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and connects to a RaceBox Mini or Micro over BLE, sending high-precision IMU, GNSS, and calculated wave data to Signal K.","maintainers":[{"name":"theseal666","email":"niclas.dahlgren@gmail.com"}],"readme":"# signalk-racebox-imu\n\n<p align=\"center\">\n  <img src=\"https://raw.githubusercontent.com/theseal666/signalk-racebox-imu/main/images/logo.png\" alt=\"Signal K RaceBox IMU plugin logo\" width=\"300\">\n</p>\n\nA Signal K plugin to auto-discover, connect, and stream telemetry from a **RaceBox Mini**, **RaceBox Mini S**, or **RaceBox Micro** over Bluetooth Low Energy (BLE).\n\nThis plugin parses the RaceBox binary protocol (UBX-framed, per the official *RaceBox BLE Protocol Description rev 8*) and converts it into standard Signal K paths. Streams at 25Hz with full 6-axis IMU (accelerometer + gyroscope), GPS/GNSS position, course/speed, battery monitoring, and satellite tracking.\n\nBluetooth connectivity is handled by [`node-ble`](https://github.com/chrvadala/node-ble), which talks to the standard Linux BlueZ daemon over D-Bus — no native modules, no raw HCI access, and no conflicts with the system Bluetooth stack.\n\n---\n\n## Features\n* **Zero Configuration Pairing:** Auto-discovers and connects to the first device advertising as \"RaceBox\" — no MAC addresses to find or type.\n* **Full Telemetry Mapping:** Position, SOG, COG, Pitch, Roll, satellite count, battery status, and GPS accuracy.\n* **6-Axis IMU Streaming:** Raw accelerometer (X/Y/Z) and gyroscope (X/Y/Z) data at 25Hz.\n* **Experimental Wave & Slam Detection:** Advanced math (True Z rotation + leaky integration) to estimate wave height, period, and detect complex hull slams.\n* **Fix-Aware Position Gating:** Position, SOG, and COG are only published when the receiver reports a valid 2D/3D fix.\n* **In-App Calibration:** Zero out Pitch & Roll offsets while the boat is level — saved to config for future sessions.\n* **Self-Healing Connection:** Automatic reconnect with backoff, plus a data-staleness watchdog that tears down and re-establishes a silent connection.\n* **High-Quality Codebase:** Decoupled metadata and automated unit tests for reliability and a high Signal K Registry score.\n\n---\n\n## Screenshots\n\n### Plugin Configuration\n![Plugin Settings](https://raw.githubusercontent.com/theseal666/signalk-racebox-imu/main/images/data-browser.png)\n\n### Live Data Stream (25Hz)\n![Data Browser](https://raw.githubusercontent.com/theseal666/signalk-racebox-imu/main/main/images/settings.png)\n\n### Connection Status\n![Connection Status](https://raw.githubusercontent.com/theseal666/signalk-racebox-imu/main/images/status.png)\n\n---\n\n## Experimental: Wave & Performance Detection\n\nThis plugin performs real-time processing of the 25Hz IMU stream to derive advanced metrics for racing and analysis (e.g. in Expedition):\n\n### 1. True Vertical Acceleration (True Z)\nTo isolate actual vertical motion from the boat's rotation, the plugin performs a 3D rotation of the raw accelerometer data into an Earth-fixed frame using the current Pitch and Roll.\n* **Path:** `navigation.accel.trueZ` (m/s²)\n* **Math:** $a_z^{earth} = -a_x \\sin(P) + a_y \\sin(R)\\cos(P) + a_z \\cos(R)\\cos(P)$\n\n### 2. Wave Height & Period\nEstimating wave height from acceleration requires double-integration. This plugin uses a **Leaky Integration (High-Pass Filter)** approach to prevent drift:\n* **Paths:** `environment.wind.waveHeight` (m), `environment.wind.wavePeriod` (s)\n* **Logic:** The boat's Pitch cycle identifies wave start/peak/end. We integrate vertical acceleration to velocity, then displacement. Wave height is the peak-to-peak displacement within each pitch-detected half-cycle.\n* **Persistence:** Metrics are reported at 25Hz and auto-reset to `0` after 20s of inactivity to ensure clean logging.\n\n### 3. Complex Slam Detection\n* **Path:** `performance.hull.slamAcceleration` (m/s²), `performance.hull.slamAngularJolt` (rad/s²)\n* **Logic:** Monitors the **3D G-Force Resultant** magnitude. This captures impacts from any direction (side hits, bow-on slams, or falling off waves).\n* **Angular Jolt:** Measures the derivative of angular rates to capture sudden, violent orientation changes.\n* **Persistence:** Uses a 1-second peak-hold to ensure events are captured in logs.\n\n---\n\n## Prerequisites & System Dependencies\n\nThe plugin uses the standard Linux Bluetooth stack (BlueZ) via D-Bus.\n\n### 1. Ensure BlueZ is installed and running\n```bash\nsudo apt-get install bluetooth bluez\nsudo systemctl enable --now bluetooth\nbluetoothctl power on\n```\n> **Note:** If you previously disabled the Bluetooth service to accommodate a noble-based plugin, re-enable it — this plugin *requires* `bluetoothd` running.\n\n### 2. Grant D-Bus permission\nCreate `/etc/dbus-1/system.d/signalk-ble.conf` (replace `theseal666` with your Signal K user):\n```xml\n<!DOCTYPE busconfig PUBLIC \"-//freedesktop//DTD D-BUS Bus Configuration 1.0//EN\"\n  \"http://www.freedesktop.org/standards/dbus/1.0/busconfig.dtd\">\n<busconfig>\n  <policy user=\"theseal666\">\n    <allow own=\"org.bluez\"/>\n    <allow send_destination=\"org.bluez\"/>\n    <allow send_interface=\"org.bluez.GattCharacteristic1\"/>\n    <allow send_interface=\"org.bluez.GattDescriptor1\"/>\n    <allow send_interface=\"org.freedesktop.DBus.ObjectManager\"/>\n    <allow send_interface=\"org.freedesktop.DBus.Properties\"/>\n  </policy>\n</busconfig>\n```\nReload D-Bus: `sudo systemctl reload dbus`.\n\n---\n\n## Installation & Development\n\n### Method 1: Via Signal K App Store (Recommended)\nSearch for `signalk-racebox-imu` in **Appstore → Available**. Install and restart Signal K.\n\n### Method 2: Manual Installation\n```bash\ncd ~/.signalk\nnpm install signalk-racebox-imu\nsudo systemctl restart signalk\n```\n\n### Development & Testing\n```bash\n# Run automated tests\nnpm test\n```\n\n---\n\n## Signal K Paths Emitted\n\n### Navigation & IMU\n* `navigation.position` — Latitude/Longitude (degrees)\n* `navigation.speedOverGround` (m/s), `navigation.courseOverGroundTrue` (rad)\n* `navigation.attitude.{roll, pitch}` (rad)\n* `navigation.rateOfTurn` (rad/s)\n* `navigation.accel.{x, y, z}` (g), `navigation.gyro.{x, y, z}` (rad/s)\n* `navigation.gnss.{satellites, horizontalDilution, positionError}`\n\n### Experimental (Enabled in Config)\n* `navigation.accel.trueZ` (m/s²)\n* `environment.wind.waveHeight` (m), `environment.wind.wavePeriod` (s)\n* `performance.hull.slamAcceleration` (m/s²), `performance.hull.slamAngularJolt` (rad/s²)\n\n### Electrical\n* `electrical.batteries.racebox.capacity.stateOfCharge` (0 to 1)\n* `electrical.batteries.racebox.chargingMode` (`charging` / `not charging`)\n* `electrical.batteries.racebox.voltage` (V, RaceBox Micro only)\n\n---\n\n## Troubleshooting\n\n### Plugin Won't Start / \"Bluetooth adapter init timed out\"\n- Confirm the Bluetooth service is running: `systemctl status bluetooth`\n- Confirm the adapter is powered: `bluetoothctl show` (look for `Powered: yes`)\n- Confirm the D-Bus policy exists and names the correct user, then `sudo systemctl reload dbus` and restart Signal K.\n\n### Scanning Never Finds the RaceBox\n- Verify the device is advertising: blue LED should be **flashing**. A **solid** blue LED means another device (like the phone app) is connected.\n- Check visibility to OS: `bluetoothctl scan on` should list `RaceBox Mini/Micro <serial>`.\n\n### Connected But No Data\n- Check **Provider Status** in Signal K and the server log: `sudo journalctl -u signalk -f | grep RaceBox`\n- Watchdog reconnects if data stalls for 15s. Persistent cycles may indicate another client fighting for the device.\n- Try the **RESET BLUETOOTH** button in plugin config.\n\n### Good to know\n- **One central at a time:** A RaceBox accepts only one BLE connection. Fully close the RaceBox phone app.\n- **Standalone recording (Mini S / Micro):** If set to record at lower rates (e.g. 1Hz), live BLE data arrives at that rate too.\n- **No position indoors:** Navigation data is gated on a valid GNSS fix. IMU and battery data flow immediately.\n\n---\n\n## License\nMIT License.\n","readmeFilename":"readme.md"}