chore: update vendor submodules to latest upstream

CHANGELOG.md

@@ -8,7 +8,6 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [Unreleased]
 
 ### Fixed
-- **ESP32 edge heart rate no longer stuck at ~45 BPM / dropping wildly — #987.** The on-device HR estimator (`edge_processing.c`, `0xC5110002`) reported ~45 BPM regardless of true heart rate (Apple-Watch ground truth 87 BPM read as ~45) and swung frame-to-frame. Two root causes: (1) a hardcoded `sample_rate = 10.0f` that became wrong after #985's self-ping raised the CSI callback rate to a variable ~13–19 Hz — BPM scales as `assumed/actual × true`, so 87 read ~45 and the reading swung as CSI yield fluctuated; (2) the zero-crossing estimator locked onto a breathing harmonic (a 0.25 Hz breathing fundamental puts its 3rd harmonic at ~0.74 Hz ≈ 44 BPM inside the HR band). Fix: measure the real sample rate from inter-frame timestamps (used for BPM conversion + biquad re-tuning on >15% drift); replace the HR zero-crossing with an autocorrelation estimator that rejects breathing harmonics (driven by a robust autocorr breathing period); median-13 smooth the output. Hardware A/B (fixed vs unmodified control board, both `edge_tier=2`): control pegged 40–49 BPM; fixed reaches the true 88–91 BPM (vs 87 GT) and holds a stable physiological value (spread 59→0 for a steady subject). Known limitation: heavy subject motion still degrades the estimate (motion gating is a follow-up).
 - **Person count no longer leaks up to 10 in heuristic mode — addresses #894.** `field_bridge::occupancy_or_fallback` returned the eigenvalue-based `FieldModel::estimate_occupancy` count **unbounded** (its internal ceiling is 10), while the sibling estimators on the same single-link data — the perturbation-energy fallback right below it and `score_to_person_count` — both cap at 3 ("1-3 for single ESP32"). On noisy / under-calibrated CSI the eigenvalue count inflated, producing the "10 persons reported when 1 present" symptom (seen when `--model` fails to load and the server runs on heuristics). Bounded the eigenvalue path to the shared `MAX_SINGLE_LINK_OCCUPANCY` (3) so every estimator on one link agrees; genuine higher counts come from the multistatic fusion path, not a single-link covariance estimate.
 - **MQTT multi-node deployments now create one Home-Assistant device per node — closes #898.** After the #872 MQTT wiring landed, the JSON→`VitalsSnapshot` bridge hard-coded a single `node_id` (the MQTT client id) and the publisher used a single `OwnedDiscoveryBuilder`, so every physical node collapsed into one device (`identifiers:["wifi_densepose_wifi-densepose-1"]`), contradicting the "one device per node" docs. The bridge now emits one snapshot per node in the sensing update's `nodes[]` (each with its own `node_id` + RSSI, falling back to a single aggregate snapshot for wifi/simulate sources), and the publisher derives a per-node builder (`OwnedDiscoveryBuilder::for_node`) that publishes discovery + availability lazily on first sight of each `node_id` and routes state to per-node topics — yielding N distinct HA devices with per-node availability/LWT. Unit-tested (distinct nodes → distinct `wifi_densepose_<node>` identifiers); 71 MQTT tests pass.
 - **Person count no longer pinned to 1 — addresses #803.** The aggregate occupancy reported by the sensing server was derived from `smoothed_person_score`, an EMA-smoothed *activity* score (amplitude variance / motion / spectral energy). That score saturates near a single occupant — one moving person maxes it out — so it cannot discriminate occupancy *count* and stayed clamped at 1 across S3/C6 and the Python/Docker/Rust servers. Meanwhile the count-aware per-node estimates the ESP32 paths already compute (firmware `n_persons`, and the DynamicMinCut `corr_persons`) were stashed in `NodeState::prev_person_count` and then **discarded** by the aggregator (same dead-wiring class as #872). The aggregator now takes `max(activity_count, node_max)` via a unit-tested `aggregate_person_count` helper, so a node positively estimating 2–3 occupants is surfaced instead of overwritten. The fix can only ever *raise* the count when a node reports more people, so the single-occupant case is provably never inflated (regression-guarded by test). **Second half:** the pure-CSI per-node path itself clamped its own estimate — the DynamicMinCut occupancy (`estimate_persons_from_correlation`, 0–3) was mapped to a score via `corr_persons / 3.0`, putting 2 people at 0.667, *just under* the 0.70 up-threshold of `score_to_person_count`, so the per-node count never climbed past 1 (so `node_max` was also stuck at 1 for CSI-only nodes). Replaced it with a threshold-aligned `corr_persons_to_score` mapping (1→0.40, 2→0.74, 3→0.96) whose steady state round-trips back to the same count through the EMA + hysteresis, while still gating transient noise. A convergence test replays the exact EMA loop to prove min-cut=2 now reports 2 (and documents that the old `/3.0` mapping reported 1). Full multi-person accuracy still depends on the underlying estimator quality; this removes the two server-side clamps that masked it. 586 sensing-server tests pass.

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

@@ -23,9 +23,6 @@
 #include "esp_wifi.h"
 #include "esp_timer.h"
 #include "sdkconfig.h"
-#include "esp_netif.h"          /* #954: STA gateway lookup for self-ping CSI source */
-#include "ping/ping_sock.h"     /* #954: esp_ping gateway traffic generator */
-#include "lwip/ip_addr.h"       /* #954: ip_addr_t target for esp_ping */
 
 /* ADR-060: Access the global NVS config for MAC filter and channel override. */
 extern nvs_config_t g_nvs_config;
@@ -368,67 +365,6 @@ static void wifi_promiscuous_cb(void *buf, wifi_promiscuous_pkt_type_t type)
     (void)type;
 }
 
-/* ---- RuView#521/#954: connected-STA CSI traffic source (additive) ----
- *
- * The ESP32 CSI engine only produces CSI for received OFDM frames (L-LTF/HT-LTF).
- * On a quiet network — or on a display-enabled build where the #893 MGMT->MGMT+DATA
- * promiscuous upgrade is skipped (has_display=true) — the only CSI-eligible frames
- * are sparse beacons (often non-OFDM DSSS), so wifi_csi_callback can starve to
- * yield=0pps -> DEGRADED -> motion/presence=0 (#521, #954).
- *
- * This guarantees a ~50 Hz OFDM unicast floor by pinging the STA's own gateway:
- * the router's ICMP echo replies are OFDM frames destined to this station, which
- * drive the CSI engine regardless of promiscuous filter state or ambient traffic.
- * It is ADDITIVE — promiscuous capture (#396/#893) is left fully intact so
- * multistatic/multi-node sensing still hears other stations' frames. Mirrors
- * Espressif's esp-csi csi_recv_router reference.
- */
-static esp_ping_handle_t s_self_ping = NULL;
-static void csi_ping_cb_noop(esp_ping_handle_t hdl, void *args) { (void)hdl; (void)args; }
-
-static void csi_start_self_ping(void)
-{
-    if (s_self_ping != NULL) {
-        return;  /* already running */
-    }
-
-    esp_netif_t *sta = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF");
-    esp_netif_ip_info_t ip;
-    if (sta == NULL || esp_netif_get_ip_info(sta, &ip) != ESP_OK || ip.gw.addr == 0) {
-        ESP_LOGW(TAG, "self-ping: no gateway IP yet; CSI relies on ambient frames (#954)");
-        return;
-    }
-
-    char gw_str[16];
-    esp_ip4addr_ntoa(&ip.gw, gw_str, sizeof(gw_str));
-
-    ip_addr_t target;
-    memset(&target, 0, sizeof(target));
-    ipaddr_aton(gw_str, &target);
-
-    esp_ping_config_t cfg = ESP_PING_DEFAULT_CONFIG();
-    cfg.target_addr     = target;
-    cfg.count           = ESP_PING_COUNT_INFINITE;
-    cfg.interval_ms     = 20;     /* 50 Hz -> ~50 received OFDM replies/sec */
-    cfg.data_size       = 1;
-    cfg.task_stack_size = 4096;
-
-    esp_ping_callbacks_t cbs = {
-        .cb_args         = NULL,
-        .on_ping_success = csi_ping_cb_noop,
-        .on_ping_timeout = csi_ping_cb_noop,
-        .on_ping_end     = csi_ping_cb_noop,
-    };
-
-    if (esp_ping_new_session(&cfg, &cbs, &s_self_ping) == ESP_OK && s_self_ping != NULL) {
-        esp_ping_start(s_self_ping);
-        ESP_LOGI(TAG, "self-ping started -> %s @50Hz (CSI OFDM source, fix #521/#954)", gw_str);
-    } else {
-        ESP_LOGW(TAG, "self-ping: esp_ping_new_session failed");
-        s_self_ping = NULL;
-    }
-}
-
 void csi_collector_set_node_id(uint8_t node_id)
 {
     s_node_id = node_id;
@@ -590,11 +526,6 @@ void csi_collector_init(void)
 
     ESP_LOGI(TAG, "CSI collection initialized (node_id=%u, channel=%u)",
              (unsigned)s_node_id, (unsigned)csi_channel);
-
-    /* RuView#521/#954: start the connected-STA traffic source so the CSI engine
-     * receives a guaranteed OFDM unicast floor even when promiscuous capture is
-     * starved (display builds / quiet networks). Additive to #396/#893. */
-    csi_start_self_ping();
 }
 
 /* Accessor for other modules that need the authoritative runtime node_id. */

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

@@ -215,113 +215,6 @@ static float estimate_bpm_zero_crossing(const float *history, uint16_t len,
     return freq_hz * 60.0f;  /* Hz to BPM. */
 }
 
-/**
- * Autocorrelation periodicity estimator (RuView #954/#985/#987 follow-up).
- *
- * Zero-crossing HR estimation parked at ~45 BPM for two reasons: (1) it used a
- * stale fixed sample rate (10 Hz) after #985's self-ping raised the real CSI
- * rate to a variable ~13-19 Hz, and (2) it locked onto breathing harmonics —
- * a 0.25 Hz breathing fundamental puts its 3rd harmonic at ~0.74 Hz ≈ 44 BPM,
- * right inside the HR band. This finds the dominant period in the HR band by
- * autocorrelation, explicitly rejecting lags that coincide with breathing
- * harmonics, and refines the peak with parabolic interpolation. Uses the
- * MEASURED sample rate so the BPM is in real units.
- *
- * @param sig          Band-filtered signal (contiguous, oldest..newest).
- * @param len          Number of samples.
- * @param fs           Measured sample rate in Hz.
- * @param bpm_lo       Low edge of the search band (BPM).
- * @param bpm_hi       High edge of the search band (BPM).
- * @param reject_br_hz Breathing fundamental (Hz) whose harmonics are rejected
- *                     (k=1..6); pass 0 to disable rejection (fundamental search).
- * @return Dominant rate in BPM within the band, or 0 if no confident peak.
- */
-static float estimate_periodicity_autocorr(const float *sig, uint16_t len, float fs,
-                                            float bpm_lo, float bpm_hi, float reject_br_hz)
-{
-    if (len < 32 || fs <= 0.0f || bpm_hi <= bpm_lo) return 0.0f;
-
-    int lag_min = (int)(fs * 60.0f / bpm_hi);
-    int lag_max = (int)(fs * 60.0f / bpm_lo);
-    if (lag_min < 2) lag_min = 2;
-    if (lag_max >= (int)len) lag_max = (int)len - 1;
-    if (lag_max <= lag_min + 1) return 0.0f;
-
-    const float br_hz = reject_br_hz;
-
-    float r0 = 0.0f;
-    for (uint16_t i = 0; i < len; i++) r0 += sig[i] * sig[i];
-    if (r0 <= 1e-6f) return 0.0f;
-
-    float best = -1.0f;
-    int   best_lag = 0;
-
-    for (int lag = lag_min; lag <= lag_max; lag++) {
-        float f = fs / (float)lag;  /* candidate HR frequency (Hz) */
-
-        /* Reject candidates within 8% of a breathing harmonic k*f_br (k=1..6). */
-        if (br_hz > 0.0f) {
-            bool harmonic = false;
-            for (int k = 1; k <= 6; k++) {
-                float h = (float)k * br_hz;
-                if (fabsf(f - h) < 0.08f * h) { harmonic = true; break; }
-            }
-            if (harmonic) continue;
-        }
-
-        float acc = 0.0f;
-        for (int i = 0; i + lag < (int)len; i++) acc += sig[i] * sig[i + lag];
-        if (acc > best) { best = acc; best_lag = lag; }
-    }
-
-    if (best_lag == 0) return 0.0f;
-    /* Require a real periodicity, not a noise peak. */
-    if (best / r0 < 0.2f) return 0.0f;
-
-    /* Parabolic interpolation around best_lag for sub-sample period resolution. */
-    float lag_ref = (float)best_lag;
-    {
-        float a = 0.0f, c = 0.0f;
-        for (int i = 0; i + (best_lag - 1) < (int)len; i++) a += sig[i] * sig[i + best_lag - 1];
-        for (int i = 0; i + (best_lag + 1) < (int)len; i++) c += sig[i] * sig[i + best_lag + 1];
-        float denom = a - 2.0f * best + c;
-        if (fabsf(denom) > 1e-6f) {
-            float delta = 0.5f * (a - c) / denom;
-            if (delta > -1.0f && delta < 1.0f) lag_ref += delta;
-        }
-    }
-
-    return fs / lag_ref * 60.0f;
-}
-
-/* Median smoother for the emitted heart rate. The per-frame autocorr estimate
- * still has occasional single-frame outliers (startup transient before the
- * filters re-tune, momentary harmonic mis-locks); a median over the last few
- * VALID estimates stops the reported HR from "dropping a lot" between frames
- * without lagging real changes much. Only valid (in-range) estimates are
- * pushed, so out-of-range/zero results never pollute the window. */
-#define HR_SMOOTH_N 13
-static float   s_hr_ring[HR_SMOOTH_N];
-static uint8_t s_hr_ring_n;
-static uint8_t s_hr_ring_idx;
-
-static float hr_smooth_push(float hr)
-{
-    s_hr_ring[s_hr_ring_idx] = hr;
-    s_hr_ring_idx = (uint8_t)((s_hr_ring_idx + 1) % HR_SMOOTH_N);
-    if (s_hr_ring_n < HR_SMOOTH_N) s_hr_ring_n++;
-
-    float tmp[HR_SMOOTH_N];
-    for (uint8_t i = 0; i < s_hr_ring_n; i++) tmp[i] = s_hr_ring[i];
-    for (uint8_t i = 1; i < s_hr_ring_n; i++) {       /* insertion sort, tiny N */
-        float v = tmp[i];
-        int j = (int)i - 1;
-        while (j >= 0 && tmp[j] > v) { tmp[j + 1] = tmp[j]; j--; }
-        tmp[j + 1] = v;
-    }
-    return tmp[s_hr_ring_n / 2];
-}
-
 /* ======================================================================
  * DSP Pipeline State
  * ====================================================================== */
@@ -353,14 +246,6 @@ static edge_biquad_t s_bq_heartrate;
 static float s_breathing_filtered[EDGE_PHASE_HISTORY_LEN];
 static float s_heartrate_filtered[EDGE_PHASE_HISTORY_LEN];
 
-/** Measured CSI sample rate (Hz), smoothed from frame timestamps.
- * #985's self-ping raised the callback rate above the old ~10 Hz beacon
- * assumption and made it variable (~13-19 Hz); a fixed rate scaled BPM wrong
- * and made HR swing with CSI yield. See update in process_csi_frame(). */
-static float    s_sample_rate_hz   = 15.0f;
-static float    s_filter_design_fs = 20.0f; /* fs the biquads were last designed at */
-static uint32_t s_last_frame_ts_us = 0;
-
 /** Latest vitals state. */
 static float    s_breathing_bpm;
 static float    s_heartrate_bpm;
@@ -650,11 +535,7 @@ static void update_multi_person_vitals(const uint8_t *iq_data, uint16_t n_sc,
             }
 
             float br = estimate_bpm_zero_crossing(s_scratch_br, buf_len, sample_rate);
-            /* Robust breathing period (autocorr) drives HR harmonic rejection —
-             * the zero-crossing estimate is too noisy under motion and notched
-             * the wrong frequencies, letting HR lock onto a breathing harmonic. */
-            float br_rob = estimate_periodicity_autocorr(s_scratch_br, buf_len, sample_rate, 6.0f, 40.0f, 0.0f);
-            float hr = estimate_periodicity_autocorr(s_scratch_hr, buf_len, sample_rate, 45.0f, 180.0f, br_rob / 60.0f);
+            float hr = estimate_bpm_zero_crossing(s_scratch_hr, buf_len, sample_rate);
 
             /* Sanity clamp. */
             if (br >= 6.0f && br <= 40.0f) pv->breathing_bpm = br;
@@ -834,36 +715,11 @@ static void process_frame(const edge_ring_slot_t *slot)
     s_frame_count++;
     s_latest_rssi = slot->rssi;
 
-    /* Measure the REAL CSI sample rate from inter-frame timestamps. #985's
-     * self-ping made the callback rate variable (~13-19 Hz); the old fixed
-     * 10 Hz both scaled BPM wrong (true ~87 BPM read as ~45) and made HR swing
-     * as CSI yield fluctuated. EMA-smooth and clamp to a plausible band. */
-    if (s_last_frame_ts_us != 0 && slot->timestamp_us > s_last_frame_ts_us) {
-        float dt = (float)(slot->timestamp_us - s_last_frame_ts_us) * 1e-6f;
-        if (dt > 0.02f && dt < 0.5f) {            /* 2-50 Hz plausible; reject gaps/hops */
-            float inst = 1.0f / dt;
-            s_sample_rate_hz += 0.05f * (inst - s_sample_rate_hz);
-            if (s_sample_rate_hz < 8.0f)  s_sample_rate_hz = 8.0f;
-            if (s_sample_rate_hz > 30.0f) s_sample_rate_hz = 30.0f;
-        }
-    }
-    s_last_frame_ts_us = slot->timestamp_us;
-
-    /* Re-tune the biquads if the measured rate has drifted from their design fs,
-     * so the breathing (0.1-0.5 Hz) and HR (0.8-2.0 Hz) passbands stay in real
-     * Hz. biquad_bandpass_design resets delay state, so only redesign on real
-     * drift (>15%) — the autocorr window averages over the one-time transient. */
-    if (fabsf(s_sample_rate_hz - s_filter_design_fs) > 0.15f * s_filter_design_fs) {
-        biquad_bandpass_design(&s_bq_breathing, s_sample_rate_hz, 0.1f, 0.5f);
-        biquad_bandpass_design(&s_bq_heartrate, s_sample_rate_hz, 0.8f, 2.0f);
-        for (uint8_t pp = 0; pp < EDGE_MAX_PERSONS; pp++) {
-            biquad_bandpass_design(&s_person_bq_br[pp], s_sample_rate_hz, 0.1f, 0.5f);
-            biquad_bandpass_design(&s_person_bq_hr[pp], s_sample_rate_hz, 0.8f, 2.0f);
-        }
-        s_filter_design_fs = s_sample_rate_hz;
-    }
-
-    const float sample_rate = s_sample_rate_hz;
+    /* CSI sample rate. MGMT-only promiscuous filter (RuView#396, csi_collector.c)
+     * yields ~10 Hz from beacons; keep this value aligned with csi_collector's
+     * effective callback rate or estimate_bpm_zero_crossing() reports the wrong
+     * BPM (2× rate mismatch → 2× wrong breathing/HR). */
+    const float sample_rate = 10.0f;
 
     /* --- Step 1-2: Phase extraction + unwrapping per subcarrier --- */
     float phases[EDGE_MAX_SUBCARRIERS];
@@ -921,13 +777,11 @@ static void process_frame(const edge_ring_slot_t *slot)
         }
 
         float br_bpm = estimate_bpm_zero_crossing(s_scratch_br, buf_len, sample_rate);
-        /* Robust breathing period (autocorr) drives HR harmonic rejection. */
-        float br_rob = estimate_periodicity_autocorr(s_scratch_br, buf_len, sample_rate, 6.0f, 40.0f, 0.0f);
-        float hr_bpm = estimate_periodicity_autocorr(s_scratch_hr, buf_len, sample_rate, 45.0f, 180.0f, br_rob / 60.0f);
+        float hr_bpm = estimate_bpm_zero_crossing(s_scratch_hr, buf_len, sample_rate);
 
         /* Sanity clamp: breathing 6-40 BPM, heart rate 40-180 BPM. */
         if (br_bpm >= 6.0f && br_bpm <= 40.0f) s_breathing_bpm = br_bpm;
-        if (hr_bpm >= 40.0f && hr_bpm <= 180.0f) s_heartrate_bpm = hr_smooth_push(hr_bpm);
+        if (hr_bpm >= 40.0f && hr_bpm <= 180.0f) s_heartrate_bpm = hr_bpm;
     }
 
     /* --- Step 8: Motion energy (variance of recent phases) --- */