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fix(firmware): fall detection false positives + 4MB flash support (#263, #265)

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Issue #263: Default fall_thresh raised from 2.0 to 15.0 rad/s² — normal
walking produces accelerations of 2.5-5.0 which triggered constant false
"Fall Detected" alerts. Added consecutive-frame requirement (3 frames)
and 5-second cooldown debounce to prevent alert storms.

Issue #265: Added partitions_4mb.csv and sdkconfig.defaults.4mb for
ESP32-S3 boards with 4MB flash (e.g. SuperMini). OTA slots are 1.856MB
each, fitting the ~978KB firmware binary with room to spare.

Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv
2026-03-15 09:44:23 -04:00
parent 1d4af7c757
commit 8afd76da20
6 changed files with 79 additions and 7 deletions
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firmware/esp32-csi-node/main/edge_processing.c
+27 -5
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@@ -244,6 +244,10 @@ static uint32_t s_frame_count;
/** Previous phase velocity for fall detection (acceleration). */
static float s_prev_phase_velocity;
/** Fall detection debounce state (issue #263). */
static uint8_t s_fall_consec_count; /**< Consecutive frames above threshold. */
static int64_t s_fall_last_alert_us; /**< Timestamp of last fall alert (debounce). */
/** Adaptive calibration state. */
static bool s_calibrated;
static float s_calib_sum;
@@ -689,7 +693,7 @@ static void process_frame(const edge_ring_slot_t *slot)
}
s_presence_detected = (s_presence_score > threshold);
/* --- Step 10: Fall detection (phase acceleration) --- */
/* --- Step 10: Fall detection (phase acceleration + debounce, issue #263) --- */
if (s_history_len >= 3) {
uint16_t i0 = (s_history_idx + EDGE_PHASE_HISTORY_LEN - 1) % EDGE_PHASE_HISTORY_LEN;
uint16_t i1 = (s_history_idx + EDGE_PHASE_HISTORY_LEN - 2) % EDGE_PHASE_HISTORY_LEN;
@@ -697,10 +701,26 @@ static void process_frame(const edge_ring_slot_t *slot)
float accel = fabsf(velocity - s_prev_phase_velocity);
s_prev_phase_velocity = velocity;
s_fall_detected = (accel > s_cfg.fall_thresh);
if (s_fall_detected) {
ESP_LOGW(TAG, "Fall detected! accel=%.4f > thresh=%.4f",
accel, s_cfg.fall_thresh);
if (accel > s_cfg.fall_thresh) {
s_fall_consec_count++;
} else {
s_fall_consec_count = 0;
}
/* Require EDGE_FALL_CONSEC_MIN consecutive frames above threshold,
* plus a cooldown period to prevent alert storms. */
int64_t now_us = esp_timer_get_time();
int64_t cooldown_us = (int64_t)EDGE_FALL_COOLDOWN_MS * 1000;
if (s_fall_consec_count >= EDGE_FALL_CONSEC_MIN
&& (now_us - s_fall_last_alert_us) >= cooldown_us)
{
s_fall_detected = true;
s_fall_last_alert_us = now_us;
s_fall_consec_count = 0;
ESP_LOGW(TAG, "Fall detected! accel=%.4f > thresh=%.4f (consec=%u)",
accel, s_cfg.fall_thresh, EDGE_FALL_CONSEC_MIN);
} else if (s_fall_consec_count == 0) {
s_fall_detected = false;
}
}
@@ -850,6 +870,8 @@ esp_err_t edge_processing_init(const edge_config_t *cfg)
s_latest_rssi = 0;
s_frame_count = 0;
s_prev_phase_velocity = 0.0f;
s_fall_consec_count = 0;
s_fall_last_alert_us = 0;
s_last_vitals_send_us = 0;
s_has_prev_iq = false;
s_prev_iq_len = 0;