ui: multiple visual upgrades:

- attitude indicator: pitch ladders and little triangle crosshair
- accelerometer: G trace and various other stuff
- navigator: bigger surprise

pi/backend/README.md

@@ -30,6 +30,8 @@ uv run flask --app main run --host 0.0.0.0 --port 5000 --reload
 
 ## API
 
+### HTTP Endpoints
+
 | Endpoint | Description |
 |----------|-------------|
 | `GET /health` | Health check, shows gpsd and Arduino connection status |
@@ -38,6 +40,34 @@ uv run flask --app main run --host 0.0.0.0 --port 5000 --reload
 | `GET /arduino` | Latest Arduino telemetry (voltage, rpm, eng_temp, gear) |
 | `GET /arduino/history` | Last 100 buffered Arduino readings |
 
+### WebSocket Events (socket.io)
+
+Real-time data is pushed over WebSocket. The UI connects once and receives streams.
+
+**Server → Client:**
+
+| Event | Description |
+|-------|-------------|
+| `arduino` | Real-time telemetry (voltage, rpm, roll, pitch, accel, etc.) |
+| `gps` | GPS position updates |
+| `status` | Connection status + `theme_switch` signal from GPIO |
+| `alert` | System alerts |
+| `ack` | Command acknowledgments |
+
+**Client → Server:**
+
+| Event | Description |
+|-------|-------------|
+| `button` | UI button presses (horn, light, indicators, hazard) |
+| `emergency` | Emergency signal |
+
+### Throttling
+
+WebSocket data is rate-limited to prevent flooding:
+
+- **Arduino data**: 20Hz max
+- **GPS data**: 1Hz max
+
 ## Test from SSH
 
 ```bash

pi/ui/lib/README.md

@@ -22,11 +22,29 @@ All services use singleton pattern with `ServiceName.instance`.
 | Service | Role |
 |---------|------|
 | `ConfigService` | Loads `config.json`, exposes settings |
-| `PiIO` | Pi hardware interface (CPU temp, future GPIO) |
+| `WebSocketService` | socket.io client, streams for arduino/gps/connection/debug, auto-reconnect |
+| `PiIO` | Pi hardware interface (CPU temp) |
 | `OverheatMonitor` | Polls temp, fires callback when threshold exceeded |
 | `ThemeService` | Dark/bright mode state, notifies listeners |
 | `TestFlipFlopService` | Debug: toggles theme + navigator emotion every 2s |
 
+## Key Widgets
+
+| Widget | Purpose |
+|--------|---------|
+| `NavigatorWidget` | Animated character with emotion states (images precached at startup) |
+| `AccelGraph` | Real-time accelerometer visualization with gravity compensation |
+| `WhiskeyMark` | Gimbal-style horizon indicator using IMU roll/pitch |
+| `SystemBar` | Top status bar (time, connection, Pi temp) |
+| `StatBox` | Reusable metric display box |
+| `DebugConsole` | Scrolling log overlay for diagnostics |
+
+## Notes
+
+- **Gravity compensation**: Accelerometer display subtracts 1g from Z-axis to show deviation from vertical
+- **Navigator precaching**: All navigator images are loaded during splash screen to prevent frame drops
+- **Theme switching**: Backend sends `theme_switch` via WebSocket status events (triggered by GPIO)
+
 ## Theme System
 
 - `AppColors` — static color constants (dark/bright variants), auto-generated from JSON

pi/ui/lib/screens/dashboard_screen.dart

@@ -221,8 +221,8 @@ class _DashboardScreenState extends State<DashboardScreen> {
                           child: AccelGraph(
                             ax: _dynamicAx,  // Gravity-compensated lateral
                             ay: _dynamicAy,  // Gravity-compensated longitudinal
-                            maxG: 1.0,
+                            maxG: 0.8,
-                            ghostTrackPeriod: const Duration(seconds: 3),
+                            ghostTrackPeriod: const Duration(seconds: 4),
                           ),
                         )
                       ],

pi/ui/lib/widgets/accel_graph.dart

@@ -1,4 +1,3 @@
-import 'dart:async';
 import 'dart:math' as math;
 import 'package:flutter/material.dart';
 
@@ -38,55 +37,46 @@ class _AccelGraphState extends State<AccelGraph> {
   double _ghostAx = 0;
   double _ghostAy = 0;
   double _ghostMagnitude = 0;
-  Timer? _ghostResetTimer;
 
-  @override
+  // Timestamped history for sliding window
-  void initState() {
+  List<({DateTime time, double ax, double ay})> _history = [];
-    super.initState();
-    _setupGhostTimer();
-  }
 
   @override
   void didUpdateWidget(AccelGraph oldWidget) {
     super.didUpdateWidget(oldWidget);
 
-    // Update ghost position if current magnitude exceeds previous peak
     final currentAx = widget.ax ?? 0;
     final currentAy = widget.ay ?? 0;
-    final currentMag = math.sqrt(currentAx * currentAx + currentAy * currentAy);
+    final now = DateTime.now();
 
-    if (currentMag > _ghostMagnitude) {
+    // Only track history when ghostTrackPeriod is configured
+    if (widget.ghostTrackPeriod != null) {
+      // Add current reading to history
+      _history.add((time: now, ax: currentAx, ay: currentAy));
+
+      // Prune entries outside the window
+      final cutoff = now.subtract(widget.ghostTrackPeriod!);
+      _history.removeWhere((e) => e.time.isBefore(cutoff));
+
+      // Recalculate ghost as max magnitude from current window
       _ghostAx = currentAx;
       _ghostAy = currentAy;
-      _ghostMagnitude = currentMag;
+      _ghostMagnitude = 0;
-    }
 
-    // Restart timer if period changed
+      for (final entry in _history) {
-    if (oldWidget.ghostTrackPeriod != widget.ghostTrackPeriod) {
+        final mag = math.sqrt(entry.ax * entry.ax + entry.ay * entry.ay);
-      _setupGhostTimer();
+        if (mag > _ghostMagnitude) {
+          _ghostAx = entry.ax;
+          _ghostAy = entry.ay;
+          _ghostMagnitude = mag;
+        }
+      }
+    } else {
+      // No window configured - clear history to save memory
+      _history.clear();
     }
   }
 
-  void _setupGhostTimer() {
-    _ghostResetTimer?.cancel();
-    if (widget.ghostTrackPeriod != null) {
-      _ghostResetTimer = Timer.periodic(widget.ghostTrackPeriod!, (_) {
-        setState(() {
-          // Reset ghost to current position
-          _ghostAx = widget.ax ?? 0;
-          _ghostAy = widget.ay ?? 0;
-          _ghostMagnitude = math.sqrt(_ghostAx * _ghostAx + _ghostAy * _ghostAy);
-        });
-      });
-    }
-  }
-
-  @override
-  void dispose() {
-    _ghostResetTimer?.cancel();
-    super.dispose();
-  }
-
   @override
   Widget build(BuildContext context) {
     final theme = AppTheme.of(context);
@@ -117,6 +107,7 @@ class _AccelGraphState extends State<AccelGraph> {
                   subdued: theme.subdued,
                   background: theme.background,
                   strokeWeight: strokeSize,
+                  traceBuffer: _history.map((e) => Offset(e.ax, e.ay)).toList(),
                 ),
               ),
             ),
@@ -151,7 +142,7 @@ class _AccelGraphState extends State<AccelGraph> {
 
             // Label
             Text(
-              'ACCEL',
+              'Acceleration',
               style: TextStyle(
                 fontSize: fontSize * 0.8,
                 fontWeight: FontWeight.w400,
@@ -167,7 +158,9 @@ class _AccelGraphState extends State<AccelGraph> {
 
   String _formatAccel(double? force) {
     if (force == null) return '—°';
-    return '${force.toStringAsFixed(1)}G';
+    return '${
+      force.toStringAsFixed(1) == '-0.0' ? '0.0' : force.toStringAsFixed(1)
+      }G';
   }
 }
 
@@ -183,6 +176,7 @@ class _AccelGraphPainter extends CustomPainter {
   final Color subdued;
   final Color background;
   final double strokeWeight;
+  final List<Offset> traceBuffer;
 
   _AccelGraphPainter({
     required this.ax,
@@ -195,6 +189,7 @@ class _AccelGraphPainter extends CustomPainter {
     required this.subdued,
     required this.background,
     required this.strokeWeight,
+    required this.traceBuffer,
   });
 
   @override
@@ -207,13 +202,13 @@ class _AccelGraphPainter extends CustomPainter {
 
     // No rectangular border
 
-    // Grid lines at 0.5G intervals
+    // Grid lines at 0.25G intervals
     final gridPaint = Paint()
       ..color = subdued
-      ..strokeWidth = strokeWeight * 0.6
+      ..strokeWidth = strokeWeight * 0.4
       ..style = PaintingStyle.stroke;
 
-    final gStep = 0.5;
+    final gStep = 0.25;
     for (double g = gStep; g < maxG; g += gStep) {
       final offset = (g / maxG) * halfSize;
 
@@ -261,17 +256,40 @@ class _AccelGraphPainter extends CustomPainter {
       axisPaint,
     );
 
-    // G-ring markers (circles at 1G and 2G for quick reference)
+    // G-ring markers (circles at every 0.5G for quick reference)
     final ringPaint = Paint()
       ..color = subdued
-      ..strokeWidth = strokeWeight
+      ..strokeWidth = strokeWeight * 0.5
       ..style = PaintingStyle.stroke;
 
-    for (double g = 1.0; g <= maxG; g += 1.0) {
+    for (double g = 0.5; g <= maxG; g += 0.5) {
       final radius = (g / maxG) * halfSize;
       canvas.drawCircle(center, radius, ringPaint);
     }
 
+    // Trace line
+    if (traceBuffer.length >= 2) {
+      final tracePaint = Paint()
+        ..color = foreground
+        ..strokeWidth = strokeWeight * 0.4
+        ..style = PaintingStyle.stroke
+        ..strokeCap = StrokeCap.round
+        ..strokeJoin = StrokeJoin.round;
+
+      final path = Path();
+      for (int i = 0; i < traceBuffer.length; i++) {
+        final pt = traceBuffer[i];
+        final x = center.dx + (pt.dx.clamp(-maxG, maxG) / maxG) * halfSize;
+        final y = center.dy - (pt.dy.clamp(-maxG, maxG) / maxG) * halfSize;
+        if (i == 0) {
+          path.moveTo(x, y);
+        } else {
+          path.lineTo(x, y);
+        }
+      }
+      canvas.drawPath(path, tracePaint);
+    }
+
     // Ghost dot (if enabled and has data)
     if (showGhost) {
       final ghostX = center.dx + (ghostAx / maxG) * halfSize;
@@ -279,7 +297,7 @@ class _AccelGraphPainter extends CustomPainter {
       final ghostRadius = halfSize * 0.08;
 
       final ghostPaint = Paint()
-        ..color = subdued.withValues(alpha: 0.5)
+        ..color = subdued
         ..strokeWidth = strokeWeight
         ..style = PaintingStyle.stroke;
 
@@ -309,6 +327,7 @@ class _AccelGraphPainter extends CustomPainter {
         showGhost != oldDelegate.showGhost ||
         maxG != oldDelegate.maxG ||
         foreground != oldDelegate.foreground ||
-        subdued != oldDelegate.subdued;
+        subdued != oldDelegate.subdued ||
+        traceBuffer != oldDelegate.traceBuffer;
   }
 }

pi/ui/lib/widgets/navigator_widget.dart

@@ -88,8 +88,8 @@ class NavigatorWidgetState extends State<NavigatorWidget>
       animation: _shakeController,
       child: image,
       builder: (context, child) {
-        final shake = sin(_shakeController.value * pi * 6) * 10 *
+        final shake = sin(_shakeController.value * pi * 6) * 25 *
-            (1 - _shakeController.value); // 6 oscillations, 4px amplitude, decay
+            (1 - _shakeController.value); // 6 oscillations, 25px amplitude, decay
         return Transform.translate(
           offset: Offset(shake, 0),
           child: child,

pi/ui/lib/widgets/whiskey_mark.dart

@@ -85,7 +85,7 @@ class WhiskeyMark extends StatelessWidget {
 
             // Label
             Text(
-              'ATTITUDE',
+              'Attitude',
               style: TextStyle(
                 fontSize: fontSize * 0.8,
                 fontWeight: FontWeight.w400,
@@ -180,7 +180,7 @@ class _HorizonPainter extends CustomPainter {
     // Horizon line
     final linePaint = Paint()
       ..color = lineColor
-      ..strokeWidth = 2
+      ..strokeWidth = borderWeight * 0.1
       ..style = PaintingStyle.stroke;
 
     canvas.drawLine(
@@ -189,12 +189,34 @@ class _HorizonPainter extends CustomPainter {
       linePaint,
     );
 
+    // Pitch ladder lines (15° intervals)
+    final ladderPaint = Paint()
+      ..color = lineColor
+      ..strokeWidth = borderWeight * 0.4
+      ..style = PaintingStyle.stroke;
+
+    
+
+    for (int deg = -75; deg <= 75; deg += 15) {
+      if (deg == 0) continue; // Skip horizon (already drawn)
+
+      final ladderY = horizonY - (deg / 90) * radius;
+      final double widthMod = (100 - (deg < 0 ? -deg : deg)) / 100;
+      final ladderWidth = radius * 0.7 * widthMod; // longer ladder if close to horizon
+
+      canvas.drawLine(
+        Offset(center.dx - ladderWidth, ladderY),
+        Offset(center.dx + ladderWidth, ladderY),
+        ladderPaint,
+      );
+    }
+
     canvas.restore();
 
     // Draw circle border
     final borderPaint = Paint()
-      ..color = lineColor.withValues(alpha: 0.5)
+      ..color = lineColor
-      ..strokeWidth = borderWeight
+      ..strokeWidth = borderWeight * 1.1
       ..style = PaintingStyle.stroke;
 
     canvas.drawCircle(center, radius - 1, borderPaint);
@@ -202,7 +224,7 @@ class _HorizonPainter extends CustomPainter {
     // Draw center reference mark (fixed, doesn't rotate)
     final refPaint = Paint()
       ..color = lineColor
-      ..strokeWidth = borderWeight * 0.8
+      ..strokeWidth = borderWeight
       ..style = PaintingStyle.stroke;
 
     // Small wings
@@ -216,12 +238,24 @@ class _HorizonPainter extends CustomPainter {
       Offset(center.dx + radius * 0.3, center.dy),
       refPaint,
     );
-    // Center vertical line
+
+    // Center arrow
+    final refTipPaint = Paint()
+      ..color = lineColor
+      ..strokeWidth = borderWeight * 0.8
+      ..style = PaintingStyle.stroke;
+
     canvas.drawLine(
-      Offset(center.dx, center.dy - radius * 0.05),
+      Offset(center.dx, center.dy),
-      Offset(center.dx, center.dy + radius * 0.1),
+      Offset(center.dx + radius * 0.07, center.dy + radius * 0.1),
-      refPaint,
+      refTipPaint,
     );
+    canvas.drawLine(
+      Offset(center.dx, center.dy),
+      Offset(center.dx - radius * 0.07, center.dy + radius * 0.1),
+      refTipPaint,
+    );
+
 
     canvas.restore();
   }

scripts/README.md

@@ -46,6 +46,8 @@ Called automatically by `build.py`. Looks for theme matching `navigator` in `con
 | `pi_setup_backend.sh` | First-time Pi config for backend (uv, gpsd, systemd) |
 | `smartserow-ui.service.sample` | UI systemd unit template |
 | `smartserow-backend.service.sample` | Backend systemd unit template |
+| `smartserow-ui.service` | Production UI systemd unit (gitignored, Pi-specific) |
+| `smartserow-backend.service` | Production backend systemd unit (gitignored, Pi-specific) |
 
 ```bash
 # On the Pi - UI setup