00 [DEBUG] kv-logs M4: Health task requests state change to: SingleTransition_ENTER_STANDBY
2026-04-14T11:36:34+00:00 [WARNING] modem-daemon root: AT command failed: ATE0
2026-04-14T11:36:34+00:00 [INFO] modem-daemon root: Setting Apn to onomondo
2026-04-14T11:36:34+00:00 [INFO] modem-daemon root: Starting ppp daemon
2026-04-14T11:36:34+00:00 [WARNING] modem-daemon root: AT command failed: AT+CRSM=176,28486,0,0,17
2026-04-14T11:36:34+00:00 [INFO] cloud-access-daemon Daemon started!
2026-04-14T11:36:35+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released ()
2026-04-14T11:36:35+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released ()
2026-04-14T11:36:35+00:00 [INFO] cloud-access-daemon Waiting 30s for LTE connection...
2026-04-14T11:36:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:36:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:36:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:36:35+00:00 [ERR] ntpd restrict: ignoring line 6, mask '::' unusable.
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend Starting HTTP server at 127.0.0.1:8080
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend starting 2 workers
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend Actix runtime found; starting in Actix runtime
2026-04-14T11:36:36+00:00 [INFO] service-tool-backend starting service: "actix-web-service-127.0.0.1:8080", workers: 2, listening on: 127.0.0.1:8080
2026-04-14T11:36:36+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000000
2026-04-14T11:36:36+00:00 [INFO] notifications-daemon root: Clear INTERFACE_DISCONNECTED [29]
2026-04-14T11:36:36+00:00 [INFO] kv-logs M4: Motors wake up successful. No errors for 2000ms and support system voltage: 49.240V >= 35.000V
2026-04-14T11:36:36+00:00 [DEBUG] kv-logs M4: Read persisted state 1
2026-04-14T11:36:36+00:00 [INFO] kv-logs M4: Assisted stair climbing activated
2026-04-14T11:36:36+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to SingleTransition_ENTER_STANDBY
2026-04-14T11:36:36+00:00 [INFO] kv-logs M4: Assisted stair climbing activated
2026-04-14T11:36:36+00:00 [INFO] kv-logs M4: Assisted stair climbing activated
2026-04-14T11:36:36+00:00 [INFO] kv-logs M4: Enter Standby mode 1
2026-04-14T11:36:37+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released ()
2026-04-14T11:36:37+00:00 [INFO] speaker-daemon root: Starting /usr/bin/speaker-daemon version 0.7.1 (master - v0.7.1)
2026-04-14T11:36:37+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T11:36:37+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T11:36:38+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00040000
2026-04-14T11:36:38+00:00 [ERR] kv-tcp-proxy Could not set dns settings on the TP-Link router
2026-04-14T11:36:40+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00040001
2026-04-14T11:36:40+00:00 [INFO] modem-daemon root: PPP connection established on ppp0
2026-04-14T11:36:41+00:00 [WARNING] pppd Warning - secret file /etc/ppp/chap-secrets has world and/or group access
2026-04-14T11:36:41+00:00 [WARNING] pppd kernel does not support PPP filtering
2026-04-14T11:36:41+00:00 [WARNING] pppd Could not determine remote IP address: defaulting to 10.64.64.64
2026-04-14T11:36:41+00:00 [WARNING] dnsmasq failed to access /etc/resolv.conf: No such file or directory
2026-04-14T11:36:41+00:00 [ERR] pppd not replacing default route to eth0 [192.168.0.1]
2026-04-14T11:36:42+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_BACKREST reported an error (id -1000)
2026-04-14T11:36:42+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_FOOTREST reported an error (id -1000)
2026-04-14T11:36:42+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SLIDER reported an error (id -1000)
2026-04-14T11:36:42+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00100000
2026-04-14T11:36:42+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00100000
2026-04-14T11:36:42+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00100000
2026-04-14T11:36:44+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SUPPORT reported an error (id -1000)
2026-04-14T11:36:44+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00100000
2026-04-14T11:36:50+00:00 [INFO] ntp-daemon Time corrected by -0.000224s. New date time: 14-04-2026 11:36:50
2026-04-14T11:36:55+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00010000
2026-04-14T11:36:55+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00050000
2026-04-14T11:36:57+00:00 [INFO] kv-tcp-proxy root: Client 200b84cb32bc3341 authenticated
2026-04-14T11:37:05+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00200000
2026-04-14T11:37:05+00:00 [INFO] cloud-access-daemon Fetched toradex serial number 07223259
2026-04-14T11:37:05+00:00 [ERR] cloud-access-daemon Could not read KV ConfigurationInputDeveloper. Assume it is disabled.
2026-04-14T11:37:06+00:00 [INFO] cloud-access-daemon Latest version available is: 24.9.3
2026-04-14T11:37:06+00:00 [INFO] cloud-access-daemon Latest update SW v24.9.3 ready to be installed from: /mnt/sdcard/sw_update/update-package-prod-24.9.3.swu
2026-04-14T11:37:06+00:00 [INFO] update-daemon root: Entering state: CHECK_UPDATE_AVAILABLE
2026-04-14T11:37:06+00:00 [INFO] update-daemon root: Entering state: IDLE
2026-04-14T11:37:07+00:00 [INFO] cloud-access-daemon Successfully connected to the MQTT broker, session present: false
2026-04-14T11:37:07+00:00 [INFO] cloud-access-daemon Successfully set the software info in Odoo to "nickname: Lagoon, version: 24.9.3, build_type: scewo-bro-image, release_status: Stable, in_developer_mode: false".
2026-04-14T11:37:07+00:00 [INFO] cloud-access-daemon Successfully set the technical device details in Odoo to "travel_distance_km: 39.970001220703125, ats_trigger_counter: 6".
2026-04-14T11:37:11+00:00 [INFO] kv-logs M4: Waking up!
2026-04-14T11:37:11+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00000000
2026-04-14T11:37:11+00:00 [WARNING] pppd IPV6CP: timeout sending Config-Requests
2026-04-14T11:37:11+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00000000
2026-04-14T11:37:11+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00000000
2026-04-14T11:37:11+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00000000
2026-04-14T11:37:12+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T11:37:12+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T11:37:12+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000
2026-04-14T11:37:12+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00200000
2026-04-14T11:37:12+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000
2026-04-14T11:37:12+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T11:37:12+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T11:37:12+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T11:37:12+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T11:37:12+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T11:37:13+00:00 [INFO] kv-logs M4: Init main motor controller 10
2026-04-14T11:37:13+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00040000
2026-04-14T11:37:13+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T11:37:13+00:00 [INFO] kv-logs M4: Reinit main motor controllers - prev_power_state = L:8 R:2
2026-04-14T11:37:13+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T11:37:14+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00000000
2026-04-14T11:37:15+00:00 [INFO] kv-logs M4: Motors wake up successful. No errors for 2000ms and support system voltage: 49.320V >= 35.000V
2026-04-14T11:37:15+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_RECOVERY_MODE
2026-04-14T11:37:15+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_NONE for 0ms
2026-04-14T11:37:15+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_RECOVERY_MODE
2026-04-14T11:37:15+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_RECOVERY_MODE
2026-04-14T11:37:15+00:00 [DEBUG] kv-logs M4: Read persisted state 11
2026-04-14T11:37:15+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE
2026-04-14T11:37:15+00:00 [INFO] kv-logs M4: We should be in OperatingMode_SAFE_MODE
2026-04-14T11:37:15+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_SAFE_MODE
2026-04-14T11:37:15+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_SAFE_MODE
2026-04-14T11:37:15+00:00 [DEBUG] kv-logs M4: Recovery Transition
2026-04-14T11:37:15+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:37:15+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T11:37:15+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T11:38:19+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.000 m after last reset.
2026-04-14T11:38:24+00:00 [INFO] kv-tcp-proxy root: Client 200b84cb32bc3341 authenticated
2026-04-14T11:39:33+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T11:39:33+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE
2026-04-14T11:39:33+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T11:39:33+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:39:34+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:39:34+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.201 mm, backrest: 52.375 mm, footrest: 46.050 mm, support: 47.706 m
2026-04-14T11:39:38+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T11:39:38+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.054°
2026-04-14T11:39:38+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: 0.172°, wheel-clearance: 41.669
2026-04-14T11:39:38+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 50.546 mm, support: 30.387 mm
2026-04-14T11:39:38+00:00 [DEBUG] kv-logs M4: Stable angle: 0.511 deg, wheel-clearance offset: -1.211 mm
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: 0.172°, wheel-clearance: -4.691
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: -0.178 deg/s, variance: 0.001 (deg/s)^2
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: -0.155 deg/s, variance: 0.003 (deg/s)^2
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Wait to settle 154 ms. Pitch rate mean: -0.131 deg/s, variance: 0.003 (deg/s)^2
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Wait to settle 206 ms. Pitch rate mean: -0.116 deg/s, variance: 0.004 (deg/s)^2
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Wait to settle 257 ms. Pitch rate mean: -0.106 deg/s, variance: 0.003 (deg/s)^2
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Wait to settle 309 ms. Pitch rate mean: -0.101 deg/s, variance: 0.003 (deg/s)^2
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Wait to settle 362 ms. Pitch rate mean: -0.091 deg/s, variance: 0.004 (deg/s)^2
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Wait to settle 412 ms. Pitch rate mean: -0.079 deg/s, variance: 0.004 (deg/s)^2
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Wait to settle 464 ms. Pitch rate mean: -0.070 deg/s, variance: 0.005 (deg/s)^2
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Wait to settle 515 ms. Pitch rate mean: -0.061 deg/s, variance: 0.005 (deg/s)^2
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.865 deg. Extend support, retract tracks
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Control error: -0.865°, track: 51.000, support: 30.861, wheel-clearance: -5.681
2026-04-14T11:39:40+00:00 [DEBUG] kv-logs M4: Control error: -0.864°, track: 51.000, support: 30.815, wheel-clearance: -5.763
2026-04-14T11:39:41+00:00 [DEBUG] kv-logs M4: Control error: -0.856°, track: 51.000, support: 30.861, wheel-clearance: -5.763
2026-04-14T11:39:41+00:00 [DEBUG] kv-logs M4: Control error: -0.809°, track: 51.000, support: 30.861, wheel-clearance: -5.681
2026-04-14T11:39:41+00:00 [DEBUG] kv-logs M4: Control error: -0.731°, track: 51.000, support: 30.723, wheel-clearance: -5.929
2026-04-14T11:39:41+00:00 [DEBUG] kv-logs M4: Control error: -0.637°, track: 50.700, support: 30.861, wheel-clearance: -6.406
2026-04-14T11:39:41+00:00 [DEBUG] kv-logs M4: Control error: -0.526°, track: 50.700, support: 31.044, wheel-clearance: -5.828
2026-04-14T11:39:41+00:00 [DEBUG] kv-logs M4: Control error: -0.418°, track: 50.000, support: 31.090, wheel-clearance: -5.828
2026-04-14T11:39:41+00:00 [DEBUG] kv-logs M4: Control error: -0.307°, track: 50.000, support: 31.319, wheel-clearance: -5.828
2026-04-14T11:39:41+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 50.000 mm, support: 31.319 mm
2026-04-14T11:39:41+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:39:41+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T11:39:43+00:00 [INFO] kv-logs M4: Track (11.400 mm) and support (1.787 mm) are retracted enough. Start timer.
2026-04-14T11:39:43+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2251 ms
2026-04-14T11:39:44+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 11132 ms
2026-04-14T11:39:44+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:39:44+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:39:44+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T11:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T11:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T11:40:11+00:00 [INFO] notifications-daemon root: Push SAVE_COG_SUCCESS [18]
2026-04-14T11:40:11+00:00 [INFO] kv-logs M4: Saved COG config. Pitch offset: 0.058, Seat slider: 4.405, Backrest: 52.613, Footrest 46.000
2026-04-14T11:40:11+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 500ms
2026-04-14T11:40:16+00:00 [INFO] notifications-daemon root: Clear SAVE_COG_SUCCESS [18]
2026-04-14T11:41:57+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T11:41:57+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T11:42:15+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T11:42:15+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T11:42:16+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T11:42:16+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T11:42:16+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T11:42:16+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:42:17+00:00 [INFO] kv-logs M4: Estimated slope angle: 0.379°
2026-04-14T11:42:17+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  37.294 mm, support: 25.680 mm
2026-04-14T11:42:19+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 50.223 mm, support: 33.412 mm
2026-04-14T11:42:19+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T11:42:20+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T11:42:20+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:42:20+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T11:42:20+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:42:23+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3
2026-04-14T11:42:24+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:42:26+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3
2026-04-14T11:42:26+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:42:26+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3
2026-04-14T11:42:27+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:42:30+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_TRACK_MODE
2026-04-14T11:42:30+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_TRACK_MODE
2026-04-14T11:42:30+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:42:39+00:00 [DEBUG] kv-logs M4: move the tracks to 105.000 mm and support to 0.000 mm
2026-04-14T11:42:42+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. -0.000 m after last reset.
2026-04-14T11:42:43+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:42:43+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:42:44+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:42:44+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:42:44+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TRACK_MODE
2026-04-14T11:42:57+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T11:42:57+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T11:42:57+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:43:07+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:43:07+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:43:07+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T11:43:07+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:43:15+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0
2026-04-14T11:43:16+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.164 m
2026-04-14T11:43:17+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.159 m
2026-04-14T11:43:17+00:00 [INFO] kv-logs M4: Ground Type STEP detected. 0.718 m after last reset.
2026-04-14T11:43:17+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TOP_STAIR
2026-04-14T11:43:17+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_TOP_STAIR
2026-04-14T11:43:17+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:43:17+00:00 [DEBUG] kv-logs M4: TopStair: ENTER angle = 20.3° - pitch = -2.081
2026-04-14T11:43:17+00:00 [DEBUG] kv-logs M4: TopStair: ENTER support = 79.5mm
2026-04-14T11:43:17+00:00 [INFO] kv-logs M4: TopStair: Enabled autoleveling!
2026-04-14T11:43:19+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_BEGIN_STAIR
2026-04-14T11:43:19+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TOP_STAIR
2026-04-14T11:43:20+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T11:43:20+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T11:43:22+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.150 m
2026-04-14T11:43:22+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.149 m
2026-04-14T11:43:24+00:00 [INFO] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR steep angle reached! (34.1)
2026-04-14T11:43:24+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR drive_distance 0.1974 > 0.25 [m]?
2026-04-14T11:43:24+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR track_angle 34.1034 > 34 [°]?
2026-04-14T11:43:24+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR distance = 0.198m
2026-04-14T11:43:24+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR support = 86.8mm
2026-04-14T11:43:24+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR angle = 34.1° - pitch = -4.078
2026-04-14T11:43:24+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_TOUCH_STAIR
2026-04-14T11:43:27+00:00 [DEBUG] kv-logs M4: ExtendUntilStairOnlyMotor - Velocity = 3.371 max=7.5 current=5531mA set=4513mA
2026-04-14T11:43:27+00:00 [INFO] kv-logs M4: ExtendUntilStair - DONE (100.8mm - 38.195°)
2026-04-14T11:43:27+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_STAIR angle = 38.2° - pitch = -4.812
2026-04-14T11:43:27+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.128 m
2026-04-14T11:43:27+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_STAIR_EDGE
2026-04-14T11:43:32+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE track angle change since start: 19.4850 [°]
2026-04-14T11:43:32+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE angle_delta_deg 1.7739 > 2 [°]?
2026-04-14T11:43:32+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE drive_distance_m 0.0228 > 0.1 [m]?
2026-04-14T11:43:32+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE angle2_deg 40.0574 > 40 [°]?
2026-04-14T11:43:32+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE step_height_mm = 250.1 [mm]
2026-04-14T11:43:32+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_LOWER_SUPPORT
2026-04-14T11:43:32+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.133 m
2026-04-14T11:43:41+00:00 [DEBUG] kv-logs M4: TopStair: EXIT angle = 32.5° - pitch = -4.789°
2026-04-14T11:43:41+00:00 [DEBUG] kv-logs M4: TopStair: EXIT distance 0.344
2026-04-14T11:43:41+00:00 [INFO] kv-logs M4: TopStair -> STAIR_MODE!
2026-04-14T11:43:41+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_ON_STAIR
2026-04-14T11:43:41+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TOP_STAIR to OperatingMode_ON_STAIR
2026-04-14T11:43:41+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:43:41+00:00 [INFO] kv-logs M4: Started on top
2026-04-14T11:43:41+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ON_STAIR
2026-04-14T11:43:44+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.106 m
2026-04-14T11:43:45+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.086 m
2026-04-14T11:43:46+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.087 m
2026-04-14T11:43:47+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.084 m
2026-04-14T11:43:48+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.087 m
2026-04-14T11:43:56+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling because driven past last detection point.
2026-04-14T11:43:58+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.153 m after last reset.
2026-04-14T11:44:04+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown
2026-04-14T11:44:04+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 54.478 mm, support velocity: 0.000 mm/s, track angle: 10.518 deg
2026-04-14T11:44:04+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (54.5mm - 10.518°)
2026-04-14T11:44:04+00:00 [INFO] kv-logs M4: End of stair bottom (1)
2026-04-14T11:44:04+00:00 [INFO] kv-logs M4: Total number of steps = 5
2026-04-14T11:44:04+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_BOTTOM_STAIR
2026-04-14T11:44:04+00:00 [INFO] kv-logs M4: Leaving on-stair: Min track angle 11.6°. Max track angle 33.4°.
2026-04-14T11:44:04+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ON_STAIR to OperatingMode_BOTTOM_STAIR
2026-04-14T11:44:04+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:44:04+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BOTTOM_STAIR
2026-04-14T11:44:04+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_BOTTOM_STAIR entered sub-mode: 3
2026-04-14T11:44:07+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 1000ms
2026-04-14T11:44:07+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T11:44:07+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BOTTOM_STAIR to OperatingMode_STAIR_MODE_READY
2026-04-14T11:44:07+00:00 [INFO] notifications-daemon root: Push STAIR_TOP_SUPPORT_GROUND [27]
2026-04-14T11:44:07+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:44:07+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T11:44:07+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:44:09+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_TRACK_MODE
2026-04-14T11:44:09+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_TRACK_MODE
2026-04-14T11:44:09+00:00 [INFO] notifications-daemon root: Clear STAIR_TOP_SUPPORT_GROUND [27]
2026-04-14T11:44:09+00:00 [DEBUG] kv-logs M4: move the tracks to 60.462 mm and support to 24.607 mm
2026-04-14T11:44:09+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:44:17+00:00 [DEBUG] kv-logs M4: move the tracks to 105.000 mm and support to 0.000 mm
2026-04-14T11:44:18+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling due to upward step.
2026-04-14T11:44:18+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling due to upward step.
2026-04-14T11:44:20+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:44:20+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:44:21+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:44:21+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:44:21+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TRACK_MODE
2026-04-14T11:44:22+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling due to upward step.
2026-04-14T11:44:22+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling due to upward step.
2026-04-14T11:44:43+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.039 m after last reset.
2026-04-14T11:44:55+00:00 [INFO] gamepads root: Added joystick "Microsoft X-Box 360 pad" with ID 045e:028e
2026-04-14T11:45:18+00:00 [ERR] kernel [  537.075971] xpad 1-1.3:1.0: xpad_try_sending_next_out_packet - usb_submit_urb failed with result -19
2026-04-14T11:45:18+00:00 [ERR] gamepads root: Could not read joystick event: No such device
2026-04-14T11:45:18+00:00 [INFO] gamepads root: Removing joystick Microsoft X-Box 360 pad ...
2026-04-14T11:45:18+00:00 [INFO] gamepads root: Udev remove event for "Microsoft X-Box 360 pad" with ID 045e:028e
2026-04-14T11:45:18+00:00 [INFO] gamepads root: Joystick 045e:028e already removed?
2026-04-14T11:45:18+00:00 [ERR] kernel [  537.583512] hid-generic 0003:2DC8:3107.0002: device has no listeners, quitting
2026-04-14T11:45:24+00:00 [INFO] gamepads root: Added joystick "Microsoft X-Box 360 pad" with ID 045e:028e
2026-04-14T11:45:28+00:00 [INFO] kv-logs M4: Switch to Xbox Mode triggered
2026-04-14T11:45:28+00:00 [WARNING] kv-logs M4: OperationMode_RunMode returned error 0xe
2026-04-14T11:45:28+00:00 [INFO] kv-logs M4: Controller selected as input device
2026-04-14T11:45:28+00:00 [DEBUG] kv-logs M4: Xbox requests state change to: OperatingMode_XBOX_MODE
2026-04-14T11:45:28+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_XBOX_MODE
2026-04-14T11:45:28+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:45:28+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_XBOX_MODE
2026-04-14T11:45:28+00:00 [ERR] kv-logs M4: Could not get desired wheel clearance: -2
2026-04-14T11:45:28+00:00 [ERR] kv-logs M4: Could not get desired pitch: -2
2026-04-14T11:45:44+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T11:45:44+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T11:46:33+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_RECOVERY_MODE
2026-04-14T11:46:33+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_XBOX_MODE to OperatingMode_RECOVERY_MODE
2026-04-14T11:46:33+00:00 [INFO] kv-logs M4: Interface selected as input device
2026-04-14T11:46:33+00:00 [DEBUG] kv-logs M4: Read persisted state 11
2026-04-14T11:46:33+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE
2026-04-14T11:46:33+00:00 [INFO] kv-logs M4: We should be in OperatingMode_TRACK_MODE
2026-04-14T11:46:33+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TRACK_MODE
2026-04-14T11:46:33+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_TRACK_MODE
2026-04-14T11:46:33+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:46:33+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:46:33+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:46:33+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TRACK_MODE
2026-04-14T11:46:34+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T11:46:34+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T11:46:34+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:46:45+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:46:45+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:46:45+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:46:45+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:46:45+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T11:46:45+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:46:54+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0
2026-04-14T11:46:55+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:46:56+00:00 [INFO] kv-logs M4: Switch to Xbox Mode triggered
2026-04-14T11:46:56+00:00 [WARNING] kv-logs M4: OperationMode_RunMode returned error 0xe
2026-04-14T11:46:56+00:00 [INFO] kv-logs M4: Controller selected as input device
2026-04-14T11:46:56+00:00 [DEBUG] kv-logs M4: Xbox requests state change to: OperatingMode_XBOX_MODE
2026-04-14T11:46:56+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_XBOX_MODE
2026-04-14T11:46:57+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:46:57+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_XBOX_MODE
2026-04-14T11:46:57+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T11:46:57+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T11:46:57+00:00 [INFO] kv-logs M4: Switch to Xbox Mode triggered
2026-04-14T11:46:57+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T11:46:57+00:00 [WARNING] kv-logs M4: OperationMode_RunMode returned error 0xe
2026-04-14T11:46:57+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_XBOX_MODE entered sub-mode: 6
2026-04-14T11:46:57+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:46:58+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_XBOX_MODE entered sub-mode: 0
2026-04-14T11:46:58+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T11:46:58+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T11:46:58+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T11:47:02+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.100 m
2026-04-14T11:47:04+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.140 m
2026-04-14T11:47:04+00:00 [INFO] kv-logs M4: Ground Type STEP detected. 2.113 m after last reset.
2026-04-14T11:47:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:47:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:47:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:47:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:47:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:47:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:47:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:47:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:47:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:47:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:47:21+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T11:47:21+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T11:47:21+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T11:47:21+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T11:47:21+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T11:47:21+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T11:47:37+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling because driven past last detection point.
2026-04-14T11:47:44+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.306 m after last reset.
2026-04-14T11:47:58+00:00 [ERR] kernel [  697.075856] xpad 1-1.3:1.0: xpad_try_sending_next_out_packet - usb_submit_urb failed with result -19
2026-04-14T11:47:58+00:00 [ERR] gamepads root: Could not read joystick event: No such device
2026-04-14T11:47:58+00:00 [INFO] gamepads root: Removing joystick Microsoft X-Box 360 pad ...
2026-04-14T11:47:58+00:00 [INFO] gamepads root: Udev remove event for "Microsoft X-Box 360 pad" with ID 045e:028e
2026-04-14T11:47:58+00:00 [INFO] gamepads root: Joystick 045e:028e already removed?
2026-04-14T11:47:58+00:00 [ERR] kernel [  697.592971] hid-generic 0003:2DC8:3107.0003: device has no listeners, quitting
2026-04-14T11:48:00+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_RECOVERY_MODE
2026-04-14T11:48:00+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_XBOX_MODE to OperatingMode_RECOVERY_MODE
2026-04-14T11:48:00+00:00 [INFO] kv-logs M4: Interface selected as input device
2026-04-14T11:48:00+00:00 [DEBUG] kv-logs M4: Read persisted state 11
2026-04-14T11:48:00+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE
2026-04-14T11:48:00+00:00 [INFO] kv-logs M4: We don't know the mode -> go to OperatingMode_SAFE_MODE
2026-04-14T11:48:00+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T11:48:00+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T11:48:00+00:00 [DEBUG] kv-logs M4: Recovery Transition
2026-04-14T11:48:00+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:48:28+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_RECOVERY_MODE
2026-04-14T11:48:28+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_RECOVERY_MODE
2026-04-14T11:48:28+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_RECOVERY_MODE
2026-04-14T11:48:28+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:48:29+00:00 [DEBUG] kv-logs M4: Read persisted state 11
2026-04-14T11:48:29+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE
2026-04-14T11:48:29+00:00 [INFO] kv-logs M4: We don't know the mode -> go to OperatingMode_SAFE_MODE
2026-04-14T11:48:29+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T11:48:29+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T11:48:29+00:00 [DEBUG] kv-logs M4: Recovery Transition
2026-04-14T11:48:29+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:48:30+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_SAFE_MODE
2026-04-14T11:48:30+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:48:30+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_SAFE_MODE
2026-04-14T11:48:30+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_SAFE_MODE
2026-04-14T11:48:30+00:00 [DEBUG] kv-logs M4: Recovery Transition
2026-04-14T11:48:30+00:00 [INFO] kv-logs M4: Is not in symmetric bounds of default pitch angle. Move support to 26.154 mm and tracks to 59.403 mm
2026-04-14T11:48:30+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:48:34+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:48:34+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:48:35+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:48:35+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:48:35+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T11:48:35+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T11:48:46+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T11:48:46+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE
2026-04-14T11:48:46+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T11:48:46+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:48:47+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 4.405 mm, backrest: 52.613 mm, footrest: 46.000 mm, support: 47.200 m
2026-04-14T11:48:47+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:48:47+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:48:56+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:48:56+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T11:48:56+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.275°
2026-04-14T11:48:56+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -2.884°, wheel-clearance: -2.282
2026-04-14T11:48:56+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 50.605 mm, support: 30.335 mm
2026-04-14T11:48:56+00:00 [DEBUG] kv-logs M4: Stable angle: 0.265 deg, wheel-clearance offset: -1.211 mm
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -2.884°, wheel-clearance: -8.217
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: 0.888 deg/s, variance: 0.068 (deg/s)^2
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: 0.341 deg/s, variance: 0.336 (deg/s)^2
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Wait to settle 152 ms. Pitch rate mean: 0.129 deg/s, variance: 0.326 (deg/s)^2
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Wait to settle 204 ms. Pitch rate mean: 0.010 deg/s, variance: 0.281 (deg/s)^2
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Wait to settle 256 ms. Pitch rate mean: -0.045 deg/s, variance: 0.235 (deg/s)^2
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Wait to settle 306 ms. Pitch rate mean: -0.054 deg/s, variance: 0.199 (deg/s)^2
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Wait to settle 358 ms. Pitch rate mean: -0.059 deg/s, variance: 0.169 (deg/s)^2
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Wait to settle 409 ms. Pitch rate mean: -0.069 deg/s, variance: 0.148 (deg/s)^2
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Wait to settle 460 ms. Pitch rate mean: -0.074 deg/s, variance: 0.133 (deg/s)^2
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Wait to settle 512 ms. Pitch rate mean: -0.069 deg/s, variance: 0.120 (deg/s)^2
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.133 deg. Extend support, retract tracks
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Control error: -0.134°, track: 50.500, support: 29.898, wheel-clearance: -8.212
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Control error: -0.133°, track: 50.500, support: 29.944, wheel-clearance: -8.130
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Control error: -0.121°, track: 50.500, support: 29.944, wheel-clearance: -8.130
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Control error: -0.075°, track: 50.500, support: 29.990, wheel-clearance: -8.047
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Control error: -0.012°, track: 50.500, support: 30.127, wheel-clearance: -7.799
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Control error: 0.077°, track: 50.000, support: 30.173, wheel-clearance: -8.513
2026-04-14T11:48:57+00:00 [DEBUG] kv-logs M4: Control error: 0.184°, track: 50.000, support: 30.356, wheel-clearance: -8.513
2026-04-14T11:48:58+00:00 [DEBUG] kv-logs M4: Control error: 0.285°, track: 49.700, support: 30.540, wheel-clearance: -8.513
2026-04-14T11:48:58+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 49.700 mm, support: 30.540 mm
2026-04-14T11:48:58+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:48:58+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T11:48:59+00:00 [INFO] kv-logs M4: Track (11.400 mm) and support (1.099 mm) are retracted enough. Start timer.
2026-04-14T11:49:00+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2166 ms
2026-04-14T11:49:00+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 14616 ms
2026-04-14T11:49:00+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:49:00+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:49:00+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T11:49:21+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T11:49:21+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T11:49:29+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T11:49:29+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T11:49:29+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T11:49:29+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:49:30+00:00 [INFO] kv-logs M4: Estimated slope angle: -1.507°
2026-04-14T11:49:30+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  44.708 mm, support: 19.238 mm
2026-04-14T11:49:32+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 57.779 mm, support: 26.879 mm
2026-04-14T11:49:33+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T11:49:33+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T11:49:33+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:49:34+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T11:49:34+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:49:38+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T11:49:38+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BALANCE_MODE
2026-04-14T11:49:38+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T11:49:38+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:49:39+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 4.405 mm, backrest: 52.613 mm, footrest: 46.000 mm, support: 42.978 m
2026-04-14T11:49:39+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:49:39+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:49:40+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:49:40+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T11:49:40+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is -0.947°
2026-04-14T11:49:40+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -2.157°, wheel-clearance: 25.469
2026-04-14T11:49:40+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 55.737 mm, support: 25.913 mm
2026-04-14T11:49:40+00:00 [DEBUG] kv-logs M4: Stable angle: -0.652 deg, wheel-clearance offset: -1.211 mm
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -2.157°, wheel-clearance: 1.094
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: 1.874 deg/s, variance: 0.616 (deg/s)^2
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: 2.192 deg/s, variance: 0.497 (deg/s)^2
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Wait to settle 154 ms. Pitch rate mean: 1.546 deg/s, variance: 1.132 (deg/s)^2
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Wait to settle 206 ms. Pitch rate mean: 1.177 deg/s, variance: 1.245 (deg/s)^2
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Wait to settle 257 ms. Pitch rate mean: 0.992 deg/s, variance: 1.157 (deg/s)^2
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Wait to settle 309 ms. Pitch rate mean: 0.806 deg/s, variance: 1.130 (deg/s)^2
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Wait to settle 361 ms. Pitch rate mean: 0.641 deg/s, variance: 1.123 (deg/s)^2
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Wait to settle 413 ms. Pitch rate mean: 0.553 deg/s, variance: 1.033 (deg/s)^2
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Wait to settle 464 ms. Pitch rate mean: 0.500 deg/s, variance: 0.950 (deg/s)^2
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Wait to settle 516 ms. Pitch rate mean: 0.459 deg/s, variance: 0.867 (deg/s)^2
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.411 deg. Extend support, retract tracks
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Control error: -0.411°, track: 55.800, support: 26.321, wheel-clearance: -6.217
2026-04-14T11:49:41+00:00 [DEBUG] kv-logs M4: Control error: -0.405°, track: 55.800, support: 26.321, wheel-clearance: -6.300
2026-04-14T11:49:42+00:00 [DEBUG] kv-logs M4: Control error: -0.402°, track: 55.800, support: 26.367, wheel-clearance: -6.217
2026-04-14T11:49:42+00:00 [DEBUG] kv-logs M4: Control error: -0.390°, track: 55.800, support: 26.504, wheel-clearance: -6.217
2026-04-14T11:49:42+00:00 [DEBUG] kv-logs M4: Control error: -0.354°, track: 55.600, support: 26.550, wheel-clearance: -6.198
2026-04-14T11:49:42+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 55.600 mm, support: 26.688 mm
2026-04-14T11:49:42+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:49:44+00:00 [INFO] kv-logs M4: Track (11.400 mm) and support (0.549 mm) are retracted enough. Start timer.
2026-04-14T11:49:44+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2539 ms
2026-04-14T11:49:45+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 7064 ms
2026-04-14T11:49:45+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T11:49:45+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:49:45+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:49:45+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T11:49:53+00:00 [INFO] kv-logs M4: Saved COG config. Pitch offset: -0.096, Seat slider: 3.670, Backrest: 52.375, Footrest 46.075
2026-04-14T11:49:53+00:00 [INFO] notifications-daemon root: Push SAVE_COG_SUCCESS [18]
2026-04-14T11:49:53+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 500ms
2026-04-14T11:49:58+00:00 [INFO] notifications-daemon root: Clear SAVE_COG_SUCCESS [18]
2026-04-14T11:50:00+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T11:50:00+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T11:50:00+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T11:50:00+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:50:00+00:00 [INFO] kv-logs M4: Estimated slope angle: -0.888°
2026-04-14T11:50:00+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  42.173 mm, support: 21.417 mm
2026-04-14T11:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T11:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T11:50:03+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 55.197 mm, support: 29.090 mm
2026-04-14T11:50:03+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T11:50:04+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T11:50:04+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:50:04+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T11:50:04+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:50:07+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T11:50:09+00:00 [INFO] kv-logs M4: Low step step detected, switching to BOTTOM_STAIR
2026-04-14T11:50:09+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_BOTTOM_STAIR
2026-04-14T11:50:09+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BOTTOM_STAIR
2026-04-14T11:50:09+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:50:09+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BOTTOM_STAIR
2026-04-14T11:50:09+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_BOTTOM_STAIR entered sub-mode: 1
2026-04-14T11:50:12+00:00 [INFO] kv-logs M4: RetractWithStuckDetection - no stuck detected, retracting fully (3.7mm - 8.262°)
2026-04-14T11:50:12+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_ON_STAIR
2026-04-14T11:50:12+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BOTTOM_STAIR to OperatingMode_ON_STAIR
2026-04-14T11:50:12+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:50:12+00:00 [INFO] kv-logs M4: Started on bottom
2026-04-14T11:50:12+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ON_STAIR
2026-04-14T11:50:13+00:00 [INFO] kv-logs M4: Ultrasonic single step detected @-0.010 (-0.015)
2026-04-14T11:50:13+00:00 [INFO] notifications-daemon root: Push STAIR_END_DETECTION [28]
2026-04-14T11:50:13+00:00 [INFO] notifications-daemon root: Push STAIR_SENSOR_DETECTION_ULTRASONIC_SINGLE_STEP [52]
2026-04-14T11:50:15+00:00 [INFO] kv-logs M4: End of stair top 2 (drive distance = -0.212)
2026-04-14T11:50:15+00:00 [INFO] kv-logs M4: Total number of steps = 2
2026-04-14T11:50:15+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_TOP
2026-04-14T11:50:15+00:00 [INFO] kv-logs M4: Leaving on-stair: Min track angle 8.3°. Max track angle 11.3°.
2026-04-14T11:50:15+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ON_STAIR to OperatingMode_STAIR_TOP
2026-04-14T11:50:15+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_FEEDBACK for 500ms
2026-04-14T11:50:15+00:00 [INFO] notifications-daemon root: Clear STAIR_END_DETECTION [28]
2026-04-14T11:50:15+00:00 [INFO] notifications-daemon root: Clear STAIR_SENSOR_DETECTION_ULTRASONIC_SINGLE_STEP [52]
2026-04-14T11:50:15+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:50:15+00:00 [INFO] kv-logs M4: StairTop: Enabled autoleveling!
2026-04-14T11:50:15+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_TOP
2026-04-14T11:50:17+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown
2026-04-14T11:50:17+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 13.893 mm, support velocity: 0.917 mm/s, track angle: 11.618 deg
2026-04-14T11:50:17+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (13.9mm - 11.618°)
2026-04-14T11:50:17+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 1000ms
2026-04-14T11:50:17+00:00 [INFO] kv-logs M4: StairTop: -> StairTopMode_STAIR_EDGE
2026-04-14T11:50:17+00:00 [INFO] notifications-daemon root: Push STAIR_TOP_SUPPORT_GROUND [27]
2026-04-14T11:50:22+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T11:50:22+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T11:50:28+00:00 [INFO] kv-logs M4: StairTop -> StairTopMode_LEAVE_STAIR
2026-04-14T11:50:28+00:00 [DEBUG] kv-logs M4: StTp: Distance1=-0.559m, 32.603, 5.022
2026-04-14T11:50:31+00:00 [DEBUG] kv-logs M4: StTp: Distance2=-0.750m
2026-04-14T11:50:31+00:00 [INFO] kv-logs M4: StairTop: -> OperatingMode_STAIR_MODE_READY !!!
2026-04-14T11:50:31+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T11:50:31+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_TOP to OperatingMode_STAIR_MODE_READY
2026-04-14T11:50:31+00:00 [INFO] notifications-daemon root: Clear STAIR_TOP_SUPPORT_GROUND [27]
2026-04-14T11:50:31+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:50:31+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T11:50:31+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:50:32+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T11:50:33+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:50:38+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3
2026-04-14T11:50:42+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T11:50:53+00:00 [DEBUG] kv-logs M4: Wifi requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T11:50:53+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BALANCE_MODE
2026-04-14T11:50:54+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T11:50:54+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T11:50:58+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 51.171 m
2026-04-14T11:50:58+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T11:50:58+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:51:03+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T11:51:03+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T11:51:03+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 1.222°
2026-04-14T11:51:03+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -3.765°, wheel-clearance: -13.817
2026-04-14T11:51:03+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 47.031 mm, support: 33.467 mm
2026-04-14T11:51:03+00:00 [DEBUG] kv-logs M4: Stable angle: 0.821 deg, wheel-clearance offset: -1.211 mm
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -3.765°, wheel-clearance: -10.578
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Wait to settle 52 ms. Pitch rate mean: 1.258 deg/s, variance: 0.008 (deg/s)^2
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Wait to settle 105 ms. Pitch rate mean: 1.042 deg/s, variance: 0.060 (deg/s)^2
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Wait to settle 156 ms. Pitch rate mean: 0.829 deg/s, variance: 0.143 (deg/s)^2
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Wait to settle 208 ms. Pitch rate mean: 0.634 deg/s, variance: 0.219 (deg/s)^2
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Wait to settle 259 ms. Pitch rate mean: 0.488 deg/s, variance: 0.258 (deg/s)^2
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Wait to settle 310 ms. Pitch rate mean: 0.390 deg/s, variance: 0.270 (deg/s)^2
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Wait to settle 362 ms. Pitch rate mean: 0.314 deg/s, variance: 0.265 (deg/s)^2
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Wait to settle 413 ms. Pitch rate mean: 0.251 deg/s, variance: 0.258 (deg/s)^2
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Wait to settle 464 ms. Pitch rate mean: 0.213 deg/s, variance: 0.244 (deg/s)^2
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Wait to settle 516 ms. Pitch rate mean: 0.174 deg/s, variance: 0.232 (deg/s)^2
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Initial pitch error: 0.422 deg. Extend tracks, retract support
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Control error: 0.422°, track: 46.900, support: 32.833, wheel-clearance: -8.686
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Control error: 0.414°, track: 46.900, support: 32.833, wheel-clearance: -8.686
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Control error: 0.399°, track: 46.900, support: 32.833, wheel-clearance: -8.686
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Control error: 0.356°, track: 46.900, support: 32.879, wheel-clearance: -8.604
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: Control error: 0.299°, track: 46.900, support: 32.879, wheel-clearance: -8.604
2026-04-14T11:51:06+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 46.900 mm, support: 32.879 mm
2026-04-14T11:51:06+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:51:08+00:00 [INFO] kv-logs M4: Track (11.700 mm) and support (1.557 mm) are retracted enough. Start timer.
2026-04-14T11:51:08+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2227 ms
2026-04-14T11:51:09+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 15581 ms
2026-04-14T11:51:09+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T11:51:09+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:51:09+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:51:09+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T11:51:10+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T11:51:10+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T11:52:43+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T11:52:43+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T11:54:37+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:54:37+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:55:35+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T11:55:35+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T11:57:02+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T11:57:02+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T11:57:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:12+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:12+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T11:57:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T11:57:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:24+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:24+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:24+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:24+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:24+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:24+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:27+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:27+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:57:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:57:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:57:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:57:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:57:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:57:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:57:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:57:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:57:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T11:57:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:57:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:57:51+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T11:57:51+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T11:58:07+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T11:58:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T11:58:20+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T11:58:20+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T11:58:32+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE
2026-04-14T11:58:32+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE
2026-04-14T11:58:32+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T11:58:32+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T11:58:33+00:00 [INFO] kv-logs M4: Estimated slope angle: -0.714°
2026-04-14T11:58:33+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  39.699 mm, support: 23.568 mm
2026-04-14T11:58:35+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 52.675 mm, support: 31.270 mm
2026-04-14T11:58:36+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T11:58:36+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T11:58:36+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T11:58:36+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T11:58:36+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T12:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T12:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T12:00:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:00:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:00:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:00:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:00:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:00:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:00:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:00:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:00:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:00:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T12:00:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:00:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:01:41+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T12:01:41+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T12:02:36+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T12:02:36+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE
2026-04-14T12:02:36+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T12:02:36+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T12:02:37+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 49.498 m
2026-04-14T12:02:37+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T12:02:37+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:02:41+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:02:41+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.911°
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -0.867°, wheel-clearance: -3.132
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 48.322 mm, support: 32.331 mm
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Stable angle: 0.588 deg, wheel-clearance offset: -1.211 mm
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -0.867°, wheel-clearance: -5.635
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Wait to settle 52 ms. Pitch rate mean: 2.569 deg/s, variance: 0.232 (deg/s)^2
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Wait to settle 105 ms. Pitch rate mean: 2.829 deg/s, variance: 0.216 (deg/s)^2
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Wait to settle 155 ms. Pitch rate mean: 2.403 deg/s, variance: 0.645 (deg/s)^2
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Wait to settle 207 ms. Pitch rate mean: 1.923 deg/s, variance: 1.200 (deg/s)^2
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Wait to settle 259 ms. Pitch rate mean: 1.597 deg/s, variance: 1.374 (deg/s)^2
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Wait to settle 310 ms. Pitch rate mean: 1.362 deg/s, variance: 1.460 (deg/s)^2
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Wait to settle 362 ms. Pitch rate mean: 1.126 deg/s, variance: 1.574 (deg/s)^2
2026-04-14T12:02:41+00:00 [DEBUG] kv-logs M4: Wait to settle 414 ms. Pitch rate mean: 1.002 deg/s, variance: 1.484 (deg/s)^2
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Wait to settle 466 ms. Pitch rate mean: 0.885 deg/s, variance: 1.429 (deg/s)^2
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Wait to settle 519 ms. Pitch rate mean: 0.754 deg/s, variance: 1.435 (deg/s)^2
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Wait to settle 570 ms. Pitch rate mean: 0.681 deg/s, variance: 1.372 (deg/s)^2
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Wait to settle 622 ms. Pitch rate mean: 0.631 deg/s, variance: 1.282 (deg/s)^2
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Wait to settle 673 ms. Pitch rate mean: 0.585 deg/s, variance: 1.207 (deg/s)^2
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Wait to settle 724 ms. Pitch rate mean: 0.541 deg/s, variance: 1.153 (deg/s)^2
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Wait to settle 776 ms. Pitch rate mean: 0.500 deg/s, variance: 1.098 (deg/s)^2
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Wait to settle 827 ms. Pitch rate mean: 0.469 deg/s, variance: 1.042 (deg/s)^2
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Wait to settle 878 ms. Pitch rate mean: 0.444 deg/s, variance: 0.995 (deg/s)^2
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.508 deg. Extend support, retract tracks
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Control error: -0.508°, track: 48.500, support: 31.686, wheel-clearance: -8.183
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Control error: -0.501°, track: 48.500, support: 31.640, wheel-clearance: -8.265
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Control error: -0.478°, track: 48.500, support: 31.640, wheel-clearance: -8.265
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Control error: -0.415°, track: 48.500, support: 31.778, wheel-clearance: -8.018
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: Control error: -0.320°, track: 47.900, support: 31.870, wheel-clearance: -8.813
2026-04-14T12:02:42+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 47.900 mm, support: 32.053 mm
2026-04-14T12:02:42+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:02:43+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T12:02:44+00:00 [INFO] kv-logs M4: Track (9.900 mm) and support (1.924 mm) are retracted enough. Start timer.
2026-04-14T12:02:44+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2203 ms
2026-04-14T12:02:45+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 8566 ms
2026-04-14T12:02:45+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:02:45+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:02:45+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T12:03:02+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:03:03+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:03:03+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:03:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:03:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:03:07+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:03:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:03:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00120000
2026-04-14T12:03:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:03:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:03:31+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:03:31+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:03:31+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:03:31+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:03:31+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:03:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:03:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:03:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:03:54+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T12:03:54+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T12:04:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:04:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:04:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:04:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:04:11+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:04:12+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:04:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:04:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:05:40+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:05:40+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:05:40+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:05:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:05:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:05:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:05:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:05:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:05:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:05:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:05:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:05:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:05:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:05:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:05:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:05:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:05:58+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T12:05:58+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T12:05:58+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:05:59+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00120000
2026-04-14T12:05:59+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:06:00+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:06:02+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:06:02+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:06:05+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:06:05+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:06:05+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:06:05+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:06:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:06:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:06:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:06:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:06:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:06:53+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:08:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:08:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:08:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:08:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:08:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:08:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:08:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:08:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:08:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:08:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T12:10:02+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T12:11:57+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T12:11:57+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T12:13:26+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:13:26+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:18:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:18:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:18:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:18:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:18:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:18:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:18:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:18:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:18:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:18:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:19:44+00:00 [DEBUG] kv-logs M4: ControlPanel(TRACKPAD_HOLD) requests state change to: OperatingMode_SAFE_MODE
2026-04-14T12:19:44+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE
2026-04-14T12:19:44+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T12:19:44+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:19:45+00:00 [INFO] kv-logs M4: Estimated slope angle: -0.104°
2026-04-14T12:19:45+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  40.636 mm, support: 22.751 mm
2026-04-14T12:19:47+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 53.630 mm, support: 30.442 mm
2026-04-14T12:19:47+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T12:19:48+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T12:19:48+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:19:48+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T12:19:48+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T12:19:55+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T12:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T12:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T12:20:20+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T12:20:20+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE
2026-04-14T12:20:20+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T12:20:20+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T12:20:22+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 46.624 m
2026-04-14T12:20:22+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T12:20:22+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:20:23+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:20:23+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.120°
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -0.370°, wheel-clearance: -1.960
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 51.622 mm, support: 29.451 mm
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Stable angle: -0.006 deg, wheel-clearance offset: -1.211 mm
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -0.370°, wheel-clearance: -1.960
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Wait to settle 51 ms. Pitch rate mean: -0.679 deg/s, variance: 0.003 (deg/s)^2
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Wait to settle 101 ms. Pitch rate mean: 0.185 deg/s, variance: 1.213 (deg/s)^2
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Wait to settle 152 ms. Pitch rate mean: 0.211 deg/s, variance: 0.803 (deg/s)^2
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Wait to settle 203 ms. Pitch rate mean: 0.175 deg/s, variance: 0.623 (deg/s)^2
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Wait to settle 253 ms. Pitch rate mean: 0.176 deg/s, variance: 0.495 (deg/s)^2
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Wait to settle 304 ms. Pitch rate mean: 0.161 deg/s, variance: 0.419 (deg/s)^2
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Wait to settle 354 ms. Pitch rate mean: 0.129 deg/s, variance: 0.362 (deg/s)^2
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Wait to settle 405 ms. Pitch rate mean: 0.103 deg/s, variance: 0.325 (deg/s)^2
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Wait to settle 455 ms. Pitch rate mean: 0.083 deg/s, variance: 0.290 (deg/s)^2
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Wait to settle 506 ms. Pitch rate mean: 0.074 deg/s, variance: 0.263 (deg/s)^2
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.442 deg. Extend support, retract tracks
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Control error: -0.441°, track: 53.000, support: 29.944, wheel-clearance: -4.158
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Control error: -0.440°, track: 53.000, support: 29.990, wheel-clearance: -4.075
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Control error: -0.429°, track: 53.000, support: 30.035, wheel-clearance: -3.992
2026-04-14T12:20:23+00:00 [DEBUG] kv-logs M4: Control error: -0.396°, track: 53.000, support: 29.990, wheel-clearance: -4.075
2026-04-14T12:20:24+00:00 [DEBUG] kv-logs M4: Control error: -0.324°, track: 53.000, support: 29.990, wheel-clearance: -4.158
2026-04-14T12:20:24+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 53.000 mm, support: 29.990 mm
2026-04-14T12:20:24+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:20:24+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T12:20:26+00:00 [INFO] kv-logs M4: Track (11.700 mm) and support (0.457 mm) are retracted enough. Start timer.
2026-04-14T12:20:26+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2463 ms
2026-04-14T12:20:27+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 6662 ms
2026-04-14T12:20:27+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:20:27+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:20:27+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T12:20:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:20:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:20:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:20:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:20:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:20:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:21:30+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T12:21:30+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T12:21:48+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:21:48+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:22+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T12:23:22+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T12:23:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:32+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:32+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:32+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:32+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:37+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T12:23:37+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T12:23:49+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:49+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:56+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:57+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:57+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:57+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:57+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:58+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:23:58+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:23:58+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:18+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00080000
2026-04-14T12:24:18+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x000c0000
2026-04-14T12:24:18+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T12:24:18+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T12:24:25+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:25+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:26+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:26+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:39+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:39+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:39+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:39+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:40+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:40+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:40+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:40+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:40+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:40+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:40+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:41+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:42+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:42+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:42+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:48+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:54+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:55+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:56+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:59+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:59+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:24:59+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:24:59+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:25:02+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:25:02+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:25:02+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:25:02+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:25:03+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:25:03+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:25:03+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:25:03+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:25:04+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:25:04+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:25:04+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:25:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:25:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:25:09+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE
2026-04-14T12:25:09+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE
2026-04-14T12:25:09+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T12:25:09+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:25:10+00:00 [INFO] kv-logs M4: Estimated slope angle: 0.433°
2026-04-14T12:25:10+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  37.360 mm, support: 25.622 mm
2026-04-14T12:25:11+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:25:12+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 50.290 mm, support: 33.354 mm
2026-04-14T12:25:12+00:00 [WARNING] kv-logs M4: Torque safety sets control state to 1
2026-04-14T12:25:12+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T12:25:12+00:00 [ERR] kv-logs M4: Balance Trans Aborted. Torque -39.553 Nm outside of bounds [-39.234, 40.766] Nm
2026-04-14T12:25:12+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:25:12+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:25:12+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T12:25:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:25:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:25:13+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T12:25:13+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:25:13+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T12:25:13+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T12:26:17+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00100000
2026-04-14T12:26:17+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00140000
2026-04-14T12:26:17+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T12:26:17+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T12:28:34+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.009 m after last reset.
2026-04-14T12:29:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:29:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:29:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:29:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:29:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:29:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:29:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:29:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:29:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:29:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T12:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T12:31:49+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 3
2026-04-14T12:31:50+00:00 [INFO] notifications-daemon root: Push PARK_MODE_MOVE_SEAT_SLIDER_DOWN [87]
2026-04-14T12:31:55+00:00 [INFO] notifications-daemon root: Clear PARK_MODE_MOVE_SEAT_SLIDER_DOWN [87]
2026-04-14T12:31:56+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:31:56+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:31:59+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:32:00+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:32:00+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling due to upward step.
2026-04-14T12:32:00+00:00 [INFO] notifications-daemon root: Push PARK_MODE_MOVE_SEAT_SLIDER_DOWN [87]
2026-04-14T12:32:19+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.060 m
2026-04-14T12:32:35+00:00 [INFO] notifications-daemon root: Clear PARK_MODE_MOVE_SEAT_SLIDER_DOWN [87]
2026-04-14T12:32:37+00:00 [INFO] notifications-daemon root: Push PARK_MODE_MOVE_SEAT_SLIDER_DOWN [87]
2026-04-14T12:32:52+00:00 [INFO] notifications-daemon root: Clear PARK_MODE_MOVE_SEAT_SLIDER_DOWN [87]
2026-04-14T12:33:54+00:00 [INFO] notifications-daemon root: Push PARK_MODE_MOVE_SEAT_SLIDER_DOWN [87]
2026-04-14T12:34:45+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T12:34:45+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T12:36:15+00:00 [INFO] notifications-daemon root: Clear PARK_MODE_MOVE_SEAT_SLIDER_DOWN [87]
2026-04-14T12:36:23+00:00 [INFO] notifications-daemon root: Push PARK_MODE_MOVE_SEAT_SLIDER_DOWN [87]
2026-04-14T12:36:36+00:00 [INFO] notifications-daemon root: Clear PARK_MODE_MOVE_SEAT_SLIDER_DOWN [87]
2026-04-14T12:37:07+00:00 [INFO] cloud-access-daemon Latest version available is: 24.9.3
2026-04-14T12:37:07+00:00 [INFO] cloud-access-daemon Latest update SW v24.9.3 ready to be installed from: /mnt/sdcard/sw_update/update-package-prod-24.9.3.swu
2026-04-14T12:37:07+00:00 [INFO] update-daemon root: Entering state: CHECK_UPDATE_AVAILABLE
2026-04-14T12:37:07+00:00 [INFO] update-daemon root: Entering state: IDLE
2026-04-14T12:39:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:39:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:39:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:39:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:39:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:39:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:39:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:39:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:39:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:39:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T12:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T12:41:39+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T12:41:39+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T12:41:47+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T12:41:47+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE
2026-04-14T12:41:47+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T12:41:47+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T12:41:49+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 60.057 m
2026-04-14T12:41:52+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T12:41:52+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:41:53+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:41:53+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T12:41:53+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 3.729°
2026-04-14T12:41:53+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -4.959°, wheel-clearance: -5.235
2026-04-14T12:41:53+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 36.753 mm, support: 42.689 mm
2026-04-14T12:41:53+00:00 [DEBUG] kv-logs M4: Stable angle: 2.701 deg, wheel-clearance offset: -1.211 mm
2026-04-14T12:41:55+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:41:55+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:41:55+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:41:55+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:41:57+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -4.959°, wheel-clearance: -10.685
2026-04-14T12:41:57+00:00 [DEBUG] kv-logs M4: Wait to settle 52 ms. Pitch rate mean: 0.222 deg/s, variance: 0.007 (deg/s)^2
2026-04-14T12:41:57+00:00 [DEBUG] kv-logs M4: Wait to settle 104 ms. Pitch rate mean: 0.108 deg/s, variance: 0.018 (deg/s)^2
2026-04-14T12:41:57+00:00 [DEBUG] kv-logs M4: Wait to settle 155 ms. Pitch rate mean: 0.051 deg/s, variance: 0.019 (deg/s)^2
2026-04-14T12:41:57+00:00 [DEBUG] kv-logs M4: Wait to settle 207 ms. Pitch rate mean: 0.023 deg/s, variance: 0.017 (deg/s)^2
2026-04-14T12:41:57+00:00 [DEBUG] kv-logs M4: Wait to settle 258 ms. Pitch rate mean: 0.009 deg/s, variance: 0.015 (deg/s)^2
2026-04-14T12:41:57+00:00 [DEBUG] kv-logs M4: Wait to settle 309 ms. Pitch rate mean: 0.002 deg/s, variance: 0.013 (deg/s)^2
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Wait to settle 361 ms. Pitch rate mean: 0.001 deg/s, variance: 0.011 (deg/s)^2
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Wait to settle 412 ms. Pitch rate mean: 0.003 deg/s, variance: 0.010 (deg/s)^2
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Wait to settle 463 ms. Pitch rate mean: 0.004 deg/s, variance: 0.009 (deg/s)^2
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Wait to settle 515 ms. Pitch rate mean: 0.004 deg/s, variance: 0.008 (deg/s)^2
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Initial pitch error: 1.225 deg. Extend tracks, retract support
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 1.223°, track: 36.000, support: 42.004, wheel-clearance: -10.038
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 1.199°, track: 36.000, support: 41.959, wheel-clearance: -10.038
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 1.170°, track: 36.000, support: 41.959, wheel-clearance: -10.119
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 1.125°, track: 36.000, support: 41.959, wheel-clearance: -10.119
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 1.073°, track: 36.000, support: 42.004, wheel-clearance: -10.119
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 1.019°, track: 36.000, support: 41.821, wheel-clearance: -10.038
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 0.960°, track: 36.000, support: 41.638, wheel-clearance: -10.685
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 0.843°, track: 36.000, support: 41.546, wheel-clearance: -10.685
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 0.719°, track: 36.500, support: 41.362, wheel-clearance: -10.030
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 0.684°, track: 36.500, support: 41.133, wheel-clearance: -10.354
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 0.600°, track: 37.300, support: 41.041, wheel-clearance: -10.354
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 0.651°, track: 37.300, support: 40.858, wheel-clearance: -10.354
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 0.592°, track: 37.800, support: 40.675, wheel-clearance: -9.449
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 0.609°, track: 37.800, support: 40.537, wheel-clearance: -9.449
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 0.545°, track: 38.600, support: 40.354, wheel-clearance: -9.449
2026-04-14T12:41:58+00:00 [DEBUG] kv-logs M4: Control error: 0.660°, track: 38.600, support: 40.124, wheel-clearance: -9.449
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.633°, track: 38.800, support: 39.941, wheel-clearance: -9.118
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.596°, track: 39.300, support: 39.757, wheel-clearance: -9.118
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.521°, track: 39.300, support: 39.620, wheel-clearance: -9.118
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.543°, track: 39.800, support: 39.436, wheel-clearance: -8.873
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.500°, track: 39.800, support: 39.436, wheel-clearance: -8.386
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.511°, track: 40.300, support: 39.207, wheel-clearance: -8.386
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.471°, track: 40.300, support: 38.794, wheel-clearance: -8.386
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.496°, track: 40.800, support: 38.657, wheel-clearance: -8.386
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.454°, track: 40.800, support: 38.657, wheel-clearance: -8.145
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.385°, track: 41.100, support: 38.336, wheel-clearance: -8.145
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: Control error: 0.299°, track: 41.100, support: 38.106, wheel-clearance: -8.145
2026-04-14T12:41:59+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 41.100 mm, support: 38.106 mm
2026-04-14T12:41:59+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:42:00+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:42:00+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T12:42:00+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:42:01+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:42:01+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:42:01+00:00 [INFO] kv-logs M4: Track (5.800 mm) and support (5.043 mm) are retracted enough. Start timer.
2026-04-14T12:42:01+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2298 ms
2026-04-14T12:42:02+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 14871 ms
2026-04-14T12:42:02+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:42:02+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:42:02+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T12:42:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T12:42:11+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00120000
2026-04-14T12:42:11+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:42:11+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:42:11+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:42:11+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T12:42:11+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:42:12+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:42:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:42:14+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:42:14+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:42:16+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:42:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:42:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:42:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:42:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:42:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:42:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:42:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:42:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:42:29+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:42:29+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:30+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T12:43:30+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T12:43:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:37+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:37+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:37+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:37+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:41+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:42+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:43:42+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:43:42+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T12:43:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T12:43:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:48+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:48+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:49+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:43:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T12:43:50+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T12:44:34+00:00 [WARNING] notifications-daemon root: Push BATTERY_LOW_DRIVING_DISTANCE [2]
2026-04-14T12:45:15+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:45:15+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:45:18+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:45:18+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:45:20+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T12:45:20+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T12:45:20+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T12:45:20+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:45:20+00:00 [INFO] kv-logs M4: Estimated slope angle: -1.933°
2026-04-14T12:45:20+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  50.744 mm, support: 14.152 mm
2026-04-14T12:45:23+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 63.921 mm, support: 21.717 mm
2026-04-14T12:45:24+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T12:45:24+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T12:45:25+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:45:25+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T12:45:25+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:45:28+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T12:45:29+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:45:34+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T12:45:35+00:00 [INFO] kv-logs M4: Low step step detected, switching to BOTTOM_STAIR
2026-04-14T12:45:35+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_BOTTOM_STAIR
2026-04-14T12:45:35+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BOTTOM_STAIR
2026-04-14T12:45:35+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:45:35+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BOTTOM_STAIR
2026-04-14T12:45:35+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_BOTTOM_STAIR entered sub-mode: 1
2026-04-14T12:45:38+00:00 [INFO] kv-logs M4: RetractWithStuckDetection - no stuck detected, retracting fully (3.7mm - 7.937°)
2026-04-14T12:45:38+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_ON_STAIR
2026-04-14T12:45:38+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BOTTOM_STAIR to OperatingMode_ON_STAIR
2026-04-14T12:45:38+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:45:38+00:00 [INFO] kv-logs M4: Started on bottom
2026-04-14T12:45:38+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ON_STAIR
2026-04-14T12:45:39+00:00 [INFO] kv-logs M4: Ultrasonic single step detected @-0.010 (-0.094)
2026-04-14T12:45:39+00:00 [INFO] notifications-daemon root: Push STAIR_END_DETECTION [28]
2026-04-14T12:45:39+00:00 [INFO] notifications-daemon root: Push STAIR_SENSOR_DETECTION_ULTRASONIC_SINGLE_STEP [52]
2026-04-14T12:45:42+00:00 [INFO] kv-logs M4: End of stair top 2 (drive distance = -0.276)
2026-04-14T12:45:42+00:00 [INFO] kv-logs M4: Total number of steps = 2
2026-04-14T12:45:42+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_TOP
2026-04-14T12:45:42+00:00 [INFO] kv-logs M4: Leaving on-stair: Min track angle 7.10°. Max track angle 10.10°.
2026-04-14T12:45:42+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ON_STAIR to OperatingMode_STAIR_TOP
2026-04-14T12:45:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_FEEDBACK for 500ms
2026-04-14T12:45:42+00:00 [INFO] notifications-daemon root: Clear STAIR_END_DETECTION [28]
2026-04-14T12:45:42+00:00 [INFO] notifications-daemon root: Clear STAIR_SENSOR_DETECTION_ULTRASONIC_SINGLE_STEP [52]
2026-04-14T12:45:42+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:45:42+00:00 [INFO] kv-logs M4: StairTop: Enabled autoleveling!
2026-04-14T12:45:42+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_TOP
2026-04-14T12:45:44+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown
2026-04-14T12:45:44+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 16.370 mm, support velocity: 0.000 mm/s, track angle: 11.122 deg
2026-04-14T12:45:44+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (16.4mm - 11.122°)
2026-04-14T12:45:44+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 1000ms
2026-04-14T12:45:44+00:00 [INFO] kv-logs M4: StairTop: -> StairTopMode_STAIR_EDGE
2026-04-14T12:45:44+00:00 [INFO] notifications-daemon root: Push STAIR_TOP_SUPPORT_GROUND [27]
2026-04-14T12:45:44+00:00 [WARNING] kv-logs M4: Support velocity limit: 3.210 vs 2.000 [mm/s] @ 2449.640 mA. Reducing the current to 40.000%
2026-04-14T12:45:44+00:00 [WARNING] kv-logs M4: Support velocity limit: 3.210 vs 2.000 [mm/s] @ 2449.640 mA. Reducing the current to 40.000%
2026-04-14T12:45:44+00:00 [WARNING] kv-logs M4: Support velocity limit: 3.210 vs 2.000 [mm/s] @ 2447.577 mA. Reducing the current to 40.000%
2026-04-14T12:45:44+00:00 [WARNING] kv-logs M4: Support velocity limit: 3.210 vs 2.000 [mm/s] @ 2447.577 mA. Reducing the current to 40.000%
2026-04-14T12:45:49+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:45:49+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:45:51+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:45:51+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:45:54+00:00 [INFO] kv-logs M4: StairTop -> StairTopMode_LEAVE_STAIR
2026-04-14T12:45:54+00:00 [DEBUG] kv-logs M4: StTp: Distance1=-0.503m, 25.404, 5.037
2026-04-14T12:45:59+00:00 [DEBUG] kv-logs M4: StTp: Distance2=-0.751m
2026-04-14T12:45:59+00:00 [INFO] kv-logs M4: StairTop: -> OperatingMode_STAIR_MODE_READY !!!
2026-04-14T12:45:59+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T12:45:59+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_TOP to OperatingMode_STAIR_MODE_READY
2026-04-14T12:45:59+00:00 [INFO] notifications-daemon root: Clear STAIR_TOP_SUPPORT_GROUND [27]
2026-04-14T12:45:59+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:45:59+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T12:45:59+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:46:00+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T12:46:00+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:46:02+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T12:46:02+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BALANCE_MODE
2026-04-14T12:46:02+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T12:46:02+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T12:46:03+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 45.863 m
2026-04-14T12:46:03+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T12:46:03+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:46:04+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T12:46:04+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is -0.163°
2026-04-14T12:46:04+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.300°, wheel-clearance: 45.564
2026-04-14T12:46:04+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 52.807 mm, support: 28.426 mm
2026-04-14T12:46:04+00:00 [DEBUG] kv-logs M4: Stable angle: -0.218 deg, wheel-clearance offset: -1.211 mm
2026-04-14T12:46:04+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.300°, wheel-clearance: -0.457
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: 3.402 deg/s, variance: 0.005 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: 3.118 deg/s, variance: 0.202 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 154 ms. Pitch rate mean: 2.403 deg/s, variance: 1.130 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 205 ms. Pitch rate mean: 1.858 deg/s, variance: 1.824 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 257 ms. Pitch rate mean: 1.371 deg/s, variance: 2.353 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 308 ms. Pitch rate mean: 1.000 deg/s, variance: 2.613 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 359 ms. Pitch rate mean: 0.770 deg/s, variance: 2.601 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 411 ms. Pitch rate mean: 0.623 deg/s, variance: 2.410 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 462 ms. Pitch rate mean: 0.557 deg/s, variance: 2.170 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 513 ms. Pitch rate mean: 0.534 deg/s, variance: 1.971 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 565 ms. Pitch rate mean: 0.514 deg/s, variance: 1.789 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 616 ms. Pitch rate mean: 0.497 deg/s, variance: 1.639 (deg/s)^2
2026-04-14T12:46:06+00:00 [DEBUG] kv-logs M4: Wait to settle 667 ms. Pitch rate mean: 0.473 deg/s, variance: 1.528 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Wait to settle 720 ms. Pitch rate mean: 0.427 deg/s, variance: 1.442 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Wait to settle 771 ms. Pitch rate mean: 0.374 deg/s, variance: 1.382 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Wait to settle 823 ms. Pitch rate mean: 0.319 deg/s, variance: 1.337 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Wait to settle 874 ms. Pitch rate mean: 0.271 deg/s, variance: 1.302 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Wait to settle 926 ms. Pitch rate mean: 0.231 deg/s, variance: 1.255 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Wait to settle 978 ms. Pitch rate mean: 0.208 deg/s, variance: 1.197 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Wait to settle 1031 ms. Pitch rate mean: 0.202 deg/s, variance: 1.136 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Wait to settle 1084 ms. Pitch rate mean: 0.203 deg/s, variance: 1.081 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Wait to settle 1136 ms. Pitch rate mean: 0.203 deg/s, variance: 1.030 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Wait to settle 1187 ms. Pitch rate mean: 0.199 deg/s, variance: 0.989 (deg/s)^2
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Initial pitch error: -1.142 deg. Extend support, retract tracks
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Control error: -1.140°, track: 52.800, support: 28.797, wheel-clearance: -6.547
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Control error: -1.136°, track: 52.800, support: 28.797, wheel-clearance: -6.547
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Control error: -1.126°, track: 52.800, support: 28.751, wheel-clearance: -6.630
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Control error: -1.099°, track: 52.800, support: 28.797, wheel-clearance: -6.547
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Control error: -1.047°, track: 52.800, support: 28.935, wheel-clearance: -6.298
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Control error: -0.967°, track: 52.800, support: 29.118, wheel-clearance: -5.966
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Control error: -0.870°, track: 52.300, support: 29.164, wheel-clearance: -6.676
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Control error: -0.778°, track: 52.300, support: 29.439, wheel-clearance: -6.676
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Control error: -0.670°, track: 52.000, support: 29.439, wheel-clearance: -6.676
2026-04-14T12:46:07+00:00 [DEBUG] kv-logs M4: Control error: -0.568°, track: 52.000, support: 29.714, wheel-clearance: -6.676
2026-04-14T12:46:08+00:00 [DEBUG] kv-logs M4: Control error: -0.449°, track: 51.500, support: 30.081, wheel-clearance: -6.622
2026-04-14T12:46:08+00:00 [DEBUG] kv-logs M4: Control error: -0.337°, track: 51.500, support: 30.081, wheel-clearance: -6.622
2026-04-14T12:46:08+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 51.000 mm, support: 30.265 mm
2026-04-14T12:46:08+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:46:10+00:00 [INFO] kv-logs M4: Track (11.700 mm) and support (0.732 mm) are retracted enough. Start timer.
2026-04-14T12:46:10+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2422 ms
2026-04-14T12:46:11+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 8968 ms
2026-04-14T12:46:11+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T12:46:11+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:46:11+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:46:11+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T12:46:14+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:46:14+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:47:09+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T12:47:09+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T12:47:19+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T12:47:19+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T12:49:00+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T12:49:00+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T12:49:00+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T12:49:00+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:49:01+00:00 [INFO] kv-logs M4: Estimated slope angle: 0.473°
2026-04-14T12:49:01+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  35.563 mm, support: 27.214 mm
2026-04-14T12:49:03+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:49:03+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:49:03+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 48.456 mm, support: 34.967 mm
2026-04-14T12:49:04+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T12:49:04+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T12:49:04+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:49:04+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T12:49:04+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:49:05+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:49:05+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:49:06+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_TRACK_MODE
2026-04-14T12:49:06+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_TRACK_MODE
2026-04-14T12:49:06+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T12:49:18+00:00 [DEBUG] kv-logs M4: move the tracks to 105.000 mm and support to 0.000 mm
2026-04-14T12:49:22+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. -0.024 m after last reset.
2026-04-14T12:49:23+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T12:49:23+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:49:24+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:49:24+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:49:24+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TRACK_MODE
2026-04-14T12:49:26+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:49:26+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:49:33+00:00 [WARNING] notifications-daemon root: Push CLIFF_DETECTED_FRONT [37]
2026-04-14T12:49:33+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.080 m
2026-04-14T12:49:33+00:00 [WARNING] notifications-daemon root: Push STAIR_SENSOR_DETECTION_TOF_HIGH_STEP [55]
2026-04-14T12:49:33+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.072 m
2026-04-14T12:49:33+00:00 [INFO] kv-logs M4: Ground Type STEP detected. 0.817 m after last reset.
2026-04-14T12:49:36+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TOP_STAIR
2026-04-14T12:49:36+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_TOP_STAIR
2026-04-14T12:49:36+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T12:49:36+00:00 [INFO] notifications-daemon root: Clear CLIFF_DETECTED_FRONT [37]
2026-04-14T12:49:38+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T12:49:38+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_STAIR_MODE_READY
2026-04-14T12:49:38+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T12:49:38+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T12:49:38+00:00 [DEBUG] kv-logs M4: Recovery Transition
2026-04-14T12:49:38+00:00 [INFO] kv-logs M4: Is not in symmetric bounds of default pitch angle. Move support to 26.154 mm and tracks to 59.403 mm
2026-04-14T12:49:38+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T12:49:42+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:49:42+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:49:52+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T12:49:52+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:49:53+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:49:53+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:49:53+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T12:49:53+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:49:57+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:57+00:00 [WARNING] notifications-daemon root: Push STAIR_SLOPE_ANGLE [73]
2026-04-14T12:49:57+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:57+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:57+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:57+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:57+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:58+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:49:59+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:49:59+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:00+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:01+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0
2026-04-14T12:50:03+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:50:03+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:03+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:03+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0
2026-04-14T12:50:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:50:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:50:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:50:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:50:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:50:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:50:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:50:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:50:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:50:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T12:50:13+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:50:17+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T12:50:18+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:50:19+00:00 [INFO] notifications-daemon root: Clear STAIR_SLOPE_ANGLE [73]
2026-04-14T12:50:21+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:21+00:00 [WARNING] notifications-daemon root: Push STAIR_SLOPE_ANGLE [73]
2026-04-14T12:50:21+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:21+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:21+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:22+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:23+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:23+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:23+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:23+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:23+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:23+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:23+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:23+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:23+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 500ms
2026-04-14T12:50:23+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0
2026-04-14T12:50:24+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:50:29+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T12:50:29+00:00 [INFO] notifications-daemon root: Clear STAIR_SLOPE_ANGLE [73]
2026-04-14T12:50:32+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:50:37+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0
2026-04-14T12:50:38+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.153 m after last reset.
2026-04-14T12:50:40+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TOP_STAIR
2026-04-14T12:50:40+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_TOP_STAIR
2026-04-14T12:50:41+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:50:41+00:00 [DEBUG] kv-logs M4: TopStair: ENTER angle = 19.2° - pitch = -2.067
2026-04-14T12:50:41+00:00 [DEBUG] kv-logs M4: TopStair: ENTER support = 79.3mm
2026-04-14T12:50:41+00:00 [INFO] kv-logs M4: TopStair: Enabled autoleveling!
2026-04-14T12:50:41+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.058 m
2026-04-14T12:50:41+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.053 m
2026-04-14T12:50:41+00:00 [INFO] kv-logs M4: Ground Type STEP detected. 0.258 m after last reset.
2026-04-14T12:50:42+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_BEGIN_STAIR
2026-04-14T12:50:42+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TOP_STAIR
2026-04-14T12:50:45+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR distance = 0.177m
2026-04-14T12:50:45+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR support = 86.7mm
2026-04-14T12:50:45+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR angle = 25.4° - pitch = -5.165
2026-04-14T12:50:45+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_TOUCH_DETECTED
2026-04-14T12:50:45+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_DETECTED step height = 116.9 - diff = 46.5
2026-04-14T12:50:45+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_DETECTED max_diff = 76.6 - tof = 0
2026-04-14T12:50:47+00:00 [DEBUG] kv-logs M4: TopStair EnterStairMode_TOUCH_DETECTED drive_distance_to_touch 0.0524 > 0.05 [m]?
2026-04-14T12:50:47+00:00 [DEBUG] kv-logs M4: TopStair EnterStairMode_TOUCH_DETECTED drive_distance 0.2291 > 0.30 [m]?
2026-04-14T12:50:47+00:00 [DEBUG] kv-logs M4: TopStair EnterStairMode_TOUCH_DETECTED track_angle 25.5966 > 38.0 [°]?
2026-04-14T12:50:47+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR distance = 0.229m
2026-04-14T12:50:47+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR support = 86.8mm
2026-04-14T12:50:47+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR angle = 25.6° - pitch = -5.357
2026-04-14T12:50:47+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_DETECTED distance = 0.229m - angle = 25.6° - pitch = -5.357
2026-04-14T12:50:47+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_STAIR_EDGE early
2026-04-14T12:50:49+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE - single step detected
2026-04-14T12:50:49+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE track angle change since start: 6.4922 [°]
2026-04-14T12:50:49+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE angle_delta_deg 0.1199 > 2 [°]?
2026-04-14T12:50:49+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE drive_distance_m 0.1007 > 0.1 [m]?
2026-04-14T12:50:49+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE angle2_deg 25.7166 > 40 [°]?
2026-04-14T12:50:49+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE step_height_mm = 120.2 [mm]
2026-04-14T12:50:49+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_LOWER_SUPPORT
2026-04-14T12:51:05+00:00 [DEBUG] kv-logs M4: TopStair: EXIT angle = 11.1° - pitch = -7.430°
2026-04-14T12:51:05+00:00 [DEBUG] kv-logs M4: TopStair: EXIT distance 0.204
2026-04-14T12:51:05+00:00 [INFO] kv-logs M4: TopStair -> STAIR_MODE!
2026-04-14T12:51:05+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_ON_STAIR
2026-04-14T12:51:05+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TOP_STAIR to OperatingMode_ON_STAIR
2026-04-14T12:51:05+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:51:05+00:00 [INFO] kv-logs M4: Started on top
2026-04-14T12:51:05+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ON_STAIR
2026-04-14T12:51:05+00:00 [INFO] notifications-daemon root: Clear STAIR_SENSOR_DETECTION_TOF_HIGH_STEP [55]
2026-04-14T12:51:07+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown
2026-04-14T12:51:07+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 13.664 mm, support velocity: 0.917 mm/s, track angle: 11.340 deg
2026-04-14T12:51:07+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (13.7mm - 11.340°)
2026-04-14T12:51:07+00:00 [INFO] kv-logs M4: Reduced detection threshold to 9.500°
2026-04-14T12:51:07+00:00 [DEBUG] kv-logs M4: SupportSystemTask_GetPosition = 13.664mm
2026-04-14T12:51:10+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown
2026-04-14T12:51:10+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 4.722 mm, support velocity: -0.917 mm/s, track angle: 9.599 deg
2026-04-14T12:51:10+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (4.7mm - 9.599°)
2026-04-14T12:51:10+00:00 [INFO] kv-logs M4: Reduced detection threshold to 7.000°
2026-04-14T12:51:10+00:00 [DEBUG] kv-logs M4: SupportSystemTask_GetPosition = 4.722mm
2026-04-14T12:51:11+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling because driven past last detection point.
2026-04-14T12:51:12+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown
2026-04-14T12:51:12+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 12.426 mm, support velocity: 0.000 mm/s, track angle: 4.808 deg
2026-04-14T12:51:12+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (12.4mm - 4.808°)
2026-04-14T12:51:12+00:00 [INFO] kv-logs M4: Reduced detection threshold to 4.500°
2026-04-14T12:51:12+00:00 [DEBUG] kv-logs M4: SupportSystemTask_GetPosition = 12.426mm
2026-04-14T12:51:12+00:00 [DEBUG] kv-logs M4: Small track angle forward (4.8)
2026-04-14T12:51:12+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TRACK_MODE
2026-04-14T12:51:12+00:00 [INFO] kv-logs M4: Leaving on-stair: Min track angle 4.8°. Max track angle 11.3°.
2026-04-14T12:51:12+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ON_STAIR to OperatingMode_TRACK_MODE
2026-04-14T12:51:12+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T12:51:15+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T12:51:15+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:51:15+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TRACK_MODE
2026-04-14T12:51:16+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.219 m after last reset.
2026-04-14T12:51:21+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:51:21+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:51:23+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:51:23+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:51:27+00:00 [ERR] kernel [ 4506.024724] uvcvideo: Failed to resubmit video URB (-1).
2026-04-14T12:51:27+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:51:27+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:51:27+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE
2026-04-14T12:51:27+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_SAFE_MODE
2026-04-14T12:51:27+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T12:51:27+00:00 [DEBUG] kv-logs M4: Recovery Transition
2026-04-14T12:51:40+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T12:51:40+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:51:41+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:51:41+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:51:41+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T12:51:41+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T12:51:46+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T12:51:46+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE
2026-04-14T12:51:46+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T12:51:46+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T12:51:54+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 38.584 m
2026-04-14T12:51:54+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T12:51:54+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:51:55+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T12:51:55+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T12:51:55+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is -1.909°
2026-04-14T12:51:55+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -3.104°, wheel-clearance: -1.385
2026-04-14T12:51:55+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 60.189 mm, support: 22.154 mm
2026-04-14T12:51:55+00:00 [DEBUG] kv-logs M4: Stable angle: -1.527 deg, wheel-clearance offset: -1.211 mm
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -3.104°, wheel-clearance: -4.248
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: 3.326 deg/s, variance: 0.008 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: 3.152 deg/s, variance: 0.083 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 152 ms. Pitch rate mean: 2.328 deg/s, variance: 1.385 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 203 ms. Pitch rate mean: 1.806 deg/s, variance: 1.932 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 254 ms. Pitch rate mean: 1.377 deg/s, variance: 2.236 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 304 ms. Pitch rate mean: 1.083 deg/s, variance: 2.339 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 355 ms. Pitch rate mean: 0.849 deg/s, variance: 2.306 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 405 ms. Pitch rate mean: 0.716 deg/s, variance: 2.163 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 456 ms. Pitch rate mean: 0.619 deg/s, variance: 1.985 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 507 ms. Pitch rate mean: 0.569 deg/s, variance: 1.820 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 559 ms. Pitch rate mean: 0.523 deg/s, variance: 1.667 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 609 ms. Pitch rate mean: 0.483 deg/s, variance: 1.554 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 661 ms. Pitch rate mean: 0.446 deg/s, variance: 1.445 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 711 ms. Pitch rate mean: 0.409 deg/s, variance: 1.355 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 762 ms. Pitch rate mean: 0.384 deg/s, variance: 1.278 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 812 ms. Pitch rate mean: 0.362 deg/s, variance: 1.202 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 863 ms. Pitch rate mean: 0.340 deg/s, variance: 1.143 (deg/s)^2
2026-04-14T12:51:56+00:00 [DEBUG] kv-logs M4: Wait to settle 914 ms. Pitch rate mean: 0.315 deg/s, variance: 1.087 (deg/s)^2
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Wait to settle 964 ms. Pitch rate mean: 0.297 deg/s, variance: 1.039 (deg/s)^2
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Wait to settle 1015 ms. Pitch rate mean: 0.282 deg/s, variance: 0.989 (deg/s)^2
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.218 deg. Extend support, retract tracks
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Control error: -0.218°, track: 60.400, support: 21.964, wheel-clearance: -6.988
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Control error: -0.216°, track: 60.400, support: 21.918, wheel-clearance: -7.072
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Control error: -0.211°, track: 60.400, support: 21.918, wheel-clearance: -7.157
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Control error: -0.178°, track: 60.400, support: 22.010, wheel-clearance: -6.988
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Control error: -0.123°, track: 60.400, support: 22.056, wheel-clearance: -6.903
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Control error: -0.047°, track: 60.100, support: 22.102, wheel-clearance: -7.372
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Control error: 0.051°, track: 60.100, support: 22.285, wheel-clearance: -7.372
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Control error: 0.156°, track: 59.600, support: 22.423, wheel-clearance: -7.372
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: Control error: 0.249°, track: 59.600, support: 22.561, wheel-clearance: -7.372
2026-04-14T12:51:57+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 59.600 mm, support: 22.744 mm
2026-04-14T12:51:57+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:51:58+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T12:51:59+00:00 [INFO] kv-logs M4: Track (11.700 mm) and support (0.549 mm) are retracted enough. Start timer.
2026-04-14T12:51:59+00:00 [WARNING] kv-logs M4: Start balance safeties deactivated due to joystick input!
2026-04-14T12:52:00+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2745 ms
2026-04-14T12:52:00+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 14724 ms
2026-04-14T12:52:00+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:52:00+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:52:00+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T12:52:06+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:52:06+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:52:18+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE
2026-04-14T12:52:18+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE
2026-04-14T12:52:19+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T12:52:19+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T12:52:19+00:00 [INFO] kv-logs M4: Estimated slope angle: 0.065°
2026-04-14T12:52:19+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  40.078 mm, support: 23.237 mm
2026-04-14T12:52:21+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 53.061 mm, support: 30.935 mm
2026-04-14T12:52:22+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T12:52:22+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T12:52:22+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:52:22+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T12:52:22+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T12:54:12+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:54:12+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:54:14+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:54:14+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:54:16+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:54:16+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:54:51+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:54:51+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:54:53+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:54:53+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:54:55+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:54:55+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:55:23+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:55:23+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:55:28+00:00 [DEBUG] kv-logs M4: ControlPanel(TRACKPAD_HOLD) requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T12:55:28+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T12:55:28+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:55:28+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T12:55:28+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T12:55:31+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T12:55:31+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T12:55:43+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE
2026-04-14T12:55:43+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_SAFE_MODE
2026-04-14T12:55:43+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T12:55:43+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T12:55:43+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T13:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T13:00:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:00:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:00:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:00:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:00:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:00:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:00:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:00:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:00:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:00:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:06:19+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T13:06:22+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0
2026-04-14T13:06:23+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T13:06:26+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0
2026-04-14T13:06:27+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T13:06:33+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:06:51+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T13:06:51+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T13:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T13:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T13:11:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:11:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:11:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:11:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:11:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:11:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:11:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:11:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:11:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:11:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:11:22+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T13:11:22+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE
2026-04-14T13:11:22+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T13:11:22+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:11:23+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 48.215 m
2026-04-14T13:11:23+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:11:23+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:11:25+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:11:25+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:11:25+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.559°
2026-04-14T13:11:25+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.415°, wheel-clearance: -1.496
2026-04-14T13:11:25+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 49.786 mm, support: 31.049 mm
2026-04-14T13:11:25+00:00 [DEBUG] kv-logs M4: Stable angle: 0.324 deg, wheel-clearance offset: -1.211 mm
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.415°, wheel-clearance: -5.152
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Wait to settle 53 ms. Pitch rate mean: 2.248 deg/s, variance: 0.456 (deg/s)^2
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Wait to settle 105 ms. Pitch rate mean: 1.635 deg/s, variance: 0.663 (deg/s)^2
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Wait to settle 156 ms. Pitch rate mean: 1.184 deg/s, variance: 0.909 (deg/s)^2
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Wait to settle 208 ms. Pitch rate mean: 0.834 deg/s, variance: 1.036 (deg/s)^2
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Wait to settle 260 ms. Pitch rate mean: 0.587 deg/s, variance: 1.063 (deg/s)^2
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Wait to settle 312 ms. Pitch rate mean: 0.450 deg/s, variance: 0.976 (deg/s)^2
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Wait to settle 363 ms. Pitch rate mean: 0.352 deg/s, variance: 0.908 (deg/s)^2
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Wait to settle 415 ms. Pitch rate mean: 0.277 deg/s, variance: 0.832 (deg/s)^2
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Wait to settle 467 ms. Pitch rate mean: 0.244 deg/s, variance: 0.746 (deg/s)^2
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Wait to settle 518 ms. Pitch rate mean: 0.221 deg/s, variance: 0.682 (deg/s)^2
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.469 deg. Extend support, retract tracks
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Control error: -0.470°, track: 49.700, support: 30.586, wheel-clearance: -8.247
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Control error: -0.468°, track: 49.700, support: 30.494, wheel-clearance: -8.412
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Control error: -0.455°, track: 49.700, support: 30.494, wheel-clearance: -8.412
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Control error: -0.410°, track: 49.700, support: 30.632, wheel-clearance: -8.164
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: Control error: -0.344°, track: 49.700, support: 30.677, wheel-clearance: -8.082
2026-04-14T13:11:26+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 49.200 mm, support: 30.861 mm
2026-04-14T13:11:26+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:11:27+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:11:28+00:00 [INFO] kv-logs M4: Track (10.100 mm) and support (0.732 mm) are retracted enough. Start timer.
2026-04-14T13:11:29+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2298 ms
2026-04-14T13:11:29+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 7566 ms
2026-04-14T13:11:29+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:11:29+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:11:29+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T13:11:37+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:11:37+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:11:42+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:11:42+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:11:51+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T13:11:51+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00140000
2026-04-14T13:11:51+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T13:11:51+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T13:14:15+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:14:15+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:14:29+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T13:14:29+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T13:17:12+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:17:12+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:17:17+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:17:17+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:17:19+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE
2026-04-14T13:17:19+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE
2026-04-14T13:17:19+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:17:19+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:17:20+00:00 [INFO] kv-logs M4: Estimated slope angle: 0.222°
2026-04-14T13:17:20+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  38.747 mm, support: 24.401 mm
2026-04-14T13:17:22+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 51.705 mm, support: 32.116 mm
2026-04-14T13:17:22+00:00 [WARNING] kv-logs M4: Torque safety sets control state to 1
2026-04-14T13:17:22+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T13:17:22+00:00 [ERR] kv-logs M4: Balance Trans Aborted. Torque -35.559 Nm outside of bounds [-35.442, 44.558] Nm
2026-04-14T13:17:23+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T13:17:23+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:17:23+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:17:23+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T13:17:23+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:17:30+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T13:17:33+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T13:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T13:21:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:21:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:21:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:21:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:21:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:21:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:21:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:21:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:21:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:21:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:22:50+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling due to upward step.
2026-04-14T13:24:37+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T13:24:37+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE
2026-04-14T13:24:37+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T13:24:37+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:24:42+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 58.882 m
2026-04-14T13:24:42+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:24:42+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:24:43+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:24:43+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:24:43+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 3.400°
2026-04-14T13:24:43+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.742°, wheel-clearance: -6.428
2026-04-14T13:24:43+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 38.086 mm, support: 41.477 mm
2026-04-14T13:24:43+00:00 [DEBUG] kv-logs M4: Stable angle: 2.455 deg, wheel-clearance offset: -1.211 mm
2026-04-14T13:24:45+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.742°, wheel-clearance: -10.665
2026-04-14T13:24:45+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: 0.641 deg/s, variance: 0.016 (deg/s)^2
2026-04-14T13:24:45+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: 0.359 deg/s, variance: 0.092 (deg/s)^2
2026-04-14T13:24:45+00:00 [DEBUG] kv-logs M4: Wait to settle 154 ms. Pitch rate mean: 0.178 deg/s, variance: 0.125 (deg/s)^2
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Wait to settle 207 ms. Pitch rate mean: 0.080 deg/s, variance: 0.121 (deg/s)^2
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Wait to settle 259 ms. Pitch rate mean: 0.025 deg/s, variance: 0.108 (deg/s)^2
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Wait to settle 310 ms. Pitch rate mean: 0.004 deg/s, variance: 0.094 (deg/s)^2
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Wait to settle 362 ms. Pitch rate mean: 0.004 deg/s, variance: 0.080 (deg/s)^2
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Wait to settle 414 ms. Pitch rate mean: 0.008 deg/s, variance: 0.070 (deg/s)^2
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Wait to settle 466 ms. Pitch rate mean: 0.013 deg/s, variance: 0.063 (deg/s)^2
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Wait to settle 517 ms. Pitch rate mean: 0.018 deg/s, variance: 0.057 (deg/s)^2
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Initial pitch error: 0.208 deg. Extend support, retract tracks
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Control error: 0.208°, track: 37.300, support: 40.720, wheel-clearance: -10.182
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Control error: 0.207°, track: 37.300, support: 40.766, wheel-clearance: -10.182
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Control error: 0.208°, track: 37.300, support: 40.766, wheel-clearance: -10.101
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Control error: 0.225°, track: 37.300, support: 40.904, wheel-clearance: -9.858
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: Control error: 0.265°, track: 37.300, support: 41.041, wheel-clearance: -9.616
2026-04-14T13:24:46+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 37.300 mm, support: 41.041 mm
2026-04-14T13:24:46+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:24:47+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:24:48+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.014 m after last reset.
2026-04-14T13:24:48+00:00 [INFO] kv-logs M4: Track (2.500 mm) and support (4.768 mm) are retracted enough. Start timer.
2026-04-14T13:24:48+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:24:49+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:24:49+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2540 ms
2026-04-14T13:24:49+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:24:49+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:24:49+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 11828 ms
2026-04-14T13:24:49+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:24:49+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:24:49+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T13:24:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:24:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:24:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:24:52+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:24:53+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:24:53+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:24:53+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:24:53+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:25:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:25:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:04+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:04+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:05+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:05+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:26:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:26:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:30+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:26:30+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:26:32+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:32+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:32+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:26:33+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:26:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:56+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:56+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:56+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:56+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:57+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:58+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:58+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:58+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:26:59+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:26:59+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:28:12+00:00 [WARNING] notifications-daemon root: Push BATTERY_LOW_MORE_SERIOUS [58]
2026-04-14T13:28:12+00:00 [INFO] notifications-daemon root: Clear BATTERY_LOW_DRIVING_DISTANCE [2]
2026-04-14T13:28:36+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:28:37+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:28:37+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:28:37+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:28:38+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:28:38+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:28:38+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:28:38+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:28:38+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:28:38+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:28:38+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:28:39+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:28:39+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:28:39+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:28:39+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:28:39+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:28:41+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:28:41+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:28:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:28:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:28:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:28:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:28:46+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:28:46+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:28:46+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:28:46+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:28:46+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:28:46+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:28:49+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T13:28:49+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T13:29:01+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:29:01+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:29:04+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:29:04+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:29:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:29:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:29:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:29:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:29:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:29:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:29:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00100000
2026-04-14T13:29:10+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000000
2026-04-14T13:29:11+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00020000
2026-04-14T13:29:11+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00120000
2026-04-14T13:29:11+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:29:11+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:29:11+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:29:11+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:29:11+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:29:11+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:29:45+00:00 [INFO] kv-tcp-proxy root: Client 200b84cb32bc3341 authenticated
2026-04-14T13:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T13:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T13:30:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:14+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:15+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:15+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:15+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:15+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:15+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:15+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:15+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:30:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:30:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:30:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:30:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:21+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:21+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:21+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:21+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:21+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:21+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:21+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:21+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:21+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:22+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:22+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:30:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:30:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:23+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:23+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00020000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00120000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00120000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:24+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:25+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:25+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:26+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:26+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:26+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:26+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:27+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:27+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:27+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:30:27+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:30:27+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:27+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:28+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:28+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:29+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:29+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:29+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:29+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:29+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:29+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:30+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:30:30+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:30:30+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:30+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:30+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:30+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:31+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:31+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:31+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:32+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:32+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:32+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:32+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:33+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:30:33+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:33+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE
2026-04-14T13:30:33+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE
2026-04-14T13:30:33+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:30:33+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:30:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:34+00:00 [INFO] kv-logs M4: Estimated slope angle: -1.031°
2026-04-14T13:30:34+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  42.944 mm, support: 20.752 mm
2026-04-14T13:30:34+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:30:34+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:30:35+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:30:35+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:30:36+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 55.982 mm, support: 28.414 mm
2026-04-14T13:30:37+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T13:30:37+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:30:37+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:30:38+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T13:30:38+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:31:05+00:00 [DEBUG] kv-logs M4: ControlPanel(TRACKPAD_HOLD) requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T13:31:05+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T13:31:05+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:31:05+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T13:31:05+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:31:06+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:31:06+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:31:10+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE
2026-04-14T13:31:10+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_SAFE_MODE
2026-04-14T13:31:10+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:31:10+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T13:31:10+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:31:15+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T13:31:16+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:31:18+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:31:18+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:32:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:32:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:32:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:32:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:32:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:32:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:32:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:32:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:32:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:32:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:32:48+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00080000
2026-04-14T13:32:48+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x000c0000
2026-04-14T13:32:48+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T13:32:48+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T13:33:30+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:33:30+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:33:30+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:33:30+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:33:31+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:33:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:33:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:33:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:33:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:33:51+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:33:57+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T13:33:57+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE
2026-04-14T13:33:57+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T13:33:57+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:33:58+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 46.547 m
2026-04-14T13:33:58+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:33:58+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:33:59+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:33:59+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.096°
2026-04-14T13:33:59+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:33:59+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.378°, wheel-clearance: -1.494
2026-04-14T13:33:59+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 51.722 mm, support: 29.365 mm
2026-04-14T13:33:59+00:00 [DEBUG] kv-logs M4: Stable angle: -0.024 deg, wheel-clearance offset: -1.211 mm
2026-04-14T13:34:00+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.378°, wheel-clearance: -5.045
2026-04-14T13:34:00+00:00 [DEBUG] kv-logs M4: Wait to settle 51 ms. Pitch rate mean: 2.589 deg/s, variance: 0.280 (deg/s)^2
2026-04-14T13:34:00+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: 1.894 deg/s, variance: 0.697 (deg/s)^2
2026-04-14T13:34:00+00:00 [DEBUG] kv-logs M4: Wait to settle 154 ms. Pitch rate mean: 1.428 deg/s, variance: 0.886 (deg/s)^2
2026-04-14T13:34:00+00:00 [DEBUG] kv-logs M4: Wait to settle 206 ms. Pitch rate mean: 1.053 deg/s, variance: 1.075 (deg/s)^2
2026-04-14T13:34:00+00:00 [DEBUG] kv-logs M4: Wait to settle 258 ms. Pitch rate mean: 0.759 deg/s, variance: 1.195 (deg/s)^2
2026-04-14T13:34:00+00:00 [DEBUG] kv-logs M4: Wait to settle 309 ms. Pitch rate mean: 0.570 deg/s, variance: 1.203 (deg/s)^2
2026-04-14T13:34:00+00:00 [DEBUG] kv-logs M4: Wait to settle 361 ms. Pitch rate mean: 0.435 deg/s, variance: 1.132 (deg/s)^2
2026-04-14T13:34:00+00:00 [DEBUG] kv-logs M4: Wait to settle 413 ms. Pitch rate mean: 0.345 deg/s, variance: 1.044 (deg/s)^2
2026-04-14T13:34:00+00:00 [DEBUG] kv-logs M4: Wait to settle 465 ms. Pitch rate mean: 0.299 deg/s, variance: 0.942 (deg/s)^2
2026-04-14T13:34:01+00:00 [DEBUG] kv-logs M4: Wait to settle 516 ms. Pitch rate mean: 0.275 deg/s, variance: 0.860 (deg/s)^2
2026-04-14T13:34:01+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.653 deg. Extend support, retract tracks
2026-04-14T13:34:01+00:00 [DEBUG] kv-logs M4: Control error: -0.653°, track: 51.800, support: 28.568, wheel-clearance: -8.549
2026-04-14T13:34:01+00:00 [DEBUG] kv-logs M4: Control error: -0.643°, track: 51.800, support: 28.614, wheel-clearance: -8.549
2026-04-14T13:34:01+00:00 [DEBUG] kv-logs M4: Control error: -0.625°, track: 51.800, support: 28.614, wheel-clearance: -8.466
2026-04-14T13:34:01+00:00 [DEBUG] kv-logs M4: Control error: -0.574°, track: 51.800, support: 28.706, wheel-clearance: -8.300
2026-04-14T13:34:01+00:00 [DEBUG] kv-logs M4: Control error: -0.507°, track: 51.800, support: 28.751, wheel-clearance: -8.217
2026-04-14T13:34:01+00:00 [DEBUG] kv-logs M4: Control error: -0.421°, track: 51.200, support: 28.889, wheel-clearance: -9.170
2026-04-14T13:34:01+00:00 [DEBUG] kv-logs M4: Control error: -0.325°, track: 51.200, support: 29.027, wheel-clearance: -9.170
2026-04-14T13:34:01+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 51.000 mm, support: 29.027 mm
2026-04-14T13:34:01+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:34:01+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:34:03+00:00 [INFO] kv-logs M4: Track (11.900 mm) and support (0.594 mm) are retracted enough. Start timer.
2026-04-14T13:34:03+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T13:34:03+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T13:34:03+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2406 ms
2026-04-14T13:34:04+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 7005 ms
2026-04-14T13:34:04+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:34:04+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:34:04+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T13:34:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00120000
2026-04-14T13:34:07+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:07+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00120000
2026-04-14T13:34:07+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:34:07+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:07+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00120000
2026-04-14T13:34:07+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:07+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00120000
2026-04-14T13:34:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:34:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:34:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:34:08+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:34:09+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00120000
2026-04-14T13:34:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00120000
2026-04-14T13:34:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:34:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:10+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:34:11+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:34:11+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:34:12+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:12+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:34:14+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:14+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:34:14+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:14+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:34:19+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00100000
2026-04-14T13:34:20+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000
2026-04-14T13:37:07+00:00 [INFO] cloud-access-daemon Latest version available is: 24.9.3
2026-04-14T13:37:07+00:00 [INFO] cloud-access-daemon Latest update SW v24.9.3 ready to be installed from: /mnt/sdcard/sw_update/update-package-prod-24.9.3.swu
2026-04-14T13:37:07+00:00 [INFO] update-daemon root: Entering state: CHECK_UPDATE_AVAILABLE
2026-04-14T13:37:07+00:00 [INFO] update-daemon root: Entering state: IDLE
2026-04-14T13:37:55+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T13:37:55+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T13:38:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:38:13+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:38:13+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00020000
2026-04-14T13:38:13+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00120000
2026-04-14T13:38:13+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00100000
2026-04-14T13:38:13+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000
2026-04-14T13:38:15+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:38:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:38:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:38:17+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:38:42+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T13:38:42+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T13:38:42+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:38:42+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:38:43+00:00 [INFO] kv-logs M4: Estimated slope angle: 0.026°
2026-04-14T13:38:43+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  39.994 mm, support: 23.310 mm
2026-04-14T13:38:45+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 52.976 mm, support: 31.009 mm
2026-04-14T13:38:46+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T13:38:46+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:38:46+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:38:46+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T13:38:46+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:38:48+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:38:48+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:38:48+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3
2026-04-14T13:38:50+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:38:50+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:38:50+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:38:51+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3
2026-04-14T13:38:51+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:39:05+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3
2026-04-14T13:39:05+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:39:05+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3
2026-04-14T13:39:06+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:39:08+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3
2026-04-14T13:39:08+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:39:09+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T13:39:09+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BALANCE_MODE
2026-04-14T13:39:09+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T13:39:09+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:39:16+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 53.002 m
2026-04-14T13:39:16+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:39:16+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:39:16+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:39:16+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:39:16+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 1.879°
2026-04-14T13:39:16+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -4.311°, wheel-clearance: -13.225
2026-04-14T13:39:16+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 44.315 mm, support: 35.875 mm
2026-04-14T13:39:16+00:00 [DEBUG] kv-logs M4: Stable angle: 1.314 deg, wheel-clearance offset: -1.211 mm
2026-04-14T13:39:19+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -4.311°, wheel-clearance: -9.504
2026-04-14T13:39:19+00:00 [DEBUG] kv-logs M4: Wait to settle 53 ms. Pitch rate mean: 1.250 deg/s, variance: 0.007 (deg/s)^2
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Wait to settle 106 ms. Pitch rate mean: 1.055 deg/s, variance: 0.055 (deg/s)^2
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Wait to settle 158 ms. Pitch rate mean: 0.844 deg/s, variance: 0.130 (deg/s)^2
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Wait to settle 209 ms. Pitch rate mean: 0.658 deg/s, variance: 0.216 (deg/s)^2
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Wait to settle 261 ms. Pitch rate mean: 0.488 deg/s, variance: 0.286 (deg/s)^2
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Wait to settle 313 ms. Pitch rate mean: 0.362 deg/s, variance: 0.315 (deg/s)^2
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Wait to settle 364 ms. Pitch rate mean: 0.281 deg/s, variance: 0.316 (deg/s)^2
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Wait to settle 416 ms. Pitch rate mean: 0.227 deg/s, variance: 0.296 (deg/s)^2
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Wait to settle 467 ms. Pitch rate mean: 0.194 deg/s, variance: 0.271 (deg/s)^2
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Wait to settle 518 ms. Pitch rate mean: 0.176 deg/s, variance: 0.249 (deg/s)^2
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Initial pitch error: 0.291 deg. Extend support, retract tracks
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Control error: 0.291°, track: 44.400, support: 35.447, wheel-clearance: -8.032
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: Control error: 0.292°, track: 44.400, support: 35.447, wheel-clearance: -8.032
2026-04-14T13:39:20+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 44.400 mm, support: 35.447 mm
2026-04-14T13:39:20+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:39:22+00:00 [INFO] kv-logs M4: Track (8.400 mm) and support (4.309 mm) are retracted enough. Start timer.
2026-04-14T13:39:22+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2184 ms
2026-04-14T13:39:23+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 13387 ms
2026-04-14T13:39:23+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:39:23+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:39:23+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:39:23+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T13:39:31+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T13:39:31+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T13:39:31+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:39:31+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:39:31+00:00 [INFO] kv-logs M4: Estimated slope angle: 2.046°
2026-04-14T13:39:31+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  33.406 mm, support: 29.139 mm
2026-04-14T13:39:34+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 46.254 mm, support: 36.918 mm
2026-04-14T13:39:35+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T13:39:36+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:39:36+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:39:36+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T13:39:36+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:39:42+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0
2026-04-14T13:39:43+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.107 m after last reset.
2026-04-14T13:39:46+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:39:46+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:39:48+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TOP_STAIR
2026-04-14T13:39:48+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_TOP_STAIR
2026-04-14T13:39:49+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:39:49+00:00 [DEBUG] kv-logs M4: TopStair: ENTER angle = 18.5° - pitch = -1.930
2026-04-14T13:39:49+00:00 [DEBUG] kv-logs M4: TopStair: ENTER support = 79.5mm
2026-04-14T13:39:49+00:00 [INFO] kv-logs M4: TopStair: Enabled autoleveling!
2026-04-14T13:39:49+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.104 m
2026-04-14T13:39:50+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.097 m
2026-04-14T13:39:50+00:00 [INFO] kv-logs M4: Ground Type STEP detected. 0.580 m after last reset.
2026-04-14T13:39:50+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_BEGIN_STAIR
2026-04-14T13:39:50+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TOP_STAIR
2026-04-14T13:39:54+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR distance = 0.197m
2026-04-14T13:39:54+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR support = 86.7mm
2026-04-14T13:39:54+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR angle = 26.7° - pitch = -5.225
2026-04-14T13:39:54+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_TOUCH_DETECTED
2026-04-14T13:39:54+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_DETECTED step height = 133.1 - diff = 59.3
2026-04-14T13:39:54+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_DETECTED max_diff = 89.8 - tof = 0
2026-04-14T13:39:55+00:00 [DEBUG] kv-logs M4: TopStair EnterStairMode_TOUCH_DETECTED drive_distance_to_touch 0.0522 > 0.05 [m]?
2026-04-14T13:39:55+00:00 [DEBUG] kv-logs M4: TopStair EnterStairMode_TOUCH_DETECTED drive_distance 0.2487 > 0.30 [m]?
2026-04-14T13:39:55+00:00 [DEBUG] kv-logs M4: TopStair EnterStairMode_TOUCH_DETECTED track_angle 26.6616 > 38.0 [°]?
2026-04-14T13:39:55+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR distance = 0.249m
2026-04-14T13:39:55+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR support = 86.6mm
2026-04-14T13:39:55+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR angle = 26.7° - pitch = -5.059
2026-04-14T13:39:55+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_DETECTED distance = 0.249m - angle = 26.7° - pitch = -5.059
2026-04-14T13:39:55+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_STAIR_EDGE early
2026-04-14T13:39:57+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE - single step detected
2026-04-14T13:39:57+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE track angle change since start: 8.1607 [°]
2026-04-14T13:39:57+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE angle_delta_deg -0.040 > 2 [°]?
2026-04-14T13:39:57+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE drive_distance_m 0.1007 > 0.1 [m]?
2026-04-14T13:39:57+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE angle2_deg 26.6218 > 40 [°]?
2026-04-14T13:39:57+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE step_height_mm = 132.3 [mm]
2026-04-14T13:39:57+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_LOWER_SUPPORT
2026-04-14T13:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T13:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T13:40:11+00:00 [DEBUG] kv-logs M4: TopStair: EXIT angle = 12.7° - pitch = -5.782°
2026-04-14T13:40:11+00:00 [DEBUG] kv-logs M4: TopStair: EXIT distance 0.206
2026-04-14T13:40:11+00:00 [INFO] kv-logs M4: TopStair -> STAIR_MODE!
2026-04-14T13:40:11+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_ON_STAIR
2026-04-14T13:40:11+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TOP_STAIR to OperatingMode_ON_STAIR
2026-04-14T13:40:11+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:40:11+00:00 [INFO] kv-logs M4: Started on top
2026-04-14T13:40:11+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ON_STAIR
2026-04-14T13:40:14+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown
2026-04-14T13:40:14+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 10.637 mm, support velocity: 0.917 mm/s, track angle: 11.804 deg
2026-04-14T13:40:14+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (10.6mm - 11.804°)
2026-04-14T13:40:14+00:00 [INFO] kv-logs M4: Reduced detection threshold to 9.500°
2026-04-14T13:40:14+00:00 [DEBUG] kv-logs M4: SupportSystemTask_GetPosition = 10.546mm
2026-04-14T13:40:16+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling because driven past last detection point.
2026-04-14T13:40:19+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown
2026-04-14T13:40:19+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 34.163 mm, support velocity: 0.000 mm/s, track angle: 7.272 deg
2026-04-14T13:40:19+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (34.2mm - 7.272°)
2026-04-14T13:40:19+00:00 [INFO] kv-logs M4: End of stair bottom (1)
2026-04-14T13:40:19+00:00 [INFO] kv-logs M4: Total number of steps = 2
2026-04-14T13:40:19+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_BOTTOM_STAIR
2026-04-14T13:40:19+00:00 [INFO] kv-logs M4: Leaving on-stair: Min track angle 9.7°. Max track angle 12.7°.
2026-04-14T13:40:19+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ON_STAIR to OperatingMode_BOTTOM_STAIR
2026-04-14T13:40:19+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:40:19+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BOTTOM_STAIR
2026-04-14T13:40:19+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_BOTTOM_STAIR entered sub-mode: 3
2026-04-14T13:40:25+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 1000ms
2026-04-14T13:40:25+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T13:40:25+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BOTTOM_STAIR to OperatingMode_STAIR_MODE_READY
2026-04-14T13:40:25+00:00 [INFO] notifications-daemon root: Push STAIR_TOP_SUPPORT_GROUND [27]
2026-04-14T13:40:25+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:40:25+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T13:40:25+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:40:25+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0
2026-04-14T13:40:26+00:00 [INFO] notifications-daemon root: Clear STAIR_TOP_SUPPORT_GROUND [27]
2026-04-14T13:40:27+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.190 m after last reset.
2026-04-14T13:40:29+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:40:31+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T13:40:31+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BALANCE_MODE
2026-04-14T13:40:31+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T13:40:31+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:40:34+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 40.971 m
2026-04-14T13:40:39+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:40:39+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:40:41+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:40:41+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:40:41+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is -0.693°
2026-04-14T13:40:41+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.157°, wheel-clearance: 37.936
2026-04-14T13:40:41+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 55.039 mm, support: 26.509 mm
2026-04-14T13:40:41+00:00 [DEBUG] kv-logs M4: Stable angle: -0.616 deg, wheel-clearance offset: -1.211 mm
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.157°, wheel-clearance: -5.319
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Wait to settle 52 ms. Pitch rate mean: -0.780 deg/s, variance: 0.005 (deg/s)^2
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Wait to settle 105 ms. Pitch rate mean: -0.708 deg/s, variance: 0.012 (deg/s)^2
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Wait to settle 158 ms. Pitch rate mean: -0.572 deg/s, variance: 0.048 (deg/s)^2
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Wait to settle 208 ms. Pitch rate mean: -0.465 deg/s, variance: 0.076 (deg/s)^2
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Wait to settle 260 ms. Pitch rate mean: -0.354 deg/s, variance: 0.109 (deg/s)^2
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Wait to settle 312 ms. Pitch rate mean: -0.279 deg/s, variance: 0.119 (deg/s)^2
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Wait to settle 364 ms. Pitch rate mean: -0.236 deg/s, variance: 0.113 (deg/s)^2
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Wait to settle 415 ms. Pitch rate mean: -0.214 deg/s, variance: 0.104 (deg/s)^2
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Wait to settle 467 ms. Pitch rate mean: -0.202 deg/s, variance: 0.093 (deg/s)^2
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Wait to settle 520 ms. Pitch rate mean: -0.189 deg/s, variance: 0.086 (deg/s)^2
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.688 deg. Extend support, retract tracks
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Control error: -0.688°, track: 55.100, support: 27.055, wheel-clearance: -6.069
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Control error: -0.687°, track: 55.100, support: 27.055, wheel-clearance: -6.069
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Control error: -0.679°, track: 55.100, support: 27.009, wheel-clearance: -6.152
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Control error: -0.659°, track: 55.100, support: 26.917, wheel-clearance: -6.152
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Control error: -0.612°, track: 55.100, support: 27.009, wheel-clearance: -6.152
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Control error: -0.541°, track: 55.100, support: 27.146, wheel-clearance: -5.902
2026-04-14T13:40:43+00:00 [DEBUG] kv-logs M4: Control error: -0.461°, track: 54.800, support: 27.284, wheel-clearance: -6.376
2026-04-14T13:40:44+00:00 [DEBUG] kv-logs M4: Control error: -0.361°, track: 54.800, support: 27.330, wheel-clearance: -6.126
2026-04-14T13:40:44+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 54.300 mm, support: 27.467 mm
2026-04-14T13:40:44+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:40:46+00:00 [INFO] kv-logs M4: Track (11.200 mm) and support (0.549 mm) are retracted enough. Start timer.
2026-04-14T13:40:46+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2621 ms
2026-04-14T13:40:47+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 15339 ms
2026-04-14T13:40:47+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:40:47+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:40:47+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:40:47+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T13:41:03+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:41:03+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:41:12+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:41:12+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:41:18+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:41:18+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:41:28+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T13:41:28+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T13:41:28+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:41:28+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:41:28+00:00 [INFO] kv-logs M4: Estimated slope angle: -2.025°
2026-04-14T13:41:28+00:00 [INFO] kv-logs M4: Balance pose ATS trigger activated! Threshold:-25.000deg/s
2026-04-14T13:41:28+00:00 [DEBUG] kv-logs M4: Initial speed:0.004m/s, pitch:-1.676deg, error:-0.421deg, rate:-0.249deg/s, acc:0.204deg/s^2
2026-04-14T13:41:28+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  48.888 mm, support: 15.700 mm
2026-04-14T13:41:32+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 62.033 mm, support: 23.289 mm
2026-04-14T13:41:33+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T13:41:33+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:41:33+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:41:33+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T13:41:33+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:41:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:41:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:41:44+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:41:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:41:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:41:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:41:45+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:41:46+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:41:46+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:41:46+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:41:56+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:41:56+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00120000
2026-04-14T13:42:05+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:42:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:42:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00100000
2026-04-14T13:42:06+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000
2026-04-14T13:42:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:42:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:42:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:42:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:42:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:42:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:42:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:42:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:42:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:42:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:42:41+00:00 [ERR] kernel [ 7580.560250] uvcvideo: Failed to resubmit video URB (-1).
2026-04-14T13:42:41+00:00 [ERR] kernel [ 7580.566359] uvcvideo: Failed to resubmit video URB (-1).
2026-04-14T13:42:41+00:00 [ERR] kernel [ 7580.572384] uvcvideo: Failed to resubmit video URB (-1).
2026-04-14T13:42:42+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:42:42+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:42:44+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:42:44+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:42:54+00:00 [INFO] gamepads root: Added joystick "Microsoft X-Box 360 pad" with ID 045e:028e
2026-04-14T13:42:56+00:00 [INFO] kv-logs M4: Switch to Xbox Mode triggered
2026-04-14T13:42:56+00:00 [WARNING] kv-logs M4: OperationMode_RunMode returned error 0xe
2026-04-14T13:42:56+00:00 [INFO] kv-logs M4: Controller selected as input device
2026-04-14T13:42:56+00:00 [DEBUG] kv-logs M4: Xbox requests state change to: OperatingMode_XBOX_MODE
2026-04-14T13:42:56+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_XBOX_MODE
2026-04-14T13:42:56+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:42:56+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_XBOX_MODE
2026-04-14T13:43:11+00:00 [INFO] kv-logs M4: Switch to Xbox Mode triggered
2026-04-14T13:43:11+00:00 [WARNING] kv-logs M4: OperationMode_RunMode returned error 0xe
2026-04-14T13:43:11+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_XBOX_MODE entered sub-mode: 6
2026-04-14T13:43:11+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:43:11+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_XBOX_MODE entered sub-mode: 0
2026-04-14T13:43:17+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE
2026-04-14T13:43:17+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_XBOX_MODE to OperatingMode_RECOVERY_MODE
2026-04-14T13:43:17+00:00 [INFO] kv-logs M4: Interface selected as input device
2026-04-14T13:43:17+00:00 [DEBUG] kv-logs M4: Read persisted state 11
2026-04-14T13:43:17+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE
2026-04-14T13:43:17+00:00 [INFO] kv-logs M4: We don't know the mode -> go to OperatingMode_SAFE_MODE
2026-04-14T13:43:17+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T13:43:17+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T13:43:17+00:00 [DEBUG] kv-logs M4: Recovery Transition
2026-04-14T13:43:17+00:00 [DEBUG] kv-logs M4: Slope angle is: -0.835 °
2026-04-14T13:43:17+00:00 [DEBUG] kv-logs M4: First move the tracks to 62.686 mm and support to 22.744 mm
2026-04-14T13:43:17+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:43:18+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE
2026-04-14T13:43:18+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_RECOVERY_MODE
2026-04-14T13:43:18+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_RECOVERY_MODE
2026-04-14T13:43:18+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:43:18+00:00 [DEBUG] kv-logs M4: Read persisted state 11
2026-04-14T13:43:18+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE
2026-04-14T13:43:18+00:00 [INFO] kv-logs M4: We don't know the mode -> go to OperatingMode_SAFE_MODE
2026-04-14T13:43:18+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T13:43:18+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T13:43:18+00:00 [DEBUG] kv-logs M4: Recovery Transition
2026-04-14T13:43:18+00:00 [DEBUG] kv-logs M4: Slope angle is: -0.845 °
2026-04-14T13:43:18+00:00 [DEBUG] kv-logs M4: First move the tracks to 62.715 mm and support to 22.836 mm
2026-04-14T13:43:18+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:43:20+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE
2026-04-14T13:43:20+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_RECOVERY_MODE
2026-04-14T13:43:20+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_RECOVERY_MODE
2026-04-14T13:43:20+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:43:20+00:00 [DEBUG] kv-logs M4: Read persisted state 11
2026-04-14T13:43:20+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE
2026-04-14T13:43:20+00:00 [INFO] kv-logs M4: We don't know the mode -> go to OperatingMode_SAFE_MODE
2026-04-14T13:43:20+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T13:43:20+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T13:43:20+00:00 [DEBUG] kv-logs M4: Recovery Transition
2026-04-14T13:43:20+00:00 [DEBUG] kv-logs M4: Slope angle is: -0.835 °
2026-04-14T13:43:20+00:00 [DEBUG] kv-logs M4: First move the tracks to 62.696 mm and support to 22.790 mm
2026-04-14T13:43:20+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:43:20+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE
2026-04-14T13:43:20+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_RECOVERY_MODE
2026-04-14T13:43:20+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_RECOVERY_MODE
2026-04-14T13:43:20+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:43:21+00:00 [DEBUG] kv-logs M4: Read persisted state 11
2026-04-14T13:43:21+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE
2026-04-14T13:43:21+00:00 [INFO] kv-logs M4: We don't know the mode -> go to OperatingMode_SAFE_MODE
2026-04-14T13:43:21+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T13:43:21+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to SingleTransition_RECOVER_SAFE_POSITION
2026-04-14T13:43:21+00:00 [DEBUG] kv-logs M4: Recovery Transition
2026-04-14T13:43:21+00:00 [DEBUG] kv-logs M4: Slope angle is: -0.835 °
2026-04-14T13:43:21+00:00 [DEBUG] kv-logs M4: First move the tracks to 62.703 mm and support to 22.790 mm
2026-04-14T13:43:21+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:43:25+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:43:25+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:43:26+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:43:26+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:43:26+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T13:43:26+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:43:29+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T13:43:29+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T13:43:29+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:43:29+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T13:43:29+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:43:34+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T13:43:36+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:43:36+00:00 [WARNING] kv-logs M4: Stair ready sideways tilt detected, absolute roll angle: 3.680
2026-04-14T13:43:36+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:36+00:00 [WARNING] notifications-daemon root: Push STAIR_SKEW_ANGLE [25]
2026-04-14T13:43:36+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:37+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T13:43:37+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:37+00:00 [WARNING] kv-logs M4: Sideways tilt detected, absolute roll angle: 5.980
2026-04-14T13:43:37+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:37+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:37+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:37+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:37+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:37+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:43:38+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:38+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:38+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:38+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:38+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:38+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:38+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:40+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:41+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:43+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_WARN for 200ms
2026-04-14T13:43:54+00:00 [INFO] notifications-daemon root: Clear STAIR_SKEW_ANGLE [25]
2026-04-14T13:43:55+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:43:55+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:43:58+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:43:58+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:43:58+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0
2026-04-14T13:44:00+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.070 m after last reset.
2026-04-14T13:44:00+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:44:08+00:00 [INFO] kv-logs M4: Switch to Xbox Mode triggered
2026-04-14T13:44:08+00:00 [WARNING] kv-logs M4: OperationMode_RunMode returned error 0xe
2026-04-14T13:44:08+00:00 [INFO] kv-logs M4: Controller selected as input device
2026-04-14T13:44:08+00:00 [DEBUG] kv-logs M4: Xbox requests state change to: OperatingMode_XBOX_MODE
2026-04-14T13:44:08+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_XBOX_MODE
2026-04-14T13:44:08+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:44:08+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_XBOX_MODE
2026-04-14T13:44:25+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_XBOX_MODE entered sub-mode: 4
2026-04-14T13:44:25+00:00 [WARNING] kv-logs M4: OperationMode_RunMode returned error 0x6
2026-04-14T13:44:25+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_XBOX_MODE entered sub-mode: 0
2026-04-14T13:44:44+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:44:44+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:44:44+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:44:44+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:44:44+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:44:44+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:44:44+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:44:45+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:44:45+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:44:45+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:44:45+00:00 [WARNING] kv-logs M4: Move Joystick to center!
2026-04-14T13:45:53+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE
2026-04-14T13:45:53+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_XBOX_MODE to OperatingMode_RECOVERY_MODE
2026-04-14T13:45:53+00:00 [INFO] kv-logs M4: Interface selected as input device
2026-04-14T13:45:53+00:00 [DEBUG] kv-logs M4: Read persisted state 11
2026-04-14T13:45:53+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE
2026-04-14T13:45:53+00:00 [INFO] kv-logs M4: We should be in OperatingMode_TRACK_MODE
2026-04-14T13:45:53+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TRACK_MODE
2026-04-14T13:45:53+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_TRACK_MODE
2026-04-14T13:45:53+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:45:54+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE
2026-04-14T13:45:54+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_RECOVERY_MODE
2026-04-14T13:45:54+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_RECOVERY_MODE
2026-04-14T13:45:54+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:45:54+00:00 [DEBUG] kv-logs M4: Read persisted state 11
2026-04-14T13:45:54+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE
2026-04-14T13:45:54+00:00 [INFO] kv-logs M4: We should be in OperatingMode_TRACK_MODE
2026-04-14T13:45:54+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TRACK_MODE
2026-04-14T13:45:54+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_TRACK_MODE
2026-04-14T13:45:54+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:46:04+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:46:04+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:46:04+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:46:04+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:46:04+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TRACK_MODE
2026-04-14T13:46:13+00:00 [ERR] kernel [ 7792.115931] xpad 1-1.3:1.0: xpad_try_sending_next_out_packet - usb_submit_urb failed with result -19
2026-04-14T13:46:13+00:00 [ERR] gamepads root: Could not read joystick event: No such device
2026-04-14T13:46:13+00:00 [INFO] gamepads root: Removing joystick Microsoft X-Box 360 pad ...
2026-04-14T13:46:13+00:00 [INFO] gamepads root: Udev remove event for "Microsoft X-Box 360 pad" with ID 045e:028e
2026-04-14T13:46:13+00:00 [INFO] gamepads root: Joystick 045e:028e already removed?
2026-04-14T13:46:13+00:00 [ERR] kernel [ 7792.631960] hid-generic 0003:2DC8:3107.0004: device has no listeners, quitting
2026-04-14T13:46:26+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T13:46:26+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_STAIR_MODE_READY
2026-04-14T13:46:26+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:46:37+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:46:37+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:46:38+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:46:38+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:46:38+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T13:46:38+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:46:38+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.088 m after last reset.
2026-04-14T13:46:41+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T13:46:45+00:00 [INFO] kv-logs M4: Normal step detected, switching to BOTTOM_STAIR
2026-04-14T13:46:45+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_BOTTOM_STAIR
2026-04-14T13:46:45+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BOTTOM_STAIR
2026-04-14T13:46:45+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:46:45+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BOTTOM_STAIR
2026-04-14T13:46:45+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_BOTTOM_STAIR entered sub-mode: 1
2026-04-14T13:46:47+00:00 [INFO] kv-logs M4: RetractWithStuckDetection - no stuck detected, retracting fully (3.9mm - 10.937°)
2026-04-14T13:46:48+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_ON_STAIR
2026-04-14T13:46:48+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BOTTOM_STAIR to OperatingMode_ON_STAIR
2026-04-14T13:46:48+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:46:48+00:00 [INFO] kv-logs M4: Started on bottom
2026-04-14T13:46:48+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ON_STAIR
2026-04-14T13:46:52+00:00 [WARNING] notifications-daemon root: Push BATTERY_LOW_AVOID_STAIRS [51]
2026-04-14T13:46:52+00:00 [INFO] notifications-daemon root: Clear BATTERY_LOW_MORE_SERIOUS [58]
2026-04-14T13:46:58+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000
2026-04-14T13:46:58+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000
2026-04-14T13:47:03+00:00 [INFO] kv-logs M4: Ultrasonic end of stair detected @0.150 (-1.439)
2026-04-14T13:47:03+00:00 [INFO] notifications-daemon root: Push STAIR_END_DETECTION [28]
2026-04-14T13:47:03+00:00 [INFO] notifications-daemon root: Push STAIR_SENSOR_DETECTION_ULTRASONIC_END_OF_STAIR [53]
2026-04-14T13:47:08+00:00 [INFO] kv-logs M4: End of stair top 2 (drive distance = -1.871)
2026-04-14T13:47:08+00:00 [INFO] kv-logs M4: Total number of steps = 7
2026-04-14T13:47:08+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_TOP
2026-04-14T13:47:08+00:00 [INFO] kv-logs M4: Leaving on-stair: Min track angle 10.9°. Max track angle 33.9°.
2026-04-14T13:47:08+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ON_STAIR to OperatingMode_STAIR_TOP
2026-04-14T13:47:09+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_FEEDBACK for 500ms
2026-04-14T13:47:09+00:00 [INFO] notifications-daemon root: Clear STAIR_END_DETECTION [28]
2026-04-14T13:47:09+00:00 [INFO] notifications-daemon root: Clear STAIR_SENSOR_DETECTION_ULTRASONIC_END_OF_STAIR [53]
2026-04-14T13:47:09+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:47:09+00:00 [INFO] kv-logs M4: StairTop: Enabled autoleveling!
2026-04-14T13:47:09+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_TOP
2026-04-14T13:47:11+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown
2026-04-14T13:47:11+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 24.762 mm, support velocity: 0.000 mm/s, track angle: 33.988 deg
2026-04-14T13:47:11+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (24.8mm - 33.988°)
2026-04-14T13:47:11+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 1000ms
2026-04-14T13:47:11+00:00 [INFO] kv-logs M4: StairTop: -> StairTopMode_STAIR_EDGE
2026-04-14T13:47:11+00:00 [INFO] notifications-daemon root: Push STAIR_TOP_SUPPORT_GROUND [27]
2026-04-14T13:47:12+00:00 [WARNING] kv-logs M4: Support velocity limit: 2.316 vs 2.000 [mm/s] @ 2324.447 mA. Reducing the current to 40.000%
2026-04-14T13:47:12+00:00 [WARNING] kv-logs M4: Support velocity limit: 2.316 vs 2.000 [mm/s] @ 2324.447 mA. Reducing the current to 40.000%
2026-04-14T13:47:14+00:00 [WARNING] kv-logs M4: Support velocity limit: 16.050 vs 13.565 [mm/s] @ 2164.173 mA. Reducing the current to 40.000%
2026-04-14T13:47:14+00:00 [WARNING] kv-logs M4: Support velocity limit: 12.840 vs 12.124 [mm/s] @ 2157.294 mA. Reducing the current to 40.000%
2026-04-14T13:47:14+00:00 [WARNING] kv-logs M4: Support velocity limit: 12.840 vs 11.446 [mm/s] @ 2157.294 mA. Reducing the current to 40.000%
2026-04-14T13:47:14+00:00 [WARNING] kv-logs M4: Support velocity limit: 12.840 vs 11.363 [mm/s] @ 2149.727 mA. Reducing the current to 40.000%
2026-04-14T13:47:18+00:00 [INFO] kv-logs M4: StairTop -> StairTopMode_LEAVE_STAIR
2026-04-14T13:47:18+00:00 [DEBUG] kv-logs M4: StTp: Distance1=-0.326m, 64.934, 5.107
2026-04-14T13:47:21+00:00 [DEBUG] kv-logs M4: StTp: Distance2=-0.628m
2026-04-14T13:47:21+00:00 [INFO] kv-logs M4: StairTop: -> OperatingMode_STAIR_MODE_READY !!!
2026-04-14T13:47:21+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_MODE_READY
2026-04-14T13:47:21+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_TOP to OperatingMode_STAIR_MODE_READY
2026-04-14T13:47:21+00:00 [INFO] notifications-daemon root: Clear STAIR_TOP_SUPPORT_GROUND [27]
2026-04-14T13:47:21+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:47:21+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY
2026-04-14T13:47:21+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:47:24+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1
2026-04-14T13:47:27+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:47:31+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3
2026-04-14T13:47:35+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2
2026-04-14T13:47:37+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE
2026-04-14T13:47:37+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BALANCE_MODE
2026-04-14T13:47:37+00:00 [INFO] kv-logs M4: Control State set to: 2
2026-04-14T13:47:37+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1]
2026-04-14T13:47:43+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 3.670 mm, backrest: 52.375 mm, footrest: 46.075 mm, support: 50.190 m
2026-04-14T13:47:43+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1]
2026-04-14T13:47:43+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:47:45+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3]
2026-04-14T13:47:45+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:47:45+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.725°
2026-04-14T13:47:45+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -3.182°, wheel-clearance: -13.394
2026-04-14T13:47:45+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 49.095 mm, support: 31.654 mm
2026-04-14T13:47:45+00:00 [DEBUG] kv-logs M4: Stable angle: 0.448 deg, wheel-clearance offset: -1.211 mm
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -3.182°, wheel-clearance: -9.446
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Wait to settle 52 ms. Pitch rate mean: 0.964 deg/s, variance: 0.002 (deg/s)^2
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Wait to settle 105 ms. Pitch rate mean: 0.773 deg/s, variance: 0.043 (deg/s)^2
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Wait to settle 158 ms. Pitch rate mean: 0.610 deg/s, variance: 0.085 (deg/s)^2
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Wait to settle 210 ms. Pitch rate mean: 0.457 deg/s, variance: 0.136 (deg/s)^2
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Wait to settle 261 ms. Pitch rate mean: 0.335 deg/s, variance: 0.177 (deg/s)^2
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Wait to settle 312 ms. Pitch rate mean: 0.242 deg/s, variance: 0.190 (deg/s)^2
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Wait to settle 363 ms. Pitch rate mean: 0.183 deg/s, variance: 0.187 (deg/s)^2
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Wait to settle 415 ms. Pitch rate mean: 0.144 deg/s, variance: 0.174 (deg/s)^2
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Wait to settle 466 ms. Pitch rate mean: 0.120 deg/s, variance: 0.159 (deg/s)^2
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Wait to settle 517 ms. Pitch rate mean: 0.104 deg/s, variance: 0.147 (deg/s)^2
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Initial pitch error: 0.224 deg. Extend support, retract tracks
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Control error: 0.224°, track: 49.000, support: 30.998, wheel-clearance: -8.621
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Control error: 0.224°, track: 49.000, support: 30.998, wheel-clearance: -8.621
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Control error: 0.231°, track: 49.000, support: 30.998, wheel-clearance: -8.621
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: Control error: 0.260°, track: 49.000, support: 31.044, wheel-clearance: -8.538
2026-04-14T13:47:48+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 49.000 mm, support: 31.182 mm
2026-04-14T13:47:48+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:47:50+00:00 [INFO] kv-logs M4: Track (10.400 mm) and support (1.053 mm) are retracted enough. Start timer.
2026-04-14T13:47:51+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2295 ms
2026-04-14T13:47:51+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 14271 ms
2026-04-14T13:47:51+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:47:51+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:47:51+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:47:51+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE
2026-04-14T13:48:13+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:48:13+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:48:49+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:48:49+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:49:10+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0)
2026-04-14T13:49:10+00:00 [INFO] back-camera root: Starting JPEG server
2026-04-14T13:49:54+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE
2026-04-14T13:49:54+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE
2026-04-14T13:49:54+00:00 [INFO] kv-logs M4: Input deactivated!
2026-04-14T13:49:54+00:00 [INFO] kv-logs M4: Control State set to: 3
2026-04-14T13:49:55+00:00 [INFO] kv-logs M4: Estimated slope angle: -0.215°
2026-04-14T13:49:55+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks:  37.950 mm, support: 25.102 mm
2026-04-14T13:49:57+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 50.892 mm, support: 32.826 mm
2026-04-14T13:49:57+00:00 [INFO] kv-logs M4: Control State set to: 1
2026-04-14T13:49:58+00:00 [INFO] kv-logs M4: Input activated!
2026-04-14T13:49:58+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T13:49:58+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T13:49:58+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:49:59+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T13:50:00+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:50:01+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T13:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T13:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T13:50:04+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0
2026-04-14T13:50:04+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T13:50:05+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0
2026-04-14T13:50:05+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T13:50:05+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0
2026-04-14T13:50:06+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T13:50:08+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T13:50:14+00:00 [DEBUG] kv-logs M4: Health task requests state change to: SingleTransition_ENTER_STANDBY
2026-04-14T13:50:14+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to SingleTransition_ENTER_STANDBY
2026-04-14T13:50:14+00:00 [INFO] kv-logs M4: Enter Standby mode 1
2026-04-14T13:50:14+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000
2026-04-14T13:50:14+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T13:50:15+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00040000
2026-04-14T13:50:17+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00040001
2026-04-14T13:50:20+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SLIDER reported an error (id -1000)
2026-04-14T13:50:20+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00100000
2026-04-14T13:50:20+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_BACKREST reported an error (id -1000)
2026-04-14T13:50:20+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_FOOTREST reported an error (id -1000)
2026-04-14T13:50:20+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00100000
2026-04-14T13:50:20+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00100000
2026-04-14T13:50:21+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SUPPORT reported an error (id -1000)
2026-04-14T13:50:21+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00100000
2026-04-14T13:50:33+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00010000
2026-04-14T13:50:33+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00050000
2026-04-14T13:50:44+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00200000
2026-04-14T13:53:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:53:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:53:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:53:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:53:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:53:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:53:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:53:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:53:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:53:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T13:54:24+00:00 [WARNING] notifications-daemon root: Push BATTERY_LOW_MORE_SERIOUS [58]
2026-04-14T13:54:24+00:00 [INFO] notifications-daemon root: Clear BATTERY_LOW_AVOID_STAIRS [51]
2026-04-14T13:57:35+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. -0.042 m after last reset.
2026-04-14T13:59:26+00:00 [WARNING] notifications-daemon root: Push BATTERY_LOW_DRIVING_DISTANCE [2]
2026-04-14T13:59:26+00:00 [INFO] notifications-daemon root: Clear BATTERY_LOW_MORE_SERIOUS [58]
2026-04-14T14:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T14:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T14:03:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:03:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:03:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:03:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:03:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:03:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:03:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:03:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:03:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:03:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:09:52+00:00 [INFO] notifications-daemon root: Clear BATTERY_LOW_DRIVING_DISTANCE [2]
2026-04-14T14:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T14:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T14:14:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:14:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:14:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:14:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:14:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:14:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:14:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:14:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:14:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:14:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:20:02+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T14:20:02+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T14:24:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:24:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:24:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:24:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:24:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:24:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:24:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:24:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:24:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:24:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T14:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T14:35:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:35:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:35:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:35:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:35:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:35:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:35:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:35:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:35:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:35:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:37:08+00:00 [INFO] cloud-access-daemon Latest version available is: 24.9.3
2026-04-14T14:37:08+00:00 [INFO] cloud-access-daemon Latest update SW v24.9.3 ready to be installed from: /mnt/sdcard/sw_update/update-package-prod-24.9.3.swu
2026-04-14T14:37:08+00:00 [INFO] update-daemon root: Entering state: CHECK_UPDATE_AVAILABLE
2026-04-14T14:37:08+00:00 [INFO] update-daemon root: Entering state: IDLE
2026-04-14T14:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T14:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T14:45:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:45:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:45:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:45:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:45:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:45:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:45:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:45:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:45:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:45:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T14:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T14:53:48+00:00 [INFO] kv-logs M4: Waking up!
2026-04-14T14:53:48+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00000000
2026-04-14T14:53:48+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00000000
2026-04-14T14:53:48+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00000000
2026-04-14T14:53:49+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00000000
2026-04-14T14:53:49+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T14:53:49+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00150000
2026-04-14T14:53:49+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00050000
2026-04-14T14:53:49+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T14:53:49+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000
2026-04-14T14:53:49+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00200000
2026-04-14T14:53:49+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000
2026-04-14T14:53:49+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T14:53:49+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T14:53:49+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T14:53:49+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T14:53:50+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T14:53:50+00:00 [INFO] kv-logs M4: Init main motor controller 10
2026-04-14T14:53:50+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00040000
2026-04-14T14:53:50+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T14:53:50+00:00 [INFO] kv-logs M4: Reinit main motor controllers - prev_power_state = L:8 R:2
2026-04-14T14:53:50+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T14:53:51+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00000000
2026-04-14T14:53:52+00:00 [INFO] kv-logs M4: Motors wake up successful. No errors for 2000ms and support system voltage: 49.260V >= 35.000V
2026-04-14T14:53:52+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_SAFE_MODE
2026-04-14T14:53:52+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_NONE for 0ms
2026-04-14T14:53:52+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_SAFE_MODE
2026-04-14T14:53:52+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_SAFE_MODE
2026-04-14T14:53:52+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T14:53:52+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T14:53:52+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T14:54:07+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T14:54:11+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T14:54:15+00:00 [DEBUG] kv-logs M4: Health task requests state change to: SingleTransition_ENTER_STANDBY
2026-04-14T14:54:15+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to SingleTransition_ENTER_STANDBY
2026-04-14T14:54:15+00:00 [INFO] kv-logs M4: Enter Standby mode 1
2026-04-14T14:54:17+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00040000
2026-04-14T14:54:18+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00040001
2026-04-14T14:54:21+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_BACKREST reported an error (id -1000)
2026-04-14T14:54:21+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00100000
2026-04-14T14:54:21+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_FOOTREST reported an error (id -1000)
2026-04-14T14:54:21+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SLIDER reported an error (id -1000)
2026-04-14T14:54:21+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00100000
2026-04-14T14:54:21+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00100000
2026-04-14T14:54:23+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SUPPORT reported an error (id -1000)
2026-04-14T14:54:23+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00100000
2026-04-14T14:54:34+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00010000
2026-04-14T14:54:34+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00050000
2026-04-14T14:54:44+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00200000
2026-04-14T14:56:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:56:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:56:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:56:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:56:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:56:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:56:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:56:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:56:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T14:56:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T15:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T15:06:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:06:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:06:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:06:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:06:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:06:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:06:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:06:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:06:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:06:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T15:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T15:17:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:17:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:17:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:17:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:17:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:17:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:17:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:17:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:17:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:17:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T15:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T15:27:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:27:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:27:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:27:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:27:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:27:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:27:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:27:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:27:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:27:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T15:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T15:37:08+00:00 [INFO] cloud-access-daemon Latest version available is: 24.9.3
2026-04-14T15:37:08+00:00 [INFO] cloud-access-daemon Latest update SW v24.9.3 ready to be installed from: /mnt/sdcard/sw_update/update-package-prod-24.9.3.swu
2026-04-14T15:37:08+00:00 [INFO] update-daemon root: Entering state: CHECK_UPDATE_AVAILABLE
2026-04-14T15:37:08+00:00 [INFO] update-daemon root: Entering state: IDLE
2026-04-14T15:38:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:38:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:38:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:38:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:38:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:38:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:38:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:38:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:38:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:38:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T15:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T15:48:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:48:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:48:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:48:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:48:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:48:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:48:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:48:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:48:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:48:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T15:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T15:59:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:59:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:59:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:59:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:59:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:59:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:59:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:59:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:59:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T15:59:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T16:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T16:09:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:09:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:09:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:09:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:09:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:09:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:09:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:09:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:09:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:09:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T16:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T16:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T16:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T16:20:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:20:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:20:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:20:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:20:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:20:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:20:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:20:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:20:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:20:05+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:27:17+00:00 [INFO] kv-logs M4: Waking up!
2026-04-14T16:27:17+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00000000
2026-04-14T16:27:17+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00000000
2026-04-14T16:27:17+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00000000
2026-04-14T16:27:17+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00000000
2026-04-14T16:27:17+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T16:27:17+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T16:27:17+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000
2026-04-14T16:27:17+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00200000
2026-04-14T16:27:17+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000
2026-04-14T16:27:17+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T16:27:18+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T16:27:18+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T16:27:18+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T16:27:18+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T16:27:18+00:00 [INFO] kv-logs M4: Init main motor controller 10
2026-04-14T16:27:18+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00040000
2026-04-14T16:27:18+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00140000
2026-04-14T16:27:18+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00040000
2026-04-14T16:27:18+00:00 [INFO] kv-logs M4: Init main motor controller 11
2026-04-14T16:27:18+00:00 [INFO] kv-logs M4: Reinit main motor controllers - prev_power_state = L:8 R:2
2026-04-14T16:27:18+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000
2026-04-14T16:27:19+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00000000
2026-04-14T16:27:20+00:00 [INFO] kv-logs M4: Motors wake up successful. No errors for 2000ms and support system voltage: 51.890V >= 35.000V
2026-04-14T16:27:21+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_SAFE_MODE
2026-04-14T16:27:21+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_NONE for 0ms
2026-04-14T16:27:21+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_SAFE_MODE
2026-04-14T16:27:21+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_SAFE_MODE
2026-04-14T16:27:21+00:00 [INFO] kv-logs M4: ATS general trigger disabled!
2026-04-14T16:27:21+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE
2026-04-14T16:27:21+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T16:27:28+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1
2026-04-14T16:27:30+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2
2026-04-14T16:27:31+00:00 [DEBUG] kv-logs M4: Health task requests state change to: SingleTransition_ENTER_STANDBY
2026-04-14T16:27:31+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to SingleTransition_ENTER_STANDBY
2026-04-14T16:27:31+00:00 [INFO] kv-logs M4: Enter Standby mode 1
2026-04-14T16:27:33+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00040000
2026-04-14T16:27:35+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00040001
2026-04-14T16:27:37+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_BACKREST reported an error (id -1000)
2026-04-14T16:27:37+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SLIDER reported an error (id -1000)
2026-04-14T16:27:37+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00100000
2026-04-14T16:27:37+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00100000
2026-04-14T16:27:37+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_FOOTREST reported an error (id -1000)
2026-04-14T16:27:37+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00100000
2026-04-14T16:27:39+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SUPPORT reported an error (id -1000)
2026-04-14T16:27:39+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00100000
2026-04-14T16:27:51+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00010000
2026-04-14T16:27:51+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00050000
2026-04-14T16:28:00+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00200000
2026-04-14T16:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ...
2026-04-14T16:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device
2026-04-14T16:30:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:30:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:30:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:30:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:30:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:30:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:30:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:30:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:30:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db
2026-04-14T16:30:35+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db