sl-perception d7b1366d6c feat: Add audio direction estimator (Issue #430) ...

Implements GCC-PHAT beamforming for sound source localization via Jabra mic.
- GCC-PHAT cross-correlation for direction of arrival (DoA) estimation
- Voice activity detection (VAD) using RMS energy + smoothing
- Stereo/quadrophonic channel support (left/right/front/rear estimation)
- ROS2 publishers: /saltybot/audio_direction (Float32 bearing), /saltybot/audio_activity (Bool VAD)
- Configurable parameters: sample_rate, chunk_size, publish_hz, vad_threshold, gcc_phat_max_lag
- Integration-ready for multi-person tracker speaker tracking

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-05 08:53:43 -05:00

.gitea/workflows

feat(tests): social-bot integration test suite (Issue #108)

2026-03-02 08:50:22 -05:00

.pio/build

fix: rename MeshPeer namespace field to ros_namespace (Issue #392)

2026-03-04 12:42:35 -05:00

chassis

feat(mechanical): RPLIDAR A1 parametric dust/splash cover (Issue #301)

2026-03-02 21:36:58 -05:00

docs

docs: add Leap Motion, fix ESC step inset 12mm

2026-03-01 17:49:17 -05:00

esp32/social_expression

feat(social): Issue #86 — physical expression + motor attention

2026-03-01 23:35:59 -05:00

include

refactor: ESC abstraction layer with pluggable backends (Issue #388)

2026-03-04 10:36:35 -05:00

jetson

feat: Add audio direction estimator (Issue #430)

2026-03-05 08:53:43 -05:00

lib/USB_CDC

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

projects/saltybot

feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59)

2026-03-01 00:52:54 -05:00

scripts

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

src

feat: Add watchdog reset detection and status reporting (Issue #300)

2026-03-04 12:17:56 -05:00

test

feat(webui): motor current live graph (Issue #297)

2026-03-02 21:09:17 -05:00

ui

feat(hud): add sensor feeds (GPS, LIDAR, RealSense) (Issue #413)

2026-03-04 22:57:10 -05:00

.DS_Store

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

CLAUDE.md

docs: multi-variant branch strategy (issue #28)

2026-02-28 18:49:41 -05:00

flash.sh

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

platformio.ini

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

TEAM.md

Add USB CDC bug doc and team requirements

2026-02-28 11:59:53 -05:00

USB_CDC_BUG.md

Add USB CDC bug doc and team requirements

2026-02-28 11:59:53 -05:00

Description

SaltyLab self-balancing bot firmware (STM32F722)

11 MiB

Languages

Python 67.1%

C 11.4%

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OpenSCAD 7.8%

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