diff --git a/Project-Status.md b/Project-Status.md
new file mode 100644
index 0000000..d138b03
--- /dev/null
+++ b/Project-Status.md
@@ -0,0 +1,66 @@
+# Project Status
+
+**Last updated:** 2026-02-28
+
+## 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 3: Multi-Variant | **Not started** | Branch structure ready |
+
+## What's Working (in firmware)
+- IMU sensor fusion (MPU6000 complementary filter, CW270-corrected)
+- PID balance control with USB terminal tuning (P/I/D/T/M commands)
+- Safety: hardware watchdog (50ms IWDG), arm interlock (3s hold), tilt cutoff
+- Motor driver: FOC ESC differential drive with steer ramping
+- USB CDC telemetry: pitch, roll, yaw, error, integral, motor output as JSON @10Hz
+- Gyro boot calibration (1000-sample bias removal — kills yaw drift)
+- Status LEDs: solid = OK, blink = error
+- Auto-detect magnetometer (QMC5883L/HMC5883L/IST8310) + barometer (BMP280/BME280)
+- 3D web UI: real-time orientation visualization with yaw reset
+
+## What's Ready (not yet tested on hardware)
+- OpenSCAD base plate (270x240mm) with D-cut dropout clamps
+- Vertical stem + battery carousel (2-4 packs of 420x88x56mm)
+- Jetson Nano Docker environment (JetPack 4.6 + ROS2 Humble)
+- STM32-to-Jetson serial bridge (USB CDC → ROS2 /saltybot/imu topic)
+- RealSense D435i + RPLIDAR A1M8 ROS2 launch files + configs
+- SLAM technical plan (RTAB-Map primary, ORB-SLAM3 fallback)
+
+## 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
+
+## Open Issues
+See [Issues](https://gitea.vayrette.com/seb/saltylab-firmware/issues) for current list.
+
+## Open PRs
+See [Pull Requests](https://gitea.vayrette.com/seb/saltylab-firmware/pulls) for pending reviews.
+
+## All PRs (merged)
+
+| PR | Title | Agent | Status |
+|----|-------|-------|--------|
+| #1 | SLAM setup technical plan | sl-perception | Merged |
+| #2 | MPU6000 sensor fusion | sl-controls | Merged |
+| #3 | Runtime PID tuning via USB | sl-controls | Merged |
+| #4 | Safety systems (watchdog, interlock, tilt) | sl-controls | Merged |
+| #6 | USB CDC TX fix (first pass) | sl-firmware | Merged |
+| #7 | Parametric chassis frame | sl-mechanical | Merged |
+| #8 | Jetson Nano platform setup | sl-jetson | Merged |
+| #10 | USB CDC DCache fix (MPU non-cacheable) | sl-firmware | Merged |
+| #11 | Prototype base plate + stem + battery carousel | sl-mechanical | Under review |
+| #14 | Roll axis + yaw telemetry | sl-firmware | Merged |
+| #16 | STM32 serial bridge | sl-jetson | Merged |
+| #17 | RealSense + RPLIDAR drivers | sl-perception | Merged |
+| #19 | Motor driver (differential drive) | sl-controls | Merged |
+| #20 | CW270 axis mapping | sl-firmware | Merged |
+| #25 | Gyro boot calibration | sl-controls | Merged |
+| #26 | Status LEDs | sl-firmware | Merged |
+| #27 | Magnetometer + barometer auto-detect | sl-firmware | Merged |
+| #29 | Multi-variant branch strategy | sl-firmware | Under review |