seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add "Project Status"

sl-jetson 2026-02-28 18:59:20 -05:00
parent e9bff172e5
commit 8aacf6cc94
1 changed files with 66 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

66
Project-Status.md Normal file

@ -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 |