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f71dad5344
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feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).
- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
(stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
"STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
rosbridge "Received a message without an op" incompatibility)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:25:24 -04:00 |
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48e9af60a9
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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>
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2026-03-06 11:46:03 -05:00 |
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