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+# Issue #194 — Speed Limiter Node Implementation Plan
+
+## Context
+
+The SaltyBot control stack currently lacks a dedicated speed limiting aggregator. Individual subsystems publish speed scale factors:
+- **TerrainAdaptationNode** → `/saltybot/terrain_speed_scale` (Float32, 0.15–1.0)
+- **EmergencyNode** → `/saltybot/emergency` (EmergencyEvent with severity level)
+- Hypothetical external source → `/saltybot/speed_limit` (to be determined)
+
+These must be unified into a single authoritative speed scale and applied to `/cmd_vel` before forwarding to the drive system. Currently, each subsystem is independent, creating potential conflicts and inconsistent behavior.
+
+## Goal
+
+Create `saltybot_speed_limiter` ROS2 package that:
+1. Subscribes to terrain_speed_scale, speed_limit, and emergency signals
+2. Computes effective minimum speed scale from all three inputs
+3. Applies scale to /cmd_vel messages → /saltybot/cmd_vel_limited
+4. Publishes diagnostic JSON on /saltybot/speed_limit_info
+5. Operates at 50 Hz with proper message synchronization
+
+## Architecture
+
+### Subscriptions
+
+| Topic | Type | Source | Frequency | Use |
+|-------|------|--------|-----------|-----|
+| `/saltybot/terrain_speed_scale` | Float32 | TerrainAdaptationNode | 50Hz | Terrain-based scaling (0.15–1.0) |
+| `/saltybot/speed_limit` | Float32 | External (TBD) | ≥10Hz | Global speed limit (0.0–1.0) |
+| `/saltybot/emergency` | EmergencyEvent | EmergencyNode | 20Hz | Emergency severity level |
+| `/cmd_vel` | Twist | SpeedControllerNode | ≥20Hz | Raw commanded velocity |
+
+### Outputs
+
+| Topic | Type | Frequency | Content |
+|-------|------|-----------|---------|
+| `/saltybot/cmd_vel_limited` | Twist | 50Hz | Scaled cmd_vel |
+| `/saltybot/speed_limit_info` | String (JSON) | 50Hz | Diagnostic state |
+
+### Message Types
+
+**EmergencyEvent** (from saltybot_emergency_msgs):
+```
+string severity  # "CLEAR"|"MINOR"|"MAJOR"|"CRITICAL"
+```
+
+**speed_limit_info JSON**:
+```json
+{
+  "terrain_scale": 0.638,
+  "speed_limit": 1.0,
+  "emergency_scale": 1.0,
+  "effective_scale": 0.638,
+  "cmd_vel_input": {"linear": 1.0, "angular": 0.5},
+  "cmd_vel_limited": {"linear": 0.638, "angular": 0.319},
+  "timestamp": 1740000000.123456
+}
+```
+
+### Control Logic
+
+```python
+# Emergency severity → speed scale mapping
+emergency_scale = {
+    "CLEAR": 1.0,
+    "MINOR": 0.95,      # Yellow alert: slight caution
+    "MAJOR": 0.7,       # Orange alert: significant slowdown
+    "CRITICAL": 0.3,    # Red alert: severe limitation
+}
+
+# Effective scale = minimum of all sources
+effective_scale = min(
+    terrain_scale,           # From /saltybot/terrain_speed_scale
+    speed_limit,             # From /saltybot/speed_limit
+    emergency_scale,         # From /saltybot/emergency severity
+)
+
+# Apply to all cmd_vel components
+cmd_vel_limited.linear.x *= effective_scale
+cmd_vel_limited.linear.y *= effective_scale
+cmd_vel_limited.linear.z *= effective_scale
+cmd_vel_limited.angular.x *= effective_scale
+cmd_vel_limited.angular.y *= effective_scale
+cmd_vel_limited.angular.z *= effective_scale
+```
+
+## Implementation Details
+
+### Package Structure
+
+```
+saltybot_speed_limiter/
+├── CMakeLists.txt
+├── package.xml
+├── setup.py
+├── README.md
+├── launch/
+│   └── speed_limiter.launch.py
+├── resource/
+│   └── saltybot_speed_limiter
+├── saltybot_speed_limiter/
+│   ├── __init__.py
+│   └── speed_limiter_node.py
+├── config/
+│   └── speed_limiter_params.yaml
+└── test/
+    ├── __init__.py
+    └── test_speed_limiter.py
+```
+
+### Key Implementation Points
+
+1. **Message Synchronization**: Use `message_filters.ApproximateTimeSynchronizer` to align terrain_scale, speed_limit, emergency, and cmd_vel with small slop tolerance (50–100ms @ 50Hz)
+
+2. **State Management**:
+   - Store latest values for each input (timeout handling if stale)
+   - Fallback to safe defaults if messages stop arriving:
+     - terrain_scale → 1.0 (no scaling)
+     - speed_limit → 1.0 (no limit)
+     - emergency → "CLEAR" (no threat)
+
+3. **Parameters**:
+   - `publish_hz`: 50.0 (fixed, not tunable)
+   - `sync_slop_ms`: 100 (ApproximateTimeSynchronizer slop)
+   - `timeout_s`: 2.0 (signal timeout)
+   - `frame_id`: 'base_link'
+   - Emergency scale map (tunable per severity)
+
+4. **Performance**:
+   - Small package, minimal computation (3 float comparisons + geometry scaling)
+   - No heavy libraries (just numpy for Twist scaling)
+
+### Unit Tests
+
+Test file: `test/test_speed_limiter.py`
+
+Coverage:
+- Min-of-three logic (all combinations)
+- Twist scaling on all 6 components
+- Emergency severity mapping (CLEAR, MINOR, MAJOR, CRITICAL)
+- Timeout/stale handling (graceful fallback)
+- JSON output structure and values
+- Message synchronization edge cases
+
+### Integration Points
+
+**Upstream** (inputs):
+- SpeedControllerNode → `/cmd_vel`
+- TerrainAdaptationNode → `/saltybot/terrain_speed_scale`
+- EmergencyNode → `/saltybot/emergency`
+
+**Downstream** (outputs):
+- CmdVelBridgeNode ← `/saltybot/cmd_vel_limited` (replaces `/cmd_vel`)
+
+**Migration Path**:
+1. CmdVelBridgeNode currently reads `/cmd_vel`
+2. After speed_limiter is ready: modify CmdVelBridgeNode to read `/saltybot/cmd_vel_limited` instead
+3. Or: use ROS2 topic remapping in launch files during transition
+
+## Files to Create
+
+1. **saltybot_speed_limiter/speed_limiter_node.py** (~200 lines)
+   - SpeedLimiterNode class
+   - Message synchronization with fallback logic
+   - Scale computation and Twist application
+   - JSON diagnostic publishing
+
+2. **test/test_speed_limiter.py** (~150 lines)
+   - Min-of-three logic tests
+   - Twist scaling verification
+   - Emergency map tests
+   - Timeout/stale handling tests
+
+3. **launch/speed_limiter.launch.py** (~40 lines)
+   - Configurable parameters
+   - QoS setup
+
+4. **config/speed_limiter_params.yaml** (~20 lines)
+   - Emergency severity scales
+   - Timeout and sync parameters
+
+5. **package.xml, setup.py, CMakeLists.txt, README.md, resource/** (~150 lines total)
+   - Standard ROS2 package boilerplate
+
+## Verification Plan
+
+1. **Unit Tests**: Run pytest on test_speed_limiter.py (expect 15+ tests, all pass)
+2. **Package Build**: `colcon build --packages-select saltybot_speed_limiter`
+3. **Node Launch**: `ros2 launch saltybot_speed_limiter speed_limiter.launch.py`
+4. **Manual Testing** (hardware):
+   - Subscribe to /saltybot/cmd_vel_limited and verify scaling
+   - Inject different terrain_scale, speed_limit, emergency values
+   - Confirm effective_scale = min(all three)
+   - Verify JSON diagnostic content
+
+## Branch & Commit Strategy
+
+1. Branch: `sl-controls/issue-194-speed-limiter` from main
+2. Commit: Single commit with all 10 files
+3. PR: To main branch with detailed description
+4. MQTT Report: Send status to max after merge
+
+## Key Decisions
+
+- **Min-of-three logic** (not weighted average): Ensures safety — most conservative limit wins
+- **Separate topic output** (`/saltybot/cmd_vel_limited`): Preserves original /cmd_vel for debugging
+- **Emergency severity levels** (CLEAR/MINOR/MAJOR/CRITICAL): Map to scales 1.0/0.95/0.7/0.3 (can tune)
+- **ApproximateTimeSynchronizer**: Handles async inputs at different rates
+- **JSON string output** (not typed message): Easy to parse in logging/MQTT system
diff --git a/.claude/plans/humming-watching-toast.md b/.claude/plans/humming-watching-toast.md
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+# Plan: SaltyRover STM32 Firmware Variant
+
+## Context
+SaltyRover is the 4-wheel-drive variant of SaltyBot. It uses the same STM32F722 MCU, CRSF RC, USB CDC, safety systems, and IMU — but replaces the balance PID loop with direct 4-wheel independent motor commands. Two hoverboard ESCs are used: front axle on USART2 (same as balance bot), rear axle on UART5 (PC12/PD2).
+
+saltyrover-dev is 16 commits behind main and lacks: mode_manager, remote e-stop (PR #69), jetson_cmd updates, and some CDC additions. We'll apply all relevant current main-equivalent features on the new branch.
+
+## Branch
+- Source: `origin/saltyrover-dev`
+- Branch name: `sl-firmware/rover-firmware`
+- PR target: `saltyrover-dev`
+
+## Files to Create
+
+### `include/rover_driver.h`
+Public API for the 4-wheel rover motor layer:
+```c
+typedef struct {
+    int16_t fl, fr, rl, rr; /* last wheel commands (-1000..+1000) */
+    bool    armed;
+    bool    estop;
+    uint32_t last_cmd_ms;   /* HAL_GetTick() of last set_cmd() call */
+} rover_driver_t;
+
+void rover_driver_init(rover_driver_t *r);
+void rover_driver_set_cmd(rover_driver_t *r, int16_t fl, int16_t fr, int16_t rl, int16_t rr, uint32_t now);
+void rover_driver_update(rover_driver_t *r, uint32_t now); /* call at 50Hz */
+void rover_driver_arm(rover_driver_t *r);
+void rover_driver_disarm(rover_driver_t *r);
+void rover_driver_estop(rover_driver_t *r);
+void rover_driver_estop_clear(rover_driver_t *r);
+```
+
+### `src/rover_driver.c`
+Implementation — two hoverboard ESC control:
+- `rover_driver_init()`: calls existing `hoverboard_init()` (USART2 front), adds UART5 init for rear (HAL_UART_Init at 115200, PC12/PD2)
+- `rover_driver_update()` at 50Hz:
+  - estop or disarmed → send (0,0) to both ESCs
+  - armed → compute `front_spd=(fl+fr)/2`, `front_str=(fr-fl)/2`, `rear_spd=(rl+rr)/2`, `rear_str=(rr-rl)/2`; clamp each to ±ROVER_SPEED_MAX
+  - If `now - last_cmd_ms > ROVER_CMD_TIMEOUT_MS` → zero commands (safety fallback)
+  - Calls `hoverboard_send(front_spd, front_str)` for USART2
+  - Calls local `hoverboard2_send(rear_spd, rear_str)` for UART5 (static function in rover_driver.c, same 8-byte protocol)
+
+## Files to Modify
+
+### `include/config.h`
+Add rover-specific constants section:
+```c
+/* --- SaltyRover 4WD --- */
+#define ROVER_MAX_TILT_DEG   45.0f  /* ESC estop angle (vs 25° balance cutoff) */
+#define ROVER_CMD_TIMEOUT_MS  500   /* Zero wheels if no Jetson cmd for 500ms */
+#define ROVER_SPEED_MAX       800   /* Max per-wheel command (ESC units) */
+```
+
+### `include/safety.h` + `src/safety.c`
+Apply PR #69 remote-estop additions (same as main): `EstopSource` enum, `safety_remote_estop/clear/get/active()`, `s_estop_source` static. These are already on main but not saltyrover-dev — include them here.
+
+### `lib/USB_CDC/src/usbd_cdc_if.c` + `include/usbd_cdc_if.h`
+Apply PR #69 CDC additions: `cdc_estop_request`, `cdc_estop_clear_request`, cases 'E'/'F'/'Z'.
+
+Add rover JSON command handling:
+```c
+volatile uint8_t  rover_json_ready = 0;
+volatile char     rover_json_buf[80];
+// In CDC_Receive:
+case '{': {
+    uint32_t n = *len < 79 ? *len : 79;
+    for (uint32_t i = 0; i < n; i++) rover_json_buf[i] = (char)buf[i];
+    rover_json_buf[n] = '\0';
+    rover_json_ready = 1;
+    jetson_hb_tick = HAL_GetTick();  /* JSON cmd refreshes heartbeat */
+    break;
+}
+```
+
+Export in header: `extern volatile uint8_t rover_json_ready; extern volatile char rover_json_buf[80];`
+
+### `src/main.c`
+Full replacement of the main loop. Keep all init (clock, USB, IMU, CRSF, I2C sensors, safety), strip `balance_t`, replace with `rover_driver_t`. Key loop logic:
+
+**Per-iteration (1ms):**
+1. `safety_refresh()` — IWDG feed
+2. `mpu6000_read(&imu)` — IMU read
+3. `mode_manager_update(&mode, now)` — RC liveness + CH6 mode
+4. Remote e-stop block (from PR #69): `cdc_estop_request` → `rover_driver_estop()`
+5. Tilt watchdog: `if (fabsf(imu.pitch) > ROVER_MAX_TILT_DEG) rover_driver_estop()`
+6. RC CH5 arm/disarm (same hold interlock; pitch check relaxed to `< ROVER_MAX_TILT_DEG`)
+7. USB arm/disarm (A/D commands)
+8. Parse `rover_json_ready`: `sscanf(rover_json_buf, ...)` for `drive4` cmd → `rover_driver_set_cmd()`
+9. RC direct drive fallback (MANUAL mode): CH3→speed all 4 wheels, CH4→differential steer
+
+**50Hz ESC block:**
+```c
+if (rover.armed && !rover.estop) {
+    // If Jetson active: use stored fl/fr/rl/rr
+    // If RC MANUAL: compute fl=fr=rl=rr=speed, add steer diff
+    rover_driver_update(&rover, now);
+} else {
+    rover_driver_update(&rover, now); // sends zeros
+}
+```
+
+**50Hz telemetry:**
+```json
+{"p":<pitch×10>,"r":<roll×10>,"s":<armed>,"fl":<fl>,"fr":<fr>,"rl":<rl>,"rr":<rr>,"md":<mode>,"es":<es>,"txc":<N>,"rxc":<N>}
+```
+Optional fields: heading, altitude/temp/pressure (same as balance bot).
+
+**Status LEDs:** Same `status_update(now, imu_ok, rover.armed, |pitch|>ROVER_MAX_TILT_DEG, safety_remote_estop_active())`
+
+**Arm guard:** `|pitch_deg| < ROVER_MAX_TILT_DEG` (45°) instead of `< 10.0f`
+
+## Key Architectural Differences vs Balance Bot
+
+| | Balance Bot | SaltyRover |
+|---|---|---|
+| PID loop | 1kHz balance PID | None |
+| Motor cmd | `bal.motor_cmd` | Individual fl/fr/rl/rr |
+| ESCs | 1× USART2 | 2× USART2 + UART5 |
+| Tilt cutoff | 25° (balance state) | 45° (simple estop only) |
+| Drive cmd | `C<spd>,<str>\n` | `{"cmd":"drive4",...}` JSON |
+| Arm pitch guard | `< 10°` | `< 45°` |
+| State machine | DISARMED/ARMED/TILT_FAULT | armed bool + estop bool |
+
+## Test Plan
+1. Build: `pio run -e saltyrover` (or equivalent) — confirms compile
+2. Hardware: send `{"cmd":"drive4","fl":200,"fr":200,"rl":200,"rr":200}` → all 4 wheels spin forward
+3. Estop: send `E\n` → wheels stop, LED fast-blinks 200ms; `Z\n` + RC arm → resumes
+4. Tilt: tilt rover >45° → wheels cut immediately; no cut at 30°
+5. RC manual: CH5 arm + CH3/CH4 → wheels respond; CH5 disarm → stop
+6. Telemetry: verify `"fl"/"fr"/"rl"/"rr"` in JSON stream, `"es"` field changes on estop
+
+## Critical Files
+- `src/main.c` — rover main loop (full rewrite of loop body)
+- `include/rover_driver.h` — new file
+- `src/rover_driver.c` — new file (UART5 init + two-ESC update)
+- `include/config.h` — rover constants
+- `include/safety.h` + `src/safety.c` — remote estop additions
+- `lib/USB_CDC/src/usbd_cdc_if.c` — JSON '{' case + estop flags
+- `lib/USB_CDC/include/usbd_cdc_if.h` — export new flags
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