59 lines
2.2 KiB
Markdown
59 lines
2.2 KiB
Markdown
# Enclosure Axis Validation — 2026-08-16
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The enclosure was tested with the battery end treated as the bottom of the
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reference orientation. The shared enclosure frame is +X right, +Y toward the
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top, and +Z toward the cover.
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## Audit clarification
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The timing results below validate the ESP32-C3 polling loop, not the independent
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sensor sample clocks. A subsequent review of the capture found a coherent repeated
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ADXL345 sample approximately every 27 polls, consistent with an actual device ODR
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near 96.3 Hz. This does not affect the static six-position axis result. Firmware v2
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adds ADXL345 and L3G4200D freshness/overrun status to every record so dynamic data
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can be interpreted correctly.
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## Capture integrity
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- 50,001 consecutive samples over 500.000 seconds
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- Effective MCU polling rate: exactly 100 Hz
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- Timestamp interval: 10,000 us for every sample
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- Sequence gaps: 0
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- Axis-mapping mismatches between mapped and native columns: 0
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The raw capture is `captures/enclosure_axis_test.csv` and is intentionally
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excluded from source control.
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## Accelerometer orientation results
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| Position | Mean enclosure counts | Expected dominant axis | Result |
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| --- | ---: | ---: | --- |
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| Flat, cover up | (+4, -5, +258) | +Z | Pass |
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| Left edge down | (+258, -3, +10) | +X | Pass |
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| Right edge down | (-260, -9, +16) | -X | Pass |
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| Battery edge down | (-3, +255, +11) | +Y | Pass |
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| Top edge down | (+5, -264, +15) | -Y | Pass |
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| Cover side down | (-7, -7, -234) | -Z | Pass |
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The paired-face results give an initial calibration estimate of:
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```text
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offset_counts = (-1.30, -4.45, +12.20)
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counts_per_g = (258.90, 259.85, 245.70)
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```
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These values are recorded as candidates only; calibration is not yet applied
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in firmware.
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## Gyroscope rotation results
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- The deliberate X rotation was X-dominant in 1,261 dynamic samples, versus
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44 Y-dominant and 35 Z-dominant samples.
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- The deliberate Z rotation was Z-dominant in all 1,008 dynamic samples. No X
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or Y sample crossed the same 500-count activity threshold.
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- Earlier side-to-side orientation changes were Y-dominant, confirming the
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remaining gyro axis.
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The mounted sensor axes and the firmware's enclosure-frame mapping are
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consistent.
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