M03 · Precision Pointing

Controls precision devices such as pan-tilt heads, laser scanners and rovers, with an emergency stop.

Benefits: Safe control with an emergency stop that no security mode can block.

Example of use: Plan a pan-tilt movement, check it against the mechanical limits and stop the device at once if needed.

Key capabilities

• Device list and telemetry
• Commands and emergency stop
• Simulated laser scan and rover
• Pointing mathematics, kinematics and trajectory checks

Precision peripherals. Wired contracts: dicos_periferiche (list, telemetry, headset display, command, emergency stop) and dicos_periferiche_hw (simulated driver: laser scan, rover command, self-test). Additive suite dcos/pointing_suite v2.x (contract m03_pointing, 12 read-class capabilities): coordinate geometry, quaternions, kinematics, autonomous controller with 7 modes, closed-loop PID, trajectory planner, sensor fusion, honest hardware gateway and a real serial gimbal driver (pyserial). Since 2026-11-12 the m03_pointing contract is registered by build_agent under the dicos_periferiche licence (checked at every call) and is reachable through the application path of dcos.exe; agent tools m03_<capability> with DICOS_M03_PERMESSI.

Prerequisites

Licence dicos_periferiche. A real device on a serial port for physical control.

Declared limits

Civil, scientific and industrial use only; weapons and targeting are excluded. The emergency stop is not certified. The signed dcos.exe of 2026-11-12 predates the wiring: it must be rebuilt and re-signed to include it (owner authorisation required).

Interconnections

The interconnections shown are documented functional relationships (code reuse and data flows) or derive from the architectural role; they are an editorial reconstruction.