The LR-1BS5's angle scale runs clockwise viewed from the top, so
decoding it as CCW mirrored the whole world left/right — undetectable
with a single lidar (the SLAM map is self-consistently mirrored and
heading-vs-motion checks pass, since a mirror about x preserves
'ahead'). It surfaced when a second, right-handed lidar disagreed
(doubled walls), and the finished map came out mirrored versus the
actual room.
device_deg() now negates the raw angle BEFORE the model's 0°-reference
offset (LR-1BS5: out = 180 − raw), driven by model_angles_clockwise().
Evidence: field-verified on OLELR-1BS5 (2026-07-23), and DF Automation's
production ROS driver (github.com/dfautomation/ole2d, decoder.cpp)
walks the device array backwards with the comment 'reverse, laserscan
is anticlockwise' — its packet layout is exactly our Family B, so
LR-1FMI (same protocol) is listed too. Family A/C stay CCW until a
unit is verified against a real room.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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