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+# WireClaw — Pi Zero 2W
+
+## Contexte
+Composant vidéo du drone d'inspection WireClaw.
+Caméra OV5647 (CSI) → GStreamer RTP H264 → Jetson
+
+## Stack
+- OS : Raspberry Pi OS Bookworm Lite
+- Caméra : OV5647, libcamerasrc (pas v4l2src)
+- Encodage : x264enc tune=zerolatency bitrate=1000
+- Transport : RTP H264 pt=96 UDP port 5600
+
+## Réseau
+- Dev Freebox : Pi Zero 192.168.1.132 → Jetson 192.168.1.84
+- Hotspot WireClaw : Pi Zero DHCP → Jetson 10.42.0.1
+
+## Pipeline émetteur validé
+gst-launch-1.0 libcamerasrc ! \
+  video/x-raw,width=640,height=480,framerate=15/1 ! \
+  videoconvert ! x264enc tune=zerolatency bitrate=1000 ! \
+  rtph264pay config-interval=1 pt=96 ! \
+  udpsink host=192.168.1.84 port=5600
+
+## Repo
+git.syoul.fr/nicoboy/wireclaw-pizero