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sl-jetson 93756f5248 feat: Add FC↔Orin UART verification (Issue #362 )

Implements UART bridge verification between Flight Controller (STM32F722)
and Jetson Orin.

Changes:
1. jetson/scripts/uart_test.py (12.7 KB)
   - Opens /dev/ttyTHS1 at 921600 baud
   - Sends jlink binary test frames (PING, VERSION, ECHO)
   - Verifies CRC16-CCITT frame integrity
   - Logs transactions with timestamps
   - JSON result export and optional MQTT publishing

2. jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py
   - ROS2 launch file for serial_bridge_node on UART port
   - Configurable port (default /dev/ttyTHS1), baud rate (921600)
   - Bridges FC telemetry to /saltybot/imu, /saltybot/balance_state
   - Publishes diagnostics to /diagnostics

Usage:
  Test: sudo python3 jetson/scripts/uart_test.py
  Launch: ros2 launch saltybot_bridge uart_bridge.launch.py

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

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

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