diff --git a/phone/sensor_dashboard.py b/phone/sensor_dashboard.py
new file mode 100644
index 0000000..c01bfa4
--- /dev/null
+++ b/phone/sensor_dashboard.py
@@ -0,0 +1,404 @@
+#!/usr/bin/env python3
+"""
+sensor_dashboard.py — Termux phone sensor publisher for SaltyBot (Issue #574)
+
+Reads phone IMU, GPS, and battery via termux-api and publishes JSON payloads
+to the SaltyBot MQTT broker.  Designed to run on Android/Termux as a
+persistent background service.
+
+Topics
+──────
+  saltybot/phone/imu      — accelerometer + gyroscope  @ 5 Hz
+  saltybot/phone/gps      — lat/lon/alt/accuracy        @ 1 Hz
+  saltybot/phone/battery  — percentage/charging/temp    @ 1 Hz
+
+JSON payloads
+─────────────
+  IMU:
+    {"ts": 1710000000.000,
+     "accel": {"x": 0.12, "y": -0.05, "z": 9.81},
+     "gyro":  {"x": 0.01, "y": -0.00, "z": 0.00}}
+
+  GPS:
+    {"ts": 1710000000.000,
+     "lat": 45.123, "lon": -73.456, "alt_m": 12.3,
+     "accuracy_m": 3.5, "speed_ms": 0.0, "bearing_deg": 0.0,
+     "provider": "gps"}
+
+  Battery:
+    {"ts": 1710000000.000,
+     "pct": 87, "charging": true, "temp_c": 28.5,
+     "health": "GOOD", "plugged": "AC"}
+
+Usage
+─────
+  python3 phone/sensor_dashboard.py [OPTIONS]
+
+  --broker HOST     MQTT broker IP/hostname  (default: 192.168.1.100)
+  --port PORT       MQTT broker port         (default: 1883)
+  --imu-hz FLOAT    IMU publish rate Hz      (default: 5.0)
+  --gps-hz FLOAT    GPS publish rate Hz      (default: 1.0)
+  --bat-hz FLOAT    Battery publish rate Hz  (default: 1.0)
+  --qos INT         MQTT QoS level 0/1/2     (default: 0)
+  --no-imu          Disable IMU publishing
+  --no-gps          Disable GPS publishing
+  --no-battery      Disable battery publishing
+  --debug           Verbose logging
+
+Dependencies (install in Termux)
+─────────────────────────────────
+  pkg install termux-api python
+  pip install paho-mqtt
+"""
+
+import argparse
+import json
+import logging
+import subprocess
+import sys
+import threading
+import time
+from typing import Optional
+
+try:
+    import paho.mqtt.client as mqtt
+    MQTT_AVAILABLE = True
+except ImportError:
+    MQTT_AVAILABLE = False
+
+# ── MQTT topic roots ──────────────────────────────────────────────────────────
+
+TOPIC_IMU     = "saltybot/phone/imu"
+TOPIC_GPS     = "saltybot/phone/gps"
+TOPIC_BATTERY = "saltybot/phone/battery"
+
+# ── termux-api wrappers ───────────────────────────────────────────────────────
+
+def _run_termux(cmd: list[str], timeout: float = 5.0) -> Optional[dict]:
+    """Run a termux-api command and parse its JSON output. Returns None on error."""
+    try:
+        result = subprocess.run(
+            cmd,
+            capture_output=True,
+            text=True,
+            timeout=timeout,
+        )
+        if result.returncode != 0 or not result.stdout.strip():
+            logging.debug("termux cmd %s returned %d: %s",
+                          cmd[0], result.returncode, result.stderr.strip())
+            return None
+        return json.loads(result.stdout)
+    except (subprocess.TimeoutExpired, json.JSONDecodeError, FileNotFoundError) as e:
+        logging.debug("termux cmd %s error: %s", cmd[0], e)
+        return None
+
+
+def read_sensor_once(sensor_name: str) -> Optional[dict]:
+    """
+    Call termux-sensor for a single reading of @sensor_name.
+
+    termux-sensor -s <name> -n 1 returns one sample then exits.
+    """
+    raw = _run_termux(["termux-sensor", "-s", sensor_name, "-n", "1"], timeout=4.0)
+    if raw is None:
+        return None
+    # Response shape: {"<sensor_name>": {"values": [x, y, z], ...}}
+    # Key may be the full sensor description string; iterate to find it.
+    for key, val in raw.items():
+        if isinstance(val, dict) and "values" in val:
+            return val
+    return None
+
+
+def read_imu() -> Optional[dict]:
+    """
+    Read accelerometer and gyroscope in a single call each.
+    Returns dict with 'accel' and 'gyro' sub-dicts, or None if both fail.
+    """
+    accel_data = read_sensor_once("accelerometer")
+    gyro_data  = read_sensor_once("gyroscope")
+
+    accel = None
+    if accel_data and isinstance(accel_data.get("values"), list):
+        v = accel_data["values"]
+        if len(v) >= 3:
+            accel = {"x": float(v[0]), "y": float(v[1]), "z": float(v[2])}
+
+    gyro = None
+    if gyro_data and isinstance(gyro_data.get("values"), list):
+        v = gyro_data["values"]
+        if len(v) >= 3:
+            gyro = {"x": float(v[0]), "y": float(v[1]), "z": float(v[2])}
+
+    if accel is None and gyro is None:
+        return None
+
+    return {
+        "ts":    time.time(),
+        "accel": accel or {"x": 0.0, "y": 0.0, "z": 0.0},
+        "gyro":  gyro  or {"x": 0.0, "y": 0.0, "z": 0.0},
+    }
+
+
+def read_gps() -> Optional[dict]:
+    """Read GPS fix via termux-location."""
+    raw = _run_termux(["termux-location", "-p", "gps", "-r", "once"], timeout=10.0)
+    if raw is None:
+        # Fallback: try network provider if GPS cold
+        raw = _run_termux(
+            ["termux-location", "-p", "network", "-r", "once"], timeout=6.0
+        )
+    if raw is None:
+        return None
+
+    return {
+        "ts":          time.time(),
+        "lat":         float(raw.get("latitude",  0.0)),
+        "lon":         float(raw.get("longitude", 0.0)),
+        "alt_m":       float(raw.get("altitude",  0.0)),
+        "accuracy_m":  float(raw.get("accuracy",  -1.0)),
+        "speed_ms":    float(raw.get("speed",     0.0)),
+        "bearing_deg": float(raw.get("bearing",   0.0)),
+        "provider":    str(raw.get("provider", "unknown")),
+    }
+
+
+def read_battery() -> Optional[dict]:
+    """Read battery status via termux-battery-status."""
+    raw = _run_termux(["termux-battery-status"], timeout=4.0)
+    if raw is None:
+        return None
+
+    return {
+        "ts":      time.time(),
+        "pct":     int(raw.get("percentage", -1)),
+        "charging": raw.get("status", "DISCHARGING") not in ("DISCHARGING", "UNKNOWN"),
+        "temp_c":  float(raw.get("temperature", 0.0)),
+        "health":  str(raw.get("health", "UNKNOWN")),
+        "plugged": str(raw.get("plugged", "UNPLUGGED")),
+    }
+
+
+# ── MQTT client with auto-reconnect ───────────────────────────────────────────
+
+class MQTTPublisher:
+    """
+    Thin paho-mqtt wrapper with:
+    - Automatic reconnect on disconnect (exponential back-off, max 60 s)
+    - Thread-safe publish() — queues messages if offline
+    - Connection status accessible via .connected property
+    """
+
+    _RECONNECT_BASE  = 2.0   # seconds
+    _RECONNECT_MAX   = 60.0
+
+    def __init__(self, broker: str, port: int, qos: int = 0):
+        self._broker  = broker
+        self._port    = port
+        self._qos     = qos
+        self._lock    = threading.Lock()
+        self._connected = False
+        self._reconnect_delay = self._RECONNECT_BASE
+
+        self._client = mqtt.Client(client_id="saltybot-phone-sensor", clean_session=True)
+        self._client.on_connect    = self._on_connect
+        self._client.on_disconnect = self._on_disconnect
+        self._client.reconnect_delay_set(
+            min_delay=int(self._RECONNECT_BASE),
+            max_delay=int(self._RECONNECT_MAX),
+        )
+
+        self._connect()
+
+    def _connect(self) -> None:
+        try:
+            self._client.connect_async(self._broker, self._port, keepalive=60)
+            self._client.loop_start()
+            logging.info("MQTT connecting to %s:%d ...", self._broker, self._port)
+        except Exception as e:
+            logging.warning("MQTT initial connect error: %s", e)
+
+    def _on_connect(self, client, userdata, flags, rc) -> None:
+        if rc == 0:
+            with self._lock:
+                self._connected = True
+                self._reconnect_delay = self._RECONNECT_BASE
+            logging.info("MQTT connected to %s:%d", self._broker, self._port)
+        else:
+            logging.warning("MQTT connect failed rc=%d", rc)
+
+    def _on_disconnect(self, client, userdata, rc) -> None:
+        with self._lock:
+            self._connected = False
+        if rc != 0:
+            logging.warning("MQTT unexpected disconnect (rc=%d) — paho will retry", rc)
+
+    @property
+    def connected(self) -> bool:
+        with self._lock:
+            return self._connected
+
+    def publish(self, topic: str, payload: dict) -> bool:
+        """Serialize @payload to JSON and publish to @topic. Returns True on success."""
+        if not self.connected:
+            logging.debug("MQTT offline — dropping %s", topic)
+            return False
+        try:
+            msg = json.dumps(payload, separators=(",", ":"))
+            info = self._client.publish(topic, msg, qos=self._qos, retain=False)
+            return info.rc == mqtt.MQTT_ERR_SUCCESS
+        except Exception as e:
+            logging.warning("MQTT publish error on %s: %s", topic, e)
+            return False
+
+    def shutdown(self) -> None:
+        self._client.loop_stop()
+        self._client.disconnect()
+        logging.info("MQTT disconnected.")
+
+
+# ── Sensor polling threads ────────────────────────────────────────────────────
+
+class SensorPoller(threading.Thread):
+    """
+    Polls a sensor function at a fixed rate and publishes to MQTT.
+    Runs as a daemon thread so it exits cleanly when the main thread stops.
+    """
+
+    def __init__(self, name: str, read_fn, topic: str,
+                 hz: float, publisher: MQTTPublisher):
+        super().__init__(name=name, daemon=True)
+        self._read_fn  = read_fn
+        self._topic    = topic
+        self._interval = 1.0 / hz
+        self._pub      = publisher
+        self._running  = False
+
+        # Stats
+        self.published  = 0
+        self.errors     = 0
+
+    def run(self) -> None:
+        self._running = True
+        logging.info("Poller '%s' started at %.1f Hz → %s",
+                     self.name, 1.0 / self._interval, self._topic)
+        while self._running:
+            t0 = time.monotonic()
+            try:
+                data = self._read_fn()
+                if data is not None:
+                    if self._pub.publish(self._topic, data):
+                        self.published += 1
+                        logging.debug("%s: published %s", self.name,
+                                      list(data.keys()))
+                    else:
+                        self.errors += 1
+                else:
+                    self.errors += 1
+                    logging.debug("%s: read returned None", self.name)
+            except Exception as e:
+                self.errors += 1
+                logging.warning("%s: read error: %s", self.name, e)
+
+            elapsed = time.monotonic() - t0
+            sleep_s = max(0.0, self._interval - elapsed)
+            time.sleep(sleep_s)
+
+    def stop(self) -> None:
+        self._running = False
+
+
+# ── Status logger ─────────────────────────────────────────────────────────────
+
+def _status_logger(pollers: list[SensorPoller], publisher: MQTTPublisher,
+                   stop_event: threading.Event) -> None:
+    """Log per-poller stats every 30 s."""
+    while not stop_event.wait(30.0):
+        parts = [f"MQTT={'OK' if publisher.connected else 'DOWN'}"]
+        for p in pollers:
+            parts.append(f"{p.name}={p.published}ok/{p.errors}err")
+        logging.info("Status — %s", "  ".join(parts))
+
+
+# ── Entry point ───────────────────────────────────────────────────────────────
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="SaltyBot Termux sensor dashboard (Issue #574)"
+    )
+    parser.add_argument("--broker",     default="192.168.1.100",
+                        help="MQTT broker IP/hostname (default: 192.168.1.100)")
+    parser.add_argument("--port",       type=int, default=1883,
+                        help="MQTT broker port (default: 1883)")
+    parser.add_argument("--imu-hz",     type=float, default=5.0,
+                        help="IMU publish rate Hz (default: 5.0)")
+    parser.add_argument("--gps-hz",     type=float, default=1.0,
+                        help="GPS publish rate Hz (default: 1.0)")
+    parser.add_argument("--bat-hz",     type=float, default=1.0,
+                        help="Battery publish rate Hz (default: 1.0)")
+    parser.add_argument("--qos",        type=int, default=0, choices=[0, 1, 2],
+                        help="MQTT QoS level (default: 0)")
+    parser.add_argument("--no-imu",     action="store_true", help="Disable IMU")
+    parser.add_argument("--no-gps",     action="store_true", help="Disable GPS")
+    parser.add_argument("--no-battery", action="store_true", help="Disable battery")
+    parser.add_argument("--debug",      action="store_true", help="Verbose logging")
+    args = parser.parse_args()
+
+    logging.basicConfig(
+        level=logging.DEBUG if args.debug else logging.INFO,
+        format="%(asctime)s [%(levelname)s] %(message)s",
+    )
+
+    if not MQTT_AVAILABLE:
+        logging.error("paho-mqtt not installed.  Run: pip install paho-mqtt")
+        sys.exit(1)
+
+    if args.no_imu and args.no_gps and args.no_battery:
+        logging.error("All sensors disabled — nothing to do.")
+        sys.exit(1)
+
+    # Connect MQTT
+    publisher = MQTTPublisher(args.broker, args.port, qos=args.qos)
+
+    # Wait briefly for initial connection before starting pollers
+    deadline = time.monotonic() + 10.0
+    while not publisher.connected and time.monotonic() < deadline:
+        time.sleep(0.2)
+    if not publisher.connected:
+        logging.warning("MQTT not yet connected — pollers will start anyway and retry.")
+
+    # Build pollers for enabled sensors
+    pollers: list[SensorPoller] = []
+    if not args.no_imu:
+        pollers.append(SensorPoller("imu",     read_imu,     TOPIC_IMU,     args.imu_hz, publisher))
+    if not args.no_gps:
+        pollers.append(SensorPoller("gps",     read_gps,     TOPIC_GPS,     args.gps_hz, publisher))
+    if not args.no_battery:
+        pollers.append(SensorPoller("battery", read_battery, TOPIC_BATTERY, args.bat_hz, publisher))
+
+    for p in pollers:
+        p.start()
+
+    # Status log thread
+    stop_evt = threading.Event()
+    status_thread = threading.Thread(
+        target=_status_logger, args=(pollers, publisher, stop_evt), daemon=True
+    )
+    status_thread.start()
+
+    logging.info("Sensor dashboard running — Ctrl-C to stop.")
+    try:
+        while True:
+            time.sleep(1.0)
+    except KeyboardInterrupt:
+        logging.info("Shutting down...")
+    finally:
+        stop_evt.set()
+        for p in pollers:
+            p.stop()
+        publisher.shutdown()
+        logging.info("Done.")
+
+
+if __name__ == "__main__":
+    main()