71ec357c93
Merge remote-tracking branch 'origin/sl-webui/issue-534-teleop-webui'
2026-03-07 10:03:24 -05:00
cc0ffd1999
feat: Battery voltage ADC driver with DMA sampling (Issue #533 )
...
STM32F7 ADC driver for battery voltage/current monitoring using
DMA-based continuous sampling, IIR low-pass filter, voltage divider
calibration, and USART telemetry to Jetson. Integrates with power
management for low-battery sleep (Issue #467 ).
Implementation:
- include/battery_adc.h: New driver header with calibration struct and
public API (init, tick, get_voltage_mv, get_current_ma, calibrate,
publish, check_pm, is_low, is_critical)
- src/battery_adc.c: ADC3 continuous-scan DMA (DMA2_Stream0/Ch2), 4x
hardware oversampling of both Vbat (PC1/IN11) and Ibat (PC3/IN13),
IIR LPF (alpha=1/8, cutoff ~4 Hz at 100 Hz tick rate), calibration
with ±500 mV offset clamp, 3S/4S auto-detection, 1 Hz USART publish
- include/jlink.h + src/jlink.c: Add JLINK_TLM_BATTERY (0x82) telemetry
type and jlink_tlm_battery_t (10-byte packed struct), implement
jlink_send_battery_telemetry() using CRC16-XModem framing
- include/power_mgmt.h + src/power_mgmt.c: Add
power_mgmt_notify_battery() — triggers STOP-mode sleep when Vbat
sustains critical level (Issue #467 )
- test/test_battery_adc.c: 27 unit tests (27/27 passing): voltage
conversion, calibration offset/scale, IIR LPF convergence, SoC
estimation (3S/4S), low/critical flags, PM notification timing,
calibration reset, publish rate-limiting
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-07 10:01:02 -05:00
19a30a1c4f
feat: PID auto-tune for balance mode (Issue #531 )
...
Implement Ziegler-Nichols relay feedback auto-tuning with flash persistence:
Firmware (STM32F722):
- pid_flash.c/h: erase+write Kp/Ki/Kd to flash sector 7 (0x0807FFC0),
magic-validated; load on boot to restore saved tune
- jlink.h: add JLINK_CMD_PID_SAVE (0x0A) and JLINK_TLM_PID_RESULT (0x83)
with jlink_tlm_pid_result_t struct and pid_save_req flag in JLinkState
- jlink.c: dispatch JLINK_CMD_PID_SAVE -> pid_save_req; add
jlink_send_pid_result() to confirm flash write outcome over USART1
- main.c: load saved PID from flash after balance_init(); handle
pid_save_req in main loop (disarmed-only, erase stalls CPU ~1s)
Jetson ROS2 (saltybot_pid_autotune):
- pid_autotune_node.py: add Ki to Ziegler-Nichols formula (ZN PID:
Kp=0.6Ku, Ki=1.2Ku/Tu, Kd=0.075KuTu); add JLink serial client that
sends JLINK_CMD_PID_SET + JLINK_CMD_PID_SAVE after tuning completes
- autotune_config.yaml: add jlink_serial_port and jlink_baud_rate params
Trigger: ros2 service call /saltybot/autotune_pid std_srvs/srv/Trigger
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-07 09:56:19 -05:00
f71fdae747
feat: Depth-to-costmap plugin for RealSense D435i (Issue #532 )
...
Add saltybot_depth_costmap — a Nav2 costmap2d plugin that converts
D435i depth images directly into obstacle markings on both local and
global costmaps.
Pipeline:
1. Subscribe to /camera/depth/image_rect_raw (16UC1 mm) + camera_info
2. Back-project depth pixels to 3D using pinhole camera intrinsics
3. Transform points to costmap global_frame via TF2
4. Apply configurable height filter (min_height..max_height above ground)
5. Mark obstacle cells as LETHAL_OBSTACLE
6. Inflate neighbours within inflation_radius as INSCRIBED_INFLATED_OBSTACLE
Parameters:
min_height: 0.05 m — floor clearance (ignores ground returns)
max_height: 0.80 m — ceiling cutoff (ignores lights/ceiling)
obstacle_range: 3.5 m — max marking distance from camera
clearing_range: 4.0 m — max distance processed at all
inflation_radius: 0.10 m — in-layer inflation (works before inflation_layer)
downsample_factor: 4 — process 1 of N rows+cols (~19k pts @ 640×480)
Integration (#478 ):
- Added depth_costmap_layer to local_costmap plugins list
- Added depth_costmap_layer to global_costmap plugins list
- Plugin registered via pluginlib (plugin.xml)
Files:
jetson/ros2_ws/src/saltybot_depth_costmap/
CMakeLists.txt, package.xml, plugin.xml
include/saltybot_depth_costmap/depth_costmap_layer.hpp
src/depth_costmap_layer.cpp
jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml (updated)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-07 09:52:18 -05:00
916ad36ad5
feat(webui): teleop web interface with live camera stream (Issue #534 )
...
Adds TeleopWebUI component — a dedicated browser-based remote control
panel combining live video and joystick teleoperation in one view:
- Live camera stream (front/rear/left/right) via rosbridge CompressedImage
- Virtual joystick (canvas-based, touch + mouse, 10% deadzone)
- WASD / arrow-key keyboard fallback, Space for quick stop
- Speed presets: SLOW (20%), NORMAL (50%), FAST (100%)
- Latching E-stop button with pulsing visual indicator
- Real-time linear/angular velocity display
- Mobile-responsive: stacks vertically on small screens, side-by-side on lg+
- Added TELEOP tab group → Drive tab in App.jsx
Topics: /camera/<name>/image_raw/compressed (subscribe)
/cmd_vel geometry_msgs/Twist (publish)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-07 09:51:14 -05:00
fc43135144
feat: Spring-loaded phone mount bracket for T-slot rail (Issue #535 )
...
Parametric OpenSCAD design for 2020 T-slot rail phone mount bracket.
Adjustable width 60-85mm, spring-loaded cam quick-release lever,
vibration-dampening flexure rib grip pads. PETG 3D-printable, no supports.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-07 09:49:10 -05:00
e67783f313
Merge remote-tracking branch 'origin/sl-android/issue-521-esc-debug-cleanup'
2026-03-06 23:34:45 -05:00
68b6410b24
Merge remote-tracking branch 'origin/sl-jetson/issue-523-motor-daemon'
2026-03-06 23:34:45 -05:00
5b7ee63d1e
Merge remote-tracking branch 'origin/sl-controls/issue-522-usart6-truncation'
2026-03-06 23:34:45 -05:00
4f33e4e88d
Merge pull request 'fix: USB CDC TX investigation (Issue #524 )' ( #525 ) from sl-mechanical/issue-524-usb-cdc-tx into main
2026-03-06 23:34:17 -05:00
54bc2509c1
Merge pull request 'fix: IMU calibration (Issue #520 )' ( #530 ) from sl-firmware/issue-520-imu-calibration into main
2026-03-06 23:34:16 -05:00
b0a5041261
fix: MPU6000 IMU calibration SPI/DCache issue (Issue #520 )
...
Three bugs prevented mpu6000_is_calibrated() from returning true,
blocking arming and balance mode:
1. WHO_AM_I single-attempt: one SPI glitch returning 0x00 caused
icm42688_init() to return -128, skipping mpu6000_calibrate()
entirely. Fix: retry WHO_AM_I up to 3 times with 10ms gaps.
2. icm42688_read() rx[15] uninitialized: if HAL_SPI_TransmitReceive()
failed, garbage stack data was accumulated as gyro bias. Fix: zero-
init rx[15] so failed transfers produce zero data.
3. mpu6000_calibrate() raw uninitialized: UB if icm42688_read() is
a no-op (imu_type mismatch). Fix: zero-init raw each iteration.
Also add SCB_InvalidateDCache_by_Addr() on SPI rx buffers in rreg()
and icm42688_read() for DCache coherency. Currently a no-op (DCache
is not enabled), but required if SCB_EnableDCache() is added — stack
buffers in SRAM2 are in the cacheable memory region on STM32F7.
Fix misleading DCache comment in icm42688.c (claimed DCache was
disabled by main.c; actually SCB_EnableDCache() is never called).
Build: 59904 bytes Flash (+512), 17100 bytes RAM — SUCCESS
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-06 23:14:49 -05:00
7141e12320
feat: Integration test suite expanded (Issue #504 ) - resolve conflicts
2026-03-06 23:10:42 -05:00
sl-android
d5246fe3a8
chore: Guard ESC debug output behind compile flag (Issue #521 )
...
- esc_hoverboard.c: huart2 static in production; non-static only under
#ifdef DEBUG_MOTOR_TEST (needed by R command in jetson_uart.c)
- esc_hoverboard.c: UART5 diagnostic in hoverboard_backend_init() and
per-packet printf in hoverboard_backend_send() guarded by same flag
- esc_hoverboard.c: #include <stdio.h> also guarded (not needed in production)
- jetson_uart.c: R (baud sweep) and X (GPIO test) commands guarded by
#ifdef DEBUG_MOTOR_TEST — not compiled into production firmware
Production build: no debug output, static huart2, no R/X commands.
Debug build: define DEBUG_MOTOR_TEST to re-enable all diagnostics.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-06 23:07:36 -05:00
7ad8c82da6
feat: Orin motor control daemon (Issue #523 )
...
Add saltybot_motor_daemon ROS2 package — Python daemon that subscribes
to /cmd_vel and drives the FC via W<speed>,<steer>\n over /dev/ttyTHS1
at 921600 baud.
- motor_daemon_node.py: 50 Hz fixed-rate TX, 200ms safety watchdog,
Twist→ESC conversion (±1000 range), FC ack parsing (W:<s>,<st>),
periodic ? status query, /diagnostics publisher, auto-reconnect
- config/motor_daemon_params.yaml: all tunable params with comments
- launch/motor_daemon.launch.py: parameterised launch file
- test/test_motor_daemon.py: 25 unit tests (all passing)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-06 23:04:07 -05:00
b128e164e7
fix: USART6 TX mutex to prevent truncated output (Issue #522 )
...
USART1 IDLE interrupt (DMA circular RX) was calling HAL_UART_IRQHandler
mid-frame during polling HAL_UART_Transmit, resetting gState and causing
leading nulls / truncated frames on the Jetson telemetry link at 921600 baud.
Fix: introduce jlink_tx_locked() which disables USART1_IRQn around every
blocking HAL_UART_Transmit call, preventing IRQHandler from corrupting
gState while the TX loop is running. A s_tx_busy flag drops any
re-entrant caller (ESC debug, future USART6/VESC paths).
Both jlink_send_telemetry (50 Hz) and jlink_send_power_telemetry (1 Hz)
now use jlink_tx_locked(). Also correct the stale config.h comment that
misidentified the Jetson link as USART6 (it moved to USART1 in Issue #120 ).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-06 23:02:57 -05:00
e28f1549cb
feat: Orin motor control daemon (Issue #523 )
...
Add saltybot_motor_daemon ROS2 package — Python daemon that subscribes
to /cmd_vel and drives the FC via W<speed>,<steer>\n over /dev/ttyTHS1
at 921600 baud.
- motor_daemon_node.py: 50 Hz fixed-rate TX, 200ms safety watchdog,
Twist→ESC conversion (±1000 range), FC ack parsing (W:<s>,<st>),
periodic ? status query, /diagnostics publisher, auto-reconnect
- config/motor_daemon_params.yaml: all tunable params with comments
- launch/motor_daemon.launch.py: parameterised launch file
- test/test_motor_daemon.py: 25 unit tests (all passing)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-06 23:02:57 -05:00
dd4eabf218
fix: Investigate USB CDC TX failure (Issue #524 )
...
Root causes confirmed from code audit:
1. DCache coherency: USB OTG FS reads physical SRAM while CPU writes through
DCache. Fix: MPU Region 0 marks 512B aligned USB buffer struct non-cacheable
(TEX=1, C=0, B=0) before HAL_PCD_Init(). DCache stays enabled globally.
2. IWDG ordering: safety_init() (IWDG start) deferred after all peripheral inits
to avoid watchdog reset during mpu6000_calibrate() (~510ms blocking).
DMA conflicts, GPIO conflicts, clock tree, and interrupt priorities all ruled out
with evidence. Full findings documented in USB_CDC_BUG.md.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-06 23:01:00 -05:00
Salty Bead
3bb4b71cea
feat: motor bench test working — UART5 ESC + USART6 Jetson + W command
...
- Fix UART5 ESC: PC12=TX, PD2=RX @ 115200 baud (was USART2/38400)
- Add jetson_uart.c: USART6 command interface (A/D/E/Z/H/C/W/R/X/? commands)
- Add W command: persistent direct motor test (sets globals, main loop sends at 50Hz)
- Fix power_mgmt: keep UART5 clock active, PC7 EXTI wake source
- Fix main loop: direct_test_speed/steer override disarmed zero-send
- Add boot banner on USART6
Tested: Orin -> FC USART6 -> FC UART5 -> EFeru ESC -> both motors spin
2026-03-06 22:35:24 -05:00
f14ce5c3ba
Merge remote-tracking branch 'origin/sl-perception/issue-469-terrain-classification'
2026-03-06 17:37:27 -05:00
2e2ed2d0a7
Merge remote-tracking branch 'origin/sl-controls/issue-506-launch-profiles'
2026-03-06 17:37:27 -05:00
5b9e9dd412
Merge pull request 'feat: Headscale VPN auto-connect (Issue #502 )' ( #517 ) from sl-jetson/issue-502-headscale-vpn into main
2026-03-06 17:37:07 -05:00
706a67c0b7
Merge pull request 'feat: Charging dock hardware design (Issue #505 )' ( #516 ) from sl-webui/issue-504-integration-tests into main
2026-03-06 17:37:06 -05:00
8d58d5e34c
feat: Terrain classification for speed adaptation (Issue #469 )
...
Implement multi-sensor terrain classification using RealSense D435i depth and RPLIDAR A1M8:
- saltybot_terrain_classification: New ROS2 package for terrain classification
- TerrainClassifier: Rule-based classifier matching depth variance + reflectance to terrain type
(smooth/carpet/grass/gravel) with hysteresis + confidence scoring
- DepthExtractor: Extracts roughness from depth discontinuities and surface gradients
- LidarExtractor: Extracts reflectance from RPLIDAR scan intensities
- terrain_classification_node: 10Hz node fusing both sensors, publishes:
- /saltybot/terrain_type (JSON with type, confidence, speed_scale)
- /saltybot/terrain_type_string (human-readable type)
- /saltybot/terrain_speed_scale (0.0-1.0 speed multiplier for smooth/carpet/grass/gravel)
Speed scales: smooth=1.0, carpet=0.9, grass=0.75, gravel=0.6
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 16:43:21 -05:00
d3eca7bebc
feat: Integration test suite (Issue #504 )
...
Add comprehensive integration testing for complete ROS2 system stack:
Integration Tests (test_integration_full_stack.py):
- Verifies all ROS2 nodes launch successfully
- Checks critical topics are published (sensors, nav, control)
- Validates system component health and stability
- Tests launch file validity and configuration
- Covers indoor/outdoor/follow modes
Launch Testing (test_launch_full_stack.py):
- Validates launch file syntax and configuration
- Verifies all required packages are installed
- Checks launch sequence timing
- Validates conditional logic for optional components
Test Coverage:
✓ SLAM/RTAB-Map (indoor mode)
✓ Nav2 navigation stack
✓ Perception (YOLOv8n person detection)
✓ Control (cmd_vel bridge, STM32 bridge)
✓ Audio pipeline and monitoring
✓ Sensors (LIDAR, RealSense, UWB, CSI cameras)
✓ Battery and temperature monitoring
✓ Autonomous docking behavior
✓ TF2 tree and odometry
Usage:
pytest test/test_integration_full_stack.py -v
pytest test/test_launch_full_stack.py -v
Documentation:
See test/README_INTEGRATION_TESTS.md for detailed information.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 16:42:38 -05:00
8d67d06857
feat: Integration test suite (Issue #504 )
...
Add comprehensive integration testing for complete ROS2 system stack:
Integration Tests (test_integration_full_stack.py):
- Verifies all ROS2 nodes launch successfully
- Checks critical topics are published (sensors, nav, control)
- Validates system component health and stability
- Tests launch file validity and configuration
- Covers indoor/outdoor/follow modes
Launch Testing (test_launch_full_stack.py):
- Validates launch file syntax and configuration
- Verifies all required packages are installed
- Checks launch sequence timing
- Validates conditional logic for optional components
Test Coverage:
✓ SLAM/RTAB-Map (indoor mode)
✓ Nav2 navigation stack
✓ Perception (YOLOv8n person detection)
✓ Control (cmd_vel bridge, STM32 bridge)
✓ Audio pipeline and monitoring
✓ Sensors (LIDAR, RealSense, UWB, CSI cameras)
✓ Battery and temperature monitoring
✓ Autonomous docking behavior
✓ TF2 tree and odometry
Usage:
pytest test/test_integration_full_stack.py -v
pytest test/test_launch_full_stack.py -v
Documentation:
See test/README_INTEGRATION_TESTS.md for detailed information.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 16:42:31 -05:00
e5329391bc
feat: Add parameter profile YAML files for Nav2 (Issue #506 )
...
- profile_indoor.yaml: Conservative settings (0.4 m/s, 0.35m inflation)
- profile_outdoor.yaml: Moderate settings (0.8 m/s, 0.3m inflation)
- profile_demo.yaml: Agile settings (0.6 m/s, 0.32m inflation)
Each profile customizes velocity limits, costmap inflation, and obstacle detection.
2026-03-06 16:42:31 -05:00
5d17b6c501
feat: Issue #506 — Update nav2.launch.py for profile support
...
Add profile argument to nav2.launch.py to accept launch profile parameter
and log profile selection for debugging/monitoring.
Changes:
- Add profile_arg declaration with choices (indoor/outdoor/demo)
- Add profile substitution and log output
- Update docstring with profile documentation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 16:42:31 -05:00
b5acb32ee6
feat: Issue #506 — Update full_stack.launch.py for profile support
...
Add profile argument and documentation to full_stack.launch.py for
Issue #506 launch parameter profiles. Updated to support:
- profile:=indoor (conservative)
- profile:=outdoor (moderate)
- profile:=demo (agile with tricks/social features)
Changes:
- Add profile_arg declaration
- Add profile substitution handle
- Update docstring with profile examples
- Ready for profile-based Nav2 parameter overrides
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 16:42:31 -05:00
bbfcd2a9d1
feat: Issue #506 — Launch parameter profiles (indoor/outdoor/demo)
...
Implement profile-based parameter overrides for Nav2, costmap, and behavior
server configurations. Profiles predefine parameter sets for different
deployment scenarios.
New files:
- config/profiles/indoor.yaml: Conservative (0.2 m/s, tight geofence, no GPS)
- config/profiles/outdoor.yaml: Moderate (0.5 m/s, wide geofence, GPS-enabled)
- config/profiles/demo.yaml: Agile (0.3 m/s, tricks/social features enabled)
- saltybot_bringup/profile_loader.py: YAML loader and parameter merger utility
Supports: ros2 launch saltybot_bringup full_stack.launch.py profile:=<profile>
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 16:42:31 -05:00
5add2cab51
Merge remote-tracking branch 'origin/sl-mechanical/issue-505-charging-dock'
...
# Conflicts:
# phone/INSTALL_MOTOR_TEST.md
# phone/MOTOR_TEST_JOYSTICK.md
# phone/motor_test_joystick.py
2026-03-06 14:59:59 -05:00
892d0a2089
Merge remote-tracking branch 'origin/sl-android/issue-513-phone-joystick'
...
# Conflicts:
# phone/MOTOR_TEST_JOYSTICK.md
# phone/motor_test_joystick.py
2026-03-06 14:00:21 -05:00
678fd221f5
Merge pull request 'feat: Remove ELRS arm requirement (Issue #512 )' ( #514 ) from sl-firmware/issue-512-autonomous-arming into main
2026-03-06 12:52:05 -05:00
sl-android
f49e84b8bb
feat: Phone-based motor test joystick app (Issue #513 )
...
Implements terminal-based curses UI for interactive bench testing of SaltyBot motors via Termux.
Features:
- Interactive keyboard-based joystick (W/A/S/D or arrow keys)
- Conservative velocity defaults: 0.1 m/s linear, 0.3 rad/s angular
- Real-time velocity feedback with bar graphs
- Spacebar e-stop (instantly zeros velocity)
- 500ms timeout safety (sends zero velocity if idle)
- Dual backend: ROS2 (/cmd_vel) or WebSocket
- Graceful fallback if ROS2 unavailable
Safety Features:
- Conservative defaults (0.1/0.3 m/s)
- E-stop button (spacebar)
- 500ms timeout (sends zero if idle)
- Input clamping and exponential decay
- Status/warning displays
Files:
- motor_test_joystick.py: Main application
- MOTOR_TEST_JOYSTICK.md: User documentation
- INSTALL_MOTOR_TEST.md: Installation guide
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 11:47:15 -05:00
48e9af60a9
feat: Remove ELRS arm requirement for autonomous operation (Issue #512 )
...
Enable Jetson autonomous arming while keeping RC as optional override.
Key Changes:
=============
1. RC Kill Switch (CH5 OFF) → Emergency Stop (not disarm)
- Motors cutoff immediately on kill switch
- Robot remains armed (allows re-arm without re-initializing)
- Maintains kill switch safety for emergency situations
2. RC Disarm Only on Explicit CH5 Falling Edge (while RC alive)
- RC disconnect doesn't disarm Jetson-controlled missions
- RC failsafe timer (500ms) still handles signal loss
3. Jetson Autonomous Arming (via CDC 'A' command)
- Works independently of RC state
- Requires: calibrated IMU, robot level (±10°), no estop active
- Uses same 500ms arm-hold safety as RC
4. All Safety Preserved
- Arming hold timer: 500ms
- Tilt limit: ±10° level
- IMU calibration required
- Remote E-stop override
- RC failsafe: 500ms signal loss = disarm
- Jetson timeout: 500ms heartbeat = zero motors
Command Protocol (CDC):
A = arm (Jetson)
D = disarm (Jetson)
E/Z = estop / clear estop
H = heartbeat (keep-alive)
C<spd>,<str> = drive command
Behavior Matrix:
RC disconnected → Jetson-armed stays armed, normal operation
RC connected + armed → Both Jetson and RC can arm, blended control
RC kill switch (CH5) → Emergency stop + can re-arm via Jetson 'A'
RC signal lost → Disarm after 500ms (failsafe)
See AUTONOMOUS_ARMING.md for complete protocol and testing checklist.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 11:46:03 -05:00
e4116dffc0
feat: Remove ELRS arm requirement for autonomous operation (Issue #512 )
...
Enable Jetson autonomous arming while keeping RC as optional override.
Changes:
- RC kill switch (CH5 OFF) now triggers emergency stop instead of disarm
→ Allows Jetson-armed robots to remain armed when RC disconnects
→ Maintains kill switch safety for emergency situations
- RC disarm only triggers on explicit CH5 falling edge (RC still alive)
→ RC disconnect doesn't disarm Jetson-controlled missions
→ RC failsafe timer (500ms) handles signal loss separately
- Jetson arming via CDC 'A' command works independently of RC state
→ Robots can operate fully autonomous without RC transmitter
→ Heartbeat timeout (500ms) prevents runaway if Jetson crashes
Safety maintained:
- Arming hold timer: 500ms (prevents accidental arm)
- Tilt limit: ±10° level required
- IMU calibration: Required before any arm attempt
- Remote E-stop: Blocks all arming
- RC failsafe: 500ms signal loss = disarm
- Jetson timeout: 500ms heartbeat = zero motors
Command protocol (unchanged):
- Jetson: A=arm, D=disarm, E=estop, Z=clear estop
- RC: CH5 switch (optional override)
- Heartbeat: H command every ≤500ms
- Drive: C<speed>,<steer> every ≤200ms
See AUTONOMOUS_ARMING.md for complete protocol and testing checklist.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 11:45:12 -05:00
b0c2b5564d
feat: Add Issue #505 CAD - 24V Charging Dock OpenSCAD Models
...
CAD implementation files for Issue #505 (24V charging dock upgrade):
- charging_dock_505.scad: Main dock assembly
* Base plate: 340×320×12 mm (enlarged for 240W PSU)
* Back wall: 250×85×10 mm (pogo pin housing, LED bezel recess)
* V-guide rails: 100mm deep, self-centering funnel (print 2×)
* ArUco marker frame: ID 42 (DICT_4X4_250), 15cm mast
* PSU bracket: Sized for Mean Well IRM-240-24 (210×108×56 mm)
* LED bezel: 4× status indicators (SEARCHING/ALIGNED/CHARGING/FULL)
- charging_dock_receiver_505.scad: Robot-side receiver variants
* Lab receiver: Stem collar mount (SaltyLab)
* Rover receiver: Deck flange mount (SaltyRover)
* Tank receiver: Skid plate mount + extended nose (SaltyTank)
* Common contact geometry: 20mm CL-to-CL brass pads, V-nose guide
* Wire bore: 3mm (supports 12 AWG charging wires)
Key changes from Issue #159 (5V):
- PSU dimensions: 63×45×28 mm → 210×108×56 mm
- Base/bracket enlarged accordingly
- ArUco ID: 0 → 42
- Contact geometry unchanged (compatible with Issue #159 receivers)
- Pogo pins, V-guides, LED circuit identical
Files ready for:
- STL export via OpenSCAD render commands
- 3D printing (PETG recommended)
- Assembly integration with docking node (#489 )
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 11:44:28 -05:00
1f4929b68c
Merge remote-tracking branch 'origin/sl-jetson/issue-477-urdf'
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# Conflicts:
# jetson/config/RECOVERY_BEHAVIORS.md
2026-03-06 11:43:31 -05:00
d97fa5fab0
Merge remote-tracking branch 'origin/sl-webui/issue-482-behavior-tree'
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# Conflicts:
# jetson/ros2_ws/src/saltybot_bringup/behavior_trees/autonomous_coordinator.xml
# jetson/ros2_ws/src/saltybot_bringup/launch/autonomous_mode.launch.py
2026-03-06 11:43:26 -05:00
a3d3ea1471
Merge remote-tracking branch 'origin/sl-perception/issue-478-costmaps'
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# Conflicts:
# jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml
2026-03-06 11:43:11 -05:00
e1248f92b9
Merge pull request 'feat: Face display animations on STM32 LCD (Issue #507 )' ( #508 ) from sl-android/issue-507-face-animations into main
2026-03-06 10:57:28 -05:00
6f3dd46285
feat: Add Issue #503 - Audio pipeline with Jabra SPEAK 810
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Implement full audio pipeline with:
- Jabra SPEAK 810 USB audio I/O (mic + speaker)
- openwakeword 'Hey Salty' wake word detection
- whisper.cpp GPU-accelerated STT (small/base/medium/large models)
- piper TTS synthesis and playback
- Audio state machine: listening → processing → speaking
- MQTT status and state reporting
- Real-time latency metrics tracking
ROS2 Topics Published:
- /saltybot/speech/transcribed_text: STT output for voice router
- /saltybot/audio/state: Current audio state
- /saltybot/audio/status: JSON metrics with latencies
MQTT Topics:
- saltybot/audio/state: Current state (listening/processing/speaking)
- saltybot/audio/status: Complete status JSON
Configuration parameters in yaml:
- device_name: Jabra device pattern
- wake_word_threshold: 0.5 (tunable)
- whisper_model: small/base/medium/large
- mqtt_enabled: true/false with broker config
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 10:30:58 -05:00
5cea0812d5
feat: Add Issue #505 - 24V Charging Dock Hardware Design
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- Design specification: 24V DC power delivery (upgraded from 5V Issue #159 )
- ArUco marker ID 42 (15cm frame) for precision alignment
- Spring-loaded contact pads with V-channel guide rails
- Comprehensive BOM for 24V PSU, wiring, LED status circuit
- Compatible with docking node #489 (ROS2 integration)
- 3D-printable PETG frame (base, back wall, guide rails, brackets)
- Electrical: 240W Mean Well IRM-240-24 PSU, 20A current capacity
- Safety: Fused output, varistor protection, soft-start capable
- Integration: MQTT status reporting, GPIO LED control (Jetson Orin NX)
Files:
- ISSUE_505_CHARGING_DOCK_24V_DESIGN.md: Complete design spec (mechanical, electrical, assembly)
- charging_dock_505_BOM.csv: Procurement list with sourcing info
Next: CAD implementation (charging_dock_505.scad, receiver variant)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 10:30:44 -05:00
sl-android
49628bcc61
feat: Add Issue #507 - Face display animations on STM32 LCD
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Implements expressive face animations with 5 core emotions (happy/sad/curious/angry/sleeping) and smooth transitions on small LCD displays.
Features:
- State machine with smooth 0.5s emotion transitions (ease-in-out cubic easing)
- Automatic idle blinking (4-6s intervals, 100-150ms duration per blink)
- UART command interface via USART3 @ 115200 (text-based protocol)
- 30Hz target refresh rate via systick integration
- Low-level LCD abstraction supporting monochrome and RGB565
- Rendering primitives: pixel, line (Bresenham), circle (midpoint), filled rect
Architecture:
- face_lcd.h/c: Hardware-agnostic framebuffer & display driver
- face_animation.h/c: Emotion state machine & parameterized face rendering
- face_uart.h/c: UART command parser (HAPPY/SAD/CURIOUS/ANGRY/SLEEP/NEUTRAL/BLINK/STATUS)
- Unit tests (14 test cases): emotion transitions, blinking, rendering, all emotions
Integration:
- main.c: Added includes, initialization (servo_init), systick tick, main loop processing
- Pending: LCD hardware initialization (SPI/I2C config, display controller setup)
Files: 9 new (headers, source, tests, docs), 1 modified (main.c)
Lines: ~1450 total (345 headers, 650 source, 350 tests, 900 docs)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 10:27:36 -05:00
062c05cac0
feat: Add Issue #502 - Headscale VPN auto-connect on Orin
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Configure Jetson Orin with Tailscale client connecting to Headscale
coordination server at tailscale.vayrette.com:8180. Device registers
as 'saltylab-orin' with persistent auth key for unattended login.
Features:
- systemd auto-start and restart on WiFi drops
- Persistent auth key storage at /opt/saltybot/tailscale-auth.key
- SSH + HTTP access over Tailscale tailnet (encrypted WireGuard)
- IP forwarding enabled for relay/exit node capability
- WiFi resilience with aggressive restart policy
- MQTT reporting of VPN status, IP, and connection type
Components added:
- jetson/scripts/setup-tailscale.sh: Tailscale package installation
- jetson/scripts/headscale-auth-helper.sh: Auth key management utility
- jetson/systemd/tailscale-vpn.service: systemd service unit
- jetson/docs/headscale-vpn-setup.md: Comprehensive setup documentation
- saltybot_cellular/vpn_status_node.py: ROS2 node for MQTT reporting
Updated:
- jetson/systemd/install_systemd.sh: Include tailscale-vpn.service
- jetson/scripts/setup-jetson.sh: Add Tailscale setup steps
Access patterns:
- SSH: ssh user@saltylab-orin.tail12345.ts.net
- HTTP: http://saltylab-orin.tail12345.ts.net:port
- Direct IP: 100.x.x.x (Tailscale allocated address)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 10:25:04 -05:00
767f377120
feat: Add Issue #504 - Integration test suite with launch_testing
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Create saltybot_tests package with comprehensive automated testing:
Test Coverage:
- Node startup verification (all critical nodes within 30s)
- Topic publishing verification
- TF tree completeness (all transforms present)
- Sensor health checks (RPLIDAR, RealSense, IMU)
- Perception pipeline (person detection availability)
- Navigation stack (odometry, transforms)
- System stability (30-second no-crash test)
- Graceful shutdown verification
Features:
- launch_testing framework for automated startup tests
- NodeChecker: wait for nodes in ROS graph
- TFChecker: verify TF tree completeness
- TopicMonitor: track message rates and counts
- Follow mode tests (minimal hardware deps)
- Subsystem-specific tests for sensor health
- Comprehensive README with troubleshooting
Usage:
pytest src/saltybot_tests/test/test_launch.py -v -s
or
colcon test --packages-select saltybot_tests
Performance Targets:
- Node startup: <30s (follow mode)
- RPLIDAR: 10 Hz scan rate
- RealSense: 30 Hz RGB + depth
- Person detection: 5 Hz
- System stability: 30s no-crash validation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 10:22:38 -05:00
80ee9ece87
Merge pull request 'feat: Voice command router (Issue #491 )' ( #499 ) from sl-webui/issue-491-voice-router into main
2026-03-05 19:25:32 -05:00
Sebastien Vayrette
868b453777
fix: resolve merge conflicts for voice router PR #499 (keep both docking + mission logging)
2026-03-05 19:25:23 -05:00
83e3033abe
Merge pull request 'feat: OTA firmware update (Issue #492 )' ( #500 ) from sl-jetson/issue-492-ota-update into main
2026-03-05 17:24:58 -05:00
5f6a13ccca
Merge pull request 'feat: Multi-sensor fusion (Issue #490 )' ( #498 ) from sl-perception/issue-490-sensor-fusion into main
2026-03-05 17:24:03 -05:00
