rUv 872d7593bb fix: IDF v6.0 ESP-NOW callback compat (#944) + occupancy noise-floor anchor (#942) (#945) ...

* fix(firmware): on_send ESP-NOW callback compat for IDF v6.0 (closes #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)

The C6 sync ESP-NOW path's `on_recv` was already version-guarded with
`#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)` (lines 102-112)
but the `on_send` sibling missed the equivalent guard. CI runs against
IDF v5.4 so the regression slipped through; the reporter on IDF v6.0.1
with xtensa-esp-elf esp-15.2.0_20251204 hit:

  c6_sync_espnow.c:182:30: error: passing argument 1 of
  'esp_now_register_send_cb' from incompatible pointer type
  [-Wincompatible-pointer-types]

Fix: mirror the recv guard with `#if ESP_IDF_VERSION_MAJOR >= 6` since
the send-callback signature change happened at IDF v6.0 (not v5.x like
the recv-callback). Both branches ignore the address-side argument
since `on_send` only inspects `status` to bump the TX-fail counter.

Adds `#include "esp_idf_version.h"` so the macro is in scope.

Closes #944

Co-Authored-By: claude-flow <ruv@ruv.net>

* fix(signal): anchor estimate_occupancy noise floor to calibration (closes #942)

`test_estimate_occupancy_noise_only` asserts that 20 noise-only frames
fed through a 50-frame calibrated `FieldModel` yield 0 occupancy.
Failure reported on the upstream Linux + BLAS build.

Root cause

Calibration and estimation each compute their own Marcenko-Pastur
threshold:

  threshold = noise_var · (1 + sqrt(p / N))²

with `noise_var` = median of the bottom half of positive eigenvalues
from their own covariance. The MP ratio differs across the two phases:

  calibration  (50 frames, p=8): ratio = 0.16, factor ≈ 1.96
  estimation   (20 frames, p=8): ratio = 0.40, factor ≈ 2.66

On a small estimation window the local `noise_var` estimate can also
be smaller than the calibration's (fewer samples → bottom-half median
hits lower-magnitude eigenvalues). The combination of a smaller
noise_var on estimation and the larger MP factor can flip eigenvalues
on/off the "significant" line in a sample-size-dependent way, so an
identical-distribution test window scores `significant >
baseline_eigenvalue_count` and reports phantom persons.

Fix

Persist the calibration `noise_var` on `FieldNormalMode` (new field
`baseline_noise_var: f64`) and use `max(local_noise_var,
baseline_noise_var)` as the noise floor inside `estimate_occupancy`.
This anchors the threshold to the calibration scale and prevents the
short-window collapse without changing behavior when the local
window's own noise dominates (the real-motion case).

`baseline_noise_var` defaults to 0.0 in the diagonal-fallback paths;
the estimation code treats 0.0 as "no anchored floor available" and
preserves the pre-#942 single-window behavior — so older `FieldNormalMode`
instances deserialised from disk continue to work unchanged.

Test results

  cargo test --workspace --no-default-features
  → 413 lib tests pass (signal crate), 0 fail, 1 ignored.

The actual `eigenvalue`-gated test still requires BLAS (not buildable
on Windows). Logic-trace via the four numerical anchors above shows
the fix flips `noise_var` from the smaller local value back up to the
calibration scale, dropping `significant` to or below
`baseline_eigenvalue_count` so the saturating subtraction returns 0.

Closes #942

Co-Authored-By: claude-flow <ruv@ruv.net>

2026-06-04 08:17:37 +02:00

..

esp32-csi-node

fix: IDF v6.0 ESP-NOW callback compat (#944) + occupancy noise-floor anchor (#942) (#945)

2026-06-04 08:17:37 +02:00

esp32-hello-world

firmware/esp32-hello-world: ESP32-C6 target and ESP-IDF v6 build fixes (#524)

2026-05-17 18:00:45 -04:00