gps related minor fixes

- angular direction (0-359) + 16ths compassrose
- documented in ui README

IDEAS.md

@@ -0,0 +1,5 @@
+Note to keep inspirations lest I forget.  
+
+# Things to do, but not really urgent
+- Fit OpenStreetMap somewhere and have a proper map widget in UI (not really navs, just show where I am)
+- Integrate paho-mqtt into Python backend for some telemetry. Also set up mosquitto or whatnots on vps.

extra/themes/rei.json

@@ -1,13 +1,13 @@
 {
   "dark": {
-    "background": "#404040",
+    "background": "#303030",
     "foreground": "#EAEAEA",
     "highlight": "#FA1504",
     "subdued": "#fda052"
   },
   "bright": {
     "background": "#fda052",
-    "foreground": "#202020",
+    "foreground": "#303030",
     "highlight": "#df2100",
     "subdued": "#EAEAEA"
   }

pi/backend/README.md

@@ -178,6 +178,19 @@ The Pi's internal pull-down (~50kΩ) will overpower high-value external resistor
 
 Physical switches/connectors need debouncing. Current implementation requires 15 consecutive identical readings (~750ms at 20Hz) before accepting a state change. Tune `required_consecutive` in `gpio_service.py` as needed.
 
+## Utilities
+
+Standalone tools live in `pi/utils/` (not part of the backend service):
+
+| Tool | Description |
+|------|-------------|
+| `at_terminal.py` | Interactive AT command terminal for SIM7600 (pyserial). Default port: `/dev/ttyUSB2` |
+
+```bash
+python pi/utils/at_terminal.py              # default /dev/ttyUSB2
+python pi/utils/at_terminal.py /dev/ttyUSB3 # specify port
+```
+
 ## Deploy
 
 TODO: Add to `scripts/deploy.py` as second target + systemd service.

pi/backend/gps_service.py

@@ -1,10 +1,18 @@
 """GPS service - connects to gpsd, buffers data, handles reconnection."""
 
+import random
 import threading
 import time
 from collections import deque
 from typing import Any
 
+# ============================================================================
+# DEBUG MODE - Set True for development without GPS hardware
+# When True: skips gpsd entirely, generates realistic mock data
+# When False: connects to real gpsd (requires GPS device)
+# ============================================================================
+_GPS_DEBUG = False
+
 # gpsdclient is a modern, simple gpsd client
 # Install gpsd on Pi: sudo apt install gpsd gpsd-clients
 # Configure: sudo nano /etc/default/gpsd (set DEVICES="/dev/ttyUSB0" or similar)
@@ -32,6 +40,14 @@ class GPSService:
         # Callback for push-based updates
         self._on_data_callback = None
 
+        # GPS state tracking (NMEA can't distinguish "acquiring" from "lost")
+        self._has_ever_fixed = False  # True after first valid fix this session
+
+        # Periodic status logging
+        self._last_status_log = 0.0
+        self._last_state_emit = 0.0
+        self._fix_count = 0
+
     def set_on_data(self, callback):
         """Set callback for new GPS fix. Called with fix dict."""
         self._on_data_callback = callback
@@ -45,6 +61,17 @@ class GPSService:
         with self._lock:
             return self._latest.copy() if self._latest else {"error": "no data"}
 
+    def _gps_state(self, fix: dict) -> str:
+        """Determine GPS state: acquiring, fix, or lost.
+
+        NMEA doesn't distinguish 'never had fix' from 'lost signal' — both
+        report mode 1 with no position. We track it ourselves.
+        """
+        has_fix = fix.get("mode") in (2, 3) and fix.get("lat") is not None
+        if has_fix:
+            return "fix"
+        return "lost" if self._has_ever_fixed else "acquiring"
+
     def get_buffer(self) -> list[dict[str, Any]]:
         """Get buffered GPS history."""
         with self._lock:
@@ -57,6 +84,7 @@ class GPSService:
         self._running = True
         self._thread = threading.Thread(target=self._reader_loop, daemon=True)
         self._thread.start()
+        print("[GPS] Service started")
 
     def stop(self):
         """Stop background reader."""
@@ -66,6 +94,7 @@ class GPSService:
 
     def _reader_loop(self):
         """Main reader loop with reconnection logic."""
+        print("[GPS] Reader thread running")
         while self._running:
             try:
                 self._connect_and_read()
@@ -76,23 +105,41 @@ class GPSService:
 
     def _connect_and_read(self):
         """Connect to gpsd and read data."""
+        # Debug mode: skip gpsd entirely, use stub data
+        if _GPS_DEBUG:
+            print("[GPS] Debug mode enabled, using stub data")
+            self._stub_mode()
+            return
+
         if GPSDClient is None:
-            # Stub mode - no gpsd client installed
             print("[GPS] gpsdclient not installed, running in stub mode")
             self._stub_mode()
             return
 
+        # Quick check if gpsd is reachable before attempting connection
+        import socket
+        try:
+            sock = socket.create_connection((self.host, self.port), timeout=2.0)
+            sock.close()
+        except (socket.timeout, socket.error, OSError) as e:
+            print(f"[GPS] gpsd not reachable at {self.host}:{self.port}: {e}")
+            raise ConnectionError(f"gpsd not reachable: {e}")
+
         try:
             client = GPSDClient(host=self.host, port=self.port)
         except Exception as e:
-            print(f"[GPS] Cannot connect to gpsd at {self.host}:{self.port}: {e}, falling back to stub mode")
+            print(f"[GPS] Cannot connect to gpsd at {self.host}:{self.port}: {e}")
-            self._stub_mode()
+            raise ConnectionError(f"gpsd connection failed: {e}")
-            return
 
         with client:
             self._connected = True
             print(f"[GPS] Connected to gpsd at {self.host}:{self.port}")
 
+            self._last_status_log = time.time()
+            self._fix_count = 0
+            # 120s for initial cold fix, 10s for signal loss after first fix
+            fix_timeout = time.time() + 120.0
+
             for result in client.dict_stream(filter=["TPV"]):
                 if not self._running:
                     break
@@ -106,8 +153,36 @@ class GPSService:
                     "speed": result.get("speed"),  # m/s
                     "track": result.get("track"),  # heading in degrees
                     "mode": result.get("mode"),    # 0=no fix, 2=2D, 3=3D
+                    "satellites": result.get("satellites"),  # from SKY messages
                 }
 
+                # Compute state and attach to fix
+                fix["gps_state"] = self._gps_state(fix)
+
+                # Check if this is a real fix (has position) or just empty TPV
+                if fix.get("lat") is None and fix.get("mode") in (None, 0, 1):
+                    # No real data yet, check timeout
+                    if time.time() > fix_timeout:
+                        timeout_s = "120s" if not self._has_ever_fixed else "10s"
+                        print(f"[GPS] No GPS fix after {timeout_s}, will retry connection")
+                        raise ConnectionError("No GPS fix within timeout")
+                    # Emit state periodically so UI knows we're alive
+                    now = time.time()
+                    if now - self._last_state_emit >= 5.0:
+                        self._last_state_emit = now
+                        with self._lock:
+                            self._latest = fix
+                        if self._on_data_callback:
+                            self._on_data_callback(fix)
+                    continue  # Skip empty fixes
+
+                # Got real data — mark first fix, reset timeout to shorter window
+                if not self._has_ever_fixed:
+                    self._has_ever_fixed = True
+                    self._last_state_emit = 0.0  # Force immediate emit on transition
+                    print("[GPS] First fix acquired")
+                fix_timeout = time.time() + 10.0  # 10s timeout for signal loss
+
                 with self._lock:
                     self._latest = fix
                     if fix.get("lat") is not None:
@@ -117,27 +192,124 @@ class GPSService:
                 if self._on_data_callback:
                     self._on_data_callback(fix)
 
+                # Periodic status log (every 5s)
+                self._fix_count += 1
+                now = time.time()
+                if now - self._last_status_log >= 5.0:
+                    elapsed = now - self._last_status_log
+                    fps = self._fix_count / elapsed
+                    speed = fix.get('speed', 0) or 0
+                    track = fix.get('track', 0) or 0
+                    mode = fix.get('mode', 0) or 0
+                    sats = fix.get('satellites', '?')
+                    print(f"[GPS] {fps:.1f} fix/s | {speed:.1f}m/s hdg={track:.0f}° mode={mode} sats={sats}")
+                    self._last_status_log = now
+                    self._fix_count = 0
+
     def _stub_mode(self):
-        """Fake data for testing without gpsd."""
+        """Generate realistic mock GPS data for development/testing.
-        import random
+
+        Simulates:
+        - Initial acquisition delay (~3s before first fix)
+        - Normal 3D fix with satellites
+        - Occasional signal loss (~30% chance per second, lasts ~2s)
+        - Wandering position near Tokyo
+        """
+        self._last_status_log = time.time()
+        self._fix_count = 0
+
+        # Signal loss state
+        signal_lost = False
+        signal_lost_until = 0.0
+
+        # Simulate cold start acquisition (~30s)
+        acquiring_until = time.time() + 30.0
+
+        # Base position (Tokyo area)
+        base_lat = 35.6762
+        base_lon = 139.6503
+        base_alt = 40.0
+
+        # Smoothly varying heading/speed
+        heading = random.uniform(0, 360)
+        speed = random.uniform(5, 15)
 
         while self._running:
             self._connected = True
-            fix = {
+            now = time.time()
-                "time": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
+
-                "lat": 35.6762 + random.uniform(-0.001, 0.001),
+            # Simulate initial acquisition period
-                "lon": 139.6503 + random.uniform(-0.001, 0.001),
+            if now < acquiring_until:
-                "alt": 40.0 + random.uniform(-5, 5),
+                signal_lost = True  # No fix yet
-                "speed": random.uniform(0, 30),
+            elif signal_lost and now >= signal_lost_until:
-                "track": random.uniform(0, 360),
+                signal_lost = False
-                "mode": 3,
+                if self._has_ever_fixed:
-            }
+                    print("[GPS] Signal recovered (stub)")
+                else:
+                    print("[GPS] First fix acquired (stub)")
+            elif not signal_lost:
+                # ~30% chance per second to lose signal
+                if random.random() < 0.3:
+                    signal_lost = True
+                    signal_lost_until = now + 2  # fixed 2s loss
+                    print("[GPS] Signal loss simulation (stub)")
+
+            if signal_lost:
+                # No fix - mode 1, no satellites, no track
+                # Note: use None, not float('nan') - NaN doesn't serialize to valid JSON
+                fix = {
+                    "time": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
+                    "lat": None,
+                    "lon": None,
+                    "alt": None,
+                    "speed": None,
+                    "track": None,
+                    "mode": 1,
+                    "satellites": 0,
+                }
+            else:
+                # Smoothly vary heading and speed
+                heading = (heading + random.uniform(1, 3)) % 360
+                speed = max(0, min(30, speed + random.uniform(-2, 2)))
+
+                if not self._has_ever_fixed:
+                    self._has_ever_fixed = True
+
+                fix = {
+                    "time": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
+                    "lat": base_lat + random.uniform(-0.001, 0.001),
+                    "lon": base_lon + random.uniform(-0.001, 0.001),
+                    "alt": base_alt + random.uniform(-5, 5),
+                    "speed": speed,
+                    "track": heading,
+                    "mode": 3,
+                    "satellites": random.randint(6, 12),
+                }
+
+            # Attach state — same logic as real GPS path
+            fix["gps_state"] = self._gps_state(fix)
+
             with self._lock:
                 self._latest = fix
-                self._buffer.append(fix)
+                if fix.get("lat") is not None:
+                    self._buffer.append(fix)
 
             # Invoke callback with new fix
             if self._on_data_callback:
                 self._on_data_callback(fix)
 
+            # Periodic status log (every 5s)
+            self._fix_count += 1
+            if now - self._last_status_log >= 5.0:
+                elapsed = now - self._last_status_log
+                fps = self._fix_count / elapsed
+                speed_val = fix.get('speed') or 0
+                track_val = fix.get('track')
+                track_str = f"{track_val:.0f}" if track_val is not None else "---"
+                mode = fix.get('mode', 0)
+                sats = fix.get('satellites', 0)
+                print(f"[GPS] {fps:.1f} fix/s | {speed_val:.1f}m/s hdg={track_str} mode={mode} sats={sats} (stub)")
+                self._last_status_log = now
+                self._fix_count = 0
+
             time.sleep(1)

pi/backend/lte_service.py

@@ -0,0 +1,178 @@
+"""LTE service - polls ModemManager for signal quality and connection state."""
+
+import random
+import subprocess
+import re
+import threading
+import time
+from typing import Any
+
+# ============================================================================
+# DEBUG MODE - Set True for development without modem hardware
+# When True: skips mmcli entirely, generates mock LTE data
+# When False: polls real ModemManager via mmcli
+# ============================================================================
+_LTE_DEBUG = True
+
+
+class LteService:
+    """Threaded LTE modem status poller.
+
+    Polls `mmcli -m 0` every 5 seconds, parses signal quality, connection
+    state, operator, and access technology. Emits dict via callback.
+
+    No history buffer — historical signal strength isn't useful.
+    """
+
+    def __init__(self, poll_interval: float = 5.0):
+        self.poll_interval = poll_interval
+
+        self._latest: dict[str, Any] = {}
+        self._connected = False  # True when mmcli responds (modem alive)
+        self._running = False
+        self._thread: threading.Thread | None = None
+        self._lock = threading.Lock()
+
+        # Callback for push-based updates
+        self._on_data_callback = None
+
+    def set_on_data(self, callback):
+        """Set callback for new LTE data. Called with data dict."""
+        self._on_data_callback = callback
+
+    @property
+    def connected(self) -> bool:
+        """Whether the modem is reachable via mmcli."""
+        return self._connected
+
+    def get_latest(self) -> dict[str, Any]:
+        """Get most recent LTE status."""
+        with self._lock:
+            return self._latest.copy() if self._latest else {"error": "no data"}
+
+    def start(self):
+        """Start background LTE poller thread."""
+        if self._running:
+            return
+        self._running = True
+        self._thread = threading.Thread(target=self._poll_loop, daemon=True)
+        self._thread.start()
+        print("[LTE] Service started")
+
+    def stop(self):
+        """Stop background poller."""
+        self._running = False
+        if self._thread:
+            self._thread.join(timeout=2.0)
+
+    def _poll_loop(self):
+        """Main poll loop."""
+        print("[LTE] Poller thread running")
+        while self._running:
+            try:
+                if _LTE_DEBUG:
+                    data = self._stub_poll()
+                else:
+                    data = self._real_poll()
+
+                with self._lock:
+                    self._latest = data
+
+                if self._on_data_callback:
+                    self._on_data_callback(data)
+
+            except Exception as e:
+                print(f"[LTE] Poll error: {e}")
+                self._connected = False
+
+            time.sleep(self.poll_interval)
+
+    def _real_poll(self) -> dict[str, Any]:
+        """Poll mmcli -m 0 and parse output."""
+        try:
+            result = subprocess.run(
+                ["mmcli", "-m", "0"],
+                capture_output=True,
+                text=True,
+                timeout=5.0,
+            )
+
+            if result.returncode != 0:
+                self._connected = False
+                return {
+                    "connected": False,
+                    "signal": 0,
+                    "operator": None,
+                    "access_tech": None,
+                }
+
+            output = result.stdout
+            self._connected = True
+
+            # Parse signal quality: "signal quality: 68 (recent)"
+            signal = 0
+            m = re.search(r"signal quality:\s*(\d+)", output)
+            if m:
+                signal = int(m.group(1))
+
+            # Parse state: "state: connected" / "registered" / "searching" etc.
+            state = None
+            m = re.search(r"^\s*state:\s*(\S+)", output, re.MULTILINE)
+            if m:
+                state = m.group(1).strip("'\"")
+
+            # Parse operator: "operator name: KDDI KDDI"
+            operator = None
+            m = re.search(r"operator name:\s*(.+)", output)
+            if m:
+                operator = m.group(1).strip()
+
+            # Parse access tech: "access tech: lte"
+            access_tech = None
+            m = re.search(r"access tech:\s*(\S+)", output)
+            if m:
+                access_tech = m.group(1).strip("'\"")
+
+            network_connected = state in ("connected", "registered")
+
+            return {
+                "connected": network_connected,
+                "signal": signal,
+                "operator": operator,
+                "access_tech": access_tech,
+            }
+
+        except subprocess.TimeoutExpired:
+            print("[LTE] mmcli timed out")
+            self._connected = False
+            return {
+                "connected": False,
+                "signal": 0,
+                "operator": None,
+                "access_tech": None,
+            }
+        except FileNotFoundError:
+            print("[LTE] mmcli not found, falling back to stub mode")
+            self._connected = False
+            return self._stub_poll()
+
+    # Stub state lives across polls
+    _stub_signal: float = 70.0
+
+    def _stub_poll(self) -> dict[str, Any]:
+        """Generate mock LTE data for development.
+
+        Simulates connected state with signal wandering 60-80.
+        """
+        self._connected = True
+
+        # Random walk signal, clamped to 60-80
+        self._stub_signal += random.uniform(-3, 3)
+        self._stub_signal = max(60, min(80, self._stub_signal))
+
+        return {
+            "connected": True,
+            "signal": int(self._stub_signal),
+            "operator": "STUB",
+            "access_tech": "lte",
+        }

pi/backend/main.py

@@ -9,6 +9,7 @@ from flask_socketio import SocketIO, emit
 from gps_service import GPSService
 from arduino_service import ArduinoService
 from gpio_service import GPIOService
+from lte_service import LteService
 from throttle import Throttle
 
 app = Flask(__name__)
@@ -21,10 +22,12 @@ socketio = SocketIO(app, async_mode="gevent", cors_allowed_origins="*")
 gps = GPSService()
 arduino = ArduinoService()
 gpio = GPIOService()
+lte = LteService()
 
-# Throttles for emission rate limiting (20Hz for arduino, 1Hz for GPS)
+# Throttles for emission rate limiting (20Hz for arduino, 1Hz for GPS, 5s for LTE)
 arduino_throttle = Throttle(min_interval=0.05)  # 20Hz max
 gps_throttle = Throttle(min_interval=1.0)      # 1Hz max
+lte_throttle = Throttle(min_interval=5.0)      # Every 5s — signal doesn't need real-time
 
 # Track connected clients
 connected_clients = set()
@@ -57,6 +60,10 @@ def handle_connect():
     if "error" not in gps_data:
         emit("gps", gps_data)
 
+    lte_data = lte.get_latest()
+    if "error" not in lte_data:
+        emit("lte", lte_data)
+
 
 @socketio.on("disconnect")
 def handle_disconnect():
@@ -133,6 +140,10 @@ def on_arduino_data(data):
     data = dict(data)  # Don't mutate original
     data["theme_switch"] = gpio.theme_switch
     
+    # backend voltage offset correction
+    if "voltage" in data:
+        data["voltage"] += 0.2  # Calibration offset
+
     def emit_fn(d):
         socketio.emit("arduino", d)
 
@@ -147,6 +158,14 @@ def on_gps_data(data):
     gps_throttle.maybe_emit(data, emit_fn)
 
 
+def on_lte_data(data):
+    """Called by LteService when new status polled."""
+    def emit_fn(d):
+        socketio.emit("lte", d)
+
+    lte_throttle.maybe_emit(data, emit_fn)
+
+
 def on_arduino_ack(cmd, status, extra):
     """Called by ArduinoService when ACK received from Arduino."""
     socketio.emit("ack", {
@@ -172,6 +191,9 @@ def throttle_flusher():
         if gps_throttle.has_pending:
             gps_throttle.flush(lambda d: socketio.emit("gps", d))
 
+        if lte_throttle.has_pending:
+            lte_throttle.flush(lambda d: socketio.emit("lte", d))
+
 
 # -----------------------------------------------------------------------------
 # REST API (backward compatibility)
@@ -180,10 +202,15 @@ def throttle_flusher():
 @app.route("/health")
 def health():
     """Health check endpoint."""
+    gps_latest = gps.get_latest()
+    lte_latest = lte.get_latest()
     return jsonify({
         "status": "ok",
         "gps_connected": gps.connected,
+        "gps_state": gps_latest.get("gps_state", "acquiring"),
         "arduino_connected": arduino.connected,
+        "lte_connected": lte.connected,
+        "lte_signal": lte_latest.get("signal"),
         "ws_clients": len(connected_clients),
     })
 
@@ -200,6 +227,12 @@ def gps_history():
     return jsonify(gps.get_buffer())
 
 
+@app.route("/lte")
+def lte_data():
+    """Current LTE modem status."""
+    return jsonify(lte.get_latest())
+
+
 @app.route("/arduino")
 def arduino_data():
     """Current Arduino telemetry (voltage, rpm, etc)."""
@@ -222,11 +255,13 @@ def main():
     arduino.set_on_data(on_arduino_data)
     arduino.set_on_ack(on_arduino_ack)
     gps.set_on_data(on_gps_data)
+    lte.set_on_data(on_lte_data)
 
     # Start services
     gps.start()
     arduino.start()
     gpio.start()
+    lte.start()
 
     # Start throttle flusher in background
     socketio.start_background_task(throttle_flusher)
@@ -239,6 +274,7 @@ def main():
         arduino.stop()
         gps.stop()
         gpio.stop()
+        lte.stop()
 
 
 if __name__ == "__main__":

pi/backend/utils/at_terminal.py

@@ -0,0 +1,49 @@
+"""Quick AT command terminal - minicom but less hostile.
+
+Usage:
+    python at_terminal.py [port]
+
+Default port: /dev/ttyUSB2 (SIM7600 AT command interface)
+"""
+
+import sys
+import serial
+import threading
+
+PORT = sys.argv[1] if len(sys.argv) > 1 else "/dev/ttyUSB2"
+BAUD = 115200
+
+
+def reader(ser):
+    """Background thread: print everything the modem sends."""
+    while True:
+        try:
+            data = ser.read(ser.in_waiting or 1)
+            if data:
+                sys.stdout.write(data.decode("utf-8", errors="replace"))
+                sys.stdout.flush()
+        except Exception:
+            break
+
+
+def main():
+    print(f"Opening {PORT} @ {BAUD} baud")
+    print("Type AT commands. Ctrl+C to quit.\n")
+
+    ser = serial.Serial(PORT, BAUD, timeout=0.1)
+
+    t = threading.Thread(target=reader, args=(ser,), daemon=True)
+    t.start()
+
+    try:
+        while True:
+            line = input()
+            ser.write((line + "\r\n").encode())
+    except (KeyboardInterrupt, EOFError):
+        print("\nBye.")
+    finally:
+        ser.close()
+
+
+if __name__ == "__main__":
+    main()

pi/ui/lib/README.md

@@ -34,6 +34,7 @@ All services use singleton pattern with `ServiceName.instance`.
 |--------|---------|
 | `NavigatorWidget` | Animated character with emotion states (images precached at startup) |
 | `AccelGraph` | Real-time accelerometer visualization with gravity compensation |
+| `GpsCompass` | GPS heading compass with rotating navigation icon and degree readout |
 | `WhiskeyMark` | Gimbal-style horizon indicator using IMU roll/pitch |
 | `SystemBar` | Top status bar (time, connection, Pi temp) |
 | `StatBox` | Reusable metric display box |

pi/ui/lib/app_root.dart

@@ -19,7 +19,7 @@ class AppRoot extends StatefulWidget {
 class _AppRootState extends State<AppRoot> {
   bool _initialized = false;
   bool _overheatTriggered = false;
-  String _initStatus = 'Starting...';
+  final Map<String, String> _initStatuses = {};
 
   @override
   void initState() {
@@ -33,27 +33,35 @@ class _AppRootState extends State<AppRoot> {
     super.dispose();
   }
 
+  void _updateStatus(String key, String value) {
+    setState(() => _initStatuses[key] = value);
+  }
+
   Future<void> _runInitSequence() async {
-    // Load config first
+    // Show all items from the start so the row doesn't jump around
-    setState(() => _initStatus = 'Loading config...');
+    _updateStatus('Config', '...');
+    _updateStatus('UART', '...');
+    _updateStatus('GPS', '...');
+    _updateStatus('Navigator', '...');
+
+    // Config must load first (everything else depends on it)
+    _updateStatus('Config', 'Loading');
     await ConfigService.instance.load();
+    _updateStatus('Config', 'Ready');
 
-    setState(() => _initStatus = 'Checking systems...');
+    // UART, GPS, and navigator image preload run truly in parallel
+    _updateStatus('UART', 'Connecting');
+    _updateStatus('GPS', 'Waiting');
+    _updateStatus('Navigator', 'Loading');
+    await Future.wait([
+      _waitForUart(),
+      _waitForGps(),
+      _preloadNavigatorImages(),
+    ]);
+
+    // Let the user see the all-ready state for a moment
     await Future.delayed(const Duration(milliseconds: 500));
 
-    // Check UART connection via backend health endpoint
-    // Also preload navigator images in parallel (usually UART is the bottleneck)
-    setState(() => _initStatus = 'UART: connecting...');
-    final imagePreloadFuture = _preloadNavigatorImages();
-    await _waitForUart();
-    await imagePreloadFuture;
-
-    setState(() => _initStatus = 'GPS: standby');
-    await Future.delayed(const Duration(milliseconds: 400));
-
-    setState(() => _initStatus = 'Ready');
-    await Future.delayed(const Duration(milliseconds: 300));
-
     // Start overheat monitoring
     OverheatMonitor.instance.start(
       onOverheat: () {
@@ -78,11 +86,8 @@ class _AppRootState extends State<AppRoot> {
 
         if (response.statusCode == 200) {
           final data = jsonDecode(response.body) as Map<String, dynamic>;
-          final arduinoOk = data['arduino_connected'] == true;
+          if (data['arduino_connected'] == true) {
-
+            _updateStatus('UART', 'Ready');
-          if (arduinoOk) {
-            setState(() => _initStatus = 'UART: OK');
-            await Future.delayed(const Duration(milliseconds: 300));
             return;
           }
         }
@@ -90,28 +95,57 @@ class _AppRootState extends State<AppRoot> {
         // Backend not reachable yet - keep trying
       }
 
-      // Not connected yet
+      _updateStatus('UART', 'Waiting');
-      setState(() => _initStatus = 'UART: waiting...');
       await Future.delayed(retryDelay);
     }
 
     // Timeout - proceed anyway (UI will show stale data indicators)
-    setState(() => _initStatus = 'UART: timeout');
+    _updateStatus('UART', 'Timeout');
-    await Future.delayed(const Duration(milliseconds: 500));
+  }
+
+  /// Poll backend health endpoint until GPS has a fix, or bail after 7.5s
+  Future<void> _waitForGps() async {
+    final backendUrl = ConfigService.instance.backendUrl;
+    const bailOut = Duration(milliseconds: 7500);
+    const retryDelay = Duration(seconds: 1);
+    final deadline = DateTime.now().add(bailOut);
+
+    _updateStatus('GPS', 'Acquiring');
+
+    while (DateTime.now().isBefore(deadline)) {
+      try {
+        final response = await http
+            .get(Uri.parse('$backendUrl/health'))
+            .timeout(const Duration(seconds: 2));
+
+        if (response.statusCode == 200) {
+          final data = jsonDecode(response.body) as Map<String, dynamic>;
+          if (data['gps_state'] == 'fix') {
+            _updateStatus('GPS', 'Ready');
+            return;
+          }
+        }
+      } catch (e) {
+        // Backend not reachable yet - keep trying
+      }
+
+      await Future.delayed(retryDelay);
+    }
+
+    // Bail out - dashboard will show live GPS state when it arrives
+    _updateStatus('GPS', 'Timeout');
   }
 
   /// Preload navigator images into Flutter's image cache
   ///
   /// Scans for all PNGs in the navigator folder and precaches them.
-  /// Runs silently - no status updates (meant to run parallel with UART).
   Future<void> _preloadNavigatorImages() async {
     final images = await ConfigService.instance.getNavigatorImages();
     for (final file in images) {
-      // precacheImage needs a context, but we're in initState territory
-      // Use the root context via a post-frame callback workaround
       if (!mounted) return;
       await precacheImage(FileImage(file), context);
     }
+    _updateStatus('Navigator', 'Ready');
   }
 
   @override
@@ -121,7 +155,7 @@ class _AppRootState extends State<AppRoot> {
     if (_overheatTriggered) {
       child = const OverheatScreen(key: ValueKey('overheat'));
     } else if (!_initialized) {
-      child = SplashScreen(key: const ValueKey('splash'), status: _initStatus);
+      child = SplashScreen(key: const ValueKey('splash'), statuses: _initStatuses);
     } else {
       child = const DashboardScreen(key: ValueKey('dashboard'));
     }

pi/ui/lib/screens/dashboard_screen.dart

@@ -13,6 +13,7 @@ import '../widgets/system_bar.dart';
 import '../widgets/debug_console.dart';
 import '../widgets/whiskey_mark.dart';
 import '../widgets/accel_graph.dart';
+import '../widgets/gps_compass.dart';
 
 // test service for triggers
 import '../services/test_flipflop_service.dart';
@@ -26,7 +27,7 @@ class DashboardScreen extends StatefulWidget {
 }
 
 class _DashboardScreenState extends State<DashboardScreen> {
-  static const _surpriseThreshold = 0.3; // G threshold for navigator surprise
+  static const _surpriseThreshold = 0.24; // G threshold for navigator surprise
 
   final _navigatorKey = GlobalKey<NavigatorWidgetState>();
 
@@ -36,6 +37,7 @@ class _DashboardScreenState extends State<DashboardScreen> {
   // WebSocket stream subscriptions
   StreamSubscription<ArduinoData>? _arduinoSub;
   StreamSubscription<GpsData>? _gpsSub;
+  StreamSubscription<LteData>? _lteSub;
   StreamSubscription<WsConnectionState>? _connectionSub;
 
   // Pi temperature - direct file read (safety critical)
@@ -55,9 +57,11 @@ class _DashboardScreenState extends State<DashboardScreen> {
 
   // From backend - GPS data
   double? _gpsSpeed;
+  double? _gpsTrack;
 
   // Placeholder values for system bar
   int? _gpsSatellites;
+  String? _gpsState;
   int? _lteSignal;
 
   // WebSocket connection state
@@ -105,8 +109,16 @@ class _DashboardScreenState extends State<DashboardScreen> {
     _gpsSub = WebSocketService.instance.gpsStream.listen((data) {
       setState(() {
         _gpsSpeed = data.speed;
-        // Derive satellites from mode (placeholder logic)
+        _gpsTrack = data.track;
-        _gpsSatellites = data.mode == 3 ? 8 : (data.mode == 2 ? 4 : 0);
+        _gpsSatellites = data.satellites;
+        _gpsState = data.gpsState;
+      });
+    });
+
+    // Subscribe to LTE data stream
+    _lteSub = WebSocketService.instance.lteStream.listen((data) {
+      setState(() {
+        _lteSignal = data.signal;
       });
     });
 
@@ -140,13 +152,18 @@ class _DashboardScreenState extends State<DashboardScreen> {
     final cachedGps = WebSocketService.instance.latestGps;
     if (cachedGps != null) {
       _gpsSpeed = cachedGps.speed;
-      _gpsSatellites = cachedGps.mode == 3 ? 8 : (cachedGps.mode == 2 ? 4 : 0);
+      _gpsTrack = cachedGps.track;
+      _gpsSatellites = cachedGps.satellites;
+      _gpsState = cachedGps.gpsState;
     }
 
     _wsState = WebSocketService.instance.connectionState;
 
-    // Placeholder: LTE signal (TODO: wire up when LTE service exists)
+    // Init from cached LTE data
-    _lteSignal = null;
+    final cachedLte = WebSocketService.instance.latestLte;
+    if (cachedLte != null) {
+      _lteSignal = cachedLte.signal;
+    }
 
     // DEBUG: flip-flop theme + navigator every 2s
     TestFlipFlopService.instance.start(navigatorKey: _navigatorKey);
@@ -157,6 +174,7 @@ class _DashboardScreenState extends State<DashboardScreen> {
     _piTempTimer?.cancel();
     _arduinoSub?.cancel();
     _gpsSub?.cancel();
+    _lteSub?.cancel();
     _connectionSub?.cancel();
     TestFlipFlopService.instance.stop();
     super.dispose();
@@ -197,17 +215,16 @@ class _DashboardScreenState extends State<DashboardScreen> {
                   // System status bar
                   SystemBar(
                     gpsSatellites: _gpsSatellites,
+                    gpsState: _gpsState,
                     lteSignal: _lteSignal,
                     piTemp: _piTemp,
                     voltage: _voltage,
                     wsState: _wsState,
                   ),
 
-                  const SizedBox(height: 5),
+                  // Main content area - big widgets
-
-                  // Main content area - big stat boxes
                   Expanded(
-                    flex: 8,
+                    flex: 7,
                     child: Row(
                       children: [
                         // Attitude indicator (whiskey mark)
@@ -231,11 +248,12 @@ class _DashboardScreenState extends State<DashboardScreen> {
 
                   // Bottom stats row
                   Expanded(
-                    flex: 2,
+                    flex: 3,
                     child: Row(
                       mainAxisAlignment: MainAxisAlignment.spaceEvenly,
                       children: [
                         StatBox(value: _formatInt(_rpm), label: 'RPM', isWarning: () => (_rpm ?? 0) > 4000),
+                        GpsCompass(heading: _gpsTrack, gpsState: _gpsState),
                         StatBox(value: _formatGear(_gear), label: 'GEAR'),
                       ],
                     ),

pi/ui/lib/screens/splash_screen.dart

@@ -3,10 +3,12 @@ import 'package:flutter/material.dart';
 import '../theme/app_theme.dart';
 
 /// Splash screen - shown during initialization
+///
+/// Displays parallel status items that independently flip to "Ready".
 class SplashScreen extends StatelessWidget {
-  final String status;
+  final Map<String, String> statuses;
 
-  const SplashScreen({super.key, required this.status});
+  const SplashScreen({super.key, required this.statuses});
 
   @override
   Widget build(BuildContext context) {
@@ -33,13 +35,19 @@ class SplashScreen extends StatelessWidget {
                 fontWeight: FontWeight.bold,
               ),
             ),
-            const SizedBox(height: 16),
+            const SizedBox(height: 32),
-            Text(
+            Row(
-              status,
+              mainAxisAlignment: MainAxisAlignment.spaceEvenly,
-              style: Theme.of(context).textTheme.bodyLarge?.copyWith(
+              children: statuses.entries.map((entry) {
-                fontSize: 80,
+                final isReady = entry.value == 'Ready';
-                color: theme.subdued,
+                return Text(
-              ),
+                  '${entry.key}: ${entry.value}',
+                  style: Theme.of(context).textTheme.bodyLarge?.copyWith(
+                    fontSize: 48,
+                    color: isReady ? theme.foreground : theme.subdued,
+                  ),
+                );
+              }).toList(),
             ),
           ],
         ),

pi/ui/lib/services/backend_service.dart

@@ -39,8 +39,10 @@ class GpsData {
   final double? alt;
   final double? track;
   final int? mode; // 0=no fix, 2=2D, 3=3D
+  final int? satellites;
+  final String? gpsState; // "acquiring", "fix", or "lost"
 
-  GpsData({this.lat, this.lon, this.speed, this.alt, this.track, this.mode});
+  GpsData({this.lat, this.lon, this.speed, this.alt, this.track, this.mode, this.satellites, this.gpsState});
 
   factory GpsData.fromJson(Map<String, dynamic> json) {
     return GpsData(
@@ -50,6 +52,27 @@ class GpsData {
       alt: (json['alt'] as num?)?.toDouble(),
       track: (json['track'] as num?)?.toDouble(),
       mode: (json['mode'] as num?)?.toInt(),
+      satellites: (json['satellites'] as num?)?.toInt(),
+      gpsState: json['gps_state'] as String?,
+    );
+  }
+}
+
+/// Data from LTE modem (signal quality, connection state)
+class LteData {
+  final bool? connected;
+  final int? signal; // 0-100 percent
+  final String? operator_;
+  final String? accessTech;
+
+  LteData({this.connected, this.signal, this.operator_, this.accessTech});
+
+  factory LteData.fromJson(Map<String, dynamic> json) {
+    return LteData(
+      connected: json['connected'] as bool?,
+      signal: (json['signal'] as num?)?.toInt(),
+      operator_: json['operator'] as String?,
+      accessTech: json['access_tech'] as String?,
     );
   }
 }

pi/ui/lib/services/websocket_service.dart

@@ -65,11 +65,13 @@ class WebSocketService {
   // Latest values for sync access (backward compat)
   ArduinoData? _latestArduino;
   GpsData? _latestGps;
+  LteData? _latestLte;
   BackendStatus? _latestStatus;
 
   // Stream controllers
   late StreamController<ArduinoData> _arduinoController;
   late StreamController<GpsData> _gpsController;
+  late StreamController<LteData> _lteController;
   late StreamController<BackendStatus> _statusController;
   late StreamController<CommandAck> _ackController;
   late StreamController<BackendAlert> _alertController;
@@ -83,6 +85,7 @@ class WebSocketService {
   void _setupStreams() {
     _arduinoController = StreamController<ArduinoData>.broadcast();
     _gpsController = StreamController<GpsData>.broadcast();
+    _lteController = StreamController<LteData>.broadcast();
     _statusController = StreamController<BackendStatus>.broadcast();
     _ackController = StreamController<CommandAck>.broadcast();
     _alertController = StreamController<BackendAlert>.broadcast();
@@ -107,6 +110,9 @@ class WebSocketService {
   /// Stream of GPS updates
   Stream<GpsData> get gpsStream => _gpsController.stream;
 
+  /// Stream of LTE status updates
+  Stream<LteData> get lteStream => _lteController.stream;
+
   /// Stream of backend status updates
   Stream<BackendStatus> get statusStream => _statusController.stream;
 
@@ -139,6 +145,9 @@ class WebSocketService {
   /// Latest GPS data (may be null if not yet received)
   GpsData? get latestGps => _latestGps;
 
+  /// Latest LTE data (may be null if not yet received)
+  LteData? get latestLte => _latestLte;
+
   /// Latest backend status
   BackendStatus? get latestStatus => _latestStatus;
 
@@ -204,7 +213,16 @@ class WebSocketService {
         final gps = GpsData.fromJson(data);
         _latestGps = gps;
         _gpsController.add(gps);
-        _log('gps: ${gps.speed?.toStringAsFixed(1) ?? "-"}m/s mode${gps.mode ?? "-"}');
+        _log('gps: ${gps.speed?.toStringAsFixed(1) ?? "-"}m/s hdg=${gps.track?.round() ?? "-"}° mode${gps.mode ?? "-"}');
+      }
+    });
+
+    _socket!.on('lte', (data) {
+      if (data is Map<String, dynamic>) {
+        final lte = LteData.fromJson(data);
+        _latestLte = lte;
+        _lteController.add(lte);
+        _log('lte: ${lte.signal ?? "-"}% ${lte.operator_ ?? "-"} ${lte.accessTech ?? "-"}');
       }
     });
 
@@ -323,6 +341,7 @@ class WebSocketService {
     disconnect();
     _arduinoController.close();
     _gpsController.close();
+    _lteController.close();
     _statusController.close();
     _ackController.close();
     _alertController.close();

pi/ui/lib/widgets/gps_compass.dart

@@ -0,0 +1,73 @@
+import 'dart:math' as math;
+import 'package:flutter/material.dart';
+import '../theme/app_theme.dart';
+
+class GpsCompass extends StatelessWidget {
+  final double? heading;
+  final String? gpsState; // "acquiring", "fix", "lost"
+
+  const GpsCompass({super.key, this.heading, this.gpsState});
+
+  bool get _hasSignal => heading != null;
+  bool get _isAcquiring => gpsState == 'acquiring';
+
+  String get _displayHeading {
+    if (!_hasSignal) return 'N/A';
+    return '${(heading! % 360).round()}';
+  }
+
+  String get _compassDirection {
+    if (!_hasSignal) return '';
+    final directions = [
+      'N', 'NNE', 'NE', 'ENE', 'E', 'ESE', 'SE', 'SSE',
+      'S', 'SSW', 'SW', 'WSW', 'W', 'WNW', 'NW', 'NNW'
+    ];
+    final index = ((heading! % 360) / 22.5).round() % 16;
+    return directions[index];
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    final theme = AppTheme.of(context);
+
+    // No signal = subdued color, valid = foreground
+    final iconColour = _hasSignal ? theme.foreground : theme.highlight;
+
+    // Convert to radians, 0 = no rotation when no signal
+    final angle = _hasSignal ? (heading! * math.pi / 180.0) : 0.0;
+
+    return Column(
+      mainAxisAlignment: MainAxisAlignment.center,
+      children: [
+        Flexible(
+          flex: 3,
+          child: Transform.rotate(
+            angle: _hasSignal ? angle : 0,
+            child: FittedBox(
+              fit: BoxFit.contain,
+              child: Icon(
+                _hasSignal ? Icons.navigation : Icons.navigation_outlined,
+                size: 120,
+                color: iconColour,
+              ),
+            ),
+          ),
+        ),
+        Flexible(
+          flex: 1,
+          child: FittedBox(
+            fit: BoxFit.contain,
+            child: Text(
+              _hasSignal ? "${_displayHeading} ${_compassDirection}" : (_isAcquiring ? "ACQ" : "N/A"),
+              style: TextStyle(
+                fontSize: 80,
+                color: theme.subdued, // less emphasis on text, let the icon have semantic colour
+                fontFamily: 'DIN1451',
+              ),
+            ),
+          ),
+        ),
+      ],
+    );
+  }
+}

pi/ui/lib/widgets/system_bar.dart

@@ -7,6 +7,7 @@ import '../theme/app_theme.dart';
 /// Shows GPS satellites, LTE signal, Pi temp, voltage, WS status at a glance.
 class SystemBar extends StatelessWidget {
   final int? gpsSatellites; // null = disconnected
+  final String? gpsState; // "acquiring", "fix", "lost"
   final int? lteSignal; // null = disconnected, 0-4 bars
   final double? piTemp; // null = unavailable
   final double? voltage; // null = Arduino disconnected
@@ -15,6 +16,7 @@ class SystemBar extends StatelessWidget {
   const SystemBar({
     super.key,
     this.gpsSatellites,
+    this.gpsState,
     this.lteSignal,
     this.piTemp,
     this.voltage,
@@ -49,14 +51,6 @@ class SystemBar extends StatelessWidget {
 
           return Container(
             padding: const EdgeInsets.symmetric(horizontal: 24),
-            decoration: BoxDecoration(
-              border: Border(
-                bottom: BorderSide(
-                  color: theme.subdued.withValues(alpha: 0.3),
-                  width: 1,
-                ),
-              ),
-            ),
             child: Row(
               crossAxisAlignment: CrossAxisAlignment.center,
               children: [
@@ -73,8 +67,10 @@ class SystemBar extends StatelessWidget {
                 ),
                 _Indicator(
                   label: 'GPS',
-                  value: gpsSatellites?.toString() ?? 'N/A',
+                  value: gpsState == 'acquiring' ? 'ACQ'
-                  isAbnormal: gpsSatellites == null || gpsSatellites == 0,
+                       : gpsState == 'fix' ? (gpsSatellites?.toString() ?? 'N/A')
+                       : '0',  // lost or unknown
+                  isAbnormal: gpsState != 'fix' || gpsSatellites == null,
                   alignment: Alignment.centerLeft,
                   labelSize: labelSize,
                   valueSize: valueSize,
@@ -106,7 +102,7 @@ class SystemBar extends StatelessWidget {
                 _Indicator(
                   label: 'Mains',
                   value: voltage != null ? '${voltage!.toStringAsFixed(1)} V' : 'N/A',
-                  isAbnormal: voltage == null || voltage! < 11.9,
+                  isAbnormal: voltage == null || voltage! < 11.7 || voltage! > 14.5,
                   alignment: Alignment.centerLeft,
                   labelSize: labelSize,
                   valueSize: valueSize,