[ernestchu]

I'm working on a plugin to jetlink that needs the comma's camera calibration on the server side.

Once calibrationd has a calibrated CalibrationParams, the hello now carries:

camera: {wide_from_device_euler: [roll, pitch, yaw], height}

It's read once per link and omitted until the comma is calibrated. A server that predates the key ignores it.

• ModelSide.camera_calibration() is a new optional adapter method. link.py reads it with getattr, so adapters without it are unaffected.
• Stock.camera_calibration() reads CalibrationParams. It handles upstream's liveCalibration and a fork's extrinsicsCalibration (zoompilot's), and never raises.
• JetlinkClient.hello(camera=...), plus a note in docs/link-protocol.md.
• Tests for each piece.

Overhead: negligible. The work happens once per link, when the comma connects, and never per frame. Reading and decoding CalibrationParams takes about 16 µs (measured on x86, well under 1 ms on a comma). No new imports: openpilot.cereal.log is already loaded in modeld. The hello grows by 119 bytes, once per connection.

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[zephleggett]

Hi, could you share what this is needed for? @ernestchu