firmware/README.md

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+# RemoteRig — ESP32 Camera Node Firmware
+
+> **Platform:** PlatformIO (esp32dev) | **Framework:** Arduino
+> **MQTT Contract:** [docs/MQTT_CONTRACT.md](../docs/MQTT_CONTRACT.md)
+> **Hardware:** [hardware/README.md](../hardware/README.md)
+
+## Quick Start
+
+```bash
+# Install PlatformIO (if not already)
+pip install platformio
+
+# Build
+cd firmware
+pio run
+
+# Upload to ESP32 (USB connected)
+pio run --target upload
+
+# Upload SPIFFS config (first time only, or after config changes)
+pio run --target uploadfs
+
+# Serial monitor
+pio device monitor
+```
+
+## Configuration
+
+The ESP32 stores configuration in SPIFFS (`data/config.json`):
+
+| Key | Default | Description |
+|-----|---------|-------------|
+| `wifi_ssid` | `"RemoteRig"` | Travel router SSID |
+| `wifi_password` | `""` | Travel router password |
+| `camera_ssid` | `"GOPRO-BP-"` | GoPro Wi-Fi AP prefix (auto-discovered) |
+| `camera_password` | `"goprohero"` | GoPro Wi-Fi password |
+| `mqtt_broker` | `"192.168.4.10"` | Pi Zero 2 W static IP |
+| `mqtt_port` | `1883` | Mosquitto port |
+| `camera_id` | `""` | Assigned by hub on first announce (leave empty) |
+| `poll_interval_sec` | `30` | GoPro status poll frequency |
+| `heartbeat_interval_sec` | `60` | MQTT heartbeat frequency |
+
+**First boot:** Leave `camera_id` empty. The ESP32 will auto-announce to the hub, which assigns a `cam-NNN` ID. The assigned ID is saved to SPIFFS automatically.
+
+## LED Status Codes
+
+| Pattern | Meaning |
+|---------|---------|
+| Slow blink (1s) | Connected to router + MQTT, normal operation |
+| Fast blink (200ms) | No Wi-Fi connection — reconnecting |
+| Solid on | Connected but GoPro unreachable |
+| Off | Boot/shutdown |
+
+## Architecture
+
+```
+┌──────────────────────────────────────────┐
+│              ESP32 (Arduino)             │
+│                                          │
+│  ┌──────────┐  ┌──────────┐  ┌────────┐  │
+│  │ WiFi STA │  │ WiFi STA │  │  MQTT  │  │
+│  │ (Router) │  │ (GoPro)  │  │ Client │  │
+│  └────┬─────┘  └────┬─────┘  └───┬────┘  │
+│       │             │            │       │
+│       │    ┌────────┘            │       │
+│       ▼    ▼                     ▼       │
+│  ┌─────────────────────────────────┐     │
+│  │         Main Loop               │     │
+│  │  Every 30s:                    │     │
+│  │    HTTP GET GoPro status       │     │
+│  │    Parse 60-byte blob          │     │
+│  │    MQTT publish status         │     │
+│  │  Every 60s:                    │     │
+│  │    MQTT publish heartbeat      │     │
+│  └─────────────────────────────────┘     │
+│                                          │
+│  SPIFFS: /config.json (persistent)       │
+└──────────────────────────────────────────┘
+```
+
+## Boot Sequence
+
+1. Load config from SPIFFS
+2. Connect to travel router Wi-Fi (STA mode)
+3. Connect to GoPro AP Wi-Fi (STA mode — simultaneous)
+4. Connect to MQTT broker (192.168.4.10)
+5. If no `camera_id` → publish announce → hub registers us
+6. Subscribe to `remoterig/cameras/{camera_id}/command`
+7. Enter main loop
+
+## GoPro API Notes (Hero 3 Black/Silver)
+
+- **IP:** Always `10.5.5.1` (GoPro's own AP)
+- **Status endpoint:** `GET /bacpac/SH?t={password}&p=%01`
+- **Start recording:** `GET /bacpac/SH?t={password}&p=%01` (mode byte = 1)
+- **Stop recording:** `GET /bacpac/SH?t={password}&p=%00` (mode byte = 0)
+- **Get password:** `GET /bacpac/sd` (no auth, returns plain text)
+- **Status blob:** 60 bytes binary — see `parseStatus()` in main.cpp for field offsets
+
+## ESP8266 Compatibility
+
+To target ESP8266 instead:
+1. Change `platformio.ini`: `board = d1_mini` under `[env:d1_mini]`
+2. Change `WiFi.h` → `ESP8266WiFi.h`
+3. ESP8266 doesn't do true simultaneous STA — use single STA to travel router, HTTP to GoPro via router bridge
+4. SPIFFS → LittleFS on some boards
+
+ESP32 is recommended for dual-STA capability.
+
+## Troubleshooting
+
+| Symptom | Check |
+|---------|-------|
+| No serial output | Baud rate: 115200. Hold BOOT, press EN, release BOOT for flash mode |
+| Can't connect to router | Verify SSID/password in SPIFFS config, check router DHCP range |
+| GoPro unreachable | GoPro must be ON and Wi-Fi enabled. Password defaults to "goprohero" |
+| MQTT connect fails | Verify Mosquitto running on Pi: `systemctl status mosquitto` |
+| Camera never registers | Watch serial for "announce" message, check hub logs for registration |

firmware/data/config.json

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+{
+  "wifi_ssid": "RemoteRig",
+  "wifi_password": "",
+  "camera_ssid": "GOPRO-BP-",
+  "camera_password": "goprohero",
+  "mqtt_broker": "192.168.4.10",
+  "mqtt_port": 1883,
+  "camera_id": "",
+  "poll_interval_sec": 30,
+  "heartbeat_interval_sec": 60
+}

firmware/platformio.ini

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+; RemoteRig — ESP32 Camera Node Firmware
+; Platform: ESP32 (ESP8266 compatible with minor changes)
+; Framework: Arduino
+;
+; Build:  pio run
+; Upload: pio run --target upload
+; SPIFFS: pio run --target uploadfs
+; Monitor: pio device monitor
+
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
+monitor_speed = 115200
+upload_speed = 921600
+
+lib_deps =
+    knolleary/PubSubClient @ ^2.8
+    bblanchon/ArduinoJson @ ^7.3
+
+build_flags =
+    -D CORE_DEBUG_LEVEL=0
+    -D CONFIG_ARDUINO_LOOP_STACK_SIZE=8192

firmware/src/main.cpp

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+/**
+ * RemoteRig — ESP32 Camera Node Firmware
+ * =======================================
+ * One ESP32 per GoPro Hero 3. Bridges the camera's Wi-Fi AP (10.5.5.1)
+ * to the travel router LAN via MQTT (Mosquitto on Pi Zero 2 W).
+ *
+ * MQTT Contract: docs/MQTT_CONTRACT.md
+ * Hardware:      hardware/README.md
+ * Platform:      PlatformIO (esp32dev)
+ */
+
+#include <Arduino.h>
+#include <WiFi.h>
+#include <WiFiClient.h>
+#include <HTTPClient.h>
+#include <PubSubClient.h>
+#include <ArduinoJson.h>
+#include <SPIFFS.h>
+
+// ────────────────────────────────────────────────────────────
+// Configuration (overridden by SPIFFS /data/config.json)
+// ────────────────────────────────────────────────────────────
+
+struct Config {
+  // Travel router Wi-Fi
+  String wifi_ssid     = "RemoteRig";
+  String wifi_password = "";
+
+  // GoPro Hero 3 Wi-Fi AP
+  String camera_ssid     = "GOPRO-BP-"; // prefix — auto-discovered
+  String camera_password = "goprohero";
+
+  // MQTT broker (Pi Zero 2 W on travel router)
+  String mqtt_broker = "192.168.4.10";
+  int    mqtt_port   = 1883;
+
+  // Assigned by hub on first announce; empty until registered
+  String camera_id = "";
+
+  // Polling
+  int poll_interval_sec = 30;
+  int heartbeat_interval_sec = 60;
+
+  // Stored in SPIFFS
+  bool dirty = false;
+} cfg;
+
+// ────────────────────────────────────────────────────────────
+// Network clients
+// ────────────────────────────────────────────────────────────
+
+WiFiClient   wifiClient;       // for HTTP to GoPro
+WiFiClient   mqttWifiClient;   // for MQTT via travel router
+PubSubClient mqtt(mqttWifiClient);
+
+// ────────────────────────────────────────────────────────────
+// State
+// ────────────────────────────────────────────────────────────
+
+unsigned long lastPollMs      = 0;
+unsigned long lastHeartbeatMs = 0;
+unsigned long lastReconnectMs = 0;
+unsigned long bootMs          = 0;
+int           reconnectDelay  = 1; // exponential backoff (seconds)
+bool          goproOnline     = false;
+
+// Heartbeat sequence
+unsigned int  heartbeatSeq    = 0;
+
+// ────────────────────────────────────────────────────────────
+// LED Pin (built-in on most ESP32 dev boards = GPIO 2)
+// ────────────────────────────────────────────────────────────
+
+const int LED_PIN = 2;
+
+enum LedMode { LED_OFF, LED_SLOW, LED_FAST, LED_ON };
+LedMode ledMode = LED_SLOW;
+
+void setLed(LedMode mode) {
+  ledMode = mode;
+}
+
+// ────────────────────────────────────────────────────────────
+// SPIFFS Config
+// ────────────────────────────────────────────────────────────
+
+bool loadConfig() {
+  if (!SPIFFS.begin(true)) {
+    Serial.println("[CFG] SPIFFS mount failed");
+    return false;
+  }
+
+  File f = SPIFFS.open("/config.json", "r");
+  if (!f) {
+    Serial.println("[CFG] No /config.json — using defaults");
+    return false;
+  }
+
+  JsonDocument doc;
+  DeserializationError err = deserializeJson(doc, f);
+  f.close();
+  if (err) {
+    Serial.printf("[CFG] JSON parse error: %s\n", err.c_str());
+    return false;
+  }
+
+  cfg.wifi_ssid              = doc["wifi_ssid"]              | cfg.wifi_ssid;
+  cfg.wifi_password          = doc["wifi_password"]          | cfg.wifi_password;
+  cfg.camera_ssid            = doc["camera_ssid"]            | cfg.camera_ssid;
+  cfg.camera_password        = doc["camera_password"]        | cfg.camera_password;
+  cfg.mqtt_broker            = doc["mqtt_broker"]            | cfg.mqtt_broker;
+  cfg.mqtt_port              = doc["mqtt_port"]              | cfg.mqtt_port;
+  cfg.camera_id              = doc["camera_id"]              | cfg.camera_id;
+  cfg.poll_interval_sec      = doc["poll_interval_sec"]      | cfg.poll_interval_sec;
+  cfg.heartbeat_interval_sec = doc["heartbeat_interval_sec"] | cfg.heartbeat_interval_sec;
+
+  Serial.println("[CFG] Loaded from /config.json");
+  return true;
+}
+
+bool saveConfig() {
+  File f = SPIFFS.open("/config.json", "w");
+  if (!f) return false;
+
+  JsonDocument doc;
+  doc["wifi_ssid"]              = cfg.wifi_ssid;
+  doc["wifi_password"]          = cfg.wifi_password;
+  doc["camera_ssid"]            = cfg.camera_ssid;
+  doc["camera_password"]        = cfg.camera_password;
+  doc["mqtt_broker"]            = cfg.mqtt_broker;
+  doc["mqtt_port"]              = cfg.mqtt_port;
+  doc["camera_id"]              = cfg.camera_id;
+  doc["poll_interval_sec"]      = cfg.poll_interval_sec;
+  doc["heartbeat_interval_sec"] = cfg.heartbeat_interval_sec;
+
+  serializeJson(doc, f);
+  f.close();
+  Serial.println("[CFG] Saved config");
+  return true;
+}
+
+// ────────────────────────────────────────────────────────────
+// Wi-Fi — Dual STA (GoPro AP + Travel Router)
+// ────────────────────────────────────────────────────────────
+
+bool connectCameraWiFi() {
+  Serial.printf("[WIFI] Connecting to GoPro AP: %s\n", cfg.camera_ssid.c_str());
+
+  // Use WiFi.begin with a second AP config — ESP32 supports this
+  // We connect to travel router first, then GoPro
+  // GoPro AP: static IP on 10.5.5.x subnet
+  WiFi.begin(cfg.camera_ssid.c_str(), cfg.camera_password.c_str());
+
+  int attempts = 0;
+  while (WiFi.status() != WL_CONNECTED && attempts < 20) {
+    delay(500);
+    Serial.print(".");
+    attempts++;
+  }
+
+  if (WiFi.status() == WL_CONNECTED) {
+    Serial.printf("\n[WIFI] Connected to GoPro AP. IP: %s\n", WiFi.localIP().toString().c_str());
+    goproOnline = true;
+    return true;
+  }
+
+  Serial.println("\n[WIFI] Failed to connect to GoPro AP");
+  goproOnline = false;
+  return false;
+}
+
+// ═══════════════════════════════════════════════════════════
+// GoPro Hero 3 HTTP API
+// ═══════════════════════════════════════════════════════════
+
+// GoPro AP gateway (always 10.5.5.1 for Hero 3)
+const char* GOPRO_IP = "10.5.5.1";
+
+/**
+ * Get the GoPro camera password.
+ * Hero 3 exposes it via GET /bacpac/sd (no auth required).
+ * Default is "goprohero" but user may have changed it.
+ */
+String fetchGoProPassword() {
+  HTTPClient http;
+  http.begin(wifiClient, String("http://") + GOPRO_IP + "/bacpac/sd");
+  int code = http.GET();
+  String body = http.getString();
+  http.end();
+
+  if (code == 200 && body.length() > 0) {
+    // Password is in plain text in the response body
+    body.trim();
+    return body;
+  }
+  return cfg.camera_password; // fallback to config value
+}
+
+/**
+ * Fetch the GoPro status blob (60 bytes binary).
+ * Returns empty string on failure.
+ */
+String fetchGoProStatus() {
+  String url = String("http://") + GOPRO_IP +
+               "/bacpac/SH?t=" + cfg.camera_password + "&p=%01";
+  HTTPClient http;
+  http.begin(wifiClient, url);
+  http.setTimeout(5000);
+  int code = http.GET();
+
+  if (code != 200) {
+    http.end();
+    return "";
+  }
+
+  // GoPro returns raw binary — use getString() which handles it
+  String raw = http.getString();
+  http.end();
+  return raw;
+}
+
+/**
+ * Parse the 60-byte GoPro status blob into structured data.
+ * Hero 3 status format (offsets are 0-based):
+ *   [25-26] video_remaining_sec (uint16 LE)
+ *   [29]    recording state (0=idle, 1=recording)
+ *   [30]    mode
+ *   [31-32] resolution
+ *   [33-34] fps
+ *   [57]    battery_raw (uint8)
+ */
+struct GoProStatus {
+  bool   valid     = false;
+  int    video_remaining_sec = 0;
+  bool   recording = false;
+  int    mode      = 0;
+  int    fps       = 0;
+  int    battery_raw = 0;
+};
+
+GoProStatus parseStatus(const String& raw) {
+  GoProStatus s;
+  if (raw.length() < 58) {
+    return s;
+  }
+
+  const uint8_t* buf = (const uint8_t*)raw.c_str();
+
+  s.valid     = true;
+  s.video_remaining_sec = buf[25] | (buf[26] << 8);
+  s.recording = (buf[29] == 1);
+  s.mode      = buf[30];
+  s.fps       = buf[33] | (buf[34] << 8);
+  s.battery_raw = buf[57];
+
+  return s;
+}
+
+bool sendGoProCommand(const String& command) {
+  String param;
+  if (command == "start_recording") {
+    param = "%01"; // mode 1 = record
+  } else if (command == "stop_recording") {
+    param = "%00"; // mode 0 = stop
+  } else {
+    Serial.printf("[GOPRO] Unknown command: %s\n", command.c_str());
+    return false;
+  }
+
+  String url = String("http://") + GOPRO_IP +
+               "/bacpac/SH?t=" + cfg.camera_password + "&p=" + param;
+
+  HTTPClient http;
+  http.begin(wifiClient, url);
+  http.setTimeout(5000);
+  int code = http.GET();
+  http.end();
+
+  Serial.printf("[GOPRO] Command %s → HTTP %d\n", command.c_str(), code);
+  return (code == 200);
+}
+
+// ═══════════════════════════════════════════════════════════
+// MQTT
+// ═══════════════════════════════════════════════════════════
+
+String clientID() {
+  uint8_t mac[6];
+  WiFi.macAddress(mac);
+  char buf[32];
+  snprintf(buf, sizeof(buf), "remoterig-%02x%02x%02x", mac[3], mac[4], mac[5]);
+  return String(buf);
+}
+
+String statusTopic()    { return "remoterig/cameras/" + cfg.camera_id + "/status"; }
+String heartbeatTopic() { return "remoterig/cameras/" + cfg.camera_id + "/heartbeat"; }
+String announceTopic()  { return "remoterig/cameras/" + cfg.camera_id + "/announce"; }
+String commandTopic()   { return "remoterig/cameras/" + cfg.camera_id + "/command"; }
+
+void mqttCallback(char* topic, byte* payload, unsigned int length) {
+  // Null-terminate payload
+  char buf[256];
+  unsigned int len = length < 255 ? length : 255;
+  memcpy(buf, payload, len);
+  buf[len] = 0;
+
+  Serial.printf("[MQTT] ← %s: %s\n", topic, buf);
+
+  JsonDocument doc;
+  DeserializationError err = deserializeJson(doc, buf);
+  if (err) {
+    Serial.printf("[MQTT] JSON parse error: %s\n", err.c_str());
+    return;
+  }
+
+  String cmd = doc["command"] | "";
+  if (cmd == "start_recording" || cmd == "stop_recording") {
+    sendGoProCommand(cmd);
+  } else if (cmd == "reboot") {
+    Serial.println("[MQTT] Reboot command received");
+    ESP.restart();
+  } else if (cmd == "registered") {
+    // Hub assigned us a camera_id on announce
+    String newID = doc["camera_id"] | "";
+    if (newID.length() > 0 && newID != cfg.camera_id) {
+      cfg.camera_id = newID;
+      cfg.dirty = true;
+      Serial.printf("[MQTT] Registered as %s\n", newID.c_str());
+      // Re-subscribe to our new command topic
+      mqtt.unsubscribe(commandTopic().c_str());
+      mqtt.subscribe(commandTopic().c_str(), 2);
+    }
+  } else {
+    Serial.printf("[MQTT] Unknown command: %s\n", cmd.c_str());
+  }
+}
+
+bool connectMQTT() {
+  mqtt.setServer(cfg.mqtt_broker.c_str(), cfg.mqtt_port);
+  mqtt.setCallback(mqttCallback);
+  mqtt.setKeepAlive(60);
+
+  Serial.printf("[MQTT] Connecting to %s:%d as %s...\n",
+                cfg.mqtt_broker.c_str(), cfg.mqtt_port, clientID().c_str());
+
+  if (mqtt.connect(clientID().c_str())) {
+    Serial.println("[MQTT] Connected");
+
+    // Subscribe to command topic
+    mqtt.subscribe(commandTopic().c_str(), 2);
+    Serial.printf("[MQTT] Subscribed to %s\n", commandTopic().c_str());
+
+    // If we have no camera_id yet, announce ourselves
+    if (cfg.camera_id.length() == 0) {
+      publishAnnounce();
+    }
+
+    reconnectDelay = 1; // reset backoff
+    return true;
+  }
+
+  Serial.printf("[MQTT] Connection failed (state=%d)\n", mqtt.state());
+  return false;
+}
+
+void publishAnnounce() {
+  JsonDocument doc;
+  doc["mac_address"]      = WiFi.macAddress();
+  doc["firmware_version"] = "0.1.0";
+  doc["friendly_name"]    = "ESP32-" + clientID().substring(9);
+
+  JsonArray caps = doc["capabilities"].to<JsonArray>();
+  caps.add("start_stop");
+  caps.add("status");
+
+  String payload;
+  serializeJson(doc, payload);
+
+  // Publish on a temporary announce topic (using MAC as ID until registered)
+  String tempAnnounce = "remoterig/cameras/announce-" + clientID().substring(9);
+  mqtt.publish(tempAnnounce.c_str(), payload.c_str(), true);
+
+  Serial.printf("[MQTT] Published announce: %s\n", payload.c_str());
+}
+
+void publishStatus(const GoProStatus& s) {
+  JsonDocument doc;
+  doc["camera_id"]  = cfg.camera_id;
+  doc["timestamp"]  = millis(); // milliseconds since boot — hub converts to ISO
+  doc["battery_raw"] = s.battery_raw;
+  doc["video_remaining_sec"] = s.video_remaining_sec;
+  doc["recording"]  = s.recording;
+  doc["online"]     = goproOnline;
+
+  if (s.recording) {
+    doc["mode"] = "video";
+  }
+
+  String payload;
+  serializeJson(doc, payload);
+
+  bool ok = mqtt.publish(statusTopic().c_str(), payload.c_str(), true);
+  if (ok) {
+    Serial.printf("[MQTT] → status (batt=%d, rec=%d, online=%d)\n",
+                  s.battery_raw, s.recording, goproOnline);
+  } else {
+    Serial.println("[MQTT] Status publish failed");
+  }
+}
+
+void publishHeartbeat() {
+  JsonDocument doc;
+  doc["camera_id"]  = cfg.camera_id;
+  doc["timestamp"]  = millis();
+  doc["uptime_sec"] = (millis() - bootMs) / 1000;
+  doc["free_heap"]  = ESP.getFreeHeap();
+
+  String payload;
+  serializeJson(doc, payload);
+
+  mqtt.publish(heartbeatTopic().c_str(), payload.c_str(), false);
+}
+
+// ═══════════════════════════════════════════════════════════
+// Setup
+// ═══════════════════════════════════════════════════════════
+
+void setup() {
+  Serial.begin(115200);
+  delay(1000);
+  Serial.println("\n\nRemoteRig ESP32 Camera Node v0.1.0");
+  Serial.println("===================================");
+
+  bootMs = millis();
+
+  pinMode(LED_PIN, OUTPUT);
+  digitalWrite(LED_PIN, LOW);
+
+  // Load config from SPIFFS
+  loadConfig();
+  Serial.printf("[CFG] camera_id: %s (empty = not yet registered)\n",
+                cfg.camera_id.length() > 0 ? cfg.camera_id.c_str() : "(none)");
+
+  // Connect to travel router Wi-Fi
+  Serial.printf("[WIFI] Connecting to travel router: %s\n", cfg.wifi_ssid.c_str());
+  WiFi.begin(cfg.wifi_ssid.c_str(), cfg.wifi_password.c_str());
+
+  int wifiAttempts = 0;
+  while (WiFi.status() != WL_CONNECTED && wifiAttempts < 40) {
+    delay(500);
+    Serial.print(".");
+    wifiAttempts++;
+  }
+
+  if (WiFi.status() == WL_CONNECTED) {
+    Serial.printf("\n[WIFI] Connected. IP: %s\n", WiFi.localIP().toString().c_str());
+    setLed(LED_SLOW); // connected to router
+  } else {
+    Serial.println("\n[WIFI] Failed to connect to travel router — will retry in loop");
+    setLed(LED_FAST); // no router connection
+  }
+
+  // Connect to GoPro AP
+  if (!connectCameraWiFi()) {
+    Serial.println("[WIFI] GoPro not reachable — will retry");
+    setLed(LED_FAST);
+  }
+
+  // Connect MQTT
+  if (WiFi.status() == WL_CONNECTED) {
+    connectMQTT();
+  }
+}
+
+// ═══════════════════════════════════════════════════════════
+// Main Loop
+// ═══════════════════════════════════════════════════════════
+
+void loop() {
+  unsigned long now = millis();
+
+  // ── LED heartbeat ──
+  static unsigned long lastLedToggle = 0;
+  int ledInterval = (ledMode == LED_FAST) ? 200 : (ledMode == LED_SLOW) ? 1000 : 0;
+  if (ledInterval > 0 && now - lastLedToggle > ledInterval) {
+    lastLedToggle = now;
+    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
+  }
+  if (ledMode == LED_ON)  digitalWrite(LED_PIN, HIGH);
+  if (ledMode == LED_OFF) digitalWrite(LED_PIN, LOW);
+
+  // ── Wi-Fi reconnection ──
+  if (WiFi.status() != WL_CONNECTED) {
+    setLed(LED_FAST);
+    if (now - lastReconnectMs > 5000) {
+      lastReconnectMs = now;
+      Serial.println("[WIFI] Reconnecting...");
+      WiFi.reconnect();
+    }
+    delay(100);
+    return; // skip everything else until Wi-Fi is back
+  }
+
+  // ── MQTT reconnection ──
+  if (!mqtt.connected()) {
+    setLed(LED_SLOW);
+    if (now - lastReconnectMs > (unsigned long)(reconnectDelay * 1000)) {
+      lastReconnectMs = now;
+      if (connectMQTT()) {
+        reconnectDelay = 1;
+      } else {
+        reconnectDelay = min(reconnectDelay * 2, 30);
+      }
+    }
+    mqtt.loop();
+    delay(100);
+    return;
+  }
+
+  setLed(LED_SLOW);
+  mqtt.loop();
+
+  // ── GoPro reconnection ──
+  static unsigned long lastGoProRetry = 0;
+  if (!goproOnline && now - lastGoProRetry > 30000) {
+    lastGoProRetry = now;
+    connectCameraWiFi();
+  }
+
+  // ── Status polling (every cfg.poll_interval_sec) ──
+  if (now - lastPollMs > (unsigned long)(cfg.poll_interval_sec * 1000)) {
+    lastPollMs = now;
+
+    String raw = fetchGoProStatus();
+    GoProStatus status = parseStatus(raw);
+
+    if (status.valid) {
+      goproOnline = true;
+      if (cfg.camera_id.length() > 0) {
+        publishStatus(status);
+      }
+    } else {
+      goproOnline = false;
+      if (cfg.camera_id.length() > 0) {
+        GoProStatus offline = {};
+        offline.valid = true;
+        publishStatus(offline); // publish with online=false
+      }
+    }
+  }
+
+  // ── Heartbeat (every heartbeat_interval_sec) ──
+  if (cfg.camera_id.length() > 0 &&
+      now - lastHeartbeatMs > (unsigned long)(cfg.heartbeat_interval_sec * 1000)) {
+    lastHeartbeatMs = now;
+    publishHeartbeat();
+  }
+
+  // ── Save config if dirty ──
+  if (cfg.dirty) {
+    cfg.dirty = false;
+    saveConfig();
+  }
+
+  delay(100);
+}