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Z27AG decode pass 3: wheel positions from corners, odometer (570, 24-bit); layouts can be 24 bits
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Rust consumers (L4T) / Clippy, test, build, glibc for every service that compiles contracts in (push) Successful in 25s
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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
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Mikkeli Matlock
2026-10-15 22:13:34 +09:00
parent 642be2a5e1
commit e8ba581985
3 changed files with 157 additions and 3 deletions
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docs/impl/plans/Z27AG-CAPTURES.md
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@@ -17,7 +17,7 @@ ground truth. Prior art and first candidates: [the prior-art report](../reports/
| `vehicle.ndjson` | `decoder` and `obd-poller` via the bus | decoded CAN signals, and the `obd_*` references from the K-line through the ELM327 (rpm, speed, throttle, load, MAF, timing, O2 every round; coolant, intake air, trims every 5 s); `env.timestamp` is the reply's arrival at the Orin |
| `events.ndjson` | marks from the app | when each step happened |
| `gnss.ndjson` | gpsd (SIM7600) | speed and position for the drive |
| `imu.ndjson` | `imu` via the bus (`yukart/raw/imu`) | every IMU sample, raw module axes, Orin receive time: calibration (27–30) and, once calibrated, motion for the drive |
| `imu.bin` (`imu.ndjson`) | `imu` via the bus (`yukart/raw/imu`) | every IMU sample, packed (svc-core `imu --export` prints it as JSON lines; sessions before 2026-10-16 and anything that does not pack are in `imu.ndjson`), raw module axes, Orin receive time: calibration (27–30) and, once calibrated, motion for the drive |
## Operating it from the app
@@ -64,7 +64,7 @@ recorder refuses marks with "no session" otherwise); engine off, doors shut.
twice on the same spot, facing one way and then turned round (a rough 180° is fine:
the ground's slope reverses and cancels, the mounting's tilt does not); then three
firm pull-aways and three firm stops on a straight, flat section (forward, signed by
which kind of stretch it is). Any session holds raw IMU samples (`imu.ndjson`), so
which kind of stretch it is). Any session holds raw IMU samples (`imu.bin`), so
these can go in their own short session or with anything else.
Version 3 (2026-10-14) adds the IMU calibration section. Version 2 (2026-10-13) adds the stands section and writes down the conditions the