Get a named color from the current palette.

Get capture property. Args: prop_id: OpenCV property ID Returns: Property value

Sets a command field value with validation and error handling. Args: field_name (str): The name of the field to set.

Get an effective parameter value with caching. Args: param_name: Parameter name (e.g., 'CONTROL_UPDATE_RATE')

Updates telemetry metadata with custom information. Args: key (str): Metadata key to update. value (

Load safety configuration from parsed YAML config. Architecture (v5.0.0+): - Single Source of Truth: Safety.GlobalLimits

Create a mock test frame. Args: width: Frame width height: Frame height channels: Number of color channels Retu

Clear all stored appearance data.

Create a ConcreteTracker with mock dependencies.

Return JSON data.

Create a mock bounding box. Args: center: (cx, cy) center coordinates size: (width, height) dimensions Returns:

Update motion history with new detection. Args: bbox: Bounding box (x1, y1, x2, y2) timestamp: Detection tim

Get an effective limit value with caching. Args: limit_name: Name of the limit (e.g., 'MAX_VELOCITY_FORWARD')

Check if writer is open.

Start offboard mode.

Get ConfigService singleton instance.

Singleton access.

Set body-frame velocity setpoint.

Get center point.

Returns the current fields of the setpoint. Returns: Dict[str, float]: The current fields of the setpoint.

Receive JSON message from client. Returns: Dictionary from client

Create a mock Kalman filter.

Set capture property. Args: prop_id: OpenCV property ID value: Property value Returns:

Close WebSocket connection. Args: code: Close status code reason: Close reason string

Get current configuration. Args: section: Optional section name Returns: Full config or section con

Set NED-frame velocity setpoint.

Apply full smoothing pipeline to yaw rate command. Args: raw_yaw_rate: Raw PID output (deg/s) dt: Time delta

Factory function to create tracker instances based on the specified algorithm. Args: algorithm (str): The name of the tracking algor

Determines the type of control command to send based on the current follower mode. Returns: str: The control typ

True if recording or paused (session in progress).

Log follower events for debugging and testing. When circuit breaker is active, this provides visibility into follower behavi

Sets the value of a specific field with validation and clamping if enabled. If the value is out of range and 'clamp' is true in the c

Start background monitoring for gimbal data. Note: This does NOT start gimbal tracking. It only starts background monitoring

Initializes the follower registry with available implementations. Uses lazy loading to avoid circular imports. Naming Conven

Log connection status with spam reduction. Args: logger: Logger instance service_name: Name of the s

Pause recording. Frames are silently dropped while paused.

Reload configuration from disk (thread-safe). This method reloads the configuration file and updates all class attributes. I

Set a field value.

Create a tracker with Phase 3 attributes and bound BaseTracker methods.

Get current frame.

Get current frame. Returns: Frame as numpy array or None on failure

Read frame from capture. Returns: Tuple of (success, frame) where frame is BGR numpy array

Release video capture resources.

Reset internal state (call when tracking starts/stops).

Start the FastAPI server.

Update tracking state with new detections. Args: detections: List of YOLO detections [x1, y1, x2, y2, track_id, conf, cl

Transform gimbal angles to drone velocity commands. Args: gimbal_angles: Validated gimbal angle data Returns:

Get the effective safety limit for a given parameter. Resolution order (v5.0.0+ via SafetyManager): 1. Safety.FollowerOverri

Update tracker by checking gimbal status and providing data when available. Modified to always return angle data when available, reg

Get absolute path from relative path.

Create a minimal MCVelocityChaseFollower instance for set_command_field testing. Uses __new__ to bypass __init__ (which requires a live PX4

Add client to pipeline.

Check disk space on the recording output directory. Returns: Dict with free_bytes, free_mb, free_gb, total_bytes, total_

Get merged YAW_SMOOTHING config for a follower. Merges: fallback ← General.YAW_SMOOTHING ← FollowerOverrides.{follower}.YAW_SMOOTHIN

Log follower operation with automatic throttling. Args: operation: Operation name (e.g., "follow_target", "calculate_con

Log message only if interval has passed since last log with same key. Args: logger_instance: Logger instance to use for

Send JSON message. Args: data: Dictionary to send as JSON

Retrieves PID gains for the specified control axis. Args: axis (str): Control axis name (mc_pitchspeed_deg_s, mc_att_yaw

Convert torch/numpy-like object to a Python list safely.

Update OOF state based on current bbox and frame dimensions.

Create mock WebSocket.

Extract unit from description if present. Pattern 1: trailing parenthetical e.g. (m/s), (degrees) — validated to look like a real unit. Patte

Get differences between two configs. Args: config1: First config config2: Second config Returns:

Get the FollowerConfigManager singleton instance.

Get the latest follower telemetry data using the enhanced unified interface. Returns: dict: The follower telemet

Get list of all sections with metadata.

Record an error occurrence. Args: error_key (str): Unique identifier for this error type logger_instance: Op

Resets all command fields to their schema-defined default values. Returns: bool: True if successful, False other

Reset singleton for test isolation.

Set a parameter value (in memory only, call save_config to persist). Args: section: Section name param: Para

Validate a value against its schema. Args: section: Section name param: Parameter name value: Va

Build structured failure info and store in self.last_failure_info.

Snapshot confidence when failure sequence begins.

Resolve color: prefer color_role via OSDColorSystem, fallback to config color. Elements specify ``color_role: "primary"`` (or critical/warnin

Broadcast frame to all clients.

Factory function to create gimbal transformation engine. Args: config: Configuration dictionary (typically from Parameters.GIMBAL_FO

Extracts 2D target coordinates from tracker data for backwards compatibility. Args: tracker_data (TrackerOutput)

Returns the human-readable display name for the current follower mode. Returns: str: The display name.

Get a specific parameter value.

Get schema configuration for a specific data type. Args: schema_type (str): The schema type name

Create mock rectangle.

Return to launch.

Save current config to YAML file with atomic writes and file locking. Uses a safe write pattern: 1. Acquire file lock (if av

Stop offboard mode.