2026-05-04T01:46:36+00:00 [WARNING] kernel [ 0.101307] 30800000.aips-bus:usbphynop1 supply vcc not found, using dummy regulator 2026-05-04T01:46:36+00:00 [WARNING] kernel [ 0.101475] 30800000.aips-bus:usbphynop2 supply vcc not found, using dummy regulator 2026-05-04T01:46:36+00:00 [WARNING] kernel [ 0.174016] imx-sdma 30bd0000.sdma: no iram assigned, using external mem 2026-05-04T01:46:36+00:00 [ERR] kernel [ 0.208943] gpmi-nand 33002000.gpmi-nand: mode:5 ,failed in set feature. 2026-05-04T01:46:36+00:00 [WARNING] kernel [ 0.233918] 30b10200.usbmisc supply vbus-wakeup not found, using dummy regulator 2026-05-04T01:46:36+00:00 [WARNING] kernel [ 0.234002] 30b30200.usbmisc supply vbus-wakeup not found, using dummy regulator 2026-05-04T01:46:36+00:00 [WARNING] kernel [ 0.234128] 30b20200.usbmisc supply vbus-wakeup not found, using dummy regulator 2026-05-04T01:46:36+00:00 [WARNING] kernel [ 0.756899] clk: Not disabling unused clocks 2026-05-04T01:46:36+00:00 [ERR] kernel [ 4.597047] xpad 1-1.3:1.0: xpad_try_sending_next_out_packet - usb_submit_urb failed with result -19 2026-05-04T01:46:36+00:00 [ERR] kernel [ 5.112169] hid-generic 0003:2DC8:3107.0001: device has no listeners, quitting 2026-05-04T01:46:36+00:00 [INFO] kv-server root: Starting kv-server version 0.7.1 (master - v0.7.1) 2026-05-04T01:46:36+00:00 [INFO] kv-logs root: Starting /usr/bin/kv-logs version 0.7.0 (master - v0.7.0) 2026-05-04T01:46:37+00:00 [INFO] kv-tcp-proxy root: Starting /usr/bin/kv-tcp-proxy version 0.7.1 (master - v0.7.1) 2026-05-04T01:46:37+00:00 [INFO] parameters-storage root: Starting parameters-storage version 0.7.0 (master - v0.7.0) 2026-05-04T01:46:37+00:00 [INFO] parameters-storage root: Last main storage update: Fri May 1 14:30:30 2026 2026-05-04T01:46:37+00:00 [INFO] parameters-storage root: Last alternate storage update: Fri May 1 14:30:31 2026 2026-05-04T01:46:37+00:00 [INFO] parameters-storage root: Reading key/values from alternate storage 2026-05-04T01:46:38+00:00 [INFO] parameters-storage root: Last main storage update: Mon Mar 23 13:26:05 2026 2026-05-04T01:46:38+00:00 [INFO] parameters-storage root: Last alternate storage update: Mon Mar 23 13:26:06 2026 2026-05-04T01:46:38+00:00 [INFO] parameters-storage root: Reading key/values from alternate storage 2026-05-04T01:46:38+00:00 [INFO] kv-m4-gateway root: Starting kv-m4-gateway version 0.7.0 (master - v0.7.0) 2026-05-04T01:46:38+00:00 [INFO] kv-m4-gateway root: Storage configuration loaded, forwarding stream! 2026-05-04T01:46:41+00:00 [INFO] xow [ 76efd340] - xow v0.1.0 ©Severin v. W. 2026-05-04T01:46:41+00:00 [INFO] xow [ 76efd340] - Waiting for device... 2026-05-04T01:46:41+00:00 [INFO] analytics-daemon root: Starting /usr/bin/analytics-daemon version 0.8.1 (master - v0.8.1) 2026-05-04T01:46:41+00:00 [INFO] gamepads root: Starting gamepads version 0.7.0 (master - v0.7.0) 2026-05-04T01:46:41+00:00 [WARNING] kv-logs M4: Could not read configuration for single step detection, set to default: 0 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: version.rtoscewo.firmware: 0.13.1 (HEAD - v0.13.1) 2026-05-04T01:46:41+00:00 [WARNING] kv-logs M4: Unsupported ping value type: 0 2026-05-04T01:46:41+00:00 [WARNING] kv-logs M4: Could not read request-save-COG-config! 2026-05-04T01:46:41+00:00 [WARNING] kv-logs M4: Could not read user confirmation ack key/value 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Set balance-config pitch offset to -0.576 deg 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Set balance-config seat slider to 6.478 mm 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Set balance-config backrest to 55.962 mm 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Set balance-config footrest to 57.900 mm 2026-05-04T01:46:41+00:00 [WARNING] kv-logs M4: Could not read request-reset-COG-config! 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ATS trigger counter set from 0 to 8 2026-05-04T01:46:41+00:00 [WARNING] kv-logs M4: No values received for command-favorite-position-save 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Set single step detection to 0 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Set single step detection to 0 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Communication send task started 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: TOF Front LEFT connected via UART 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: TOF Front RIGHT connected via UART 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 0 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF output format set to mm 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF Nr. 0 configuration successful 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 1 2026-05-04T01:46:41+00:00 [INFO] notifications-daemon root: Starting notifications daemon version 0.12.0 (master - v0.12.0) 2026-05-04T01:46:41+00:00 [INFO] kv-timestamps root: Starting /usr/bin/kv-timestamps version 0.3.0 (master - v0.3.0) 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF output format set to mm 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF Nr. 1 configuration successful 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 2 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF output format set to mm 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: ToF Nr. 2 configuration successful 2026-05-04T01:46:41+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 3 2026-05-04T01:46:41+00:00 [INFO] misc-versions root: Published version.linux.misc-versions: 1.2.0 (master - v1.2.0) 2026-05-04T01:46:41+00:00 [INFO] misc-versions root: Published version.linux.scewo-library: 0.7.0 (master - v0.7.0) 2026-05-04T01:46:41+00:00 [INFO] misc-versions root: Published version.linux.scewo-messages: 4.12.0 (master - v4.12.0) 2026-05-04T01:46:41+00:00 [INFO] misc-versions root: Published version.linux.kernel: 4.9.84+g084d10b6ee2e 2026-05-04T01:46:42+00:00 [INFO] /usr/sbin/kv-network-config No IP address configured in kv-server 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: ToF output format set to mm 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: ToF Nr. 3 configuration successful 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: Set balance-config pitch offset to -0.576 deg 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: Set balance-config seat slider to 6.478 mm 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: Set balance-config backrest to 55.962 mm 2026-05-04T01:46:42+00:00 [INFO] misc-versions root: Published version.linux.root-file-system: SCEWO Linux / 24.9.3 / Lagoon / scewo-bro-image 2026-05-04T01:46:42+00:00 [INFO] misc-versions root: Published version.linux.software-release-nickname: Lagoon 2026-05-04T01:46:42+00:00 [INFO] misc-versions root: Published version.u-boot: 2016.11-scewo-bro+gbfb061e159 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: Set balance-config footrest to 57.900 mm 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 0 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 1 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 2 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 3 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 6 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 7 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: ATS trigger counter set from 8 to 8 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: ATS trigger counter set from 8 to 8 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: IMU model LSM6DSL (who-am-I-reg: 0x6A) 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: Track task: Failed to send special command 'ENABLE_SOFT_START_STOP'=1 during init (0x0) 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: Tracks initialized 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: Main motor init successful 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: RXO already registered, only callback updated 2026-05-04T01:46:42+00:00 [DEBUG] kv-logs M4: Configuration-input-trackpad loaded 0 2026-05-04T01:46:42+00:00 [DEBUG] kv-logs M4: input-speed-setting loaded 0 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: Input module initialized 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 236 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 237 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 238 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 384 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 385 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 400 2026-05-04T01:46:42+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 438 2026-05-04T01:46:42+00:00 [INFO] /usr/sbin/kv-network-config No netmask configured in kv-server 2026-05-04T01:46:42+00:00 [INFO] favorite-positions root: Starting /usr/bin/favorite-positions version 0.3.1 (master - v0.3.1) 2026-05-04T01:46:42+00:00 [INFO] /usr/sbin/kv-network-config No gateway configured in kv-server 2026-05-04T01:46:42+00:00 [INFO] kv-logs M4: Control task started 2026-05-04T01:46:42+00:00 [DEBUG] kv-logs M4: Loaded calibrated IMU mounting angles: YPR [0.00 20.12 0.08] deg 2026-05-04T01:46:42+00:00 [DEBUG] kv-logs M4: Applying calibrated IMU mounting angles: YPR [0.00 20.12 0.08] deg 2026-05-04T01:46:42+00:00 [INFO] /usr/sbin/kv-network-config No dns server configured in kv-server 2026-05-04T01:46:42+00:00 [INFO] modem-daemon root: Building modem Huawei E3531 dialing on /dev/ttyUSB0 AT on /dev/ttyUSB2 2026-05-04T01:46:42+00:00 [INFO] /usr/sbin/kv-network-config Missing static network configuration in kv-server using default 2026-05-04T01:46:42+00:00 [INFO] modem-daemon root: New modem inserted! 2026-05-04T01:46:42+00:00 [INFO] misc-versions root: Starting misc_versions 1.2.0 (master - v1.2.0) 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.rust.black-box is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0) 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.black-box (v4.12.0 != �� 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.rust.black-box is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0) 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 2026-05-04T01:46:42+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.black-box (v4.12.0 != �� 2026-05-04T01:46:42+00:00 [NOTICE] root usb_modeswitch: switched to 12d1:155e on 001/009 2026-05-04T01:46:42+00:00 [INFO] swupdate RUN [main] : software set: dev mode: system2 2026-05-04T01:46:42+00:00 [WARNING] modem-daemon root: AT command failed: ATE0 2026-05-04T01:46:42+00:00 [INFO] modem-daemon root: Setting Apn to onomondo 2026-05-04T01:46:42+00:00 [INFO] modem-daemon root: Starting ppp daemon 2026-05-04T01:46:42+00:00 [INFO] black-box Daemon started! 2026-05-04T01:46:43+00:00 [WARNING] modem-daemon root: AT command failed: AT+CRSM=176,28486,0,0,17 2026-05-04T01:46:43+00:00 [INFO] black-box The crash recording are stored in: /mnt/sdcard/.blackbox 2026-05-04T01:46:43+00:00 [INFO] black-box daemon version: 1.0.0 (main - v1.0.0) 2026-05-04T01:46:43+00:00 [INFO] black-box scewo_messages version: 4.12.0 (HEAD - v4.12.0) 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: Angular velocity bias calibrated: [-0.075, 0.0072, 0.0074] rad/s 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: Applying IMU calibration angular velocity static bias: [-0.075 0.0072 0.0074] rad/s 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: ToF calibration data loaded [3.425, 3.051, 35.258, 23.804] 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Sensor task started 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Track task started 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Checking support-motor miControl FW and eventually updating it... 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: miControl: current FW for 0x11 @ 0: v0.3.0 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [1ms] 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Checking seat-slider-motor miControl FW and eventually updating it... 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: miControl: current FW for 0x31 @ 1: v0.3.0 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [3ms] 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Checking foot-support-motor miControl FW and eventually updating it... 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: miControl: current FW for 0x32 @ 1: v0.3.0 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [2ms] 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Checking back-support-motor miControl FW and eventually updating it... 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: miControl: current FW for 0x33 @ 1: v0.3.0 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [2ms] 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Support system task started 2026-05-04T01:46:43+00:00 [WARNING] kv-logs M4: No force sensor provided, falling back to legacy touch ground 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Old min: 1077.440 mV, max: 3803.230 mV, 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Old offset: 6.585 mm 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Seat Task started 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Old min: 0.000 mm, max: 116.415 mm, 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: New min: 1077.440 mV, max: 3803.230 mV, 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: New offset: 6.585 mm 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: New min: 0.000 mm, max: 116.415 mm, 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: System health task started 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Old min: 1077.440 mV, max: 3803.230 mV, 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Old offset: 6.585 mm 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Old min: 0.000 mm, max: 116.415 mm, 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: New min: 1077.440 mV, max: 3803.230 mV, 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: New offset: 6.585 mm 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: New min: 0.000 mm, max: 116.415 mm, 2026-05-04T01:46:43+00:00 [WARNING] kv-logs M4: Could not read standby request 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Standby deactivated! 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Type approval changed to GERMANY 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Type approval changed to GERMANY 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Type approval changed to GERMANY 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Disable speed limit changed to 0 2026-05-04T01:46:43+00:00 [WARNING] kv-logs M4: RTR message missed 0xa = 0x0-0x7f 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Old wheel clearance offset: -1.211 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: New wheel clearance offset: -1.211 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Old wheel clearance offset: -1.211 2026-05-04T01:46:43+00:00 [WARNING] kv-logs M4: RTR message missed 0xb = 0x0-0x7f 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: New wheel clearance offset: -1.211 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Init main motor controller 10 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0) 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_SUPPORT to 100.0mV 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting filter fault detection threshold level for CAN_ID_SUPPORT to 18.7mV 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_BACKREST to 60.0mV 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_FOOTREST to 60.0mV 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: CAN_ID_SUPPORT init position: 29.898 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_SLIDER to 60.0mV 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: CAN_ID_BACKREST init position: 55.653 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: CAN_ID_FOOTREST init position: 57.450 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: CAN_ID_SLIDER init position: 5.676 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Init main motor controller 11 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Sh Task started 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Monitoring task started 2026-05-04T01:46:43+00:00 [WARNING] kv-logs M4: Could not read Bluetooth command, set to default: ON 2026-05-04T01:46:43+00:00 [WARNING] kv-logs M4: Could not read Bluetooth command, set to default: ON 2026-05-04T01:46:43+00:00 [DEBUG] kv-logs M4: Toradex serial number: '07223259' 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.IMU.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] black-box Available space for crash records: 29227 MB 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.IMU.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000005 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000005 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000005 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000005 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000001 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00200000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00140000 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00040000 2026-05-04T01:46:43+00:00 [ERR] notifications-daemon root: Push TOF_ERROR [65] 2026-05-04T01:46:43+00:00 [ERR] notifications-daemon root: Push INTERFACE_DISCONNECTED [29] 2026-05-04T01:46:43+00:00 [INFO] notifications-daemon root: Clear INTERFACE_DISCONNECTED [29] 2026-05-04T01:46:43+00:00 [ERR] notifications-daemon root: Push INTERFACE_DISCONNECTED [29] 2026-05-04T01:46:43+00:00 [ERR] notifications-daemon root: Push TOF_ERROR [65] 2026-05-04T01:46:43+00:00 [INFO] notifications-daemon root: Clear TOF_ERROR [65] 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: Reinit main motor controllers - prev_power_state = L:2 R:2 2026-05-04T01:46:43+00:00 [INFO] ntp-daemon Daemon started! 2026-05-04T01:46:43+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T01:46:43+00:00 [INFO] black-box New recording started on /mnt/sdcard/.blackbox/2026-05-04.0.csv 2026-05-04T01:46:43+00:00 [INFO] kv-logs M4: State machine task started 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 2026-05-04T01:46:43+00:00 [INFO] update-daemon root: Exiting error state 2026-05-04T01:46:43+00:00 [INFO] update-daemon root: Entering state: INIT 2026-05-04T01:46:43+00:00 [INFO] update-daemon root: Starting /usr/bin/update-daemon version 1.1.0 (master - v1.1.0) 2026-05-04T01:46:43+00:00 [INFO] update-daemon root: Entering state: IDLE 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T01:46:43+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 2026-05-04T01:46:44+00:00 [INFO] cloud-access-daemon Daemon started! 2026-05-04T01:46:44+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T01:46:44+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T01:46:44+00:00 [INFO] cloud-access-daemon Waiting 30s for LTE connection... 2026-05-04T01:46:44+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T01:46:44+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T01:46:44+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T01:46:44+00:00 [ERR] ntpd restrict: ignoring line 6, mask '::' unusable. 2026-05-04T01:46:45+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T01:46:45+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T01:46:45+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T01:46:45+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T01:46:45+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T01:46:45+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T01:46:45+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T01:46:45+00:00 [INFO] service-tool-backend Starting HTTP server at 127.0.0.1:8080 2026-05-04T01:46:45+00:00 [INFO] service-tool-backend starting 2 workers 2026-05-04T01:46:45+00:00 [INFO] service-tool-backend Actix runtime found; starting in Actix runtime 2026-05-04T01:46:45+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 2026-05-04T01:46:45+00:00 [INFO] notifications-daemon root: Clear INTERFACE_DISCONNECTED [29] 2026-05-04T01:46:45+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000000 2026-05-04T01:46:45+00:00 [INFO] kv-logs M4: Motors wake up successful. No errors for 2000ms and support system voltage: 53.490V >= 35.000V 2026-05-04T01:46:45+00:00 [DEBUG] kv-logs M4: Read persisted state 1 2026-05-04T01:46:45+00:00 [INFO] kv-logs M4: Assisted stair climbing activated 2026-05-04T01:46:45+00:00 [INFO] kv-logs M4: Assisted stair climbing activated 2026-05-04T01:46:45+00:00 [INFO] kv-logs M4: Assisted stair climbing activated 2026-05-04T01:46:45+00:00 [INFO] kv-logs M4: We should be in OperatingMode_SAFE_MODE 2026-05-04T01:46:45+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_SAFE_MODE 2026-05-04T01:46:45+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_SAFE_MODE 2026-05-04T01:46:45+00:00 [DEBUG] kv-logs M4: Recovery Transition 2026-05-04T01:46:45+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T01:46:45+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T01:46:45+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T01:46:46+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T01:46:46+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T01:46:46+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T01:46:46+00:00 [INFO] speaker-daemon root: Starting /usr/bin/speaker-daemon version 0.7.1 (master - v0.7.1) 2026-05-04T01:46:47+00:00 [ERR] kv-tcp-proxy Could not set dns settings on the TP-Link router 2026-05-04T01:46:48+00:00 [INFO] modem-daemon root: PPP connection established on ppp0 2026-05-04T01:46:49+00:00 [WARNING] pppd Warning - secret file /etc/ppp/chap-secrets has world and/or group access 2026-05-04T01:46:49+00:00 [WARNING] pppd kernel does not support PPP filtering 2026-05-04T01:46:50+00:00 [WARNING] pppd Could not determine remote IP address: defaulting to 10.64.64.64 2026-05-04T01:46:50+00:00 [WARNING] dnsmasq failed to access /etc/resolv.conf: No such file or directory 2026-05-04T01:46:50+00:00 [ERR] pppd not replacing default route to eth0 [192.168.0.1] 2026-05-04T01:47:04+00:00 [INFO] ntp-daemon Time corrected by 0.927731s. New date time: 04-05-2026 01:47:04 2026-05-04T01:47:15+00:00 [INFO] cloud-access-daemon Fetched toradex serial number 07223259 2026-05-04T01:47:15+00:00 [ERR] cloud-access-daemon Could not read KV ConfigurationInputDeveloper. Assume it is disabled. 2026-05-04T01:47:16+00:00 [INFO] cloud-access-daemon Latest version available is: 24.9.3 2026-05-04T01:47:17+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 2026-05-04T01:47:17+00:00 [INFO] update-daemon root: Entering state: CHECK_UPDATE_AVAILABLE 2026-05-04T01:47:17+00:00 [INFO] update-daemon root: Entering state: IDLE 2026-05-04T01:47:17+00:00 [INFO] cloud-access-daemon Successfully connected to the MQTT broker, session present: false 2026-05-04T01:47:18+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". 2026-05-04T01:47:18+00:00 [INFO] cloud-access-daemon Successfully set the technical device details in Odoo to "travel_distance_km: 125, ats_trigger_counter: 8". 2026-05-04T01:47:21+00:00 [WARNING] pppd IPV6CP: timeout sending Config-Requests 2026-05-04T01:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T01:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T01:51:46+00:00 [INFO] kv-logs M4: Standby requested after charging for more than 300 seconds and no user input 2026-05-04T01:51:46+00:00 [DEBUG] kv-logs M4: Health task requests state change to: SingleTransition_ENTER_STANDBY 2026-05-04T01:51:46+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to SingleTransition_ENTER_STANDBY 2026-05-04T01:51:46+00:00 [INFO] kv-logs M4: Enter Standby mode 1 2026-05-04T01:51:48+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00040000 2026-05-04T01:51:50+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00040001 2026-05-04T01:51:52+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_BACKREST reported an error (id -1000) 2026-05-04T01:51:52+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_FOOTREST reported an error (id -1000) 2026-05-04T01:51:52+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SLIDER reported an error (id -1000) 2026-05-04T01:51:52+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00100000 2026-05-04T01:51:52+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00100000 2026-05-04T01:51:52+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00100000 2026-05-04T01:51:54+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SUPPORT reported an error (id -1000) 2026-05-04T01:51:54+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00100000 2026-05-04T01:52:07+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00010000 2026-05-04T01:52:07+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00050000 2026-05-04T01:52:16+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00380000 2026-05-04T11:16:21+00:00 [WARNING] kernel [ 0.101282] 30800000.aips-bus:usbphynop1 supply vcc not found, using dummy regulator 2026-05-04T11:16:21+00:00 [WARNING] kernel [ 0.101448] 30800000.aips-bus:usbphynop2 supply vcc not found, using dummy regulator 2026-05-04T11:16:21+00:00 [WARNING] kernel [ 0.174092] imx-sdma 30bd0000.sdma: no iram assigned, using external mem 2026-05-04T11:16:21+00:00 [ERR] kernel [ 0.209055] gpmi-nand 33002000.gpmi-nand: mode:5 ,failed in set feature. 2026-05-04T11:16:21+00:00 [WARNING] kernel [ 0.234170] 30b10200.usbmisc supply vbus-wakeup not found, using dummy regulator 2026-05-04T11:16:21+00:00 [WARNING] kernel [ 0.234255] 30b30200.usbmisc supply vbus-wakeup not found, using dummy regulator 2026-05-04T11:16:21+00:00 [WARNING] kernel [ 0.234381] 30b20200.usbmisc supply vbus-wakeup not found, using dummy regulator 2026-05-04T11:16:21+00:00 [WARNING] kernel [ 0.777037] clk: Not disabling unused clocks 2026-05-04T11:16:21+00:00 [ERR] kernel [ 4.593648] xpad 1-1.3:1.0: xpad_try_sending_next_out_packet - usb_submit_urb failed with result -19 2026-05-04T11:16:21+00:00 [ERR] kernel [ 5.131626] hid-generic 0003:2DC8:3107.0001: device has no listeners, quitting 2026-05-04T11:16:21+00:00 [ERR] kv-client scewo-messages: Cannot open local socket /tmp/kv-server.sock: No such file or directory 2026-05-04T11:16:21+00:00 [ERR] kv-client scewo-messages: Cannot open local socket /tmp/kv-server.sock: No such file or directory 2026-05-04T11:16:22+00:00 [INFO] kv-server root: Starting kv-server version 0.7.1 (master - v0.7.1) 2026-05-04T11:16:22+00:00 [INFO] kv-logs root: Starting /usr/bin/kv-logs version 0.7.0 (master - v0.7.0) 2026-05-04T11:16:22+00:00 [INFO] parameters-storage root: Starting parameters-storage version 0.7.0 (master - v0.7.0) 2026-05-04T11:16:22+00:00 [INFO] kv-tcp-proxy root: Starting /usr/bin/kv-tcp-proxy version 0.7.1 (master - v0.7.1) 2026-05-04T11:16:22+00:00 [INFO] parameters-storage root: Last main storage update: Mon May 4 01:46:45 2026 2026-05-04T11:16:22+00:00 [INFO] parameters-storage root: Last alternate storage update: Mon May 4 01:46:46 2026 2026-05-04T11:16:22+00:00 [INFO] parameters-storage root: Reading key/values from alternate storage 2026-05-04T11:16:23+00:00 [INFO] parameters-storage root: Last main storage update: Mon Mar 23 13:26:05 2026 2026-05-04T11:16:23+00:00 [INFO] parameters-storage root: Last alternate storage update: Mon Mar 23 13:26:06 2026 2026-05-04T11:16:23+00:00 [INFO] parameters-storage root: Reading key/values from alternate storage 2026-05-04T11:16:23+00:00 [INFO] kv-m4-gateway root: Starting kv-m4-gateway version 0.7.0 (master - v0.7.0) 2026-05-04T11:16:23+00:00 [INFO] kv-m4-gateway root: Storage configuration loaded, forwarding stream! 2026-05-04T11:16:25+00:00 [INFO] xow [ 76f81340] - xow v0.1.0 ©Severin v. W. 2026-05-04T11:16:26+00:00 [INFO] xow [ 76f81340] - Waiting for device... 2026-05-04T11:16:26+00:00 [INFO] analytics-daemon root: Starting /usr/bin/analytics-daemon version 0.8.1 (master - v0.8.1) 2026-05-04T11:16:26+00:00 [WARNING] kv-logs M4: Could not read configuration for single step detection, set to default: 0 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: version.rtoscewo.firmware: 0.13.1 (HEAD - v0.13.1) 2026-05-04T11:16:26+00:00 [WARNING] kv-logs M4: Unsupported ping value type: 0 2026-05-04T11:16:26+00:00 [WARNING] kv-logs M4: Could not read request-save-COG-config! 2026-05-04T11:16:26+00:00 [WARNING] kv-logs M4: Could not read user confirmation ack key/value 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Set balance-config pitch offset to -0.576 deg 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Set balance-config seat slider to 6.478 mm 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Set balance-config backrest to 55.962 mm 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Set balance-config footrest to 57.900 mm 2026-05-04T11:16:26+00:00 [WARNING] kv-logs M4: Could not read request-reset-COG-config! 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ATS trigger counter set from 0 to 8 2026-05-04T11:16:26+00:00 [WARNING] kv-logs M4: No values received for command-favorite-position-save 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Set single step detection to 0 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Set single step detection to 0 2026-05-04T11:16:26+00:00 [INFO] kv-timestamps root: Starting /usr/bin/kv-timestamps version 0.3.0 (master - v0.3.0) 2026-05-04T11:16:26+00:00 [INFO] gamepads root: Starting gamepads version 0.7.0 (master - v0.7.0) 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Communication send task started 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: TOF Front LEFT connected via UART 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: TOF Front RIGHT connected via UART 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 0 2026-05-04T11:16:26+00:00 [INFO] misc-versions root: Published version.linux.misc-versions: 1.2.0 (master - v1.2.0) 2026-05-04T11:16:26+00:00 [INFO] misc-versions root: Published version.linux.scewo-library: 0.7.0 (master - v0.7.0) 2026-05-04T11:16:26+00:00 [INFO] misc-versions root: Published version.linux.scewo-messages: 4.12.0 (master - v4.12.0) 2026-05-04T11:16:26+00:00 [INFO] misc-versions root: Published version.linux.kernel: 4.9.84+g084d10b6ee2e 2026-05-04T11:16:26+00:00 [INFO] notifications-daemon root: Starting notifications daemon version 0.12.0 (master - v0.12.0) 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF output format set to mm 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF Nr. 0 configuration successful 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 1 2026-05-04T11:16:26+00:00 [INFO] misc-versions root: Published version.linux.root-file-system: SCEWO Linux / 24.9.3 / Lagoon / scewo-bro-image 2026-05-04T11:16:26+00:00 [INFO] misc-versions root: Published version.linux.software-release-nickname: Lagoon 2026-05-04T11:16:26+00:00 [INFO] misc-versions root: Published version.u-boot: 2016.11-scewo-bro+gbfb061e159 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF output format set to mm 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF Nr. 1 configuration successful 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 2 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF output format set to mm 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: ToF Nr. 2 configuration successful 2026-05-04T11:16:26+00:00 [INFO] kv-logs M4: Configuring ToF Nr. 3 2026-05-04T11:16:26+00:00 [INFO] /usr/sbin/kv-network-config No IP address configured in kv-server 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: ToF FW Version: V2.1.5 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: ToF output format set to mm 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: ToF measurement frequency set to 100 Hz 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: ToF Nr. 3 configuration successful 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: Set balance-config pitch offset to -0.576 deg 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: Set balance-config seat slider to 6.478 mm 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: Set balance-config backrest to 55.962 mm 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: Set balance-config footrest to 57.900 mm 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 0 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 1 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 2 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 3 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 6 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: No values loaded for favorite position 7 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: ATS trigger counter set from 8 to 8 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: ATS trigger counter set from 8 to 8 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: IMU model LSM6DSL (who-am-I-reg: 0x6A) 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: Track task: Failed to send special command 'ENABLE_SOFT_START_STOP'=1 during init (0x0) 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: Tracks initialized 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: Main motor init successful 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: RXO already registered, only callback updated 2026-05-04T11:16:27+00:00 [DEBUG] kv-logs M4: Configuration-input-trackpad loaded 0 2026-05-04T11:16:27+00:00 [INFO] /usr/sbin/kv-network-config No netmask configured in kv-server 2026-05-04T11:16:27+00:00 [DEBUG] kv-logs M4: input-speed-setting loaded 0 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: Input module initialized 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 236 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 237 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 238 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 384 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 385 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 400 2026-05-04T11:16:27+00:00 [WARNING] kv-logs M4: Could not read command motor speed with id 438 2026-05-04T11:16:27+00:00 [INFO] favorite-positions root: Starting /usr/bin/favorite-positions version 0.3.1 (master - v0.3.1) 2026-05-04T11:16:27+00:00 [INFO] /usr/sbin/kv-network-config No gateway configured in kv-server 2026-05-04T11:16:27+00:00 [INFO] kv-logs M4: Control task started 2026-05-04T11:16:27+00:00 [INFO] misc-versions root: Starting misc_versions 1.2.0 (master - v1.2.0) 2026-05-04T11:16:27+00:00 [DEBUG] kv-logs M4: Loaded calibrated IMU mounting angles: YPR [0.00 20.12 0.08] deg 2026-05-04T11:16:27+00:00 [DEBUG] kv-logs M4: Applying calibrated IMU mounting angles: YPR [0.00 20.12 0.08] deg 2026-05-04T11:16:27+00:00 [INFO] /usr/sbin/kv-network-config No dns server configured in kv-server 2026-05-04T11:16:27+00:00 [INFO] /usr/sbin/kv-network-config Missing static network configuration in kv-server using default 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.rust.black-box is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0) 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.black-box (v4.12.0 != �s 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.rust.black-box is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.update-daemon is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0) 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 2026-05-04T11:16:27+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.black-box (v4.12.0 != �s 2026-05-04T11:16:27+00:00 [INFO] swupdate RUN [main] : software set: dev mode: system2 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: Angular velocity bias calibrated: [-0.075, 0.0077, 0.0066] rad/s 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: Applying IMU calibration angular velocity static bias: [-0.075 0.0077 0.0066] rad/s 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Sensor task started 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: ToF calibration data loaded [3.425, 3.051, 35.258, 23.804] 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Track task started 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Checking support-motor miControl FW and eventually updating it... 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: miControl: current FW for 0x11 @ 0: v0.3.0 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [1ms] 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Checking seat-slider-motor miControl FW and eventually updating it... 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: miControl: current FW for 0x31 @ 1: v0.3.0 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [3ms] 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Checking foot-support-motor miControl FW and eventually updating it... 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: miControl: current FW for 0x32 @ 1: v0.3.0 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [2ms] 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Checking back-support-motor miControl FW and eventually updating it... 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: miControl: current FW for 0x33 @ 1: v0.3.0 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: SUCCESS in 1 attempts [2ms] 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Support system task started 2026-05-04T11:16:28+00:00 [WARNING] kv-logs M4: No force sensor provided, falling back to legacy touch ground 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Old min: 1077.440 mV, max: 3803.230 mV, 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Old offset: 6.585 mm 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Seat Task started 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Old min: 0.000 mm, max: 116.415 mm, 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: New min: 1077.440 mV, max: 3803.230 mV, 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: New offset: 6.585 mm 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: New min: 0.000 mm, max: 116.415 mm, 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Old min: 1077.440 mV, max: 3803.230 mV, 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Old offset: 6.585 mm 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Old min: 0.000 mm, max: 116.415 mm, 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: New min: 1077.440 mV, max: 3803.230 mV, 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: New offset: 6.585 mm 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: New min: 0.000 mm, max: 116.415 mm, 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: System health task started 2026-05-04T11:16:28+00:00 [WARNING] kv-logs M4: Could not read standby request 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Standby deactivated! 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Type approval changed to GERMANY 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Type approval changed to GERMANY 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Type approval changed to GERMANY 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Disable speed limit changed to 0 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Old wheel clearance offset: -1.211 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: New wheel clearance offset: -1.211 2026-05-04T11:16:28+00:00 [WARNING] kv-logs M4: RTR message missed 0xa = 0x0-0x7f 2026-05-04T11:16:28+00:00 [WARNING] kv-logs M4: RTR message missed 0xb = 0x0-0x7f 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Old wheel clearance offset: -1.211 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: New wheel clearance offset: -1.211 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Init main motor controller 10 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_SUPPORT to 100.0mV 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting filter fault detection threshold level for CAN_ID_SUPPORT to 18.7mV 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_BACKREST to 60.0mV 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_FOOTREST to 60.0mV 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: CAN_ID_SUPPORT init position: 29.990 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: Linear Motor: Setting poti fault detection threshold level for CAN_ID_SLIDER to 60.0mV 2026-05-04T11:16:28+00:00 [INFO] update-daemon root: Exiting error state 2026-05-04T11:16:28+00:00 [INFO] update-daemon root: Entering state: INIT 2026-05-04T11:16:28+00:00 [INFO] update-daemon root: Starting /usr/bin/update-daemon version 1.1.0 (master - v1.1.0) 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.rust.black-box is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0) 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.black-box (v4.12.0 != �s 2026-05-04T11:16:28+00:00 [INFO] update-daemon root: Entering state: IDLE 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: CAN_ID_BACKREST init position: 55.463 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: CAN_ID_FOOTREST init position: 57.475 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: CAN_ID_SLIDER init position: 5.542 2026-05-04T11:16:28+00:00 [INFO] black-box Daemon started! 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Init main motor controller 11 2026-05-04T11:16:28+00:00 [INFO] black-box The crash recording are stored in: /mnt/sdcard/.blackbox 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Sh Task started 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Monitoring task started 2026-05-04T11:16:28+00:00 [WARNING] kv-logs M4: Could not read Bluetooth command, set to default: ON 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.IMU.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000001 2026-05-04T11:16:28+00:00 [WARNING] kv-logs M4: Could not read Bluetooth command, set to default: ON 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: mcu.power-board.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.IMU.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000005 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000005 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000005 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000005 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000001 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.back.left.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.back.right.error: 0x00000000 2026-05-04T11:16:28+00:00 [DEBUG] kv-logs M4: Toradex serial number: '07223259' 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.left.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: sensors.tof.front.right.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00200000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.tracks.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.backrest.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.footrest.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.seat-slider.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.support.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00140000 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00040000 2026-05-04T11:16:28+00:00 [INFO] black-box daemon version: 1.0.0 (main - v1.0.0) 2026-05-04T11:16:28+00:00 [INFO] black-box scewo_messages version: 4.12.0 (HEAD - v4.12.0) 2026-05-04T11:16:28+00:00 [ERR] notifications-daemon root: Push TOF_ERROR [65] 2026-05-04T11:16:28+00:00 [ERR] notifications-daemon root: Push INTERFACE_DISCONNECTED [29] 2026-05-04T11:16:28+00:00 [INFO] notifications-daemon root: Clear INTERFACE_DISCONNECTED [29] 2026-05-04T11:16:28+00:00 [ERR] notifications-daemon root: Push INTERFACE_DISCONNECTED [29] 2026-05-04T11:16:28+00:00 [ERR] notifications-daemon root: Push TOF_ERROR [65] 2026-05-04T11:16:28+00:00 [INFO] notifications-daemon root: Clear TOF_ERROR [65] 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.rust.cloud-access-daemon is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0) 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.cloud-access-daemon (v4.12.0 != 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: Reinit main motor controllers - prev_power_state = L:2 R:2 2026-05-04T11:16:28+00:00 [INFO] cloud-access-daemon Daemon started! 2026-05-04T11:16:28+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T11:16:28+00:00 [INFO] black-box Available space for crash records: 29227 MB 2026-05-04T11:16:28+00:00 [INFO] kv-logs M4: State machine task started 2026-05-04T11:16:28+00:00 [INFO] black-box New recording started on /mnt/sdcard/.blackbox/2026-05-04.1.csv 2026-05-04T11:16:28+00:00 [INFO] ntp-daemon Daemon started! 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.rust.ntp-daemon is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: scewo-messages version mismatch between Linux and version.linux.rust.ntp-daemon (v4.12.0 != v0.7.0) 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.back-camera is not properly released () 2026-05-04T11:16:28+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T11:16:28+00:00 [INFO] cloud-access-daemon Waiting 30s for LTE connection... 2026-05-04T11:16:29+00:00 [INFO] modem-daemon root: Building modem Huawei E3531 dialing on /dev/ttyUSB0 AT on /dev/ttyUSB2 2026-05-04T11:16:29+00:00 [INFO] modem-daemon root: New modem inserted! 2026-05-04T11:16:29+00:00 [NOTICE] root usb_modeswitch: switched to 12d1:155e on 001/009 2026-05-04T11:16:29+00:00 [ERR] ntpd restrict: ignoring line 6, mask '::' unusable. 2026-05-04T11:16:29+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:16:29+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:16:29+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:16:30+00:00 [INFO] modem-daemon root: Setting Apn to onomondo 2026-05-04T11:16:30+00:00 [INFO] modem-daemon root: Starting ppp daemon 2026-05-04T11:16:30+00:00 [WARNING] modem-daemon root: AT command failed: AT+CRSM=176,28486,0,0,17 2026-05-04T11:16:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:16:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:16:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:16:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:16:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:16:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:16:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:16:30+00:00 [INFO] service-tool-backend Starting HTTP server at 127.0.0.1:8080 2026-05-04T11:16:30+00:00 [INFO] kv-logs error-bits: mcu.interface.error: 0x00000000 2026-05-04T11:16:30+00:00 [INFO] notifications-daemon root: Clear INTERFACE_DISCONNECTED [29] 2026-05-04T11:16:30+00:00 [INFO] service-tool-backend starting 2 workers 2026-05-04T11:16:30+00:00 [INFO] service-tool-backend Actix runtime found; starting in Actix runtime 2026-05-04T11:16:30+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 2026-05-04T11:16:30+00:00 [INFO] kv-logs M4: Motors wake up successful. No errors for 2000ms and support system voltage: 53.450V >= 35.000V 2026-05-04T11:16:30+00:00 [DEBUG] kv-logs M4: Read persisted state 1 2026-05-04T11:16:30+00:00 [INFO] kv-logs M4: Assisted stair climbing activated 2026-05-04T11:16:30+00:00 [INFO] kv-logs M4: Assisted stair climbing activated 2026-05-04T11:16:30+00:00 [INFO] kv-logs M4: Assisted stair climbing activated 2026-05-04T11:16:30+00:00 [INFO] kv-logs M4: We should be in OperatingMode_SAFE_MODE 2026-05-04T11:16:30+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_SAFE_MODE 2026-05-04T11:16:30+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_SAFE_MODE 2026-05-04T11:16:30+00:00 [DEBUG] kv-logs M4: Recovery Transition 2026-05-04T11:16:30+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:16:30+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T11:16:30+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T11:16:31+00:00 [WARNING] misc-versions root: version.linux.speaker-daemon is not properly released () 2026-05-04T11:16:31+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:16:31+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:16:31+00:00 [INFO] speaker-daemon root: Starting /usr/bin/speaker-daemon version 0.7.1 (master - v0.7.1) 2026-05-04T11:16:32+00:00 [ERR] kv-tcp-proxy Could not set dns settings on the TP-Link router 2026-05-04T11:16:35+00:00 [INFO] modem-daemon root: PPP connection established on ppp0 2026-05-04T11:16:36+00:00 [WARNING] pppd Warning - secret file /etc/ppp/chap-secrets has world and/or group access 2026-05-04T11:16:36+00:00 [WARNING] pppd kernel does not support PPP filtering 2026-05-04T11:16:36+00:00 [WARNING] pppd Could not determine remote IP address: defaulting to 10.64.64.64 2026-05-04T11:16:36+00:00 [WARNING] dnsmasq failed to access /etc/resolv.conf: No such file or directory 2026-05-04T11:16:36+00:00 [ERR] pppd not replacing default route to eth0 [192.168.0.1] 2026-05-04T11:16:45+00:00 [INFO] ntp-daemon Time corrected by 1.190664s. New date time: 04-05-2026 11:16:45 2026-05-04T11:16:47+00:00 [INFO] kv-tcp-proxy root: Client 200b84cb32bc3341 authenticated 2026-05-04T11:16:51+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:16:53+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:16:54+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:16:55+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T11:16:55+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE 2026-05-04T11:16:55+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T11:16:55+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T11:16:57+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 6.478 mm, backrest: 55.962 mm, footrest: 57.900 mm, support: 45.708 m 2026-05-04T11:16:57+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T11:16:57+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:16:58+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:16:58+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T11:16:58+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.166° 2026-05-04T11:16:58+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.623°, wheel-clearance: 42.685 2026-05-04T11:16:58+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 52.579 mm, support: 28.623 mm 2026-05-04T11:16:58+00:00 [DEBUG] kv-logs M4: Stable angle: -0.452 deg, wheel-clearance offset: -1.211 mm 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.623°, wheel-clearance: -5.779 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: -0.232 deg/s, variance: 0.520 (deg/s)^2 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: -0.416 deg/s, variance: 0.319 (deg/s)^2 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Wait to settle 153 ms. Pitch rate mean: -0.467 deg/s, variance: 0.222 (deg/s)^2 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Wait to settle 204 ms. Pitch rate mean: -0.397 deg/s, variance: 0.185 (deg/s)^2 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Wait to settle 256 ms. Pitch rate mean: -0.359 deg/s, variance: 0.153 (deg/s)^2 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Wait to settle 307 ms. Pitch rate mean: -0.300 deg/s, variance: 0.143 (deg/s)^2 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Wait to settle 357 ms. Pitch rate mean: -0.244 deg/s, variance: 0.144 (deg/s)^2 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Wait to settle 408 ms. Pitch rate mean: -0.210 deg/s, variance: 0.134 (deg/s)^2 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Wait to settle 459 ms. Pitch rate mean: -0.187 deg/s, variance: 0.124 (deg/s)^2 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Wait to settle 511 ms. Pitch rate mean: -0.165 deg/s, variance: 0.116 (deg/s)^2 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.642 deg. Extend support, retract tracks 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Control error: -0.642°, track: 52.300, support: 28.751, wheel-clearance: -7.257 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Control error: -0.643°, track: 52.300, support: 28.843, wheel-clearance: -7.257 2026-05-04T11:16:59+00:00 [DEBUG] kv-logs M4: Control error: -0.643°, track: 52.300, support: 28.889, wheel-clearance: -7.174 2026-05-04T11:17:00+00:00 [DEBUG] kv-logs M4: Control error: -0.614°, track: 52.300, support: 28.935, wheel-clearance: -7.091 2026-05-04T11:17:00+00:00 [DEBUG] kv-logs M4: Control error: -0.546°, track: 52.300, support: 28.981, wheel-clearance: -7.008 2026-05-04T11:17:00+00:00 [DEBUG] kv-logs M4: Control error: -0.451°, track: 52.300, support: 29.118, wheel-clearance: -6.759 2026-05-04T11:17:00+00:00 [INFO] cloud-access-daemon Fetched toradex serial number 07223259 2026-05-04T11:17:00+00:00 [DEBUG] kv-logs M4: Control error: -0.333°, track: 51.800, support: 29.393, wheel-clearance: -7.553 2026-05-04T11:17:00+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 51.800 mm, support: 29.393 mm 2026-05-04T11:17:00+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:17:00+00:00 [ERR] cloud-access-daemon Could not read KV ConfigurationInputDeveloper. Assume it is disabled. 2026-05-04T11:17:00+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T11:17:01+00:00 [INFO] cloud-access-daemon Latest version available is: 24.9.3 2026-05-04T11:17:01+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 2026-05-04T11:17:01+00:00 [INFO] update-daemon root: Entering state: CHECK_UPDATE_AVAILABLE 2026-05-04T11:17:01+00:00 [INFO] update-daemon root: Entering state: IDLE 2026-05-04T11:17:02+00:00 [INFO] kv-logs M4: Track (9.900 mm) and support (0.503 mm) are retracted enough. Start timer. 2026-05-04T11:17:02+00:00 [INFO] cloud-access-daemon Successfully connected to the MQTT broker, session present: false 2026-05-04T11:17:02+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". 2026-05-04T11:17:02+00:00 [INFO] cloud-access-daemon Successfully set the technical device details in Odoo to "travel_distance_km: 125, ats_trigger_counter: 8". 2026-05-04T11:17:02+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2188 ms 2026-05-04T11:17:03+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 7628 ms 2026-05-04T11:17:03+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:17:03+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:17:03+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T11:17:07+00:00 [WARNING] pppd IPV6CP: timeout sending Config-Requests 2026-05-04T11:17:39+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:17:39+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:17:45+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:17:45+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:18:05+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T11:18:05+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T11:18:22+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:18:22+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:18:38+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:18:38+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:18:44+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:18:44+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:18:53+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:18:53+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:19:00+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:19:00+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:19:00+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY 2026-05-04T11:19:00+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY 2026-05-04T11:19:00+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T11:19:00+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:19:01+00:00 [INFO] kv-logs M4: Estimated slope angle: -0.030° 2026-05-04T11:19:01+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 42.461 mm, support: 21.169 mm 2026-05-04T11:19:03+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 55.490 mm, support: 28.837 mm 2026-05-04T11:19:04+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T11:19:04+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T11:19:04+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T11:19:06+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T11:19:06+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:19:07+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:19:07+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:19:07+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY 2026-05-04T11:19:07+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T11:19:14+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0 2026-05-04T11:19:15+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.130 m after last reset. 2026-05-04T11:19:18+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T11:19:19+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0 2026-05-04T11:19:23+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.146 m 2026-05-04T11:19:23+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T11:19:23+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T11:19:24+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TOP_STAIR 2026-05-04T11:19:24+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_TOP_STAIR 2026-05-04T11:19:24+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:19:24+00:00 [DEBUG] kv-logs M4: TopStair: ENTER angle = 19.3° - pitch = -2.341 2026-05-04T11:19:24+00:00 [DEBUG] kv-logs M4: TopStair: ENTER support = 79.5mm 2026-05-04T11:19:24+00:00 [INFO] kv-logs M4: TopStair: Enabled autoleveling! 2026-05-04T11:19:24+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.147 m 2026-05-04T11:19:24+00:00 [INFO] kv-logs M4: Ground Type STEP detected. 0.663 m after last reset. 2026-05-04T11:19:25+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_BEGIN_STAIR 2026-05-04T11:19:25+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TOP_STAIR 2026-05-04T11:19:29+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.144 m 2026-05-04T11:19:31+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.140 m 2026-05-04T11:19:33+00:00 [INFO] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR steep angle reached! (34.1) 2026-05-04T11:19:33+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR drive_distance 0.2319 > 0.25 [m]? 2026-05-04T11:19:33+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR track_angle 34.0729 > 34 [°]? 2026-05-04T11:19:33+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR distance = 0.232m 2026-05-04T11:19:33+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR support = 87.1mm 2026-05-04T11:19:33+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR angle = 34.1° - pitch = -4.819 2026-05-04T11:19:33+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_TOUCH_STAIR 2026-05-04T11:19:36+00:00 [DEBUG] kv-logs M4: ExtendUntilStairOnlyMotor - Velocity = 3.990 max=8.1 current=5870mA set=5053mA 2026-05-04T11:19:36+00:00 [INFO] kv-logs M4: ExtendUntilStair - DONE (99.1mm - 37.605°) 2026-05-04T11:19:36+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_STAIR angle = 37.6° - pitch = -4.742 2026-05-04T11:19:36+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_STAIR_EDGE 2026-05-04T11:19:36+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.137 m 2026-05-04T11:19:42+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE track angle change since start: 20.5628 [°] 2026-05-04T11:19:42+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE angle_delta_deg 2.3414 > 2 [°]? 2026-05-04T11:19:42+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE drive_distance_m 0.0418 > 0.1 [m]? 2026-05-04T11:19:42+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE angle2_deg 40.0591 > 40 [°]? 2026-05-04T11:19:42+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE step_height_mm = 255.5 [mm] 2026-05-04T11:19:42+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_LOWER_SUPPORT 2026-05-04T11:19:43+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.139 m 2026-05-04T11:19:50+00:00 [DEBUG] kv-logs M4: TopStair: EXIT angle = 33.4° - pitch = -4.882° 2026-05-04T11:19:50+00:00 [DEBUG] kv-logs M4: TopStair: EXIT distance 0.331 2026-05-04T11:19:50+00:00 [INFO] kv-logs M4: TopStair -> STAIR_MODE! 2026-05-04T11:19:50+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_ON_STAIR 2026-05-04T11:19:50+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TOP_STAIR to OperatingMode_ON_STAIR 2026-05-04T11:19:50+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:19:50+00:00 [INFO] kv-logs M4: Started on top 2026-05-04T11:19:50+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ON_STAIR 2026-05-04T11:19:52+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.066 m 2026-05-04T11:19:53+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.099 m 2026-05-04T11:19:54+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.076 m 2026-05-04T11:19:55+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.084 m 2026-05-04T11:19:56+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.083 m 2026-05-04T11:19:57+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.082 m 2026-05-04T11:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T11:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T11:20:07+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling because driven past last detection point. 2026-05-04T11:20:11+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.149 m after last reset. 2026-05-04T11:20:16+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown 2026-05-04T11:20:16+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 42.692 mm, support velocity: 0.917 mm/s, track angle: 8.355 deg 2026-05-04T11:20:16+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (42.7mm - 8.355°) 2026-05-04T11:20:16+00:00 [INFO] kv-logs M4: End of stair bottom (1) 2026-05-04T11:20:16+00:00 [INFO] kv-logs M4: Total number of steps = 6 2026-05-04T11:20:16+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_BOTTOM_STAIR 2026-05-04T11:20:16+00:00 [INFO] kv-logs M4: Leaving on-stair: Min track angle 11.7°. Max track angle 33.5°. 2026-05-04T11:20:16+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ON_STAIR to OperatingMode_BOTTOM_STAIR 2026-05-04T11:20:16+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:20:16+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BOTTOM_STAIR 2026-05-04T11:20:16+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_BOTTOM_STAIR entered sub-mode: 3 2026-05-04T11:20:20+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 1000ms 2026-05-04T11:20:20+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_MODE_READY 2026-05-04T11:20:20+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BOTTOM_STAIR to OperatingMode_STAIR_MODE_READY 2026-05-04T11:20:20+00:00 [INFO] notifications-daemon root: Push STAIR_TOP_SUPPORT_GROUND [27] 2026-05-04T11:20:20+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:20:20+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY 2026-05-04T11:20:20+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T11:20:21+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0 2026-05-04T11:20:21+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling due to upward step. 2026-05-04T11:20:21+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling due to upward step. 2026-05-04T11:20:21+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T11:20:22+00:00 [INFO] notifications-daemon root: Clear STAIR_TOP_SUPPORT_GROUND [27] 2026-05-04T11:20:32+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_TRACK_MODE 2026-05-04T11:20:32+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_TRACK_MODE 2026-05-04T11:20:32+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T11:21:05+00:00 [INFO] gamepads root: Added joystick "Microsoft X-Box 360 pad" with ID 045e:028e 2026-05-04T11:21:11+00:00 [DEBUG] kv-logs M4: move the tracks to 105.000 mm and support to 0.000 mm 2026-05-04T11:21:14+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T11:21:14+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:21:15+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:21:15+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:21:15+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TRACK_MODE 2026-05-04T11:21:19+00:00 [INFO] kv-logs M4: Switch to Xbox Mode triggered 2026-05-04T11:21:19+00:00 [WARNING] kv-logs M4: OperationMode_RunMode returned error 0xe 2026-05-04T11:21:19+00:00 [INFO] kv-logs M4: Controller selected as input device 2026-05-04T11:21:19+00:00 [DEBUG] kv-logs M4: Xbox requests state change to: OperatingMode_XBOX_MODE 2026-05-04T11:21:19+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_XBOX_MODE 2026-05-04T11:21:19+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:21:19+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_XBOX_MODE 2026-05-04T11:21:19+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T11:21:19+00:00 [ERR] kv-logs M4: Could not get desired wheel clearance: -2 2026-05-04T11:21:19+00:00 [ERR] kv-logs M4: Could not get desired pitch: -2 2026-05-04T11:21:19+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T11:21:19+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T11:21:32+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling due to slope not continually sloping down. 2026-05-04T11:22:09+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T11:22:09+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T11:22:14+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T11:22:14+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T11:22:18+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.061 m 2026-05-04T11:22:19+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.070 m 2026-05-04T11:22:19+00:00 [INFO] kv-logs M4: Ground Type STEP detected. 2.394 m after last reset. 2026-05-04T11:22:49+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling because driven past last detection point. 2026-05-04T11:23:03+00:00 [ERR] kernel [ 406.771906] xpad 1-1.3:1.0: xpad_try_sending_next_out_packet - usb_submit_urb failed with result -19 2026-05-04T11:23:03+00:00 [ERR] gamepads root: Could not read joystick event: No such device 2026-05-04T11:23:03+00:00 [INFO] gamepads root: Removing joystick Microsoft X-Box 360 pad ... 2026-05-04T11:23:03+00:00 [INFO] gamepads root: Udev remove event for "Microsoft X-Box 360 pad" with ID 045e:028e 2026-05-04T11:23:03+00:00 [INFO] gamepads root: Joystick 045e:028e already removed? 2026-05-04T11:23:04+00:00 [ERR] kernel [ 407.294600] hid-generic 0003:2DC8:3107.0002: device has no listeners, quitting 2026-05-04T11:23:05+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE 2026-05-04T11:23:05+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_XBOX_MODE to OperatingMode_RECOVERY_MODE 2026-05-04T11:23:05+00:00 [INFO] kv-logs M4: Interface selected as input device 2026-05-04T11:23:05+00:00 [DEBUG] kv-logs M4: Read persisted state 11 2026-05-04T11:23:05+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE 2026-05-04T11:23:05+00:00 [INFO] kv-logs M4: We should be in OperatingMode_TRACK_MODE 2026-05-04T11:23:05+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TRACK_MODE 2026-05-04T11:23:05+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_TRACK_MODE 2026-05-04T11:23:05+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T11:23:06+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T11:23:06+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:23:06+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TRACK_MODE 2026-05-04T11:23:07+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T11:23:07+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_SAFE_MODE 2026-05-04T11:23:07+00:00 [ERR] back-camera root: Client write error: Connection reset by peer 2026-05-04T11:23:07+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T11:23:07+00:00 [DEBUG] kv-logs M4: Recovery Transition 2026-05-04T11:23:16+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T11:23:16+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:23:16+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:23:16+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:23:16+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T11:23:16+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T11:24:09+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T11:24:09+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE 2026-05-04T11:24:10+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T11:24:10+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T11:24:11+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 6.478 mm, backrest: 55.962 mm, footrest: 57.900 mm, support: 34.516 m 2026-05-04T11:24:12+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T11:24:12+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:24:13+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:24:13+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is -2.896° 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -3.000°, wheel-clearance: -2.959 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 65.594 mm, support: 17.692 mm 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Stable angle: -2.748 deg, wheel-clearance offset: -1.211 mm 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -3.000°, wheel-clearance: -2.959 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: -0.009 deg/s, variance: 0.007 (deg/s)^2 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: -0.062 deg/s, variance: 0.008 (deg/s)^2 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Wait to settle 152 ms. Pitch rate mean: -0.077 deg/s, variance: 0.006 (deg/s)^2 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Wait to settle 203 ms. Pitch rate mean: -0.054 deg/s, variance: 0.007 (deg/s)^2 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Wait to settle 254 ms. Pitch rate mean: -0.071 deg/s, variance: 0.008 (deg/s)^2 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Wait to settle 304 ms. Pitch rate mean: -0.111 deg/s, variance: 0.015 (deg/s)^2 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Wait to settle 355 ms. Pitch rate mean: -0.131 deg/s, variance: 0.017 (deg/s)^2 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Wait to settle 405 ms. Pitch rate mean: -0.104 deg/s, variance: 0.021 (deg/s)^2 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Wait to settle 456 ms. Pitch rate mean: -0.061 deg/s, variance: 0.033 (deg/s)^2 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Wait to settle 507 ms. Pitch rate mean: -0.028 deg/s, variance: 0.040 (deg/s)^2 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.255 deg. Extend support, retract tracks 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Control error: -0.254°, track: 67.000, support: 18.800, wheel-clearance: -2.702 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Control error: -0.246°, track: 67.000, support: 18.846, wheel-clearance: -2.616 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Control error: -0.232°, track: 67.000, support: 18.800, wheel-clearance: -2.702 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Control error: -0.179°, track: 66.700, support: 18.800, wheel-clearance: -3.165 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Control error: -0.102°, track: 66.700, support: 18.754, wheel-clearance: -3.165 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Control error: -0.026°, track: 66.500, support: 18.892, wheel-clearance: -3.165 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Control error: 0.071°, track: 66.500, support: 19.029, wheel-clearance: -3.165 2026-05-04T11:24:13+00:00 [DEBUG] kv-logs M4: Control error: 0.172°, track: 66.000, support: 19.167, wheel-clearance: -3.561 2026-05-04T11:24:14+00:00 [DEBUG] kv-logs M4: Control error: 0.274°, track: 66.000, support: 19.350, wheel-clearance: -3.219 2026-05-04T11:24:14+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 65.500 mm, support: 19.534 mm 2026-05-04T11:24:14+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:24:14+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T11:24:15+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:24:15+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:24:16+00:00 [INFO] kv-logs M4: Track (9.900 mm) and support (0.411 mm) are retracted enough. Start timer. 2026-05-04T11:24:16+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2825 ms 2026-05-04T11:24:17+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 7391 ms 2026-05-04T11:24:17+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:24:17+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:24:17+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T11:24:17+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:24:17+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:24:41+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:24:41+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:24:44+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:24:44+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:24:46+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:24:46+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:24:52+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:24:52+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:24:53+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY 2026-05-04T11:24:53+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY 2026-05-04T11:24:53+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T11:24:53+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:24:54+00:00 [INFO] kv-logs M4: Estimated slope angle: -0.681° 2026-05-04T11:24:54+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 44.239 mm, support: 19.639 mm 2026-05-04T11:24:56+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 57.301 mm, support: 27.286 mm 2026-05-04T11:24:56+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T11:24:57+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T11:24:57+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T11:24:58+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T11:24:58+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:24:59+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:24:59+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:24:59+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY 2026-05-04T11:24:59+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T11:25:02+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1 2026-05-04T11:25:03+00:00 [INFO] kv-logs M4: Normal step detected, switching to BOTTOM_STAIR 2026-05-04T11:25:03+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_BOTTOM_STAIR 2026-05-04T11:25:03+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BOTTOM_STAIR 2026-05-04T11:25:03+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:25:03+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BOTTOM_STAIR 2026-05-04T11:25:03+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_BOTTOM_STAIR entered sub-mode: 1 2026-05-04T11:25:05+00:00 [INFO] kv-logs M4: RetractWithStuckDetection - no stuck detected, retracting fully (3.7mm - 8.199°) 2026-05-04T11:25:05+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_ON_STAIR 2026-05-04T11:25:05+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BOTTOM_STAIR to OperatingMode_ON_STAIR 2026-05-04T11:25:05+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:25:05+00:00 [INFO] kv-logs M4: Started on bottom 2026-05-04T11:25:05+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ON_STAIR 2026-05-04T11:25:05+00:00 [INFO] kv-logs M4: Ultrasonic single step detected @-0.010 (0.000) 2026-05-04T11:25:05+00:00 [INFO] notifications-daemon root: Push STAIR_END_DETECTION [28] 2026-05-04T11:25:05+00:00 [INFO] notifications-daemon root: Push STAIR_SENSOR_DETECTION_ULTRASONIC_SINGLE_STEP [52] 2026-05-04T11:25:08+00:00 [INFO] kv-logs M4: End of stair top 2 (drive distance = -0.224) 2026-05-04T11:25:08+00:00 [INFO] kv-logs M4: Total number of steps = 2 2026-05-04T11:25:08+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_TOP 2026-05-04T11:25:08+00:00 [INFO] kv-logs M4: Leaving on-stair: Min track angle 8.2°. Max track angle 11.5°. 2026-05-04T11:25:08+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ON_STAIR to OperatingMode_STAIR_TOP 2026-05-04T11:25:08+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_FEEDBACK for 500ms 2026-05-04T11:25:09+00:00 [INFO] notifications-daemon root: Clear STAIR_END_DETECTION [28] 2026-05-04T11:25:09+00:00 [INFO] notifications-daemon root: Clear STAIR_SENSOR_DETECTION_ULTRASONIC_SINGLE_STEP [52] 2026-05-04T11:25:09+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:25:09+00:00 [INFO] kv-logs M4: StairTop: Enabled autoleveling! 2026-05-04T11:25:09+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_TOP 2026-05-04T11:25:10+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown 2026-05-04T11:25:10+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 13.481 mm, support velocity: 0.000 mm/s, track angle: 12.065 deg 2026-05-04T11:25:10+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (13.5mm - 12.065°) 2026-05-04T11:25:10+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 1000ms 2026-05-04T11:25:10+00:00 [INFO] kv-logs M4: StairTop: -> StairTopMode_STAIR_EDGE 2026-05-04T11:25:10+00:00 [INFO] notifications-daemon root: Push STAIR_TOP_SUPPORT_GROUND [27] 2026-05-04T11:25:19+00:00 [INFO] kv-logs M4: StairTop -> StairTopMode_LEAVE_STAIR 2026-05-04T11:25:19+00:00 [DEBUG] kv-logs M4: StTp: Distance1=-0.520m, 31.365, 5.115 2026-05-04T11:25:23+00:00 [DEBUG] kv-logs M4: StTp: Distance2=-0.752m 2026-05-04T11:25:23+00:00 [INFO] kv-logs M4: StairTop: -> OperatingMode_STAIR_MODE_READY !!! 2026-05-04T11:25:23+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_MODE_READY 2026-05-04T11:25:23+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_TOP to OperatingMode_STAIR_MODE_READY 2026-05-04T11:25:23+00:00 [INFO] notifications-daemon root: Clear STAIR_TOP_SUPPORT_GROUND [27] 2026-05-04T11:25:23+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:25:23+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY 2026-05-04T11:25:23+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T11:25:24+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1 2026-05-04T11:25:26+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T11:25:27+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1 2026-05-04T11:25:28+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T11:25:31+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3 2026-05-04T11:25:35+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T11:25:36+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T11:25:36+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BALANCE_MODE 2026-05-04T11:25:36+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T11:25:36+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T11:25:43+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 6.478 mm, backrest: 55.962 mm, footrest: 57.900 mm, support: 51.761 m 2026-05-04T11:25:43+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T11:25:43+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:25:44+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:25:44+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T11:25:44+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 1.250° 2026-05-04T11:25:44+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -3.963°, wheel-clearance: -11.906 2026-05-04T11:25:44+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 48.055 mm, support: 32.565 mm 2026-05-04T11:25:44+00:00 [DEBUG] kv-logs M4: Stable angle: 0.361 deg, wheel-clearance offset: -1.211 mm 2026-05-04T11:25:46+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -3.963°, wheel-clearance: -9.554 2026-05-04T11:25:46+00:00 [DEBUG] kv-logs M4: Wait to settle 53 ms. Pitch rate mean: 1.461 deg/s, variance: 0.005 (deg/s)^2 2026-05-04T11:25:46+00:00 [DEBUG] kv-logs M4: Wait to settle 106 ms. Pitch rate mean: 1.221 deg/s, variance: 0.079 (deg/s)^2 2026-05-04T11:25:46+00:00 [DEBUG] kv-logs M4: Wait to settle 158 ms. Pitch rate mean: 1.001 deg/s, variance: 0.153 (deg/s)^2 2026-05-04T11:25:46+00:00 [DEBUG] kv-logs M4: Wait to settle 209 ms. Pitch rate mean: 0.794 deg/s, variance: 0.262 (deg/s)^2 2026-05-04T11:25:46+00:00 [DEBUG] kv-logs M4: Wait to settle 261 ms. Pitch rate mean: 0.610 deg/s, variance: 0.342 (deg/s)^2 2026-05-04T11:25:46+00:00 [DEBUG] kv-logs M4: Wait to settle 312 ms. Pitch rate mean: 0.482 deg/s, variance: 0.365 (deg/s)^2 2026-05-04T11:25:47+00:00 [DEBUG] kv-logs M4: Wait to settle 363 ms. Pitch rate mean: 0.389 deg/s, variance: 0.372 (deg/s)^2 2026-05-04T11:25:47+00:00 [DEBUG] kv-logs M4: Wait to settle 415 ms. Pitch rate mean: 0.314 deg/s, variance: 0.363 (deg/s)^2 2026-05-04T11:25:47+00:00 [DEBUG] kv-logs M4: Wait to settle 467 ms. Pitch rate mean: 0.266 deg/s, variance: 0.340 (deg/s)^2 2026-05-04T11:25:47+00:00 [DEBUG] kv-logs M4: Wait to settle 520 ms. Pitch rate mean: 0.232 deg/s, variance: 0.316 (deg/s)^2 2026-05-04T11:25:47+00:00 [DEBUG] kv-logs M4: Initial pitch error: 0.238 deg. Extend support, retract tracks 2026-05-04T11:25:47+00:00 [DEBUG] kv-logs M4: Control error: 0.237°, track: 47.900, support: 32.053, wheel-clearance: -8.483 2026-05-04T11:25:47+00:00 [DEBUG] kv-logs M4: Control error: 0.233°, track: 47.900, support: 32.145, wheel-clearance: -8.319 2026-05-04T11:25:47+00:00 [DEBUG] kv-logs M4: Control error: 0.242°, track: 47.900, support: 32.191, wheel-clearance: -8.319 2026-05-04T11:25:47+00:00 [DEBUG] kv-logs M4: Control error: 0.280°, track: 47.900, support: 32.191, wheel-clearance: -8.236 2026-05-04T11:25:47+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 47.900 mm, support: 32.237 mm 2026-05-04T11:25:47+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:25:48+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:25:48+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:25:49+00:00 [INFO] kv-logs M4: Track (10.900 mm) and support (2.520 mm) are retracted enough. Start timer. 2026-05-04T11:25:49+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 1977 ms 2026-05-04T11:25:49+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 13201 ms 2026-05-04T11:25:49+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T11:25:49+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:25:49+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:25:49+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T11:25:53+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:25:53+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:26:16+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:26:16+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:26:33+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:26:33+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:26:45+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:26:45+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:27:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:27:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:27:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:27:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:27:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:27:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:27:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:27:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:27:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:27:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:27:50+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T11:27:50+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T11:29:12+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T11:29:12+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T11:29:54+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T11:29:55+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T11:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T11:30:02+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T11:31:12+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:31:12+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:31:21+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:31:21+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:31:27+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:31:27+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:31:31+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:31:31+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:31:34+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:31:34+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:32:41+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:32:41+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:34:47+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T11:34:47+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T11:34:47+00:00 [ERR] kernel [ 1110.951939] uvcvideo: Failed to resubmit video URB (-1). 2026-05-04T11:34:47+00:00 [ERR] kernel [ 1110.957988] uvcvideo: Failed to resubmit video URB (-1). 2026-05-04T11:34:47+00:00 [ERR] kernel [ 1110.963987] uvcvideo: Failed to resubmit video URB (-1). 2026-05-04T11:34:47+00:00 [ERR] kernel [ 1110.969946] uvcvideo: Failed to resubmit video URB (-1). 2026-05-04T11:34:47+00:00 [ERR] kernel [ 1110.975967] uvcvideo: Failed to resubmit video URB (-1). 2026-05-04T11:34:47+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:34:47+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:34:49+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:34:49+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:35:19+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T11:35:19+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T11:35:19+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:35:19+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:35:21+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:35:21+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:35:24+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:35:24+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:35:34+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:35:34+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:36:02+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:36:02+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:36:31+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:36:31+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:36:35+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:36:35+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:36:37+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:36:37+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:37:24+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:37:24+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:37:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:37:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:37:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:37:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:37:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:37:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:37:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:37:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:37:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:37:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:37:38+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:37:38+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:37:41+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:37:41+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:37:55+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:37:55+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:38:12+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:38:12+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:38:19+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T11:38:19+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE 2026-05-04T11:38:19+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T11:38:19+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:38:19+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:38:19+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:38:19+00:00 [INFO] kv-logs M4: Estimated slope angle: 0.364° 2026-05-04T11:38:19+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 39.943 mm, support: 23.355 mm 2026-05-04T11:38:21+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 52.924 mm, support: 31.055 mm 2026-05-04T11:38:22+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T11:38:22+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:38:22+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:38:22+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T11:38:22+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:38:22+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T11:38:22+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T11:38:24+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:38:33+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:38:34+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:38:35+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_ELEVATE_MODE 2026-05-04T11:38:35+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_ELEVATE_MODE 2026-05-04T11:38:35+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:38:35+00:00 [INFO] kv-logs M4: Entered elevate sub-mode: 1. Support pos 43.930mm, seat slider at min=0, at max=0 2026-05-04T11:38:35+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ELEVATE_MODE 2026-05-04T11:38:35+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_ELEVATE_MODE entered sub-mode: 1 2026-05-04T11:38:45+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T11:38:45+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ELEVATE_MODE to OperatingMode_SAFE_MODE 2026-05-04T11:38:46+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:38:46+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T11:38:46+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:38:47+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:38:47+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:38:47+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:38:49+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:38:49+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:38:49+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:38:50+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:38:51+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:38:51+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:38:51+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:38:52+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_ELEVATE_MODE 2026-05-04T11:38:52+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_ELEVATE_MODE 2026-05-04T11:38:53+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:38:53+00:00 [INFO] kv-logs M4: Entered elevate sub-mode: 1. Support pos 44.389mm, seat slider at min=0, at max=0 2026-05-04T11:38:53+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ELEVATE_MODE 2026-05-04T11:38:53+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_ELEVATE_MODE entered sub-mode: 1 2026-05-04T11:39:02+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_ELEVATE_MODE entered sub-mode: 0 2026-05-04T11:39:03+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T11:39:03+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ELEVATE_MODE to OperatingMode_SAFE_MODE 2026-05-04T11:39:03+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:39:03+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T11:39:03+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:39:04+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:39:04+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:39:04+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:39:04+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.051 m after last reset. 2026-05-04T11:39:06+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:39:07+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:39:08+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:39:08+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:39:09+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:39:09+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:39:09+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T11:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T11:41:59+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T11:41:59+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T11:47:01+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T11:47:07+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T11:47:08+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_ELEVATE_MODE 2026-05-04T11:47:08+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_ELEVATE_MODE 2026-05-04T11:47:08+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:47:08+00:00 [INFO] kv-logs M4: Entered elevate sub-mode: 0. Support pos 44.389mm, seat slider at min=0, at max=1 2026-05-04T11:47:08+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ELEVATE_MODE 2026-05-04T11:47:11+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T11:47:11+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ELEVATE_MODE to OperatingMode_BALANCE_MODE 2026-05-04T11:47:11+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T11:47:11+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T11:47:13+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 6.478 mm, backrest: 55.962 mm, footrest: 57.900 mm, support: 45.530 m 2026-05-04T11:47:24+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T11:47:24+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:47:24+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:47:24+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T11:47:24+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.329° 2026-05-04T11:47:24+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: 0.138°, wheel-clearance: 32.709 2026-05-04T11:47:24+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 51.898 mm, support: 29.213 mm 2026-05-04T11:47:24+00:00 [DEBUG] kv-logs M4: Stable angle: -0.330 deg, wheel-clearance offset: -1.211 mm 2026-05-04T11:47:26+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: 0.138°, wheel-clearance: -4.537 2026-05-04T11:47:26+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: -1.111 deg/s, variance: 0.014 (deg/s)^2 2026-05-04T11:47:26+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: -0.834 deg/s, variance: 0.093 (deg/s)^2 2026-05-04T11:47:26+00:00 [DEBUG] kv-logs M4: Wait to settle 154 ms. Pitch rate mean: -0.591 deg/s, variance: 0.178 (deg/s)^2 2026-05-04T11:47:26+00:00 [DEBUG] kv-logs M4: Wait to settle 205 ms. Pitch rate mean: -0.404 deg/s, variance: 0.248 (deg/s)^2 2026-05-04T11:47:26+00:00 [DEBUG] kv-logs M4: Wait to settle 257 ms. Pitch rate mean: -0.246 deg/s, variance: 0.293 (deg/s)^2 2026-05-04T11:47:26+00:00 [DEBUG] kv-logs M4: Wait to settle 308 ms. Pitch rate mean: -0.152 deg/s, variance: 0.286 (deg/s)^2 2026-05-04T11:47:26+00:00 [DEBUG] kv-logs M4: Wait to settle 359 ms. Pitch rate mean: -0.102 deg/s, variance: 0.263 (deg/s)^2 2026-05-04T11:47:26+00:00 [DEBUG] kv-logs M4: Wait to settle 411 ms. Pitch rate mean: -0.076 deg/s, variance: 0.234 (deg/s)^2 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Wait to settle 463 ms. Pitch rate mean: -0.075 deg/s, variance: 0.208 (deg/s)^2 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Wait to settle 515 ms. Pitch rate mean: -0.082 deg/s, variance: 0.187 (deg/s)^2 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Initial pitch error: -1.030 deg. Extend support, retract tracks 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Control error: -1.031°, track: 52.500, support: 29.439, wheel-clearance: -5.862 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Control error: -1.040°, track: 52.500, support: 29.531, wheel-clearance: -5.696 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Control error: -1.026°, track: 52.500, support: 29.577, wheel-clearance: -5.613 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Control error: -0.968°, track: 52.500, support: 29.485, wheel-clearance: -5.779 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Control error: -0.883°, track: 52.500, support: 29.531, wheel-clearance: -5.696 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Control error: -0.786°, track: 52.000, support: 29.669, wheel-clearance: -6.241 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Control error: -0.668°, track: 52.000, support: 29.898, wheel-clearance: -6.241 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Control error: -0.542°, track: 51.500, support: 30.173, wheel-clearance: -6.241 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Control error: -0.428°, track: 51.500, support: 30.173, wheel-clearance: -6.241 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: Control error: -0.303°, track: 51.000, support: 30.402, wheel-clearance: -6.507 2026-05-04T11:47:27+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 51.000 mm, support: 30.402 mm 2026-05-04T11:47:27+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:47:28+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T11:47:29+00:00 [WARNING] kv-logs M4: Start balance safeties deactivated due to joystick input! 2026-05-04T11:47:29+00:00 [INFO] kv-logs M4: Track (11.400 mm) and support (0.686 mm) are retracted enough. Start timer. 2026-05-04T11:47:29+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2097 ms 2026-05-04T11:47:30+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 18965 ms 2026-05-04T11:47:30+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:47:30+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:47:30+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T11:47:30+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:47:30+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:48:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:48:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:48:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:48:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:48:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:48:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:48:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:48:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:48:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:48:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:48:22+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:48:22+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:48:25+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:48:25+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:48:27+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T11:48:27+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE 2026-05-04T11:48:27+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T11:48:27+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:48:27+00:00 [INFO] kv-logs M4: Estimated slope angle: 0.079° 2026-05-04T11:48:27+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 37.935 mm, support: 25.115 mm 2026-05-04T11:48:28+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:48:28+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:48:29+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 50.876 mm, support: 32.840 mm 2026-05-04T11:48:30+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T11:48:30+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T11:48:30+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:48:30+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T11:48:30+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T11:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T11:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T11:51:46+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T11:51:46+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T11:55:56+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T11:55:56+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T11:56:16+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T11:56:16+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T11:57:26+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T11:57:26+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T11:58:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:58:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:58:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:58:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:58:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:58:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:58:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:58:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:58:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:58:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T11:59:10+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T11:59:10+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE 2026-05-04T11:59:10+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T11:59:10+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T11:59:11+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T11:59:11+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 6.478 mm, backrest: 55.962 mm, footrest: 57.900 mm, support: 45.149 m 2026-05-04T11:59:11+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:59:12+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T11:59:12+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T11:59:12+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.003° 2026-05-04T11:59:12+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: 0.737°, wheel-clearance: -3.686 2026-05-04T11:59:12+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 53.265 mm, support: 28.031 mm 2026-05-04T11:59:12+00:00 [DEBUG] kv-logs M4: Stable angle: -0.574 deg, wheel-clearance offset: -1.211 mm 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: 0.737°, wheel-clearance: -4.903 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Wait to settle 52 ms. Pitch rate mean: -1.112 deg/s, variance: 0.006 (deg/s)^2 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Wait to settle 105 ms. Pitch rate mean: -0.985 deg/s, variance: 0.022 (deg/s)^2 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Wait to settle 157 ms. Pitch rate mean: -0.858 deg/s, variance: 0.050 (deg/s)^2 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Wait to settle 208 ms. Pitch rate mean: -0.728 deg/s, variance: 0.096 (deg/s)^2 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Wait to settle 260 ms. Pitch rate mean: -0.586 deg/s, variance: 0.157 (deg/s)^2 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Wait to settle 312 ms. Pitch rate mean: -0.469 deg/s, variance: 0.197 (deg/s)^2 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Wait to settle 364 ms. Pitch rate mean: -0.373 deg/s, variance: 0.223 (deg/s)^2 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Wait to settle 415 ms. Pitch rate mean: -0.301 deg/s, variance: 0.237 (deg/s)^2 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Wait to settle 467 ms. Pitch rate mean: -0.248 deg/s, variance: 0.233 (deg/s)^2 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Wait to settle 518 ms. Pitch rate mean: -0.222 deg/s, variance: 0.215 (deg/s)^2 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.212 deg. Extend support, retract tracks 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Control error: -0.212°, track: 53.300, support: 28.385, wheel-clearance: -6.502 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Control error: -0.214°, track: 53.300, support: 28.522, wheel-clearance: -6.252 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Control error: -0.210°, track: 53.300, support: 28.476, wheel-clearance: -6.336 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Control error: -0.176°, track: 53.300, support: 28.385, wheel-clearance: -6.502 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Control error: -0.119°, track: 53.300, support: 28.430, wheel-clearance: -6.419 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Control error: -0.042°, track: 53.300, support: 28.568, wheel-clearance: -6.169 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Control error: 0.047°, track: 53.300, support: 28.751, wheel-clearance: -5.920 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Control error: 0.128°, track: 53.300, support: 28.751, wheel-clearance: -5.837 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: Control error: 0.221°, track: 53.000, support: 28.981, wheel-clearance: -5.898 2026-05-04T11:59:13+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 53.000 mm, support: 29.302 mm 2026-05-04T11:59:14+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:59:14+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T11:59:15+00:00 [INFO] kv-logs M4: Track (9.900 mm) and support (0.411 mm) are retracted enough. Start timer. 2026-05-04T11:59:16+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2167 ms 2026-05-04T11:59:16+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 6151 ms 2026-05-04T11:59:16+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T11:59:16+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T11:59:16+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T11:59:16+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:59:16+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:59:18+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T11:59:18+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T11:59:53+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:59:53+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T11:59:57+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T11:59:57+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T12:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T12:00:18+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:00:18+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:00:20+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:00:20+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:00:37+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:00:37+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:00:56+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:00:56+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:01:11+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T12:01:11+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T12:01:40+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:01:40+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:04:30+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:04:30+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:04:32+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:04:32+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:04:40+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T12:04:40+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T12:07:31+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:07:31+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:08:07+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:08:07+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:08:09+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:08:09+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:09:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:09:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:09:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:09:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:09:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:09:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:09:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:09:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:09:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:09:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T12:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T12:10:34+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:10:34+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:10:54+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:10:54+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:11:41+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T12:11:41+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T12:12:52+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:12:52+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:12:59+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:12:59+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:13:01+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:13:01+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:13:03+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:13:03+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:13:04+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:13:04+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:13:06+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:13:06+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:13:08+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:13:08+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:13:16+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:13:16+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:13:18+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:13:18+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:13:20+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:13:20+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:13:22+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T12:13:22+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE 2026-05-04T12:13:22+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T12:13:22+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T12:13:23+00:00 [INFO] kv-logs M4: Estimated slope angle: -0.703° 2026-05-04T12:13:23+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 45.900 mm, support: 18.222 mm 2026-05-04T12:13:24+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:13:24+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:13:25+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 58.992 mm, support: 25.848 mm 2026-05-04T12:13:26+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T12:13:26+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T12:13:26+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T12:13:26+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T12:13:26+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T12:14:27+00:00 [INFO] kv-logs M4: New standby timeout 1800 2026-05-04T12:14:58+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:14:58+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:15:00+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:15:00+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:15:21+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:15:21+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:15:23+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:15:23+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:15:25+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:15:25+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:15:34+00:00 [INFO] kv-tcp-proxy root: Client 200b84cb32bc3341 authenticated 2026-05-04T12:15:52+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 4 2026-05-04T12:15:52+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_FOOTREST poti fault detected (delta=82mV) 2026-05-04T12:15:53+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T12:15:54+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 4 2026-05-04T12:15:59+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T12:16:00+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. -0.000 m after last reset. 2026-05-04T12:16:24+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_ELEVATE_MODE 2026-05-04T12:16:24+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_ELEVATE_MODE 2026-05-04T12:16:24+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T12:16:24+00:00 [INFO] kv-logs M4: Entered elevate sub-mode: 1. Support pos 8.803mm, seat slider at min=0, at max=0 2026-05-04T12:16:24+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ELEVATE_MODE 2026-05-04T12:16:24+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_ELEVATE_MODE entered sub-mode: 1 2026-05-04T12:16:30+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SLIDER poti fault detected (delta=64mV) 2026-05-04T12:16:31+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_ELEVATE_MODE entered sub-mode: 0 2026-05-04T12:16:38+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T12:16:38+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ELEVATE_MODE to OperatingMode_SAFE_MODE 2026-05-04T12:16:38+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T12:16:38+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T12:16:38+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T12:17:02+00:00 [INFO] cloud-access-daemon Latest version available is: 24.9.3 2026-05-04T12:17:02+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 2026-05-04T12:17:02+00:00 [INFO] update-daemon root: Entering state: CHECK_UPDATE_AVAILABLE 2026-05-04T12:17:02+00:00 [INFO] update-daemon root: Entering state: IDLE 2026-05-04T12:17:30+00:00 [INFO] scewo-bro nginx: 192.168.0.101 - - [04/May/2026:12:17:30 +0000] "GET / HTTP/1.1" 200 3395 "-" "okhttp/3.14.9" 2026-05-04T12:17:44+00:00 [INFO] scewo-bro nginx: 192.168.0.101 - - [04/May/2026:12:17:44 +0000] "GET /2026.05.04/message.log HTTP/1.1" 200 146352 "-" "okhttp/3.14.9" 2026-05-04T12:18:08+00:00 [INFO] kv-tcp-proxy root: Client 200b84cb32bc3341 authenticated 2026-05-04T12:18:26+00:00 [INFO] kv-tcp-proxy root: Client 200b84cb32bc3341 authenticated 2026-05-04T12:18:46+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T12:18:46+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T12:19:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:19:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:19:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:19:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:19:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:19:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:19:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:19:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:19:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:19:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T12:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T12:26:22+00:00 [INFO] kv-tcp-proxy root: Client 200b84cb32bc3341 authenticated 2026-05-04T12:30:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:30:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:30:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:30:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:30:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:30:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:30:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:30:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:30:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:30:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T12:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T12:31:59+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T12:31:59+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T12:33:40+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T12:33:40+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE 2026-05-04T12:33:41+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T12:33:41+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T12:33:42+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 6.478 mm, backrest: 55.962 mm, footrest: 57.900 mm, support: 45.684 m 2026-05-04T12:33:54+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T12:33:54+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T12:33:55+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T12:33:55+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T12:33:55+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.127° 2026-05-04T12:33:55+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -6.603°, wheel-clearance: -21.742 2026-05-04T12:33:55+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 52.743 mm, support: 28.482 mm 2026-05-04T12:33:55+00:00 [DEBUG] kv-logs M4: Stable angle: -0.481 deg, wheel-clearance offset: -1.211 mm 2026-05-04T12:33:57+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -6.603°, wheel-clearance: -9.458 2026-05-04T12:33:57+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: 0.729 deg/s, variance: 0.009 (deg/s)^2 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: 0.605 deg/s, variance: 0.028 (deg/s)^2 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Wait to settle 153 ms. Pitch rate mean: 0.484 deg/s, variance: 0.054 (deg/s)^2 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Wait to settle 205 ms. Pitch rate mean: 0.379 deg/s, variance: 0.073 (deg/s)^2 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Wait to settle 257 ms. Pitch rate mean: 0.294 deg/s, variance: 0.087 (deg/s)^2 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Wait to settle 308 ms. Pitch rate mean: 0.233 deg/s, variance: 0.094 (deg/s)^2 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Wait to settle 360 ms. Pitch rate mean: 0.196 deg/s, variance: 0.089 (deg/s)^2 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Wait to settle 411 ms. Pitch rate mean: 0.180 deg/s, variance: 0.080 (deg/s)^2 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Wait to settle 462 ms. Pitch rate mean: 0.175 deg/s, variance: 0.072 (deg/s)^2 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Wait to settle 514 ms. Pitch rate mean: 0.172 deg/s, variance: 0.065 (deg/s)^2 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Initial pitch error: 1.128 deg. Extend tracks, retract support 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Control error: 1.129°, track: 52.800, support: 27.834, wheel-clearance: -8.292 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Control error: 1.130°, track: 52.800, support: 27.834, wheel-clearance: -8.292 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Control error: 1.117°, track: 52.800, support: 27.788, wheel-clearance: -8.375 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Control error: 1.082°, track: 52.800, support: 27.788, wheel-clearance: -8.375 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Control error: 1.044°, track: 52.800, support: 27.742, wheel-clearance: -8.458 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Control error: 0.997°, track: 52.800, support: 27.559, wheel-clearance: -8.791 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Control error: 0.925°, track: 52.800, support: 27.421, wheel-clearance: -9.041 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Control error: 0.787°, track: 53.500, support: 27.284, wheel-clearance: -8.182 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Control error: 0.625°, track: 53.500, support: 27.146, wheel-clearance: -8.182 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: Control error: 0.460°, track: 54.300, support: 26.917, wheel-clearance: -8.182 2026-05-04T12:33:58+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 54.300 mm, support: 26.642 mm 2026-05-04T12:33:59+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T12:33:59+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T12:34:01+00:00 [INFO] kv-logs M4: Track (10.100 mm) and support (0.411 mm) are retracted enough. Start timer. 2026-05-04T12:34:01+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2445 ms 2026-05-04T12:34:01+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 20955 ms 2026-05-04T12:34:02+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T12:34:02+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T12:34:02+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T12:34:10+00:00 [INFO] kv-logs M4: Saved COG config. Pitch offset: -1.249, Seat slider: 7.481, Backrest: 55.511, Footrest 58.850 2026-05-04T12:34:10+00:00 [INFO] notifications-daemon root: Push SAVE_COG_SUCCESS [18] 2026-05-04T12:34:10+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 500ms 2026-05-04T12:34:15+00:00 [INFO] notifications-daemon root: Clear SAVE_COG_SUCCESS [18] 2026-05-04T12:34:30+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T12:34:30+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T12:38:11+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T12:38:11+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T12:39:10+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T12:39:10+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T12:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T12:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T12:40:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:40:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:40:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:40:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:40:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:40:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:40:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:40:30+00:00 [WARNING] speaker-daemon root: XRUN 2026-05-04T12:40:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:40:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:40:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:41:08+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T12:41:08+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE 2026-05-04T12:41:08+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T12:41:08+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T12:41:08+00:00 [INFO] kv-logs M4: Estimated slope angle: -0.295° 2026-05-04T12:41:08+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 44.180 mm, support: 19.690 mm 2026-05-04T12:41:10+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 57.241 mm, support: 27.337 mm 2026-05-04T12:41:11+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T12:41:11+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T12:41:11+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T12:41:11+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T12:41:11+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T12:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T12:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T12:51:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:51:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:51:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:51:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:51:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:51:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:51:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:51:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:51:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:51:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T12:55:39+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T12:55:39+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE 2026-05-04T12:55:39+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T12:55:39+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T12:55:40+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 7.481 mm, backrest: 55.511 mm, footrest: 58.850 mm, support: 42.327 m 2026-05-04T12:55:40+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T12:55:40+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T12:55:40+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T12:55:40+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T12:55:40+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is -0.390° 2026-05-04T12:55:40+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.610°, wheel-clearance: -3.687 2026-05-04T12:55:40+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 56.542 mm, support: 25.228 mm 2026-05-04T12:55:40+00:00 [DEBUG] kv-logs M4: Stable angle: -1.542 deg, wheel-clearance offset: -1.211 mm 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.610°, wheel-clearance: -4.189 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: -1.551 deg/s, variance: 0.024 (deg/s)^2 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: -1.553 deg/s, variance: 0.012 (deg/s)^2 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Wait to settle 153 ms. Pitch rate mean: -1.492 deg/s, variance: 0.019 (deg/s)^2 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Wait to settle 204 ms. Pitch rate mean: -1.368 deg/s, variance: 0.066 (deg/s)^2 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Wait to settle 254 ms. Pitch rate mean: -1.216 deg/s, variance: 0.147 (deg/s)^2 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Wait to settle 305 ms. Pitch rate mean: -1.053 deg/s, variance: 0.267 (deg/s)^2 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Wait to settle 356 ms. Pitch rate mean: -0.863 deg/s, variance: 0.435 (deg/s)^2 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Wait to settle 407 ms. Pitch rate mean: -0.712 deg/s, variance: 0.551 (deg/s)^2 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Wait to settle 459 ms. Pitch rate mean: -0.583 deg/s, variance: 0.615 (deg/s)^2 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Wait to settle 510 ms. Pitch rate mean: -0.488 deg/s, variance: 0.629 (deg/s)^2 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.427 deg. Extend support, retract tracks 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Control error: -0.425°, track: 57.800, support: 25.450, wheel-clearance: -4.575 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Control error: -0.416°, track: 57.800, support: 25.495, wheel-clearance: -4.742 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Control error: -0.404°, track: 57.800, support: 25.633, wheel-clearance: -4.407 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Control error: -0.373°, track: 57.800, support: 25.679, wheel-clearance: -4.323 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: Control error: -0.326°, track: 57.800, support: 25.771, wheel-clearance: -4.156 2026-05-04T12:55:41+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 57.800 mm, support: 25.908 mm 2026-05-04T12:55:41+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T12:55:42+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T12:55:43+00:00 [INFO] kv-logs M4: Track (11.400 mm) and support (0.549 mm) are retracted enough. Start timer. 2026-05-04T12:55:44+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2365 ms 2026-05-04T12:55:44+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 5603 ms 2026-05-04T12:55:44+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T12:55:44+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T12:55:44+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T12:56:28+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T12:56:28+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T12:58:56+00:00 [INFO] speaker-daemon root: Horn played (ID 27) 2026-05-04T13:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T13:00:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T13:00:25+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T13:00:25+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T13:01:03+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T13:01:03+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T13:01:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:01:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:01:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:01:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:01:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:01:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:01:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:01:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:01:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:01:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:02:59+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T13:02:59+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T13:04:22+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T13:04:22+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE 2026-05-04T13:04:22+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T13:04:22+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:04:22+00:00 [INFO] kv-logs M4: Estimated slope angle: -0.218° 2026-05-04T13:04:22+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 42.411 mm, support: 21.212 mm 2026-05-04T13:04:24+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 55.439 mm, support: 28.881 mm 2026-05-04T13:04:25+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T13:04:25+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T13:04:25+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:04:25+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T13:04:25+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T13:04:26+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:04:28+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:04:28+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:04:29+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:04:29+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T13:04:29+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T13:04:31+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.120 m after last reset. 2026-05-04T13:04:33+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:04:34+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_ELEVATE_MODE 2026-05-04T13:04:34+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_ELEVATE_MODE 2026-05-04T13:04:34+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:04:34+00:00 [INFO] kv-logs M4: Entered elevate sub-mode: 1. Support pos 42.004mm, seat slider at min=0, at max=0 2026-05-04T13:04:34+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ELEVATE_MODE 2026-05-04T13:04:34+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_ELEVATE_MODE entered sub-mode: 1 2026-05-04T13:04:35+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_ELEVATE_MODE entered sub-mode: 2 2026-05-04T13:04:42+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T13:04:42+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ELEVATE_MODE to OperatingMode_SAFE_MODE 2026-05-04T13:04:43+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:04:43+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T13:04:43+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:04:43+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T13:04:43+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T13:04:43+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:04:44+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:04:45+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:04:45+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:04:45+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:04:46+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:04:46+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:04:47+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:04:48+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:04:48+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:04:48+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:04:49+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T13:10:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T13:12:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:12:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:12:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:12:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:12:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:12:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:12:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:12:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:12:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:12:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:16:24+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T13:16:24+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00140000 2026-05-04T13:16:24+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T13:16:24+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T13:17:02+00:00 [INFO] cloud-access-daemon Latest version available is: 24.9.3 2026-05-04T13:17:02+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 2026-05-04T13:17:02+00:00 [INFO] update-daemon root: Entering state: CHECK_UPDATE_AVAILABLE 2026-05-04T13:17:02+00:00 [INFO] update-daemon root: Entering state: IDLE 2026-05-04T13:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T13:20:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T13:22:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:22:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:22:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:22:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:22:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:22:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:22:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:22:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:22:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:22:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:23:54+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T13:23:54+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T13:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T13:30:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T13:30:12+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:30:17+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:30:24+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:30:25+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:30:26+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T13:30:26+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE 2026-05-04T13:30:26+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T13:30:26+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:30:28+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 7.481 mm, backrest: 55.511 mm, footrest: 58.850 mm, support: 40.688 m 2026-05-04T13:30:34+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:30:34+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:30:35+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:30:35+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T13:30:35+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is -0.685° 2026-05-04T13:30:35+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.104°, wheel-clearance: 36.368 2026-05-04T13:30:35+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 57.790 mm, support: 24.170 mm 2026-05-04T13:30:35+00:00 [DEBUG] kv-logs M4: Stable angle: -1.763 deg, wheel-clearance offset: -1.211 mm 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.104°, wheel-clearance: -4.723 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Wait to settle 52 ms. Pitch rate mean: -0.183 deg/s, variance: 0.021 (deg/s)^2 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Wait to settle 104 ms. Pitch rate mean: -0.028 deg/s, variance: 0.038 (deg/s)^2 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Wait to settle 155 ms. Pitch rate mean: 0.020 deg/s, variance: 0.031 (deg/s)^2 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Wait to settle 207 ms. Pitch rate mean: 0.025 deg/s, variance: 0.024 (deg/s)^2 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Wait to settle 259 ms. Pitch rate mean: 0.002 deg/s, variance: 0.023 (deg/s)^2 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Wait to settle 310 ms. Pitch rate mean: -0.007 deg/s, variance: 0.021 (deg/s)^2 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Wait to settle 362 ms. Pitch rate mean: -0.013 deg/s, variance: 0.018 (deg/s)^2 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Wait to settle 414 ms. Pitch rate mean: -0.020 deg/s, variance: 0.016 (deg/s)^2 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Wait to settle 466 ms. Pitch rate mean: -0.021 deg/s, variance: 0.015 (deg/s)^2 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Wait to settle 517 ms. Pitch rate mean: -0.020 deg/s, variance: 0.013 (deg/s)^2 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.920 deg. Extend support, retract tracks 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Control error: -0.920°, track: 58.400, support: 24.441, wheel-clearance: -5.647 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Control error: -0.918°, track: 58.400, support: 24.441, wheel-clearance: -5.647 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Control error: -0.904°, track: 58.400, support: 24.578, wheel-clearance: -5.395 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Control error: -0.851°, track: 58.400, support: 24.578, wheel-clearance: -5.395 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Control error: -0.782°, track: 58.400, support: 24.624, wheel-clearance: -5.311 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Control error: -0.684°, track: 57.800, support: 24.762, wheel-clearance: -6.001 2026-05-04T13:30:37+00:00 [DEBUG] kv-logs M4: Control error: -0.572°, track: 57.800, support: 24.945, wheel-clearance: -6.001 2026-05-04T13:30:38+00:00 [DEBUG] kv-logs M4: Control error: -0.446°, track: 57.300, support: 25.083, wheel-clearance: -6.001 2026-05-04T13:30:38+00:00 [DEBUG] kv-logs M4: Control error: -0.335°, track: 57.300, support: 25.266, wheel-clearance: -6.001 2026-05-04T13:30:38+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 57.300 mm, support: 25.266 mm 2026-05-04T13:30:38+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:30:38+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T13:30:40+00:00 [INFO] kv-logs M4: Track (10.900 mm) and support (0.503 mm) are retracted enough. Start timer. 2026-05-04T13:30:40+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2343 ms 2026-05-04T13:30:41+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 14230 ms 2026-05-04T13:30:41+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:30:41+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:30:41+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T13:31:37+00:00 [DEBUG] kv-logs M4: play = 16 2026-05-04T13:31:37+00:00 [INFO] speaker-daemon root: Horn played (ID 16) 2026-05-04T13:31:39+00:00 [INFO] kv-logs M4: Saved COG config. Pitch offset: -0.065, Seat slider: 6.879, Backrest: 55.582, Footrest 58.850 2026-05-04T13:31:39+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 500ms 2026-05-04T13:31:39+00:00 [INFO] notifications-daemon root: Push SAVE_COG_SUCCESS [18] 2026-05-04T13:31:44+00:00 [INFO] notifications-daemon root: Clear SAVE_COG_SUCCESS [18] 2026-05-04T13:32:14+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T13:32:14+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T13:33:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:33:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:33:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:33:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:33:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:33:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:33:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:33:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:33:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:33:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:37:54+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T13:37:54+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T13:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T13:40:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T13:40:54+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T13:40:54+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE 2026-05-04T13:40:54+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T13:40:54+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:40:55+00:00 [INFO] kv-logs M4: Estimated slope angle: 1.033° 2026-05-04T13:40:55+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 38.121 mm, support: 24.951 mm 2026-05-04T13:40:57+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 51.066 mm, support: 32.673 mm 2026-05-04T13:40:57+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T13:40:58+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T13:40:58+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:40:58+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T13:40:58+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T13:43:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:43:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:43:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:43:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:43:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:43:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:43:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:43:30+00:00 [WARNING] speaker-daemon root: XRUN 2026-05-04T13:43:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:43:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:43:30+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:45:30+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:30+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:32+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:32+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:34+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:34+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:36+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:36+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:38+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:38+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:40+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:40+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:42+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:42+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:45+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:45+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:47+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:47+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:49+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:49+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:51+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:51+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:54+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:54+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:56+00:00 [INFO] back-camera root: Starting /usr/bin/back-camera version 0.5.0 (master - v0.5.0) 2026-05-04T13:45:56+00:00 [INFO] back-camera root: Starting JPEG server 2026-05-04T13:45:56+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T13:45:56+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE 2026-05-04T13:45:56+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:45:56+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T13:45:58+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 6.879 mm, backrest: 55.582 mm, footrest: 58.850 mm, support: 53.106 m 2026-05-04T13:45:58+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:45:58+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:45:58+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:45:58+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T13:45:58+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 1.839° 2026-05-04T13:45:58+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.211°, wheel-clearance: -3.702 2026-05-04T13:45:58+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 44.410 mm, support: 35.790 mm 2026-05-04T13:45:58+00:00 [DEBUG] kv-logs M4: Stable angle: 1.314 deg, wheel-clearance offset: -1.211 mm 2026-05-04T13:45:59+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.211°, wheel-clearance: -7.823 2026-05-04T13:45:59+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: 0.749 deg/s, variance: 0.068 (deg/s)^2 2026-05-04T13:45:59+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: 0.435 deg/s, variance: 0.135 (deg/s)^2 2026-05-04T13:45:59+00:00 [DEBUG] kv-logs M4: Wait to settle 152 ms. Pitch rate mean: 0.184 deg/s, variance: 0.211 (deg/s)^2 2026-05-04T13:45:59+00:00 [DEBUG] kv-logs M4: Wait to settle 203 ms. Pitch rate mean: 0.041 deg/s, variance: 0.226 (deg/s)^2 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Wait to settle 254 ms. Pitch rate mean: -0.066 deg/s, variance: 0.224 (deg/s)^2 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Wait to settle 305 ms. Pitch rate mean: -0.129 deg/s, variance: 0.210 (deg/s)^2 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Wait to settle 357 ms. Pitch rate mean: -0.164 deg/s, variance: 0.186 (deg/s)^2 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Wait to settle 408 ms. Pitch rate mean: -0.176 deg/s, variance: 0.163 (deg/s)^2 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Wait to settle 459 ms. Pitch rate mean: -0.167 deg/s, variance: 0.147 (deg/s)^2 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Wait to settle 511 ms. Pitch rate mean: -0.143 deg/s, variance: 0.137 (deg/s)^2 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.411 deg. Extend support, retract tracks 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Control error: -0.410°, track: 44.400, support: 35.217, wheel-clearance: -8.441 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Control error: -0.400°, track: 44.400, support: 35.172, wheel-clearance: -8.523 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Control error: -0.376°, track: 44.400, support: 35.217, wheel-clearance: -8.441 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: Control error: -0.333°, track: 44.100, support: 35.263, wheel-clearance: -8.842 2026-05-04T13:46:00+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 44.100 mm, support: 35.493 mm 2026-05-04T13:46:00+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:46:01+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T13:46:02+00:00 [INFO] kv-logs M4: Track (7.900 mm) and support (5.043 mm) are retracted enough. Start timer. 2026-05-04T13:46:02+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 1991 ms 2026-05-04T13:46:03+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 6403 ms 2026-05-04T13:46:03+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:46:03+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:46:03+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T13:46:55+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY 2026-05-04T13:46:55+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY 2026-05-04T13:46:55+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T13:46:55+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:46:56+00:00 [INFO] kv-logs M4: Estimated slope angle: 1.057° 2026-05-04T13:46:56+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 37.678 mm, support: 25.341 mm 2026-05-04T13:46:57+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 50.615 mm, support: 33.069 mm 2026-05-04T13:46:58+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T13:46:58+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T13:46:58+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:46:59+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_FOOTREST poti fault detected (delta=86mV) 2026-05-04T13:46:59+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_FOOTREST poti fault detected (delta=89mV) 2026-05-04T13:47:00+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:47:00+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:47:02+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:47:02+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:47:02+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY 2026-05-04T13:47:02+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:47:09+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 0 2026-05-04T13:47:10+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.121 m after last reset. 2026-05-04T13:47:15+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.119 m 2026-05-04T13:47:15+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TOP_STAIR 2026-05-04T13:47:15+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_TOP_STAIR 2026-05-04T13:47:15+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:47:15+00:00 [DEBUG] kv-logs M4: TopStair: ENTER angle = 18.3° - pitch = -1.759 2026-05-04T13:47:15+00:00 [DEBUG] kv-logs M4: TopStair: ENTER support = 79.5mm 2026-05-04T13:47:15+00:00 [INFO] kv-logs M4: TopStair: Enabled autoleveling! 2026-05-04T13:47:16+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_BEGIN_STAIR 2026-05-04T13:47:16+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TOP_STAIR 2026-05-04T13:47:16+00:00 [DEBUG] kv-logs M4: Detected Ground Type STEP with height -0.061 m 2026-05-04T13:47:16+00:00 [INFO] kv-logs M4: Ground Type STEP detected. 0.533 m after last reset. 2026-05-04T13:47:20+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR distance = 0.182m 2026-05-04T13:47:20+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR support = 86.7mm 2026-05-04T13:47:20+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR angle = 26.2° - pitch = -5.431 2026-05-04T13:47:20+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_TOUCH_DETECTED 2026-05-04T13:47:20+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_DETECTED step height = 127.2 - diff = 60.4 2026-05-04T13:47:20+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_DETECTED max_diff = 92.7 - tof = 0 2026-05-04T13:47:21+00:00 [DEBUG] kv-logs M4: TopStair EnterStairMode_TOUCH_DETECTED drive_distance_to_touch 0.0500 > 0.05 [m]? 2026-05-04T13:47:21+00:00 [DEBUG] kv-logs M4: TopStair EnterStairMode_TOUCH_DETECTED drive_distance 0.2321 > 0.30 [m]? 2026-05-04T13:47:21+00:00 [DEBUG] kv-logs M4: TopStair EnterStairMode_TOUCH_DETECTED track_angle 26.3036 > 38.0 [°]? 2026-05-04T13:47:21+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR distance = 0.232m 2026-05-04T13:47:21+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR support = 86.8mm 2026-05-04T13:47:21+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_BEGIN_STAIR angle = 26.3° - pitch = -5.414 2026-05-04T13:47:21+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_TOUCH_DETECTED distance = 0.232m - angle = 26.3° - pitch = -5.414 2026-05-04T13:47:21+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_STAIR_EDGE early 2026-05-04T13:47:23+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE - single step detected 2026-05-04T13:47:23+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE track angle change since start: 7.9465 [°] 2026-05-04T13:47:23+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE angle_delta_deg 0.0818 > 2 [°]? 2026-05-04T13:47:23+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE drive_distance_m 0.1011 > 0.1 [m]? 2026-05-04T13:47:23+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE angle2_deg 26.3854 > 40 [°]? 2026-05-04T13:47:23+00:00 [DEBUG] kv-logs M4: TopStair: EnterStairMode_STAIR_EDGE step_height_mm = 128.7 [mm] 2026-05-04T13:47:23+00:00 [INFO] kv-logs M4: TopStair -> EnterStairMode_LOWER_SUPPORT 2026-05-04T13:47:34+00:00 [WARNING] kv-logs M4: miControl: CAN_ID_SLIDER poti fault detected (delta=64mV) 2026-05-04T13:47:35+00:00 [DEBUG] kv-logs M4: TopStair: EXIT angle = 12.4° - pitch = -6.574° 2026-05-04T13:47:35+00:00 [DEBUG] kv-logs M4: TopStair: EXIT distance 0.204 2026-05-04T13:47:35+00:00 [INFO] kv-logs M4: TopStair -> STAIR_MODE! 2026-05-04T13:47:35+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_ON_STAIR 2026-05-04T13:47:35+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TOP_STAIR to OperatingMode_ON_STAIR 2026-05-04T13:47:35+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:47:35+00:00 [INFO] kv-logs M4: Started on top 2026-05-04T13:47:35+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ON_STAIR 2026-05-04T13:47:37+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown 2026-05-04T13:47:37+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 11.463 mm, support velocity: 0.000 mm/s, track angle: 11.723 deg 2026-05-04T13:47:37+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (11.5mm - 11.723°) 2026-05-04T13:47:37+00:00 [INFO] kv-logs M4: Reduced detection threshold to 9.500° 2026-05-04T13:47:37+00:00 [DEBUG] kv-logs M4: SupportSystemTask_GetPosition = 11.509mm 2026-05-04T13:47:44+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown 2026-05-04T13:47:44+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 40.766 mm, support velocity: -1.376 mm/s, track angle: 8.872 deg 2026-05-04T13:47:44+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (40.8mm - 8.872°) 2026-05-04T13:47:44+00:00 [INFO] kv-logs M4: End of stair bottom (1) 2026-05-04T13:47:44+00:00 [INFO] kv-logs M4: Total number of steps = 2 2026-05-04T13:47:44+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_BOTTOM_STAIR 2026-05-04T13:47:44+00:00 [INFO] kv-logs M4: Leaving on-stair: Min track angle 9.4°. Max track angle 12.4°. 2026-05-04T13:47:44+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ON_STAIR to OperatingMode_BOTTOM_STAIR 2026-05-04T13:47:44+00:00 [WARNING] speaker-daemon root: XRUN 2026-05-04T13:47:45+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:47:45+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BOTTOM_STAIR 2026-05-04T13:47:45+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_BOTTOM_STAIR entered sub-mode: 3 2026-05-04T13:47:49+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 1000ms 2026-05-04T13:47:49+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_MODE_READY 2026-05-04T13:47:49+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BOTTOM_STAIR to OperatingMode_STAIR_MODE_READY 2026-05-04T13:47:49+00:00 [INFO] notifications-daemon root: Push STAIR_TOP_SUPPORT_GROUND [27] 2026-05-04T13:47:49+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:47:49+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY 2026-05-04T13:47:49+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:48:17+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T13:48:17+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BALANCE_MODE 2026-05-04T13:48:17+00:00 [INFO] notifications-daemon root: Clear STAIR_TOP_SUPPORT_GROUND [27] 2026-05-04T13:48:17+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T13:48:17+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:48:18+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 6.879 mm, backrest: 55.582 mm, footrest: 58.850 mm, support: 40.410 m 2026-05-04T13:48:23+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:48:23+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:48:23+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T13:48:23+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is -1.134° 2026-05-04T13:48:23+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.153°, wheel-clearance: 38.993 2026-05-04T13:48:23+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:48:23+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 56.828 mm, support: 24.985 mm 2026-05-04T13:48:23+00:00 [DEBUG] kv-logs M4: Stable angle: -0.916 deg, wheel-clearance offset: -1.211 mm 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.153°, wheel-clearance: -4.705 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Wait to settle 50 ms. Pitch rate mean: 0.010 deg/s, variance: 0.021 (deg/s)^2 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: -0.016 deg/s, variance: 0.012 (deg/s)^2 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Wait to settle 155 ms. Pitch rate mean: -0.014 deg/s, variance: 0.008 (deg/s)^2 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Wait to settle 206 ms. Pitch rate mean: -0.008 deg/s, variance: 0.007 (deg/s)^2 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Wait to settle 258 ms. Pitch rate mean: -0.005 deg/s, variance: 0.006 (deg/s)^2 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Wait to settle 309 ms. Pitch rate mean: -0.010 deg/s, variance: 0.005 (deg/s)^2 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Wait to settle 361 ms. Pitch rate mean: -0.013 deg/s, variance: 0.004 (deg/s)^2 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Wait to settle 412 ms. Pitch rate mean: -0.009 deg/s, variance: 0.004 (deg/s)^2 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Wait to settle 464 ms. Pitch rate mean: -0.005 deg/s, variance: 0.004 (deg/s)^2 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Wait to settle 516 ms. Pitch rate mean: -0.005 deg/s, variance: 0.004 (deg/s)^2 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Initial pitch error: 1.892 deg. Extend tracks, retract support 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Control error: 1.892°, track: 56.600, support: 25.312, wheel-clearance: -6.881 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Control error: 1.890°, track: 56.600, support: 25.266, wheel-clearance: -6.881 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Control error: 1.889°, track: 56.600, support: 25.312, wheel-clearance: -6.881 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Control error: 1.888°, track: 56.600, support: 25.266, wheel-clearance: -6.965 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Control error: 1.889°, track: 56.600, support: 25.083, wheel-clearance: -6.965 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Control error: 1.844°, track: 56.600, support: 24.945, wheel-clearance: -7.552 2026-05-04T13:48:25+00:00 [DEBUG] kv-logs M4: Control error: 1.747°, track: 57.100, support: 24.808, wheel-clearance: -7.552 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 1.643°, track: 57.100, support: 24.624, wheel-clearance: -7.552 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 1.549°, track: 57.800, support: 24.395, wheel-clearance: -7.552 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 1.468°, track: 57.800, support: 24.211, wheel-clearance: -7.009 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 1.385°, track: 58.600, support: 24.074, wheel-clearance: -7.009 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 1.309°, track: 58.600, support: 23.890, wheel-clearance: -7.009 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 1.233°, track: 59.100, support: 23.799, wheel-clearance: -7.009 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 1.158°, track: 59.100, support: 23.615, wheel-clearance: -6.064 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 1.087°, track: 59.600, support: 23.340, wheel-clearance: -6.064 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 1.018°, track: 59.600, support: 23.157, wheel-clearance: -5.787 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 0.953°, track: 60.100, support: 22.790, wheel-clearance: -5.787 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 0.881°, track: 60.100, support: 22.790, wheel-clearance: -6.018 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 0.820°, track: 60.600, support: 22.561, wheel-clearance: -6.018 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 0.761°, track: 60.600, support: 22.331, wheel-clearance: -6.018 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 0.695°, track: 61.100, support: 22.331, wheel-clearance: -6.018 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 0.627°, track: 61.100, support: 22.056, wheel-clearance: -5.809 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 0.566°, track: 61.600, support: 21.735, wheel-clearance: -5.809 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 0.504°, track: 61.600, support: 21.552, wheel-clearance: -5.809 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 0.446°, track: 62.200, support: 21.552, wheel-clearance: -5.027 2026-05-04T13:48:26+00:00 [DEBUG] kv-logs M4: Control error: 0.380°, track: 62.200, support: 21.185, wheel-clearance: -5.366 2026-05-04T13:48:27+00:00 [DEBUG] kv-logs M4: Control error: 0.318°, track: 62.700, support: 20.955, wheel-clearance: -5.366 2026-05-04T13:48:27+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 62.700 mm, support: 20.955 mm 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:48:27+00:00 [ERR] kv-logs M4: wheel speed safety was triggered 2026-05-04T13:48:27+00:00 [ERR] kv-logs M4: wheel speed safety was triggered 2026-05-04T13:48:27+00:00 [ERR] kv-logs M4: Start Balance Trans Aborted. Distance l: 0.013 [m] r: 0.014 [m], Wheel Velocity: 0.523 [m/s], COG Velocity: 0.065 [m/s] 2026-05-04T13:48:27+00:00 [ERR] kv-logs M4: TransitionAbort_GetError triggered. Wheel clearance: -4.045 mm 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: Balance pose ATS trigger activated! Threshold:-15.000deg/s 2026-05-04T13:48:27+00:00 [DEBUG] kv-logs M4: Initial speed:0.144m/s, pitch:-1.292deg, error:1.643deg, rate:-8.551deg/s, acc:-34.230deg/s^2 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: FAST EMERGENCY slope angle -3.967° 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: Set support to 18.734 mm and tracks to 67.552 mm 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: Support extension limit set to 1 2026-05-04T13:48:27+00:00 [DEBUG] kv-logs M4: Reset Ground Profiling because driven past last detection point. 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T13:48:27+00:00 [ERR] kv-logs M4: Transition failed with error 0xb0002. Entered error mode 2026-05-04T13:48:27+00:00 [ERR] notifications-daemon root: Push START_BALANCE_FAIL_COG_OFF [19] 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: Support extension limit set to 0 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: Error mode reached 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: ATS general trigger enabled! Threshold: -25.000 deg/s 2026-05-04T13:48:27+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ERROR_MODE 2026-05-04T13:48:30+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE 2026-05-04T13:48:30+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ERROR_MODE to OperatingMode_RECOVERY_MODE 2026-05-04T13:48:30+00:00 [INFO] notifications-daemon root: Clear START_BALANCE_FAIL_COG_OFF [19] 2026-05-04T13:48:30+00:00 [DEBUG] kv-logs M4: Read persisted state 11 2026-05-04T13:48:30+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE 2026-05-04T13:48:30+00:00 [INFO] kv-logs M4: We don't know the mode -> go to OperatingMode_SAFE_MODE 2026-05-04T13:48:30+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: SingleTransition_RECOVER_SAFE_POSITION 2026-05-04T13:48:30+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to SingleTransition_RECOVER_SAFE_POSITION 2026-05-04T13:48:30+00:00 [DEBUG] kv-logs M4: Recovery Transition 2026-05-04T13:48:31+00:00 [DEBUG] kv-logs M4: Slope angle is: -2.846 ° 2026-05-04T13:48:31+00:00 [DEBUG] kv-logs M4: First move the tracks to 67.782 mm and support to 18.547 mm 2026-05-04T13:48:31+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:48:31+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE 2026-05-04T13:48:31+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_RECOVERY_MODE 2026-05-04T13:48:31+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_RECOVERY_MODE 2026-05-04T13:48:31+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:48:31+00:00 [DEBUG] kv-logs M4: Read persisted state 11 2026-05-04T13:48:31+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE 2026-05-04T13:48:31+00:00 [INFO] kv-logs M4: We don't know the mode -> go to OperatingMode_SAFE_MODE 2026-05-04T13:48:31+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: SingleTransition_RECOVER_SAFE_POSITION 2026-05-04T13:48:31+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to SingleTransition_RECOVER_SAFE_POSITION 2026-05-04T13:48:31+00:00 [DEBUG] kv-logs M4: Recovery Transition 2026-05-04T13:48:31+00:00 [DEBUG] kv-logs M4: Slope angle is: -2.850 ° 2026-05-04T13:48:31+00:00 [DEBUG] kv-logs M4: First move the tracks to 67.784 mm and support to 18.545 mm 2026-05-04T13:48:31+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:48:33+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE 2026-05-04T13:48:33+00:00 [DEBUG] kv-logs M4: Transition overwritten to OperatingMode_RECOVERY_MODE 2026-05-04T13:48:33+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_RECOVERY_MODE 2026-05-04T13:48:33+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:48:33+00:00 [DEBUG] kv-logs M4: Read persisted state 11 2026-05-04T13:48:33+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE 2026-05-04T13:48:33+00:00 [INFO] kv-logs M4: We don't know the mode -> go to OperatingMode_SAFE_MODE 2026-05-04T13:48:33+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: SingleTransition_RECOVER_SAFE_POSITION 2026-05-04T13:48:33+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to SingleTransition_RECOVER_SAFE_POSITION 2026-05-04T13:48:33+00:00 [DEBUG] kv-logs M4: Recovery Transition 2026-05-04T13:48:33+00:00 [DEBUG] kv-logs M4: Slope angle is: -2.862 ° 2026-05-04T13:48:33+00:00 [DEBUG] kv-logs M4: First move the tracks to 67.795 mm and support to 18.571 mm 2026-05-04T13:48:33+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:48:35+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:48:35+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:48:36+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:48:36+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:48:36+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T13:48:36+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T13:48:38+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:48:40+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:48:42+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.129 m after last reset. 2026-05-04T13:48:43+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:48:44+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T13:48:44+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_SAFE_MODE to OperatingMode_BALANCE_MODE 2026-05-04T13:48:44+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T13:48:44+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:48:45+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 6.879 mm, backrest: 55.582 mm, footrest: 58.850 mm, support: 43.516 m 2026-05-04T13:48:45+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:48:45+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:48:46+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:48:46+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T13:48:46+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is -0.735° 2026-05-04T13:48:47+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -1.937°, wheel-clearance: 42.028 2026-05-04T13:48:47+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 55.142 mm, support: 26.421 mm 2026-05-04T13:48:47+00:00 [DEBUG] kv-logs M4: Stable angle: -0.617 deg, wheel-clearance offset: -1.211 mm 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -1.937°, wheel-clearance: -2.351 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Wait to settle 52 ms. Pitch rate mean: 1.263 deg/s, variance: 0.340 (deg/s)^2 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Wait to settle 105 ms. Pitch rate mean: 1.063 deg/s, variance: 0.254 (deg/s)^2 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Wait to settle 158 ms. Pitch rate mean: 0.809 deg/s, variance: 0.305 (deg/s)^2 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Wait to settle 210 ms. Pitch rate mean: 0.558 deg/s, variance: 0.422 (deg/s)^2 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Wait to settle 262 ms. Pitch rate mean: 0.352 deg/s, variance: 0.507 (deg/s)^2 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Wait to settle 313 ms. Pitch rate mean: 0.240 deg/s, variance: 0.499 (deg/s)^2 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Wait to settle 365 ms. Pitch rate mean: 0.159 deg/s, variance: 0.466 (deg/s)^2 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Wait to settle 418 ms. Pitch rate mean: 0.124 deg/s, variance: 0.416 (deg/s)^2 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Wait to settle 470 ms. Pitch rate mean: 0.111 deg/s, variance: 0.371 (deg/s)^2 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Wait to settle 521 ms. Pitch rate mean: 0.100 deg/s, variance: 0.338 (deg/s)^2 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Initial pitch error: -0.669 deg. Extend support, retract tracks 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Control error: -0.669°, track: 55.100, support: 26.871, wheel-clearance: -6.403 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Control error: -0.669°, track: 55.100, support: 26.917, wheel-clearance: -6.319 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Control error: -0.658°, track: 55.100, support: 26.871, wheel-clearance: -6.403 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Control error: -0.602°, track: 55.100, support: 26.917, wheel-clearance: -6.319 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Control error: -0.527°, track: 55.100, support: 26.917, wheel-clearance: -6.319 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Control error: -0.418°, track: 54.500, support: 27.100, wheel-clearance: -7.351 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: Control error: -0.292°, track: 54.500, support: 27.238, wheel-clearance: -7.351 2026-05-04T13:48:48+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 54.500 mm, support: 27.238 mm 2026-05-04T13:48:49+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:48:49+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T13:48:50+00:00 [WARNING] kv-logs M4: Start balance safeties deactivated due to joystick input! 2026-05-04T13:48:50+00:00 [INFO] kv-logs M4: Track (10.700 mm) and support (0.365 mm) are retracted enough. Start timer. 2026-05-04T13:48:51+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2225 ms 2026-05-04T13:48:51+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 7235 ms 2026-05-04T13:48:51+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:48:51+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:48:51+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T13:49:28+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00040000 2026-05-04T13:49:29+00:00 [INFO] kv-logs error-bits: sensors.ultrasonic.error: 0x00000000 2026-05-04T13:49:40+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY 2026-05-04T13:49:40+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_STAIR_MODE_READY 2026-05-04T13:49:40+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T13:49:40+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:49:40+00:00 [INFO] kv-logs M4: Estimated slope angle: -2.910° 2026-05-04T13:49:40+00:00 [INFO] kv-logs M4: Balance pose ATS trigger activated! Threshold:-25.000deg/s 2026-05-04T13:49:40+00:00 [DEBUG] kv-logs M4: Initial speed:0.011m/s, pitch:-2.823deg, error:-0.330deg, rate:0.299deg/s, acc:1.631deg/s^2 2026-05-04T13:49:40+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 53.789 mm, support: 11.644 mm 2026-05-04T13:49:44+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 67.016 mm, support: 19.171 mm 2026-05-04T13:49:45+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T13:49:45+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T13:49:45+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:49:57+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:49:57+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:49:57+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:49:57+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:49:57+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY 2026-05-04T13:49:57+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:50:00+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_TRACK_MODE 2026-05-04T13:50:00+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_TRACK_MODE 2026-05-04T13:50:00+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Starting log cleaning ... 2026-05-04T13:50:01+00:00 [NOTICE] /usr/bin/cleanlog local0.info Enough free space on log device 2026-05-04T13:50:11+00:00 [DEBUG] kv-logs M4: move the tracks to 105.000 mm and support to 0.000 mm 2026-05-04T13:50:45+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:50:45+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:50:46+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:50:46+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:50:46+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TRACK_MODE 2026-05-04T13:50:46+00:00 [INFO] kv-logs M4: Ground Type FLAT detected. 0.005 m after last reset. 2026-05-04T13:51:29+00:00 [INFO] gamepads root: Added joystick "Microsoft X-Box 360 pad" with ID 045e:028e 2026-05-04T13:51:36+00:00 [INFO] kv-logs M4: Switch to Xbox Mode triggered 2026-05-04T13:51:36+00:00 [WARNING] kv-logs M4: OperationMode_RunMode returned error 0xe 2026-05-04T13:51:36+00:00 [INFO] kv-logs M4: Controller selected as input device 2026-05-04T13:51:36+00:00 [DEBUG] kv-logs M4: Xbox requests state change to: OperatingMode_XBOX_MODE 2026-05-04T13:51:36+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_XBOX_MODE 2026-05-04T13:51:36+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:51:36+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_XBOX_MODE 2026-05-04T13:52:21+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:21+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:21+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:21+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:21+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:21+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:21+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:21+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:22+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:37+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:37+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:37+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:37+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:37+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:52:37+00:00 [WARNING] kv-logs M4: Move Joystick to center! 2026-05-04T13:53:42+00:00 [ERR] kernel [ 9446.131853] xpad 1-1.3:1.0: xpad_try_sending_next_out_packet - usb_submit_urb failed with result -19 2026-05-04T13:53:42+00:00 [ERR] gamepads root: Could not read joystick event: No such device 2026-05-04T13:53:42+00:00 [INFO] gamepads root: Removing joystick Microsoft X-Box 360 pad ... 2026-05-04T13:53:42+00:00 [INFO] gamepads root: Udev remove event for "Microsoft X-Box 360 pad" with ID 045e:028e 2026-05-04T13:53:42+00:00 [INFO] gamepads root: Joystick 045e:028e already removed? 2026-05-04T13:53:43+00:00 [ERR] kernel [ 9446.663641] hid-generic 0003:2DC8:3107.0003: device has no listeners, quitting 2026-05-04T13:53:46+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_RECOVERY_MODE 2026-05-04T13:53:46+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_XBOX_MODE to OperatingMode_RECOVERY_MODE 2026-05-04T13:53:46+00:00 [INFO] kv-logs M4: Interface selected as input device 2026-05-04T13:53:46+00:00 [DEBUG] kv-logs M4: Read persisted state 11 2026-05-04T13:53:46+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_RECOVERY_MODE 2026-05-04T13:53:46+00:00 [INFO] kv-logs M4: We should be in OperatingMode_TRACK_MODE 2026-05-04T13:53:46+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_TRACK_MODE 2026-05-04T13:53:46+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_RECOVERY_MODE to OperatingMode_TRACK_MODE 2026-05-04T13:53:46+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:53:46+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:53:47+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:53:47+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_TRACK_MODE 2026-05-04T13:53:49+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_STAIR_MODE_READY 2026-05-04T13:53:49+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_TRACK_MODE to OperatingMode_STAIR_MODE_READY 2026-05-04T13:53:49+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:54:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:54:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:54:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:54:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:54:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:54:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:54:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:54:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:54:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:54:00+00:00 [INFO] service-tool-backend Initializing db at /mnt/sdcard/service-tool/service-tool.db 2026-05-04T13:54:12+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:54:12+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:54:14+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:54:14+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:54:14+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY 2026-05-04T13:54:14+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:54:18+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1 2026-05-04T13:54:19+00:00 [INFO] kv-logs M4: Normal step detected, switching to BOTTOM_STAIR 2026-05-04T13:54:19+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_BOTTOM_STAIR 2026-05-04T13:54:19+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BOTTOM_STAIR 2026-05-04T13:54:20+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:54:20+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BOTTOM_STAIR 2026-05-04T13:54:20+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_BOTTOM_STAIR entered sub-mode: 1 2026-05-04T13:54:22+00:00 [INFO] kv-logs M4: RetractWithStuckDetection - no stuck detected, retracting fully (3.3mm - 11.090°) 2026-05-04T13:54:22+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_ON_STAIR 2026-05-04T13:54:22+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BOTTOM_STAIR to OperatingMode_ON_STAIR 2026-05-04T13:54:22+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:54:22+00:00 [INFO] kv-logs M4: Started on bottom 2026-05-04T13:54:22+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_ON_STAIR 2026-05-04T13:54:37+00:00 [INFO] kv-logs M4: Ultrasonic end of stair detected @0.150 (-1.485) 2026-05-04T13:54:37+00:00 [INFO] notifications-daemon root: Push STAIR_END_DETECTION [28] 2026-05-04T13:54:37+00:00 [INFO] notifications-daemon root: Push STAIR_SENSOR_DETECTION_ULTRASONIC_END_OF_STAIR [53] 2026-05-04T13:54:41+00:00 [INFO] kv-logs M4: End of stair top 2 (drive distance = -1.863) 2026-05-04T13:54:41+00:00 [INFO] kv-logs M4: Total number of steps = 7 2026-05-04T13:54:41+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_TOP 2026-05-04T13:54:41+00:00 [INFO] kv-logs M4: Leaving on-stair: Min track angle 11.1°. Max track angle 33.7°. 2026-05-04T13:54:41+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_ON_STAIR to OperatingMode_STAIR_TOP 2026-05-04T13:54:42+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_FEEDBACK for 500ms 2026-05-04T13:54:42+00:00 [INFO] notifications-daemon root: Clear STAIR_END_DETECTION [28] 2026-05-04T13:54:42+00:00 [INFO] notifications-daemon root: Clear STAIR_SENSOR_DETECTION_ULTRASONIC_END_OF_STAIR [53] 2026-05-04T13:54:42+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:54:42+00:00 [INFO] kv-logs M4: StairTop: Enabled autoleveling! 2026-05-04T13:54:42+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_TOP 2026-05-04T13:54:44+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - touch detected from slowdown 2026-05-04T13:54:44+00:00 [DEBUG] kv-logs M4: ExtendUntilGroundOnlyMotor - Support position 22.836 mm, support velocity: 0.000 mm/s, track angle: 33.759 deg 2026-05-04T13:54:44+00:00 [INFO] kv-logs M4: ExtendUntilGround - DONE (22.8mm - 33.759°) 2026-05-04T13:54:44+00:00 [WARNING] kv-logs M4: Control panel warning InterfaceFeedback_PASS for 1000ms 2026-05-04T13:54:44+00:00 [INFO] kv-logs M4: StairTop: -> StairTopMode_STAIR_EDGE 2026-05-04T13:54:44+00:00 [INFO] notifications-daemon root: Push STAIR_TOP_SUPPORT_GROUND [27] 2026-05-04T13:54:51+00:00 [INFO] kv-logs M4: StairTop -> StairTopMode_LEAVE_STAIR 2026-05-04T13:54:51+00:00 [DEBUG] kv-logs M4: StTp: Distance1=-0.387m, 73.692, 5.224 2026-05-04T13:54:54+00:00 [DEBUG] kv-logs M4: StTp: Distance2=-0.689m 2026-05-04T13:54:54+00:00 [INFO] kv-logs M4: StairTop: -> OperatingMode_STAIR_MODE_READY !!! 2026-05-04T13:54:54+00:00 [INFO] notifications-daemon root: Clear STAIR_TOP_SUPPORT_GROUND [27] 2026-05-04T13:54:54+00:00 [DEBUG] kv-logs M4: StateMachine requests state change to: OperatingMode_STAIR_MODE_READY 2026-05-04T13:54:54+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_TOP to OperatingMode_STAIR_MODE_READY 2026-05-04T13:54:54+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:54:54+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_STAIR_MODE_READY 2026-05-04T13:54:54+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:54:57+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 1 2026-05-04T13:55:00+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:55:11+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3 2026-05-04T13:55:11+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:55:11+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3 2026-05-04T13:55:12+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:55:12+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3 2026-05-04T13:55:12+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:55:13+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3 2026-05-04T13:55:14+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:55:14+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 3 2026-05-04T13:55:14+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_STAIR_MODE_READY entered sub-mode: 2 2026-05-04T13:55:16+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_BALANCE_MODE 2026-05-04T13:55:16+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_STAIR_MODE_READY to OperatingMode_BALANCE_MODE 2026-05-04T13:55:16+00:00 [WARNING] notifications-daemon root: Push HINT_MOVE_JOYSTICK [1] 2026-05-04T13:55:16+00:00 [INFO] kv-logs M4: Control State set to: 2 2026-05-04T13:55:18+00:00 [DEBUG] kv-logs M4: Start balance - Move motors to COG position. Seat slider: 6.879 mm, backrest: 55.582 mm, footrest: 58.850 mm, support: 48.618 m 2026-05-04T13:55:19+00:00 [INFO] notifications-daemon root: Clear HINT_MOVE_JOYSTICK [1] 2026-05-04T13:55:19+00:00 [WARNING] notifications-daemon root: Push HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:55:20+00:00 [INFO] notifications-daemon root: Clear HINT_RELEASE_JOYSTICK [3] 2026-05-04T13:55:20+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T13:55:20+00:00 [DEBUG] kv-logs M4: Start balancing slope angle is 0.491° 2026-05-04T13:55:20+00:00 [DEBUG] kv-logs M4: ### Before six-point position ### Pitch angle: -2.914°, wheel-clearance: -13.225 2026-05-04T13:55:20+00:00 [DEBUG] kv-logs M4: Target motor positions of six-point position. Tracks: 49.997 mm, support: 30.865 mm 2026-05-04T13:55:20+00:00 [DEBUG] kv-logs M4: Stable angle: 0.303 deg, wheel-clearance offset: -1.211 mm 2026-05-04T13:55:21+00:00 [DEBUG] kv-logs M4: ### After six-point position ### Pitch angle: -2.914°, wheel-clearance: -9.340 2026-05-04T13:55:21+00:00 [DEBUG] kv-logs M4: Wait to settle 51 ms. Pitch rate mean: 1.096 deg/s, variance: 0.010 (deg/s)^2 2026-05-04T13:55:21+00:00 [DEBUG] kv-logs M4: Wait to settle 102 ms. Pitch rate mean: 0.927 deg/s, variance: 0.044 (deg/s)^2 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Wait to settle 154 ms. Pitch rate mean: 0.711 deg/s, variance: 0.124 (deg/s)^2 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Wait to settle 205 ms. Pitch rate mean: 0.516 deg/s, variance: 0.211 (deg/s)^2 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Wait to settle 256 ms. Pitch rate mean: 0.414 deg/s, variance: 0.218 (deg/s)^2 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Wait to settle 307 ms. Pitch rate mean: 0.346 deg/s, variance: 0.204 (deg/s)^2 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Wait to settle 359 ms. Pitch rate mean: 0.284 deg/s, variance: 0.196 (deg/s)^2 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Wait to settle 410 ms. Pitch rate mean: 0.243 deg/s, variance: 0.186 (deg/s)^2 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Wait to settle 462 ms. Pitch rate mean: 0.204 deg/s, variance: 0.176 (deg/s)^2 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Wait to settle 514 ms. Pitch rate mean: 0.179 deg/s, variance: 0.164 (deg/s)^2 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Initial pitch error: 0.195 deg. Extend support, retract tracks 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Control error: 0.194°, track: 50.000, support: 30.311, wheel-clearance: -8.264 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Control error: 0.192°, track: 50.000, support: 30.265, wheel-clearance: -8.347 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Control error: 0.210°, track: 50.000, support: 30.356, wheel-clearance: -8.264 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: Control error: 0.256°, track: 50.000, support: 30.356, wheel-clearance: -8.182 2026-05-04T13:55:22+00:00 [DEBUG] kv-logs M4: ### Motor positions of six-point position (after correction) ### Tracks: 50.000 mm, support: 30.632 mm 2026-05-04T13:55:22+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:55:24+00:00 [INFO] kv-logs M4: Track (11.400 mm) and support (0.732 mm) are retracted enough. Start timer. 2026-05-04T13:55:24+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T13:55:24+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T13:55:24+00:00 [INFO] kv-logs M4: Elapsed time to retract and balance: 2074 ms 2026-05-04T13:55:25+00:00 [INFO] kv-logs M4: Elapsed time to start balance: 9128 ms 2026-05-04T13:55:25+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T13:55:25+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:55:25+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:55:25+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_BALANCE_MODE 2026-05-04T13:55:50+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T13:55:50+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T13:56:30+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00100000 2026-05-04T13:56:30+00:00 [INFO] kv-logs error-bits: motors.main-motors.error: 0x00000000 2026-05-04T13:57:19+00:00 [INFO] kv-logs M4: Bluetooth requests state change to: OperatingMode_SAFE_MODE 2026-05-04T13:57:19+00:00 [INFO] kv-logs M4: Run transition_call from OperatingMode_BALANCE_MODE to OperatingMode_SAFE_MODE 2026-05-04T13:57:20+00:00 [INFO] kv-logs M4: Input deactivated! 2026-05-04T13:57:20+00:00 [INFO] kv-logs M4: Control State set to: 3 2026-05-04T13:57:20+00:00 [INFO] kv-logs M4: Estimated slope angle: -0.239° 2026-05-04T13:57:20+00:00 [DEBUG] kv-logs M4: Extend to clearance position. Tracks: 39.893 mm, support: 23.399 mm 2026-05-04T13:57:22+00:00 [DEBUG] kv-logs M4: Extend to six-point position. Tracks: 52.873 mm, support: 31.099 mm 2026-05-04T13:57:23+00:00 [INFO] kv-logs M4: Control State set to: 1 2026-05-04T13:57:23+00:00 [INFO] kv-logs M4: Input activated! 2026-05-04T13:57:23+00:00 [INFO] kv-logs M4: ATS general trigger disabled! 2026-05-04T13:57:23+00:00 [INFO] kv-logs M4: STATE-MACHINE = OperatingMode_SAFE_MODE 2026-05-04T13:57:23+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T13:57:24+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:57:28+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:57:28+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:57:29+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:57:29+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:57:30+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 0 2026-05-04T13:57:30+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 1 2026-05-04T13:57:33+00:00 [INFO] kv-logs M4: Operating mode OperatingMode_SAFE_MODE entered sub-mode: 2 2026-05-04T13:59:10+00:00 [INFO] kv-tcp-proxy root: Client 200b84cb32bc3341 authenticated 2026-05-04T13:59:38+00:00 [INFO] scewo-bro nginx: 192.168.0.101 - - [04/May/2026:13:59:38 +0000] "GET / HTTP/1.1" 200 3395 "-" "okhttp/3.14.9"