diff --git a/esp32s3/balance/main/CMakeLists.txt b/esp32s3/balance/main/CMakeLists.txt
index 518a489..c640003 100644
--- a/esp32s3/balance/main/CMakeLists.txt
+++ b/esp32s3/balance/main/CMakeLists.txt
@@ -3,19 +3,8 @@ idf_component_register(
         "main.c"
         "orin_serial.c"
         "vesc_can.c"
-        "gitea_ota.c"
-        "ota_self.c"
-        "uart_ota.c"
-        "ota_display.c"
     INCLUDE_DIRS "."
     REQUIRES
-        esp_wifi
-        esp_http_client
-        esp_https_ota
-        nvs_flash
-        app_update
-        mbedtls
-        cJSON
         driver
         freertos
         esp_timer
diff --git a/esp32s3/balance/main/config.h b/esp32s3/balance/main/config.h
index dd0b6af..05b602e 100644
--- a/esp32s3/balance/main/config.h
+++ b/esp32s3/balance/main/config.h
@@ -24,9 +24,9 @@
 #define VESC_CAN_RX_GPIO        1       /* SN65HVD230 RXD → ESP32 TWAI RX */
 #define VESC_CAN_RX_QUEUE       32
 
-/* VESC node IDs — matched to bd-wim1 TELEM_VESC_LEFT/RIGHT mapping */
-#define VESC_ID_A               56u     /* TELEM_VESC_LEFT  (0x81) */
-#define VESC_ID_B               68u     /* TELEM_VESC_RIGHT (0x82) */
+/* VESC node IDs */
+#define VESC_ID_A               61u     /* TELEM_VESC_LEFT  (0x81) */
+#define VESC_ID_B               79u     /* TELEM_VESC_RIGHT (0x82) */
 
 /* ── Safety / timing ── */
 #define HB_TIMEOUT_MS           500u    /* heartbeat watchdog: disarm if exceeded */
@@ -37,6 +37,3 @@
 /* ── Drive → VESC RPM scaling ── */
 #define RPM_PER_SPEED_UNIT      5       /* speed_units=1000 → 5000 ERPM */
 #define RPM_PER_STEER_UNIT      3       /* steer differential scale */
-
-/* ── Tilt cutoff ── */
-#define TILT_CUTOFF_DEG         25.0f
diff --git a/esp32s3/balance/main/main.c b/esp32s3/balance/main/main.c
index f8c4796..1704c1f 100644
--- a/esp32s3/balance/main/main.c
+++ b/esp32s3/balance/main/main.c
@@ -2,10 +2,6 @@
 
 #include "orin_serial.h"
 #include "vesc_can.h"
-#include "gitea_ota.h"
-#include "ota_self.h"
-#include "uart_ota.h"
-#include "ota_display.h"
 #include "config.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
@@ -84,9 +80,6 @@ void app_main(void)
 {
     ESP_LOGI(TAG, "ESP32-S3 BALANCE starting");
 
-    /* OTA rollback health check — must be called within OTA_ROLLBACK_WINDOW_S */
-    ota_self_health_check();
-
     /* Init peripherals */
     orin_serial_init();
     vesc_can_init();
@@ -105,10 +98,6 @@ void app_main(void)
     xTaskCreate(telem_task,          "telem",    2048, NULL,          5, NULL);
     xTaskCreate(drive_task,          "drive",    2048, NULL,          8, NULL);
 
-    /* OTA subsystem — WiFi version checker + display overlay */
-    gitea_ota_init();
-    ota_display_init();
-
     ESP_LOGI(TAG, "all tasks started");
     /* app_main returns — FreeRTOS scheduler continues */
 }
diff --git a/esp32s3/balance/main/orin_serial.c b/esp32s3/balance/main/orin_serial.c
index 52de20b..fa2e1c1 100644
--- a/esp32s3/balance/main/orin_serial.c
+++ b/esp32s3/balance/main/orin_serial.c
@@ -2,10 +2,6 @@
 
 #include "orin_serial.h"
 #include "config.h"
-#include "gitea_ota.h"
-#include "ota_self.h"
-#include "uart_ota.h"
-#include "version.h"
 #include "driver/uart.h"
 #include "esp_log.h"
 #include "esp_timer.h"
@@ -207,46 +203,6 @@ static void dispatch_cmd(uint8_t type, const uint8_t *payload, uint8_t len,
         orin_send_ack(tx_q, type);
         break;
 
-    case CMD_OTA_CHECK:
-        /* Trigger an immediate Gitea version check */
-        gitea_ota_check_now();
-        orin_send_version_info(tx_q, OTA_TARGET_BALANCE,
-                                BALANCE_FW_VERSION,
-                                g_balance_update.available
-                                    ? g_balance_update.version : "");
-        orin_send_version_info(tx_q, OTA_TARGET_IO,
-                                IO_FW_VERSION,
-                                g_io_update.available
-                                    ? g_io_update.version : "");
-        orin_send_ack(tx_q, type);
-        break;
-
-    case CMD_OTA_UPDATE:
-        if (len < 1u) { orin_send_nack(tx_q, type, ERR_BAD_LEN); break; }
-        {
-            uint8_t target = payload[0];
-            bool triggered = false;
-            if (target == OTA_TARGET_IO || target == OTA_TARGET_BOTH) {
-                if (!uart_ota_trigger()) {
-                    orin_send_nack(tx_q, type,
-                        g_io_update.available ? ERR_OTA_BUSY : ERR_OTA_NO_UPDATE);
-                    break;
-                }
-                triggered = true;
-            }
-            if (target == OTA_TARGET_BALANCE || target == OTA_TARGET_BOTH) {
-                if (!ota_self_trigger()) {
-                    if (!triggered) {
-                        orin_send_nack(tx_q, type,
-                            g_balance_update.available ? ERR_OTA_BUSY : ERR_OTA_NO_UPDATE);
-                        break;
-                    }
-                }
-            }
-            orin_send_ack(tx_q, type);
-        }
-        break;
-
     default:
         ESP_LOGW(TAG, "unknown cmd type=0x%02x", type);
         break;
@@ -332,23 +288,3 @@ void orin_serial_tx_task(void *arg)
     }
 }
 
-/* ── OTA telemetry helpers (bd-1s1s) ── */
-
-void orin_send_ota_status(QueueHandle_t q, uint8_t target,
-                           uint8_t state, uint8_t progress, uint8_t err)
-{
-    /* TELEM_OTA_STATUS: uint8 target, uint8 state, uint8 progress, uint8 err */
-    uint8_t p[4] = {target, state, progress, err};
-    enqueue(q, TELEM_OTA_STATUS, p, 4u);
-}
-
-void orin_send_version_info(QueueHandle_t q, uint8_t target,
-                             const char *current, const char *available)
-{
-    /* TELEM_VERSION_INFO: uint8 target, char current[16], char available[16] */
-    uint8_t p[33];
-    p[0] = target;
-    strncpy((char *)&p[1],  current,   16); p[16] = '\0';
-    strncpy((char *)&p[17], available ? available : "", 16); p[32] = '\0';
-    enqueue(q, TELEM_VERSION_INFO, p, 33u);
-}
diff --git a/esp32s3/balance/main/orin_serial.h b/esp32s3/balance/main/orin_serial.h
index 6df1f0c..a79efd6 100644
--- a/esp32s3/balance/main/orin_serial.h
+++ b/esp32s3/balance/main/orin_serial.h
@@ -29,34 +29,20 @@
 #define TELEM_STATUS        0x80u   /* status @ 10 Hz */
 #define TELEM_VESC_LEFT     0x81u   /* VESC ID 56 telemetry @ 10 Hz */
 #define TELEM_VESC_RIGHT    0x82u   /* VESC ID 68 telemetry @ 10 Hz */
-#define TELEM_OTA_STATUS    0x83u   /* OTA state + progress (bd-1s1s) */
-#define TELEM_VERSION_INFO  0x84u   /* firmware version report (bd-1s1s) */
 #define RESP_ACK            0xA0u
 #define RESP_NACK           0xA1u
 
-/* ── OTA commands (Orin → ESP32, bd-1s1s) ── */
-#define CMD_OTA_CHECK       0x10u   /* no payload: trigger Gitea version check */
-#define CMD_OTA_UPDATE      0x11u   /* uint8 target: 0=balance, 1=io, 2=both */
-
-/* ── OTA target constants ── */
-#define OTA_TARGET_BALANCE  0x00u
-#define OTA_TARGET_IO       0x01u
-#define OTA_TARGET_BOTH     0x02u
-
 /* ── NACK error codes ── */
 #define ERR_BAD_CRC         0x01u
 #define ERR_BAD_LEN         0x02u
 #define ERR_ESTOP_ACTIVE    0x03u
 #define ERR_DISARMED        0x04u
-#define ERR_OTA_BUSY        0x05u
-#define ERR_OTA_NO_UPDATE   0x06u
 
 /* ── Balance state (mirrored from TELEM_STATUS.balance_state) ── */
 typedef enum {
     BAL_DISARMED   = 0,
     BAL_ARMED      = 1,
-    BAL_TILT_FAULT = 2,
-    BAL_ESTOP      = 3,
+    BAL_ESTOP      = 2,
 } bal_state_t;
 
 /* ── Shared state written by RX task, consumed by main/vesc tasks ── */
@@ -106,8 +92,3 @@ void orin_send_vesc(QueueHandle_t q, uint8_t telem_type,
 void orin_send_ack(QueueHandle_t q, uint8_t cmd_type);
 void orin_send_nack(QueueHandle_t q, uint8_t cmd_type, uint8_t err);
 
-/* OTA telemetry helpers (bd-1s1s) */
-void orin_send_ota_status(QueueHandle_t q, uint8_t target,
-                           uint8_t state, uint8_t progress, uint8_t err);
-void orin_send_version_info(QueueHandle_t q, uint8_t target,
-                             const char *current, const char *available);