Sebastien Vayrette 6ea6e0ccd1 feat(uwb): add MPU6050 IMU + fall detection to tag, IMU forwarding in anchor + ROS2 node ...

- Tag: MPU6050 on shared I2C bus (SDA=4, SCL=5, addr 0x68)
- Accel ±8g, gyro ±500dps, read at 50Hz
- Fall detection: freefall+impact or sudden >3.5g
- Fall triggers auto e-stop (ESP-NOW broadcast)
- OLED shows tilt bar + accel magnitude
- New ESP-NOW packet types: MSG_IMU (0x40), MSG_FALL (0x50)
- IMU broadcast at 10Hz via ESP-NOW
- Anchor forwards +IMU: and +FALL: lines to Jetson serial
- ROS2 uwb_driver publishes sensor_msgs/Imu on /uwb/imu
- .gitignore for .pio build dirs

2026-03-14 14:09:39 -04:00

.claude/plans

feat: Add Issue #467 - Power management supervisor with battery protection

2026-03-05 14:34:37 -05:00

.gitea/workflows

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

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

.pio/build

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

cad

chore: merge CAD files and design docs from seb/saltylab seed repo

2026-03-07 10:04:24 -05:00

chassis

feat: UWB anchor mount bracket wall/ceiling design (Issue #564)

2026-03-14 11:47:07 -04:00

docs

chore: merge CAD files and design docs from seb/saltylab seed repo

2026-03-07 10:04:24 -05:00

esp32

feat(uwb): add MPU6050 IMU + fall detection to tag, IMU forwarding in anchor + ROS2 node

2026-03-14 14:09:39 -04:00

include

feat: ROS2 sensor health monitor (Issue #566)

2026-03-14 11:47:01 -04:00

jetson

Merge pull request 'feat: ROS2 sensor health monitor (Issue #566)' (#572) from sl-jetson/issue-566-health-monitor into main

2026-03-14 11:49:55 -04:00

lib

fix: increase BLINK frequency for multi-anchor discovery

2026-03-14 13:11:38 -04:00

phone

feat: Phone voice command interface (Issue #553)

2026-03-14 10:26:38 -04:00

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: Pan/tilt gimbal servo driver for ST3215 bus servos (Issue #547)

2026-03-14 10:38:06 -04:00

test

feat: Battery voltage ADC driver with DMA sampling (Issue #533)

2026-03-07 10:01:02 -05:00

ui

feat: WebUI diagnostics dashboard (Issue #562)

2026-03-14 11:41:43 -04:00

.DS_Store

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

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

AUTONOMOUS_ARMING.md

feat: Remove ELRS arm requirement for autonomous operation (Issue #512)

2026-03-06 11:46:03 -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

fix: Investigate USB CDC TX failure (Issue #524)

2026-03-06 23:01:00 -05:00

Description

SaltyLab self-balancing bot firmware (STM32F722)

11 MiB

Languages

Python 67.1%

C 11.4%

JavaScript 9.2%

OpenSCAD 7.8%

HTML 1.5%

Other 2.9%