diagnose-gimbal-link

Safely diagnose this repository's gimbal and cboard serial links, packet framing, CRC, timing, quaternion interpolation, and reconnect behavior. Use for /dev/gimbal failures, stale state, CRC errors, dropped packets, or incorrect control data.

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仓库: HNUST-Dust/Dust_infantry_vision
最近来源活动: 2026年8月7日 07:40
检测到的 SKILL.md 语言: 英语
星标: 4
分支: 1

安装方式

默认使用会先检查来源的 Prompt；你也可以切换为直接命令，或下载本地副本。

用 Codex 或 Claude 帮你安装复制这段 Prompt，粘贴到 Codex、Claude 或其他助手里，让它检查 Skill 页面并帮你完成安装。

直接命令不会经过审查 Prompt；运行前请先检查来源。

npx skills add https://github.com/HNUST-Dust/Dust_infantry_vision --skill diagnose-gimbal-link

命令会保持在同一行。复制前请横向滚动并检查完整内容。

想先保存到本地？可下载 SkillsMP 当前能够提供的文件。

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决定是否安装前，请先阅读 SKILL.md，以及 SkillsMP 当前展示的配套文件。

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4 个文件

SKILL.md

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audit-vision-config

Audit YAML, model paths, OpenVINO device selection, camera and serial settings, and camera/gimbal calibration values for this repository. Use when parameters appear ignored, deployment differs between machines, or pose and model behavior are suspicious.

2026-08-12

code-review

Review the changes since a fixed point (commit, branch, tag, or merge-base) along two axes — Standards (does the code follow this repo's documented coding standards?) and Spec (does the code match what the originating issue/spec asked for?). Runs both reviews in parallel sub-agents and reports them side by side. Use when the user wants to review a branch, a PR, work-in-progress changes, or asks to "review since X".

2026-08-07

codebase-design

Shared vocabulary for designing deep modules. Use when the user wants to design or improve a module's interface, find deepening opportunities, decide where a seam goes, make code more testable or AI-navigable, or when another skill needs the deep-module vocabulary.

2026-08-07

查看这个仓库的全部 Skills

Diagnose Gimbal Link

This skill is for communication diagnosis. Default actions are read-only and must not move the gimbal or fire.

Workflow

Classify the symptom: cannot open, no receive data, CRC failures, stale state, incorrect angles, failed writes, or reconnect loop. Record config path and the exact device node.

Run scripts/gimbal_preflight.sh [config]. It checks YAML, device existence, read/write permissions, and the built test binary without opening the port.

Verify the link in layers:

cmake --build build-ninja --target gimbal_test -j$(nproc)
cmake --build build-ninja --target gimbal_response_test -j$(nproc)
cmake --build build-ninja --target cboard_test -j$(nproc) when the cboard path is involved

Inspect io/gimbal/gimbal.hpp and gimbal.cpp before proposing a protocol change. The packed receive frame is header SP, quaternion wxyz, angle/velocity fields, bullet data, and CRC16; the transmit frame contains mode, yaw/pitch position, velocity, acceleration, and CRC16.

For angle or timing symptoms, compare the serial timestamp, Gimbal::q() interpolation interval, radians conversion, and the configured R_gimbal2imubody. Do not infer a calibration fault from a CRC or transport failure.

If the link is healthy but behavior is wrong in the vision pipeline, hand off to $replay-auto-aim or $audit-vision-config.

Safety and evidence

Never run fire_test, send ad-hoc frames, disable CRC, change udev rules, or restart hardware without explicit user approval.

Treat skip_cboard_crc as a diagnostic exception only; report it and restore the normal CRC expectation after the experiment.

Capture port path, permissions, error counts, received header/CRC summary, and process exit status. Redact host-specific identifiers.

A successful serial open is not proof of a valid link. Require valid frames, CRC behavior, fresh timestamps, and plausible quaternion/state values.

Read gimbal-protocol.md for repository-specific facts.