From db63d3531e377317870e7c32193998017346bfb5 Mon Sep 17 00:00:00 2001
From: seb <seb@noreply.gitea.vayrette.com>
Date: Tue, 3 Mar 2026 23:14:00 -0500
Subject: [PATCH] Update "Roadmap"

---
 Roadmap.md | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/Roadmap.md b/Roadmap.md
index 400f2c0..c7c7960 100644
--- a/Roadmap.md
+++ b/Roadmap.md
@@ -1,6 +1,6 @@
 # SaltyBot Roadmap
 
-**Last updated:** 2026-03-01 by max (PM)
+**Last updated:** 2026-03-03 by salty
 **Project:** Self-balancing two-wheeled robot → autonomous navigation platform
 **Repo:** https://gitea.vayrette.com/seb/saltylab-firmware
 
@@ -101,8 +101,19 @@ Goal: Indoor SLAM, mapping, obstacle avoidance, person following, outdoor prep.
 | 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 |
+| VESC integration + balance mode testing | 📦 Hardware ordered | TBD | sl-controls |
+| Pan/tilt camera head (servos + bracket) | 📦 Hardware ordered | TBD | sl-mechanical |
+| VESC UART protocol (pyvesc) integration | ⬜ Blocked on VESC arrival | TBD | sl-jetson |
 | UWB + outdoor + e-stop dashboard panels | 🔧 In progress | — | sl-webui |
 
+### Architecture Change: VESC Balance Mode (Proposed)
+If VESC built-in balance app works with MPU6050 over I2C, the drone FC can be **eliminated entirely**:
+```
+Current:  Jetson → FC (PID balance) → Hoverboard ESC → Motors
+Proposed: Jetson → VESC (balance + motors) ← MPU6050 (I2C)
+```
+This simplifies the stack from 3 boards to 2 and removes the FC UART bottleneck (issues #356, #362).
+
 ### Architecture
 ```
 RPLIDAR A1M8 ──→ rplidar_ros ──→┐
@@ -147,6 +158,11 @@ SIM7600X ──→ gpsd ──→ /gps/fix ──→ outdoor_nav
 | **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 |
+| **ESC (new)** | Flipsky Dual FSESC 4.20 Plus (VESC, 50A/side, 60V, built-in balance app) — ordered Mar 3 |
+| **ESC (old)** | Hoverboard ESC (EFeru FOC firmware) — may retire if VESC balance works |
+| **Pan/Tilt Servos** | 2× Waveshare ST3215 (30kg.cm, 12-bit encoder, SCS serial bus 1Mbps) — ordered Mar 3 |
+| **Servo Driver** | Waveshare ESP32 Servo Driver Board (bench testing) — ordered Mar 3 |
+| **Candidate Motors** | Ninebot XW60-350 (350W, 10.5" pneumatic, 60V) — evaluating as wheel upgrade |
 
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