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firmware: expand sensor telemetry

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nick
2026-07-17 03:04:45 -06:00
parent b1a71e7bd1
commit 6d61078484
8 changed files with 82 additions and 10 deletions
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docs/SENSOR_NODE_PROTOCOL.md
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@@ -8,8 +8,8 @@ The expansion-board pins are D2 driver enable, D4 TX, and D5 RX. Only physical b
`sensor_status` includes `node_id`, `firmware_version`, `uptime_ms`, and:
- `imu`: `online`, `valid`, `accuracy`, quaternion, yaw, pitch, and roll in degrees.
- `gps`: `online`, `fix`, satellites, NMEA character/checksum counters, latitude, longitude, altitude meters, speed kph, course degrees, and structured UTC.
- `imu`: rotation data plus linear acceleration, angular velocity, gravity, stability classification, and per-report accuracy/age.
- `gps`: existing navigation data plus HDOP and location/time ages.
`online` only means UART bytes arrived recently. In `gps.nmea`, a rising `sentences_passed` count proves valid NMEA at the configured baud rate. A rising character count with no passed sentences indicates wrong-baud noise or malformed data. A consistently rising failed count indicates corrupt UART data or a baud mismatch.