camera controls better takeover

webui/src/components/MobileControls/MobileControlsContent.jsx

@@ -95,7 +95,7 @@ function MobileJoystickPanel({ layout }) {
 
 function MobileActionsColumnContent({ layout }) {
   const {
-    state: { roverId, camera, horn },
+    state: { roverId, camera, horn, manualDockAssist },
     pipeline,
     actions: { setServoAngle, setNightVision, setAuxMotors, startHorn, stopHorn },
   } = useControlSystem();
@@ -115,6 +115,7 @@ function MobileActionsColumnContent({ layout }) {
       : typeof cameraConfig?.homeAngle === 'number'
       ? cameraConfig.homeAngle
       : (cameraMin + cameraMax) / 2;
+  const cameraDisabled = Boolean(disabled || manualDockAssist?.active);
 
   const handleNightVisionToggle = useCallback(
     (nextOn) => {
@@ -174,6 +175,7 @@ function MobileActionsColumnContent({ layout }) {
               min={cameraMin}
               max={cameraMax}
               step={0.5}
+              disabled={cameraDisabled}
               onChange={setServoAngle}
               orientation="vertical"
               label="Camera Tilt"

webui/src/components/RightPaneTabs/index.jsx

@@ -43,7 +43,7 @@ function TopDownMapPanel() {
 
 function DriveDockPanel() {
   const {
-    state: { roverId, keymap, camera, horn },
+    state: { roverId, keymap, camera, horn, manualDockAssist },
     pipeline,
     actions: { setServoAngle, setNightVision, startHorn, stopHorn },
   } = useControlSystem();
@@ -68,6 +68,7 @@ function DriveDockPanel() {
   const hornLabel = formatKeyLabel(keymap?.hornHonk?.[0]);
   const upLabel = formatKeyLabel(keymap?.cameraUp?.[0]);
   const downLabel = formatKeyLabel(keymap?.cameraDown?.[0]);
+  const cameraDisabled = Boolean(!roverId || manualDockAssist?.active);
 
   return (
     <section className="panel-section grid h-full min-h-0 grid-rows-[minmax(0,1fr)_auto] gap-0.5">
@@ -97,6 +98,7 @@ function DriveDockPanel() {
               value={value}
               min={min}
               max={max}
+              disabled={cameraDisabled}
               onChange={setServoAngle}
               keyDownLabel={downLabel}
               keyUpLabel={upLabel}

webui/src/controls/ControlContext.jsx

@@ -279,15 +279,17 @@ export function ControlSystemProvider({ children }) {
   }, [saveControlSettings]);
 
   const setServoAngle = useCallback(
-    (value) => {
+    (value, options = {}) => {
       if (!pipeline.servoConfig) return;
+      const force = Boolean(options?.force);
+      if (state.manualDockAssist?.active && !force) return;
       const clamped = clampServoAngle(pipeline.servoConfig, value);
       dispatch({ type: 'control/set-camera-angle', payload: clamped });
       pipeline.sendServoAngle(clamped);
       servoAngleRef.current = clamped;
       recordControlIntent();
     },
-    [pipeline, recordControlIntent],
+    [pipeline, recordControlIntent, state.manualDockAssist?.active],
   );
 
   const nudgeServo = useCallback(
@@ -530,12 +532,15 @@ export function ControlSystemProvider({ children }) {
       const prevActive = Boolean(state.manualDockAssist?.active);
       if (prevActive === nextActive) return;
       dispatch({ type: 'control/set-manual-dock-assist', payload: nextActive });
-      if (!nextActive) return;
+      if (!nextActive) {
+        setServoAngle(0, { force: true });
+        return;
+      }
       const minAngle =
         typeof pipeline.servoConfig?.minAngle === 'number'
           ? pipeline.servoConfig.minAngle
           : -45;
-      setServoAngle(minAngle);
+      setServoAngle(minAngle, { force: true });
       pipeline.sendSong([{ note: 76, duration: 10 }, { note: 83, duration: 10 }], { slot: 0 });
       recordControlIntent();
     },