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seb 2026-03-03 23:14:35 -05:00
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Project-Status.md

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# 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)
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- 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.