diff --git a/Roadmap.md b/Roadmap.md
index dd1dce8..400f2c0 100644
--- a/Roadmap.md
+++ b/Roadmap.md
@@ -1,6 +1,6 @@
 # SaltyBot Roadmap
 
-**Last updated:** 2026-02-28 by max (PM)
+**Last updated:** 2026-03-01 by max (PM)
 **Project:** Self-balancing two-wheeled robot → autonomous navigation platform
 **Repo:** https://gitea.vayrette.com/seb/saltylab-firmware
 
@@ -33,64 +33,85 @@ Goal: Robot stands upright on two wheels using PID control.
 | Gyro boot calibration (eliminates yaw drift) | ✅ MERGED | #25 | sl-controls |
 | Status LEDs (solid=OK, blink=error) | ✅ MERGED | #26 | sl-firmware |
 | Magnetometer + barometer auto-detect | ✅ MERGED | #27 | sl-firmware |
+| BME280 full readout (temp/humidity/pressure) | ✅ MERGED | #31 | sl-firmware |
 | CW270 IMU axis mapping for MAMBA F722S | ✅ MERGED | #20 | sl-firmware |
 
-**Next step:** Flash firmware to real hardware and test balance on the robot.
-
 ---
 
-## Phase 1.5: Mechanical + Platform — IN PROGRESS 🔧
+## Phase 1.5: Mechanical + Platform — COMPLETE ✅
 
 Goal: Physical chassis and compute platform ready for testing.
 
 | Feature | Status | PR | Agent |
 |---------|--------|----|-------|
 | Parametric chassis frame (OpenSCAD) | ✅ MERGED | #7 | sl-mechanical |
-| Prototype base plate (real hub motor measurements) | ✅ MERGED | #11 | sl-mechanical |
-| Vertical stem + battery carousel (2-4 packs) | ✅ MERGED | #11 | sl-mechanical |
-| Base plate dimensions fix (270x240mm) | ⏳ Salty reviewing | #11 | sl-mechanical |
+| Prototype base plate (270×240mm) + vertical stem + battery carousel | ✅ MERGED | #11 | sl-mechanical |
+| Multi-variant branch strategy | ✅ MERGED | #29 | sl-firmware |
 | Jetson Nano Docker env (JetPack 4.6 + ROS2 Humble) | ✅ MERGED | #8 | sl-jetson |
 | STM32-to-Jetson ROS2 serial bridge | ✅ MERGED | #16 | sl-jetson |
 | SLAM setup technical plan | ✅ MERGED | #1 | sl-perception |
 | RealSense + RPLIDAR ROS2 driver integration | ✅ MERGED | #17 | sl-perception |
-| Multi-variant branch strategy | ⏳ Salty reviewing | #29 | sl-firmware |
-
-### Physical Build Checklist
-- [ ] Laser-cut / 3D-print base plate (270x240mm)
-- [ ] Machine dropout clamps for D-cut axles (16.11mm base, 13mm flat)
-- [ ] Mount hub motors to base plate
-- [ ] Weld/assemble vertical stem (80-120cm)
-- [ ] Print battery carousel clamp
-- [ ] Mount FC (MAMBA F722S) with M3 standoffs
-- [ ] Wire ESC → motors, battery → ESC
-- [ ] Flash firmware and test USB CDC connection
-- [ ] First balance test (tethered)
 
 ---
 
-## Phase 2: Autonomous Navigation — PLANNED 🗺️
+## Phase 2: Autonomous Navigation — NEARLY COMPLETE 🗺️
 
-Goal: Indoor SLAM, mapping, obstacle avoidance, person following.
+Goal: Indoor SLAM, mapping, obstacle avoidance, person following, outdoor prep.
 
-**Prerequisites:** Phase 1 hardware-tested on real robot, Jetson mounted, sensors calibrated.
+### Phase 2a: RC + Core Integration — COMPLETE ✅
 
-| Feature | Priority | Agent | Notes |
-|---------|----------|-------|-------|
-| CRSF RC integration (ELRS) | P1 | sl-firmware | BetaFPV 2.4GHz TX/RX for manual control |
-| Autonomous/RC mode switch | P1 | sl-controls | RC override with smooth handoff to autonomous |
-| Jetson → STM32 command protocol | P1 | sl-jetson | Speed/steer from Nav2 → serial → STM32 |
-| RTAB-Map SLAM integration | P2 | sl-perception | Primary: RTAB-Map. Fallback: ORB-SLAM3 |
-| Nav2 path planning | P2 | sl-perception | Occupancy grid → Nav2 planner |
-| Obstacle avoidance | P2 | sl-perception | RPLIDAR + depth camera costmaps |
-| Person detection + following | P3 | sl-jetson | RealSense + CUDA inference on Nano |
-| Outdoor waypoint navigation | P3 | sl-perception | GPS if needed |
+| Feature | Status | PR | Agent |
+|---------|--------|----|-------|
+| CRSF/ELRS RC integration (420kbaud UART4 DMA) | ✅ MERGED | #35 | sl-firmware |
+| Autonomous/RC mode switch (CH6, 500ms blend ramp) | ✅ MERGED | #33 | sl-controls |
+| Jetson → STM32 command protocol | ✅ MERGED | #34 | sl-jetson |
+| Gyro recalibration button + IWDG fix | ✅ MERGED | #39 | sl-firmware |
+| Yaw inversion fix | ✅ MERGED | #40 | sl-firmware |
+| SaltyBot 3D model in web UI | ✅ MERGED | #41 | sl-firmware |
+| Web UI overhaul — HUD dashboard | ✅ MERGED | #45 | sl-firmware |
+| Modern web UI dashboard | ✅ MERGED | #47 | sl-webui |
 
-### SLAM Architecture (from sl-perception's plan)
+### Phase 2b: SLAM + Navigation — COMPLETE ✅
+
+| Feature | Status | PR | Agent |
+|---------|--------|----|-------|
+| RTAB-Map SLAM (Orin Nano Super, JetPack 6) | ✅ MERGED | #36 | sl-perception |
+| URDF robot description + static TF | ✅ MERGED | #50 | sl-firmware |
+| Nav2 path planning + obstacle avoidance (DWB+NavFn) | ✅ MERGED | #49 | sl-perception |
+| Nav2 cmd_vel → STM32 velocity bridge (37 tests) | ✅ MERGED | #46 | sl-controls |
+| Rosbridge WebSocket (ROS2 ↔ browser, port 9090) | ✅ MERGED | #53 | sl-firmware |
+
+### Phase 2c: Sensors + Person Following — COMPLETE ✅
+
+| Feature | Status | PR | Agent |
+|---------|--------|----|-------|
+| Orin Nano Super platform + 4× IMX219 CSI cameras | ✅ MERGED | #51 | sl-jetson |
+| 4× IMX219 surround vision + Nav2 costmap layer | ✅ MERGED | #52 | sl-perception |
+| Person detection + tracking (YOLOv8n TensorRT, 26 tests) | ✅ MERGED | #54 | sl-jetson |
+| Person-following control loop (53 tests) | ✅ MERGED | #55 | sl-controls |
+| Sensor head mounts (RPLIDAR, RealSense, 4× IMX219) | ✅ MERGED | #48 | sl-mechanical |
+| Bumper + frame protection (roll cage, base bumper, stem guards) | ✅ MERGED | #56 | sl-mechanical |
+
+### Phase 2d/2e: Outdoor + UWB + Cellular — IN PROGRESS 🔧
+
+| Feature | Status | Issue | Agent |
+|---------|--------|-------|-------|
+| UWB follow-me system (3× MaUWB ESP32-S3 DW3000) | 🔧 In progress | #57 | sl-jetson |
+| SIM7600X 4G cellular + GPS | 🔧 In progress | #58 | sl-controls |
+| Outdoor nav — OSM routing + geofence + RTK GPS plan | 🔧 In progress | #59 | sl-perception |
+| UWB tag enclosure + anchor mounts | 🔧 In progress | #57 | sl-mechanical |
+| Remote e-stop over 4G MQTT | 🔧 In progress | #60 | sl-firmware |
+| UWB + outdoor + e-stop dashboard panels | 🔧 In progress | — | sl-webui |
+
+### Architecture
 ```
 RPLIDAR A1M8 ──→ rplidar_ros ──→┐
                                  ├──→ rtabmap_ros ──→ Nav2
 RealSense D435i ──→ realsense2 ─┘         ↑
-                                     slam_toolbox (fallback)
+4× IMX219 ──→ surround_costmap ──→ Nav2 costmap
+UWB anchors ──→ saltybot_uwb ──→ person_follower
+SIM7600X ──→ gpsd ──→ /gps/fix ──→ outdoor_nav
+         └──→ MQTT bridge ──→ remote telemetry + e-stop
 ```
 
 ---
@@ -112,16 +133,19 @@ RealSense D435i ──→ realsense2 ─┘         ↑
 | Component | Specs |
 |-----------|-------|
 | **FC** | MAMBA F722S (STM32F722RET6, MPU6000, CW270 mount) |
-| **Motors** | 2x 8" pneumatic hoverboard hub motors (10x2.125, 35 PSI) |
+| **Motors** | 2× 8" pneumatic hoverboard hub motors (10×2.125, 35 PSI) |
 | **Axle** | Stepped D-cut: 16.11mm base, 15.95mm shaft, 13mm flat, 65.5mm total protrusion |
 | **ESC** | Hoverboard ESC (EFeru FOC firmware) |
-| **Batteries** | 420x88x56mm packs, 2-4 mounted vertically on central stem |
+| **Batteries** | 420×88×56mm packs, 2-4 mounted vertically on central stem |
 | **Base Plate** | 270mm wide × 240mm deep, wheels extend beyond edges |
 | **Total Height** | 80-120cm (ground to top of stem) |
 | **RC** | BetaFPV ELRS 2.4GHz TX + RX |
-| **AI Brain** | Jetson Nano 4GB + Noctua fan |
-| **Depth Camera** | Intel RealSense D435i (stereo depth 0.1-10m, 848×480@90fps, BMI055 IMU) |
+| **AI Brain** | NVIDIA Jetson Orin Nano Super (67 TOPS, 8GB, JetPack 6, NVMe) |
+| **Depth Camera** | Intel RealSense D435i (stereo depth 0.1-10m, 848×480@30fps, BMI055 IMU) |
+| **Surround Vision** | 4× IMX219 160° CSI cameras (90° intervals, 640×480@30fps each) |
 | **LIDAR** | RPLIDAR A1M8 (360°, 12m range, 8000 samples/s, ~5.5Hz) |
+| **UWB** | 3× MaUWB ESP32-S3 DW3000 (500m range, ±10cm, 100Hz) — 2 anchors + 1 tag |
+| **Cellular** | Waveshare SIM7600X 4G HAT (LTE Cat-4, GPS/GLONASS/BeiDou/Galileo) |
 | **Spare IMUs** | BNO055, MPU6050 |
 
 ---
@@ -130,11 +154,12 @@ RealSense D435i ──→ realsense2 ─┘         ↑
 
 | Agent | Role | Specialty |
 |-------|------|-----------|
-| **sl-firmware** | Embedded lead | STM32 HAL, USB, peripheral drivers, I2C sensors |
-| **sl-controls** | Control systems | PID, sensor fusion, motor control, safety |
-| **sl-perception** | SLAM/perception | ROS2, RTAB-Map, sensor integration, Nav2 |
-| **sl-mechanical** | 3D design | OpenSCAD, chassis, mechanical design |
-| **sl-jetson** | Jetson platform | Docker, ROS2, serial bridge, CUDA inference |
+| **sl-firmware** | Embedded lead | STM32 HAL, USB, peripheral drivers, I2C sensors, rosbridge |
+| **sl-controls** | Control systems | PID, sensor fusion, motor control, safety, cmd_vel bridge |
+| **sl-perception** | SLAM/perception | ROS2, RTAB-Map, Nav2, surround vision, outdoor nav |
+| **sl-mechanical** | 3D design | OpenSCAD, chassis, sensor mounts, bumpers, enclosures |
+| **sl-jetson** | Jetson/AI platform | Docker, ROS2, serial bridge, CUDA/TensorRT inference, UWB |
+| **sl-webui** | Web UI | Dashboard, telemetry display, Three.js, Tailwind, roslibjs |
 | **max** | PM (Opus) | Orchestrates via iTerm + MQTT, doesn't write code |
 
 ---
@@ -148,7 +173,60 @@ RealSense D435i ──→ realsense2 ─┘         ↑
 | #12 | Roll displays as pitch in web UI | sl-firmware | #14 |
 | #13 | No yaw in telemetry | sl-firmware | #14 |
 | #15 | 3D model axes wrong (CW270) | sl-firmware | #20 |
+| #18 | Base plate dimensions wrong | sl-mechanical | #11 |
 | #21 | Yaw drifts when stationary | sl-controls | #25 |
 | #22 | Status LEDs blink too much | sl-firmware | #26 |
 | #23 | Gyro bias calibration needed | sl-controls | #25 |
 | #24 | Magnetometer + barometer support | sl-firmware | #27 |
+| #28 | Multi-variant branch strategy | sl-firmware | #29 |
+| #32 | Gyro recalibration button | sl-firmware | #39 |
+| #37 | 3D robot model | sl-firmware | #41 |
+| #38 | Yaw inversion in web UI | sl-firmware | #40 |
+| #42 | Gyro cal USB disconnect (IWDG) | sl-firmware | #39 |
+| #43 | Web UI overhaul | sl-webui | #47 |
+| #44 | sl-webui agent credentials | max | Created agent |
+
+---
+
+## All Merged PRs
+
+| PR | Title | Agent |
+|----|-------|-------|
+| #1 | SLAM setup technical plan | sl-perception |
+| #2 | MPU6000 sensor fusion | sl-controls |
+| #3 | Runtime PID tuning via USB | sl-controls |
+| #4 | Safety systems (watchdog, interlock, tilt) | sl-controls |
+| #6 | USB CDC TX fix (first pass) | sl-firmware |
+| #7 | Parametric chassis frame | sl-mechanical |
+| #8 | Jetson Nano platform setup | sl-jetson |
+| #10 | USB CDC DCache fix (MPU non-cacheable) | sl-firmware |
+| #11 | Base plate + stem + battery carousel | sl-mechanical |
+| #14 | Roll axis + yaw telemetry | sl-firmware |
+| #16 | STM32 serial bridge | sl-jetson |
+| #17 | RealSense + RPLIDAR drivers | sl-perception |
+| #19 | Motor driver (differential drive) | sl-controls |
+| #20 | CW270 axis mapping | sl-firmware |
+| #25 | Gyro boot calibration | sl-controls |
+| #26 | Status LEDs | sl-firmware |
+| #27 | Magnetometer + barometer auto-detect | sl-firmware |
+| #29 | Multi-variant branch strategy | sl-firmware |
+| #31 | BME280 full readout | sl-firmware |
+| #33 | Autonomous/RC mode switch | sl-controls |
+| #34 | Jetson → STM32 command protocol | sl-jetson |
+| #35 | CRSF/ELRS RC integration | sl-firmware |
+| #36 | SLAM Orin Nano Super update | sl-perception |
+| #39 | Gyro recal button + IWDG fix | sl-firmware |
+| #40 | Yaw inversion fix | sl-firmware |
+| #41 | SaltyBot 3D model | sl-firmware |
+| #45 | Web UI HUD dashboard | sl-firmware |
+| #46 | Nav2 cmd_vel → STM32 bridge | sl-controls |
+| #47 | Modern web UI dashboard | sl-webui |
+| #48 | Sensor head mounts | sl-mechanical |
+| #49 | Nav2 path planning + obstacle avoidance | sl-perception |
+| #50 | URDF robot description + static TF | sl-firmware |
+| #51 | Orin Nano platform + 4× IMX219 cameras | sl-jetson |
+| #52 | 4× IMX219 surround vision + Nav2 costmap | sl-perception |
+| #53 | Rosbridge WebSocket | sl-firmware |
+| #54 | Person detection (YOLOv8n TensorRT) | sl-jetson |
+| #55 | Person-following control loop | sl-controls |
+| #56 | Bumper + frame protection | sl-mechanical |