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IMU signals in the car's frame (attitude, gravity-free g, yaw rate) on yukart/imu/<signal> 
The WT61's publisher owns mounting and gravity; displays get car-frame values.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
2026-10-13 23:23:31 +09:00

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{
"$comment": "Single source for signal identity. Topic name and envelope unit are both derived from these entries and are never authored separately. source=obd2 is standardised (OBD-II mode 01 over the K-line, through the ELM327): calibration references, every name prefixed obd_ (project-yukart decision 30); source=host is the Orin itself (orin-status), not the car. source=gnss is the receiver (svc-core gnss), on yukart/gnss/<signal>. source=imu is the WT61 IMU, already turned into the car's frame (mounting and gravity handled by its publisher), on yukart/imu/<signal>. source=z27ag is reverse-engineered from the car's own broadcast frames, and its 'can' block is the only place its layout is written down: id (11-bit, hex string), byte (first data byte, 0-7), length in bits (1, 8 or 16), bit (length 1 only: 0 = LSB of that byte), order (length 16: big = byte first is most significant, little = the reverse), scale and offset (value = raw * scale + offset; booleans are raw != 0). 'evidence' names the contracts report that found it.",
"signals": {
"obd_vehicle_speed_kph": {
"unit": "kph",
"type": "number",
"source": "obd2",
"description": "Road speed",
"range": [
0,
255
]
},
"obd_coolant_temp_c": {
"unit": "celsius",
"type": "number",
"source": "obd2",
"description": "Engine coolant temperature",
"range": [
-40,
215
]
},
"obd_intake_air_temp_c": {
"unit": "celsius",
"type": "number",
"source": "obd2",
"description": "Intake air temperature",
"range": [
-40,
215
]
},
"obd_throttle_pct": {
"unit": "percent",
"type": "number",
"source": "obd2",
"description": "Throttle position",
"range": [
0,
100
]
},
"obd_engine_load_pct": {
"unit": "percent",
"type": "number",
"source": "obd2",
"description": "Calculated engine load",
"range": [
0,
100
]
},
"obd_fuel_level_pct": {
"unit": "percent",
"type": "number",
"source": "obd2",
"description": "Fuel tank level",
"range": [
0,
100
]
},
"obd_intake_pressure_kpa": {
"unit": "kpa",
"type": "number",
"source": "obd2",
"description": "Intake manifold absolute pressure",
"range": [
0,
255
]
},
"obd_maf_gps": {
"unit": "g/s",
"type": "number",
"source": "obd2",
"description": "Mass air flow rate",
"range": [
0,
656
]
},
"obd_engine_rpm": {
"unit": "rpm",
"type": "number",
"source": "obd2",
"description": "Engine speed (OBD-II 0C): the reference for the decoded engine_rpm",
"range": [
0,
8000
]
},
"obd_timing_advance_deg": {
"unit": "degree",
"type": "number",
"source": "obd2",
"description": "Ignition timing advance before TDC, cylinder 1",
"range": [
-64,
64
]
},
"obd_stft_pct": {
"unit": "percent",
"type": "number",
"source": "obd2",
"description": "Short-term fuel trim, bank 1: positive adds fuel",
"range": [
-100,
100
]
},
"obd_ltft_pct": {
"unit": "percent",
"type": "number",
"source": "obd2",
"description": "Long-term fuel trim, bank 1: positive adds fuel",
"range": [
-100,
100
]
},
"obd_o2_b1s1_v": {
"unit": "V",
"type": "number",
"source": "obd2",
"description": "Upstream oxygen sensor voltage (narrowband: ~0.1 lean … ~0.9 rich)",
"range": [
0,
1.275
]
},
"engine_rpm": {
"unit": "rpm",
"type": "number",
"source": "z27ag",
"description": "Engine speed",
"range": [
0,
8000
],
"can": {
"id": "0x210",
"byte": 4,
"length": 16,
"order": "big",
"scale": 1,
"offset": 0,
"evidence": "Z27AG-DECODE-1"
}
},
"accel_pedal_pct": {
"unit": "percent",
"type": "number",
"source": "z27ag",
"description": "Accelerator pedal position (0x00 at rest, 0xFA flat)",
"range": [
0,
100
],
"can": {
"id": "0x210",
"byte": 0,
"length": 8,
"scale": 0.4,
"offset": 0,
"evidence": "Z27AG-DECODE-1"
}
},
"brake_pedal": {
"unit": "",
"type": "boolean",
"source": "z27ag",
"description": "Brake pedal switch: pressed",
"can": {
"id": "0x231",
"byte": 4,
"bit": 1,
"length": 1,
"evidence": "Z27AG-DECODE-1"
}
},
"handbrake": {
"unit": "",
"type": "boolean",
"source": "z27ag",
"description": "Handbrake applied",
"can": {
"id": "0x239",
"byte": 0,
"bit": 2,
"length": 1,
"evidence": "Z27AG-DECODE-1"
}
},
"indicator_left": {
"unit": "",
"type": "boolean",
"source": "z27ag",
"description": "Left indicator lamp, as it flashes (on and off at the flasher's rate)",
"can": {
"id": "0x423",
"byte": 2,
"bit": 6,
"length": 1,
"evidence": "Z27AG-DECODE-1"
}
},
"indicator_right": {
"unit": "",
"type": "boolean",
"source": "z27ag",
"description": "Right indicator lamp, as it flashes. Hazards were seen on the left bit only: open",
"can": {
"id": "0x423",
"byte": 2,
"bit": 5,
"length": 1,
"evidence": "Z27AG-DECODE-1"
}
},
"side_lights": {
"unit": "",
"type": "boolean",
"source": "z27ag",
"description": "Side (position) lights on; also on with dipped beam",
"can": {
"id": "0x423",
"byte": 2,
"bit": 2,
"length": 1,
"evidence": "Z27AG-DECODE-1"
}
},
"dipped_beam": {
"unit": "",
"type": "boolean",
"source": "z27ag",
"description": "Dipped headlights on",
"can": {
"id": "0x423",
"byte": 3,
"bit": 1,
"length": 1,
"evidence": "Z27AG-DECODE-1"
}
},
"door_open": {
"unit": "",
"type": "boolean",
"source": "z27ag",
"description": "Any door open",
"can": {
"id": "0x423",
"byte": 2,
"bit": 1,
"length": 1,
"evidence": "Z27AG-DECODE-1"
}
},
"driver_door_open": {
"unit": "",
"type": "boolean",
"source": "z27ag",
"description": "Driver's door open",
"can": {
"id": "0x423",
"byte": 0,
"bit": 4,
"length": 1,
"evidence": "Z27AG-DECODE-1"
}
},
"ac_compressor": {
"unit": "",
"type": "boolean",
"source": "z27ag",
"description": "A/C compressor engaged (engine running)",
"can": {
"id": "0x13D",
"byte": 6,
"bit": 7,
"length": 1,
"evidence": "Z27AG-DECODE-1"
}
},
"orin_cpu_temp_c": {
"unit": "celsius",
"type": "number",
"source": "host",
"description": "Orin CPU cluster temperature",
"range": [
-40,
110
]
},
"orin_gpu_temp_c": {
"unit": "celsius",
"type": "number",
"source": "host",
"description": "Orin GPU temperature",
"range": [
-40,
110
]
},
"orin_soc_temp_c": {
"unit": "celsius",
"type": "number",
"source": "host",
"description": "Orin SoC temperature, hottest of its sensors",
"range": [
-40,
110
]
},
"orin_tj_temp_c": {
"unit": "celsius",
"type": "number",
"source": "host",
"description": "Orin junction temperature: the hottest point on the die, which throttling acts on",
"range": [
-40,
110
]
},
"orin_cpu_pct": {
"unit": "percent",
"type": "number",
"source": "host",
"description": "CPU utilisation, all cores",
"range": [
0,
100
]
},
"orin_gpu_pct": {
"unit": "percent",
"type": "number",
"source": "host",
"description": "GPU utilisation",
"range": [
0,
100
]
},
"orin_ram_used_mb": {
"unit": "MB",
"type": "number",
"source": "host",
"description": "Memory in use, CPU and GPU together (one shared pool): total minus available",
"range": [
0,
8192
]
},
"orin_ram_used_pct": {
"unit": "percent",
"type": "number",
"source": "host",
"description": "Memory in use as a share of the total",
"range": [
0,
100
]
},
"orin_swap_used_mb": {
"unit": "MB",
"type": "number",
"source": "host",
"description": "Swap in use",
"range": [
0,
16384
]
},
"orin_power_w": {
"unit": "W",
"type": "number",
"source": "host",
"description": "Orin module input power (VDD_IN), from the onboard INA3221",
"range": [
0,
30
]
},
"orin_fan_rpm": {
"unit": "rpm",
"type": "number",
"source": "host",
"description": "Cooling fan speed",
"range": [
0,
10000
]
},
"net_wifi_up": {
"unit": "",
"type": "boolean",
"source": "host",
"description": "WiFi associated and up"
},
"net_wifi_ssid": {
"unit": "",
"type": "string",
"source": "host",
"description": "Network name (SSID) of the WiFi the Orin is associated with; not sent while WiFi is down"
},
"net_wifi_signal_dbm": {
"unit": "dBm",
"type": "number",
"source": "host",
"description": "WiFi signal level",
"range": [
-100,
0
]
},
"net_wifi_rx_kbps": {
"unit": "kbit/s",
"type": "number",
"source": "host",
"description": "WiFi receive rate (into the Orin)",
"range": [
0,
1000000
]
},
"net_wifi_tx_kbps": {
"unit": "kbit/s",
"type": "number",
"source": "host",
"description": "WiFi transmit rate (out of the Orin)",
"range": [
0,
1000000
]
},
"net_lte_state": {
"unit": "",
"type": "string",
"source": "host",
"description": "Modem state as ModemManager reports it (connected, registered, searching, disabled, …), or absent with no modem"
},
"net_lte_tech": {
"unit": "",
"type": "string",
"source": "host",
"description": "Access technology in use (lte, umts, …); empty when not registered"
},
"net_lte_signal_pct": {
"unit": "percent",
"type": "number",
"source": "host",
"description": "Modem signal quality",
"range": [
0,
100
]
},
"net_lte_rx_kbps": {
"unit": "kbit/s",
"type": "number",
"source": "host",
"description": "LTE receive rate (into the Orin)",
"range": [
0,
150000
]
},
"net_lte_tx_kbps": {
"unit": "kbit/s",
"type": "number",
"source": "host",
"description": "LTE transmit rate (out of the Orin)",
"range": [
0,
50000
]
},
"net_tablet_up": {
"unit": "",
"type": "boolean",
"source": "host",
"description": "USB link to the tablet has carrier"
},
"net_tablet_rx_kbps": {
"unit": "kbit/s",
"type": "number",
"source": "host",
"description": "USB tablet link, tablet to Orin",
"range": [
0,
480000
]
},
"net_tablet_tx_kbps": {
"unit": "kbit/s",
"type": "number",
"source": "host",
"description": "USB tablet link, Orin to tablet",
"range": [
0,
480000
]
},
"can_up": {
"unit": "",
"type": "boolean",
"source": "host",
"description": "The recorder's CAN interface (the PEAK, can_pcan) is present and up; false when absent or down"
},
"can_bus_state": {
"unit": "",
"type": "string",
"source": "host",
"description": "CAN controller state: ERROR-ACTIVE (normal), ERROR-WARNING, ERROR-PASSIVE, BUS-OFF, STOPPED (down), or absent with no adapter"
},
"can_rx_fps": {
"unit": "frames/s",
"type": "number",
"source": "host",
"description": "CAN frames received per second on that interface",
"range": [
0,
10000
]
},
"elm_connected": {
"unit": "",
"type": "boolean",
"source": "host",
"description": "Bluetooth link to the OBD-II adapter (the ELM327 on the K-line) is up: obd-poller holds it while the ECU answers"
},
"ups_battery_v": {
"unit": "V",
"type": "number",
"source": "host",
"description": "UPS battery pack voltage (3S Li-ion, 9.0–12.6 V)",
"range": [
0,
16
]
},
"ups_current_a": {
"unit": "A",
"type": "number",
"source": "host",
"description": "UPS battery current: positive charging, negative discharging",
"range": [
-5,
5
]
},
"ups_battery_pct": {
"unit": "percent",
"type": "number",
"source": "host",
"description": "UPS charge estimate from cell voltage, corrected for load. An estimate, steadiest at rest",
"range": [
0,
100
]
},
"ups_state": {
"unit": "",
"type": "string",
"source": "host",
"description": "charging, discharging (running on battery) or idle (on input power, not charging)"
},
"gnss_fix": {
"unit": "",
"type": "string",
"source": "gnss",
"description": "Fix quality: none, 2d or 3d (gpsd TPV mode)"
},
"gnss_speed_kph": {
"unit": "kph",
"type": "number",
"source": "gnss",
"description": "Speed over ground; null without a fix",
"range": [
0,
300
]
},
"gnss_heading_deg": {
"unit": "degree",
"type": "number",
"source": "gnss",
"description": "Course over ground, true north; null without a fix or at a standstill",
"range": [
0,
360
]
},
"gnss_lat": {
"unit": "degree",
"type": "number",
"source": "gnss",
"description": "Latitude, WGS84",
"range": [
-90,
90
]
},
"gnss_lon": {
"unit": "degree",
"type": "number",
"source": "gnss",
"description": "Longitude, WGS84",
"range": [
-180,
180
]
},
"gnss_alt_m": {
"unit": "m",
"type": "number",
"source": "gnss",
"description": "Altitude above mean sea level; null without a 3D fix",
"range": [
-500,
9000
]
},
"gnss_satellites": {
"unit": "",
"type": "number",
"source": "gnss",
"description": "Satellites used in the fix",
"range": [
0,
64
]
},
"imu_roll_deg": {
"unit": "degree",
"type": "number",
"source": "imu",
"description": "Body roll in the car's frame: positive leaning right (right side down)",
"range": [
-180,
180
]
},
"imu_pitch_deg": {
"unit": "degree",
"type": "number",
"source": "imu",
"description": "Body pitch in the car's frame: positive nose up",
"range": [
-90,
90
]
},
"imu_accel_lon_g": {
"unit": "g",
"type": "number",
"source": "imu",
"description": "Longitudinal acceleration in the car's frame, gravity removed: positive forward (speeding up), negative braking",
"range": [
-4,
4
]
},
"imu_accel_lat_g": {
"unit": "g",
"type": "number",
"source": "imu",
"description": "Lateral acceleration in the car's frame, gravity removed: positive to the right (a right turn reads positive)",
"range": [
-4,
4
]
},
"imu_yaw_rate_dps": {
"unit": "degree/s",
"type": "number",
"source": "imu",
"description": "Yaw rate: positive turning left (counter-clockwise from above)",
"range": [
-500,
500
]
}
}
}
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