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sl-firmware 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

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