From 571c5ec4a33d0d19e486cae84c15a4d7083991cd Mon Sep 17 00:00:00 2001
From: seb <seb@noreply.gitea.vayrette.com>
Date: Tue, 3 Mar 2026 23:14:35 -0500
Subject: [PATCH] Update "Project-Status"

---
 Project-Status.md | 43 +++++++++++++++++++++++++++++++++++--------
 1 file changed, 35 insertions(+), 8 deletions(-)

diff --git a/Project-Status.md b/Project-Status.md
index d138b03..82abc4c 100644
--- a/Project-Status.md
+++ b/Project-Status.md
@@ -1,14 +1,17 @@
 # Project Status
 
-**Last updated:** 2026-02-28
+**Last updated:** 2026-03-03
 
 ## Quick Summary
 
 | Phase | Status | Progress |
 |-------|--------|----------|
-| Phase 1: Self-Balancing Firmware | **COMPLETE** | 10/10 features merged |
-| Phase 1.5: Mechanical + Platform | **90% done** | 2 PRs awaiting Salty's review |
-| Phase 2: Autonomous Navigation | **Not started** | Waiting on Phase 1 hardware test |
+| Phase 1: Self-Balancing Firmware | **COMPLETE** ✅ | 10/10 features merged |
+| Phase 1.5: Mechanical + Platform | **COMPLETE** ✅ | All PRs merged |
+| Phase 2a: RC + Core Integration | **COMPLETE** ✅ | ELRS, mode switch, web UI |
+| Phase 2b: SLAM + Navigation | **COMPLETE** ✅ | RTAB-Map, Nav2, URDF |
+| Phase 2c: Sensors + Person Following | **COMPLETE** ✅ | YOLOv8n, surround vision, follow loop |
+| Phase 2d: Outdoor + UWB + Cellular | **IN PROGRESS** 🔧 | UWB hardware ordered, VESC ordered |
 | Phase 3: Multi-Variant | **Not started** | Branch structure ready |
 
 ## What's Working (in firmware)
@@ -30,11 +33,35 @@
 - RealSense D435i + RPLIDAR A1M8 ROS2 launch files + configs
 - SLAM technical plan (RTAB-Map primary, ORB-SLAM3 fallback)
 
+## Recent Hardware Orders (Mar 3, 2026)
+
+| Item | Status | Impact |
+|------|--------|--------|
+| Flipsky Dual FSESC 4.20 Plus (VESC) | 📦 Ordered | Replaces hoverboard ESC, has built-in balance app — may eliminate FC |
+| 2× Waveshare ST3215 servos (30kg.cm) | 📦 Arriving Mar 6-7 | Pan/tilt camera head for person tracking |
+| Waveshare ESP32 Servo Driver | 📦 Arriving Mar 4 | Servo bench testing |
+| 3× MaUWB ESP32-S3 DW3000 | 📦 On order | UWB follow-me (2 anchors + 1 tag) |
+
+### Architecture Impact
+If VESC balance mode works (built-in PID with MPU6050 over I2C):
+- **Drone FC eliminated** from the stack
+- Architecture: `Jetson → UART → VESC (balance + motors)`
+- Issues #356 (UART diagnosis) and #362 (UART fix) become moot
+- Issue #366 (follow-me controller) redesigned for VESC protocol (pyvesc)
+
+## What's Working (on Orin, confirmed Mar 3)
+- 2× IMX219 CSI cameras (CAM0 bus 9, CAM1 bus 10) — tested, streaming on dashboard
+- Sensor dashboard: http://192.168.86.158:8888 (CSI + C920 + LIDAR + RealSense + hand tracking)
+- WiFi: -52 dBm, 175 Mbps (new antennas)
+- FC firmware streaming IMU telemetry over USB (/dev/ttyACM0)
+- FC→Orin UART (USART6 PC6/PC7): RX direction works, TX direction broken (damaged pad/trace)
+
 ## What's Next
-1. **Flash firmware and first balance test** (Tee + Salty, on the real robot)
-2. **CRSF RC integration** (sl-firmware) — manual control via BetaFPV ELRS
-3. **Jetson ↔ STM32 command protocol** (sl-jetson) — speed/steer from Nav2
-4. **RTAB-Map SLAM** (sl-perception) — indoor mapping with RealSense + RPLIDAR
+1. **VESC integration** — configure FSESC 4.20, motor detection, test balance app with MPU6050
+2. **Pan/tilt camera head** — bracket CAD, servo wiring, tracking integration
+3. **CSI camera power modes** — scenario-based activation (FULL/ACTIVE/AWARE/SOCIAL/SLEEP)
+4. **UWB system** — firmware + ROS2 integration when hardware arrives
+5. **First outdoor test** — VESC + Ninebot motors + person following on sidewalk
 
 ## Open Issues
 See [Issues](https://gitea.vayrette.com/seb/saltylab-firmware/issues) for current list.