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◆ Orbt Robotics
# mk5-general
# mk5-electronics
# mk5-power
# controls
# firmware
# mk5-electronics
Santiago
Custom IMU board still worth it? Noise floor looks fine on the COTS unit after VQF.
Zaid
Agreed. Custom adds ~6 weeks for no measurable gain. Leaning COTS.
Julian
+1. Ship Mk5 on the off-the-shelf part.
MS Teams
Mk5 Hardware
IMU thread
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Lead times
Standup
Daily
Mk5 Hardware
Mira
Are we locking the IMU choice before the design review?
Zaid
Yes — COTS. Writing it up now.
MS Outlook
Outlook
Inbox 9
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Reviews
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Mk5 IMU — review notes
Decision: go COTS…
Vibe test results
Attached the…
DR agenda
Thursday 2pm…
Mk5 IMU — design review notes
From Eng Lead · Mar 17
Confirmed in review: ship Mk5 with the off-the-shelf IMU. COTS meets noise spec after VQF tuning; custom board deferred.
Gmail
M Gmail
✎ Compose
PrimarySuppliersUpdates
Bosch SensortecQuote: BMI270 eval units + lead timeMar 15
TDK InvenSenseRe: COTS IMU noise spec datasheetMar 14
ProcurementApproved: off-the-shelf IMU orderMar 18
Notion
⬡ Orbt Eng
Mk5 Board
Roadmap
Specs
Suppliers
Reviews
⬡ Mk5 Engineering
In progress
VQF tuning on COTS IMU
Bus-voltage dip trace
In review
IMU selection writeup
Done
Drop custom IMU board
Yaw PID lock 1.5/0.2/0.025
space anywhere
Search decisions…
Decision 4 confirmed · 1 suggested
Ship Mk5 with the off-the-shelf IMU instead of the custom board. The COTS unit meets the noise spec after VQF tuning, and the custom board added ~6 weeks for no measurable gain.
#mk5-electronics
Screenshot · Mar 17
Zaid
Mar 17, 2026
Z
Note Bus-voltage dips line up with stepper accel spikes — ch… #mk5-power · 2d
Decision Yaw PID locked at 1.5 / 0.2 / 0.025 across the five-bot … #controls · 1w
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