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BOM: decided: IMU outside the enclosure on one USB-A port, roll-cage mounted

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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 15:54:17 +09:00
parent 579d60c406
commit 72a7594548
1 changed files with 4 additions and 2 deletions
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docs/BOM.md
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@@ -164,8 +164,10 @@ Header facts (carrier board spec SP-11324-001 v1.3, Table 3-3 and 5-3; raw copy
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 - **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 and drifts. **Decided (2026-10-12): the IMU lives outside the enclosure on one USB-A port**
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. (WT61 behind a 3.3 V USB-UART adapter now; a NEO-M8U over USB-C as the GNSS+IMU upgrade), mounted on the **roll cage**, clamped close
to a foot or a joint rather than mid-span. The header wiring above stays valid but is no longer the plan. A fault in the sensor now
lands on a USB port (0.5 A limit) rather than the header's 3.3 V rail.
- **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.