sl-firmware 48e9af60a9 feat: Remove ELRS arm requirement for autonomous operation (Issue #512) ...

Enable Jetson autonomous arming while keeping RC as optional override.

Key Changes:
=============

1. RC Kill Switch (CH5 OFF) → Emergency Stop (not disarm)
   - Motors cutoff immediately on kill switch
   - Robot remains armed (allows re-arm without re-initializing)
   - Maintains kill switch safety for emergency situations

2. RC Disarm Only on Explicit CH5 Falling Edge (while RC alive)
   - RC disconnect doesn't disarm Jetson-controlled missions
   - RC failsafe timer (500ms) still handles signal loss

3. Jetson Autonomous Arming (via CDC 'A' command)
   - Works independently of RC state
   - Requires: calibrated IMU, robot level (±10°), no estop active
   - Uses same 500ms arm-hold safety as RC

4. All Safety Preserved
   - Arming hold timer: 500ms
   - Tilt limit: ±10° level
   - IMU calibration required
   - Remote E-stop override
   - RC failsafe: 500ms signal loss = disarm
   - Jetson timeout: 500ms heartbeat = zero motors

Command Protocol (CDC):
   A = arm (Jetson)
   D = disarm (Jetson)
   E/Z = estop / clear estop
   H = heartbeat (keep-alive)
   C<spd>,<str> = drive command

Behavior Matrix:
   RC disconnected      → Jetson-armed stays armed, normal operation
   RC connected + armed → Both Jetson and RC can arm, blended control
   RC kill switch (CH5) → Emergency stop + can re-arm via Jetson 'A'
   RC signal lost       → Disarm after 500ms (failsafe)

See AUTONOMOUS_ARMING.md for complete protocol and testing checklist.

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

2026-03-06 11:46:03 -05:00

..

audio.c

feat(audio): I2S3 audio amplifier driver — Issue #143

2026-03-02 10:34:35 -05:00

balance.c

feat(imu): MPU6000 sensor fusion with complementary filter

2026-02-28 13:09:18 -05:00

battery.c

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

bmp280.c

feat: BME280 full readout — temp, humidity, pressure telemetry (#30)

2026-02-28 19:43:48 -05:00

bno055.c

feat(firmware): BNO055 NDOF IMU driver on I2C1 (Issue #135)

2026-03-02 09:40:18 -05:00

buzzer.c

feat: Add piezo buzzer melody driver (Issue #253)

2026-03-02 12:51:42 -05:00

coulomb_counter.c

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

crsf.c

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

esc_backend.c

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

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

esc_hoverboard.c

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

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

esc_vesc.c

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

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

face_animation.c

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

face_lcd.c

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

face_uart.c

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

fan.c

feat: Add cooling fan PWM speed controller (Issue #263)

2026-03-02 13:29:18 -05:00

i2c1.c

feat: Auto-detect magnetometer + barometer (#24)

2026-02-28 17:48:53 -05:00

icm42688.c

fix(usb): resolve USB CDC TX failure caused by three independent bugs

2026-02-28 12:37:24 -05:00

ina219.c

fix: Resolve all compile and linker errors (Issue #337)

2026-03-03 19:00:12 -05:00

jetson_cmd.c

feat: Jetson→STM32 command protocol — /cmd_vel to serial (Phase 2)

2026-02-28 21:07:15 -05:00

jlink.c

feat(power): STOP-mode sleep/wake power manager — Issue #178

2026-03-02 10:53:02 -05:00

led.c

feat(firmware): WS2812B NeoPixel LED status indicator driver (Issue #193)

2026-03-02 11:06:13 -05:00

mag.c

feat: Auto-detect magnetometer + barometer (#24)

2026-02-28 17:48:53 -05:00

main.c

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

2026-03-06 11:46:03 -05:00

main.c.bak

Balance firmware + USB CDC bug

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

mode_manager.c

feat: RC/autonomous mode manager with smooth handoff

2026-02-28 21:06:26 -05:00

motor_driver.c

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

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

mpu6000.c

fix: IWDG reset during gyro recal — refresh at i=0 not i=39 (P0 #42)

2026-02-28 22:04:27 -05:00

ota.c

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

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

power_mgmt.c

feat(power): STOP-mode sleep/wake power manager — Issue #178

2026-03-02 10:53:02 -05:00

rgb_fsm.c

feat: Add RGB status LED state machine (Issue #290)

2026-03-02 20:49:26 -05:00

safety.c

feat: Integrate IWDG watchdog timer driver (Issue #300)

2026-03-03 17:29:59 -05:00

servo.c

fix: Resolve all compile and linker errors (Issue #337)

2026-03-03 19:00:12 -05:00

status.c

feat(safety): remote e-stop over 4G MQTT (Issue #63)

2026-03-01 04:55:54 -05:00

ultrasonic.c

fix: Resolve all compile and linker errors (Issue #337)

2026-03-03 19:00:12 -05:00

watchdog.c

fix: Resolve all compile and linker errors (Issue #337)

2026-03-03 19:00:12 -05:00