The HPG solution can be easily fitted to a scooter to test the performance.
The scooters from XIAOMI can be easily hacked to extract the Hall sensor signals that are used as a distance sensor by the ZED-F9R WT input. The hall sensor are located in the front wheel next to the motor. Their singal are connected to the ESC motor controller that is located in the base of the scooter. To open the base plate remove the Torx screws from the bottom side. This will reveal the controlle. The Hall sensor connector is the white 5 pin 2mm JST connector. The connector carries three hall sensors signals (yellow, green and blue), 5V (red) and GND (black). The hall sensors output a signal between 0 and 3.3V when the scooter is on and the wheel is rotated. Select one of the Hall sensors and connect it to the ZED-F9R WT input with a series resistor (e.g 1k) to have some isolation and limit the current that can flow. The GND can be directly connected to the GND of the HPG solutions. In my case I routed the cable through the steering bar up to the handle bar. You need to bypass some foam and squeeze it though the rubber parts along the other cables, but this gives a clean nice setup.
At the handle bar you need to mount the HPG solution board leveled, with x-axis pointing in drive direction. This is important in order to use the default sensor alignment settings, otherwise you need to manually set the alignment of the HPG board with UBX configuration commands in the ZED-F9R. Select also the scooter dynamic model and save it. Make sure that you fix the board tightly so that it does not fall off or gets tilted on handle bar. The antenna is very critical to achive best performance, use a patch with GND plane or a helix antenna. Avoid the other antennas being in close and point them away to avoid obstruction.
