Previously showed only phone GPS. Now also subscribes via ROSLIB to
saltybot/gps/fix + saltybot/gps/vel on the same rosbridge URL for
robot (SAUL-TEE) position. Blue marker+trail for phone (raw WS
{type:gps}), orange marker+trail for robot (ROS topics). Sidebar shows
phone speed/alt/heading/accuracy + robot lat/lon/speed + distance
between the two. FIT ALL button auto-zooms to show both. Status bar
badges for phone staleness and robot fix/vel freshness.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Subscribes to saltybot/phone/gps (JSON: {ts, lat, lon, alt_m,
accuracy_m, speed_ms, bearing_deg, provider}) and renders a blue
Leaflet marker + blue breadcrumb trail alongside the robot's
orange/cyan marker. Status bar now shows PHONE badge with stale
detection. Sidebar adds phone lat/lon/speed/accuracy/provider section.
Clear button resets both trails.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
3D-printable PETG cradle for FSESC 6.7 Pro Mini Dual on 2020 T-slot rail.
4x M5 T-nut mounting, open-top heatsink exposure, XT60/XT30/CAN cutouts,
floor grille and side louvre ventilation, M3 heat-set insert posts for
board retention. No supports required.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add saltybot_can_e2e_test package with 64 tests covering the full
Orin↔Mamba↔VESC CAN pipeline: drive commands, heartbeat timeout,
e-stop escalation, mode switching, and FC_VESC status broadcasts.
Tests run with plain pytest — no ROS2 or real CAN hardware required.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- UwbTagBleActivity: BLE scan filtered to 'UWB_TAG_XXXX' device names
- Connects to GATT service 12345678-1234-5678-1234-56789abcdef0
- Read/write JSON config char: sleep_timeout_s, display_brightness,
tag_name, uwb_channel, ranging_interval_ms, battery_report
- Subscribes to status + battery notification characteristics
- Material Design UI with scan list, config form, and live status
- Runtime BLE permission handling for API 26+ / API 31+
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add hw_button driver (PC2 active-low, 20ms debounce) with gesture detection:
- Single short press + 500ms quiet -> BTN_EVENT_PARK
- SHORT+SHORT+LONG combo (within 3s) -> BTN_EVENT_REARM_COMBO
New BALANCE_PARKED state: PID frozen, motors off, quick re-arm via button
combo without the 3-second arm interlock required from DISARMED.
FC_BTN (0x404) CAN frame sent to Orin on each event:
event_id 1=PARKED, 2=UNPARKED, 3=UNPARK_FAILED (pitch > 20 deg)
Includes 11 unit tests (1016 assertions) exercising debounce, bounce
rejection, short/long classification, sequence detection, and timeout.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add vesc_mqtt_relay_node.py to saltybot_phone: subscribes to
/vesc/left/state, /vesc/right/state, /vesc/combined ROS2 topics and
publishes JSON telemetry to saltybot/phone/vesc_{left,right,combined}
MQTT topics at 5 Hz per motor. 32 unit tests, no ROS2/paho required.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- VESCCANOdometryNode subscriptions now use left_state_topic/right_state_topic
params (defaulting to /vesc/left/state and /vesc/right/state) instead of
building /vesc/can_<id>/state from CAN IDs — those topics never existed
- Update right_can_id default: 79 → 68 (Mamba F722S architecture update)
- Update vesc_odometry_params.yaml: CAN IDs 61/79 → 56/68; add explicit
left_state_topic and right_state_topic entries; remove stale can_N comments
- All IDs remain fully configurable via ROS2 params
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
FSESC 6.7 Pro Mini Dual uses CAN IDs 56/68, not 61/79. Updates all
driver, telemetry, and odometry bridge files to use correct defaults.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Issue #680 — IMU mount angle calibration:
- imu_cal_flash.h/.c: store pitch/roll offsets in flash sector 7
(0x0807FF00, 64 bytes; preserves PID records across sector erase)
- mpu6000_set_mount_offset(): subtracts offsets from pitch/roll output
- mpu6000_has_mount_offset(): reports cal_status=2 to Orin
- 'O' CDC command: capture current pitch/roll → save to flash → ACK JSON
- Load offsets on boot; report in printf log
CAN telemetry correction (Tee: production has no USB to Orin):
- FC_IMU (0x402): pitch/roll/yaw/cal_status/balance_state at 50 Hz
- orin_can_broadcast_imu() rate-limited to ORIN_IMU_TLM_HZ (50 Hz)
- FC_BARO (0x403): pressure_pa/temp_x10/alt_cm at 1 Hz (Issue #672)
- orin_can_broadcast_baro() rate-limited to ORIN_BARO_TLM_HZ (1 Hz)
Issue #685 — LED CAN override:
- ORIN_CAN_ID_LED_CMD (0x304): pattern/brightness/duration_ms from Orin
- orin_can_led_override volatile state + orin_can_led_updated flag
- main.c: apply pattern to LED state machine on each LED_CMD received
Orin side:
- saltybot_can_node.py: production SocketCAN bridge — reads 0x400-0x403,
publishes /saltybot/imu, /saltybot/balance_state, /saltybot/barometer;
subscribes /cmd_vel → 0x301 DRIVE; /saltybot/leds → 0x304 LED_CMD;
sends 0x300 HEARTBEAT at 5 Hz; sends 0x303 ESTOP on shutdown
- setup.py: register saltybot_can_node entry point + uart_bridge launch
Fix: re-apply --defsym __stack_end=_estack-0x1000 linker fix to branch
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
UnboundLocalError when _ser is None — lines was only assigned inside
the else branch. Move initialisation to function scope so the for-loop
outside the lock always has a valid list.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
