Parameters - Efference

InitParameters

Passed to open(). Transport selection plus the session configuration, validated against the device’s advertised capabilities. An unsupported combination fails with INVALID_RESOLUTION / INVALID_FPS / UNSUPPORTED_COMPRESSION.

Transport

Field	Default	Meaning
`input_type`	`USB`	`USB`, `STREAM` (BLE control), or `MCAP` (replay)
`ble_address`	none	BLE MAC, required for `STREAM`
`mcap_path`	none	file path, required for `MCAP`
`device_id`	`0`	which M1 when several are on USB
`udp_host`	`""`	`STREAM` only: this host’s IP, where the device pushes video and IMU. Empty = control-only session
`udp_port`	`5005`	UDP stream port
`ble_password`	`"123456"`	control password; used on any BLE link, and on USB once locked

Session

Field	Default	Meaning
`resolution`	`AUTO`	capture geometry (`AUTO` = device native)
`fps`	`30`	frame rate
`compression`	`H265`	wire codec (see `COMPRESSION_MODE`)
`flip_mode`	`OFF`	180° host-side rotation (`AUTO` = decide from IMU)
`enable_imu`	`true`	include IMU packets on the wire
`coordinate_system`	`IMAGE`	convention for IMU/pose data

Grab behavior

Field	Default	Meaning
`grab_timeout_ms`	`1000`	max block in `grab()`
`drop_partial_frames`	`true`	silently discard lossy frames
`verbose`	`0`	`1` = connection trace on stderr

RuntimeParameters

Passed to grab(), per call:

Field	Default	Meaning
`timeout_ms`	`0`	override `grab_timeout_ms` (`0` = use init value)
`return_partial`	`false`	deliver lossy frames as `CORRUPTED_FRAME` instead of dropping

RecordingParameters

Passed to enable_recording():

Field	Default	Meaning
`target`	`HOST_FILE`	`HOST_FILE` (local `.mcap`) or `DEVICE_LOCAL` (on-device)
`path`	none	HOST_FILE: output `.mcap` path
`name`	`""`	DEVICE_LOCAL: session name (`""` = device picks `rec_<utc>_<seq>`)
`has_location` / `location`	unset	per-session `Location` override