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BOM: IMU mounting note: rigid path to the body; USB IMU on the roll cage under consideration

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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
2026-10-12 15:52:09 +09:00
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docs/BOM.md
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@@ -163,6 +163,9 @@ Header facts (carrier board spec SP-11324-001 v1.3, Table 3-3 and 5-3; raw copy
`FF AA 52` to zero yaw. The result is stored on disk, not redone every drive. Refuse while moving (gyro or GPS speed); record raw data `FF AA 52` to zero yaw. The result is stored on disk, not redone every drive. Refuse while moving (gyro or GPS speed); record raw data
plus a realign event, so a bad alignment can be corrected afterwards. Align on level ground: a slope becomes part of the mount. plus a realign event, so a bad alignment can be corrected afterwards. Align on level ground: a slope becomes part of the mount.
- I²C mode (`FF AA 62`) exposes the raw MPU6050 only (no angles) and needs 4.7 kΩ pull-ups. Not used; v24-0429 lists SDA/SCL as not connected. - I²C mode (`FF AA 62`) exposes the raw MPU6050 only (no angles) and needs 4.7 kΩ pull-ups. Not used; v24-0429 lists SDA/SCL as not connected.
- **Mounting matters more than the sensor.** An IMU needs a rigid path to the body; a box on carpet, Velcro or isolators smooths the motion
and drifts. Under consideration: the IMU on **USB** (WT61 behind a 3.3 V USB-UART adapter, or a GNSS+IMU module such as the NEO-M8U over
USB-C), mounted apart from the Orin's box on the **roll cage**, clamped close to a foot or a joint rather than mid-span.
- **No reverse-polarity protection is documented.** A 4-way Dupont housing put on the wrong way round swaps VCC and GND. Check VCC and GND - **No reverse-polarity protection is documented.** A 4-way Dupont housing put on the wrong way round swaps VCC and GND. Check VCC and GND
with a meter before first power-up. with a meter before first power-up.