Sensor Hub
Central aggregation point for all driving dynamics sensor data. Collects and normalizes readings from wheel speed sensors, accelerometers, gyroscopes, and steering angle sensors into a unified data structure consumed by supervisors.
Central aggregation point for all driving dynamics sensor data. Collects and normalizes readings from wheel speed sensors, accelerometers, gyroscopes, and steering angle sensors into a unified data structure consumed by supervisors.
State Fields
| Field | Type | Description |
|---|---|---|
roll, pitch | number | Current vehicle orientation in radians. |
rollAV, pitchAV, yawAV | number | Raw rotational velocities (rad/s). |
rollAVSmooth, pitchAVSmooth, yawAVSmooth | number | Filtered rotational velocities. |
accelerationX, accelerationY, accelerationZ | number | Raw accelerations at the reference node (m/s²). |
accelerationXSmooth, accelerationYSmooth, accelerationZSmooth | number | Filtered accelerations. |
accNoiseX, accNoiseY, accNoiseZ | number | Estimated noise levels on the acceleration axes. |
vX, vY | number | Local velocities relative to the vehicle frame. |
steeringInput | number | Raw steering input (-1 to 1). |
Public API
| Function | Description |
|---|---|
registerCMU(cmu) | Links to the CMU. |
module.setDebugMode(debugEnabled) | Sets the debug mode. |
module.shutdown() | Shuts down the module and cleans up resources. |
Hooks
| Hook | Description |
|---|---|
init(jbeamData) | Resets timers and status. |
update(dt) | Polls FFI sensors and updates orientation, rotation, and acceleration data. |
updateGFX(dt) | Updates gravity vectors. |
module.initLastStage() | Final-stage initialization after all controllers and powertrains are ready. |
module.reset() | Resets the controller to its initial state. |
See Also
- Vehicle Data — Processed vehicle state calculations
- Virtual Sensors — Software-derived sensor values
- CMU — Parent control management unit
Electronic Split Shaft Lock
Electronically controlled split shaft (disconnect) actuator. Engages or disengages a driveshaft section to switch between 2WD and AWD modes on demand.
Vehicle Data Processor
Processes raw sensor inputs into derived vehicle state data — speed estimates, slip angles, weight transfer, and dynamic load calculations. Provides the foundation data that supervisors use for intervention decisions.