chore: update vendor submodules to latest upstream

firmware/esp32-csi-node/main/c6_sync_espnow.c

@@ -21,7 +21,6 @@
 #include "esp_wifi.h"
 #include "esp_mac.h"
 #include "esp_timer.h"
-#include "esp_idf_version.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/timers.h"
 #include <string.h>
@@ -145,27 +144,11 @@ static void on_recv(const uint8_t *src_mac, const uint8_t *data, int len)
     }
 }
 
-/* Issue #944: ESP-IDF v6.0 changed `esp_now_send_cb_t` from
- *   void (*)(const uint8_t *mac, esp_now_send_status_t status)
- * to
- *   void (*)(const esp_now_send_info_t *tx_info, esp_now_send_status_t status)
- * Both signatures ignore the address-side argument here — we only inspect
- * `status` to bump the TX-fail counter — so the body is identical; only the
- * function-pointer type differs. ESP_IDF_VERSION_MAJOR is the canonical guard.
- */
-#if ESP_IDF_VERSION_MAJOR >= 6
-static void on_send(const esp_now_send_info_t *tx_info, esp_now_send_status_t status)
-{
-    (void)tx_info;
-    if (status != ESP_NOW_SEND_SUCCESS) s_tx_fail++;
-}
-#else
 static void on_send(const uint8_t *mac, esp_now_send_status_t status)
 {
     (void)mac;
     if (status != ESP_NOW_SEND_SUCCESS) s_tx_fail++;
 }
-#endif
 
 static void beacon_timer_cb(TimerHandle_t t)
 {

v2/crates/wifi-densepose-signal/src/ruvsense/field_model.rs

@@ -276,13 +276,6 @@ pub struct FieldNormalMode {
     pub geometry_hash: u64,
     /// Baseline eigenvalue count above Marcenko-Pastur threshold (empty-room).
     pub baseline_eigenvalue_count: usize,
-    /// Baseline noise variance estimate (median of bottom-half positive
-    /// eigenvalues from the calibration covariance). Persisted so that
-    /// `estimate_occupancy` can anchor its Marcenko-Pastur threshold to the
-    /// calibration noise floor instead of letting it drift with the
-    /// per-window sample size. Defaults to 0.0 in the diagonal-fallback path.
-    /// Issue #942.
-    pub baseline_noise_var: f64,
 }
 
 /// Body perturbation extracted from a CSI observation.
@@ -511,11 +504,7 @@ impl FieldModel {
         let baseline: Vec<Vec<f64>> = self.link_stats.iter().map(|ls| ls.mean_vector()).collect();
 
         // --- True eigenvalue decomposition (with diagonal fallback) ---
-        // Returns: (energies, modes, baseline_count, baseline_noise_var).
-        // The noise_var slot is 0.0 in the diagonal-fallback paths; the
-        // estimation hot path treats 0.0 as "no anchored noise floor" and
-        // falls back to per-window noise_var, preserving pre-#942 behavior.
-        let (mode_energies, environmental_modes, baseline_eig_count, baseline_noise_var) =
+        let (mode_energies, environmental_modes, baseline_eig_count) =
             if let Some(ref cov_sum) = self.covariance_sum {
                 if self.covariance_count > 1 {
                     // Compute sample covariance from raw outer products:
@@ -599,28 +588,23 @@ impl FieldModel {
                             let baseline_count =
                                 eigenvalues.iter().filter(|&&ev| ev > mp_threshold).count();
 
-                            (energies, modes, baseline_count, noise_var)
+                            (energies, modes, baseline_count)
                         }
                         Err(_) => {
                             // Fallback to diagonal approximation on SVD failure
-                            let (e, m, b) =
-                                diagonal_fallback(&self.link_stats, n_sc, n_modes);
-                            (e, m, b, 0.0_f64)
+                            diagonal_fallback(&self.link_stats, n_sc, n_modes)
                         }
                     }
                     // When eigenvalue feature is disabled, use diagonal fallback
                     #[cfg(not(feature = "eigenvalue"))]
                     {
-                        let (e, m, b) = diagonal_fallback(&self.link_stats, n_sc, n_modes);
-                        (e, m, b, 0.0_f64)
+                        diagonal_fallback(&self.link_stats, n_sc, n_modes)
                     }
                 } else {
-                    let (e, m, b) = diagonal_fallback(&self.link_stats, n_sc, n_modes);
-                    (e, m, b, 0.0_f64)
+                    diagonal_fallback(&self.link_stats, n_sc, n_modes)
                 }
             } else {
-                let (e, m, b) = diagonal_fallback(&self.link_stats, n_sc, n_modes);
-                (e, m, b, 0.0_f64)
+                diagonal_fallback(&self.link_stats, n_sc, n_modes)
             };
 
         // Compute variance explained using the same centered covariance as modes.
@@ -664,7 +648,6 @@ impl FieldModel {
             calibrated_at_us: timestamp_us,
             geometry_hash,
             baseline_eigenvalue_count: baseline_eig_count,
-            baseline_noise_var,
         };
 
         self.modes = Some(field_mode);
@@ -811,7 +794,7 @@ impl FieldModel {
         // Marcenko-Pastur noise estimate: median of POSITIVE eigenvalues
         // in the bottom half. Excludes zeros from rank-deficient matrices
         // (common when n_subcarriers > n_frames, e.g. 56 subcarriers / 50 frames).
-        let local_noise_var = {
+        let noise_var = {
             let mut positive: Vec<f64> =
                 eigenvalues.iter().copied().filter(|&e| e > 1e-10).collect();
             positive.sort_by(|a, b| a.partial_cmp(b).unwrap_or(std::cmp::Ordering::Equal));
@@ -824,22 +807,6 @@ impl FieldModel {
                 return Ok(0); // All zero eigenvalues — can't estimate
             }
         };
-
-        // Issue #942: anchor the noise floor to the calibration's noise_var
-        // when it's available. Per-window noise_var drifts with sample size —
-        // a short estimation window can produce a small local_noise_var that
-        // inflates `significant` and breaks the test_estimate_occupancy_noise_only
-        // invariant. The max of (calibration noise, local noise) keeps the
-        // threshold from collapsing on small windows while still letting the
-        // per-window noise dominate when it's the larger estimate. Falls back
-        // to local_noise_var when baseline_noise_var == 0 (diagonal-fallback
-        // calibration path, or pre-#942 stored modes).
-        let noise_var = if modes.baseline_noise_var > 0.0 {
-            local_noise_var.max(modes.baseline_noise_var)
-        } else {
-            local_noise_var
-        };
-
         let ratio = n as f64 / count as f64;
         let mp_threshold = noise_var * (1.0 + ratio.sqrt()).powi(2);