mikkeli
acb47b48ef
Finds the module itself (every non-modem adapter, 115200 then 9600), so the adapter can be swapped. Mounting by --forward/--right; attitude from a complementary filter on gravity (gyro through motion, accelerometer near 1 g); gravity removed from acceleration; yaw rate left-positive. Never writes to the module. dialout via SupplementaryGroups. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
20 lines
600 B
Desktop File
20 lines
600 B
Desktop File
[Unit]
|
|
Description=Yukart imu: the WT61 on a USB-UART adapter, as the car's motion on the bus
|
|
Documentation=gitea:yukart/svc-core
|
|
# Tier 2. Ordered after the broker and nothing else: it finds the adapter by itself,
|
|
# whenever it appears.
|
|
After=mosquitto.service
|
|
StartLimitIntervalSec=0
|
|
|
|
[Service]
|
|
User=mikkeli
|
|
# USB serial adapters belong to dialout: the one right it needs, no sudo.
|
|
SupplementaryGroups=dialout
|
|
# Mounting: add --forward AXIS --right AXIS once the module has its place in the car.
|
|
ExecStart=/usr/local/bin/yukart-imu
|
|
Restart=always
|
|
RestartSec=2
|
|
|
|
[Install]
|
|
WantedBy=multi-user.target
|