dashboard: expand RS485 sensor diagnostics

firmware/esp32-s3-dashboard/README.md

@@ -80,7 +80,7 @@ This keeps the endpoint model simple while reducing payload size, JSON parsing,
 
 The dashboard listens to the onboard RS485 receiver at 115200 baud using GPIO43 RX and GPIO44 TX. The Waveshare transceiver switches direction automatically, so no DE GPIO is required. The receiver accepts newline-delimited schema-v1 `sensor_status` JSON from the XIAO node and does not change Cargo HTTP/control behavior.
 
-Open the hidden diagnostics overlay to view link state, frame sequence/gaps/errors, IMU accuracy/stability/pitch/roll, and GPS fix/satellites/HDOP/location/speed. This is a temporary bring-up view ahead of a dedicated off-road page.
+Open the hidden diagnostics overlay to view link state, frame sequence/gaps/errors, IMU accuracy/stability/pitch/roll/yaw, and GPS fix/satellites/HDOP/location/altitude/speed/UTC. This is a temporary bring-up view ahead of a dedicated off-road page.
 
 Arduino **USB CDC On Boot** must remain enabled so dashboard debug `Serial` output uses native USB rather than competing with the GPIO43/GPIO44 RS485 UART.
 

firmware/esp32-s3-dashboard/dashboard_config.h

@@ -1,6 +1,6 @@
 #pragma once
 
-static const char *DASHBOARD_VERSION = "0.1.130-rs485-diagnostics";
+static const char *DASHBOARD_VERSION = "0.1.131-rs485-sensor-stats";
 
 // First-boot defaults. Credentials are stored in Preferences/NVS after setup.
 static const char *DASHBOARD_DEFAULT_CARGO_WIFI_SSID = "OverlandController";

firmware/esp32-s3-dashboard/esp32-s3-dashboard.ino

@@ -702,6 +702,9 @@ static void update_diagnostics_overlay()
     text += " / ";
     text += String(sensor_node.rollDegrees, 1);
     text += sensor_node.levelCalibrationValid ? " deg calibrated" : " deg raw";
+    text += "\n  Yaw: ";
+    text += String(sensor_node.yawDegrees, 1);
+    text += " deg";
     text += "\n  GPS: ";
     text += sensor_node.gpsOnline ? (sensor_node.gpsFix ? "fix" : "no fix") : "offline";
     text += " sats ";
@@ -718,6 +721,10 @@ static void update_diagnostics_overlay()
     }
     text += "\n  Speed: ";
     text += sensor_node.gpsFix ? String(sensor_node.speedKph, 1) + " km/h" : String("--");
+    text += "\n  Altitude: ";
+    text += sensor_node.gpsFix ? String(sensor_node.altitudeMeters, 1) + " m" : String("--");
+    text += "\n  UTC: ";
+    text += sensor_node.utcTime.length() ? sensor_node.utcTime : String("--");
 
     text += "\n\nCargo ESP\n";
     text += "  Version: ";

firmware/esp32-s3-dashboard/sensor_node_receiver.cpp

@@ -57,6 +57,7 @@ void parseSensorNodeFrame(const String &line) {
     sensorNodeStatus.imuValid = imu["valid"] | false;
     sensorNodeStatus.imuAccuracy = imu["accuracy"] | 0;
     sensorNodeStatus.stability = String((const char *)(imu["stability"] | "unknown"));
+    sensorNodeStatus.yawDegrees = imu["yaw_degrees"] | 0.0f;
 
     JsonObject level = imu["level_calibration"];
     sensorNodeStatus.levelCalibrationValid = level["valid"] | false;
@@ -74,7 +75,26 @@ void parseSensorNodeFrame(const String &line) {
     sensorNodeStatus.hdop = gps["hdop"].isNull() ? 0 : (float)gps["hdop"];
     sensorNodeStatus.latitude = gps["latitude"] | 0.0;
     sensorNodeStatus.longitude = gps["longitude"] | 0.0;
+    sensorNodeStatus.altitudeMeters = gps["altitude_meters"] | 0.0f;
     sensorNodeStatus.speedKph = gps["speed_kph"] | 0.0f;
+    JsonObject utc = gps["utc"];
+    if (!utc.isNull() && (int)(utc["year"] | 0) > 0) {
+        char utcBuffer[24];
+        snprintf(
+            utcBuffer,
+            sizeof(utcBuffer),
+            "%04d-%02d-%02d %02d:%02d:%02dZ",
+            (int)(utc["year"] | 0),
+            (int)(utc["month"] | 0),
+            (int)(utc["day"] | 0),
+            (int)(utc["hour"] | 0),
+            (int)(utc["minute"] | 0),
+            (int)(utc["second"] | 0)
+        );
+        sensorNodeStatus.utcTime = utcBuffer;
+    } else {
+        sensorNodeStatus.utcTime = "";
+    }
     sensorNodeStatus.firmwareVersion = String((const char *)(doc["firmware_version"] | ""));
     sensorNodeStatus.frameReceived = true;
     sensorNodeStatus.framesReceived++;
@@ -132,4 +152,3 @@ bool sensorNodeRs485Connected() {
 const SensorNodeDashboardStatus &getSensorNodeStatus() {
     return sensorNodeStatus;
 }
-

firmware/esp32-s3-dashboard/sensor_node_receiver.h

@@ -20,12 +20,15 @@ struct SensorNodeDashboardStatus {
     uint32_t satellites = 0;
     float pitchDegrees = 0;
     float rollDegrees = 0;
+    float yawDegrees = 0;
     float speedKph = 0;
     float hdop = 0;
+    float altitudeMeters = 0;
     double latitude = 0;
     double longitude = 0;
     String stability = "unknown";
     String firmwareVersion;
+    String utcTime;
     unsigned long lastFrameMs = 0;
 };
 
@@ -33,4 +36,3 @@ void initSensorNodeRs485();
 void processSensorNodeRs485();
 bool sensorNodeRs485Connected();
 const SensorNodeDashboardStatus &getSensorNodeStatus();
-