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* fix(vitals): self-heal IIR filters after non-finite CSI frame (ADR-021/ADR-158 §A1) The 2nd-order resonator bandpass_filter in BreathingExtractor and HeartRateExtractor latches each output y[n] into the filter state (y1/y2). A single non-finite amplitude residual from a corrupt CSI frame produced a NaN output that was written into the state. The existing extract() is_finite() guard dropped that one sample from the history buffer but never sanitized the poisoned filter state, so every subsequent output stayed NaN, was rejected too, and the sliding-window history never refilled: breathing AND heart-rate extraction went silently dead (returning None forever) until reset(). On the vitals alert path this is a safety-relevant denial of service — one bad frame stops monitoring with no error surfaced. Same class as the calibration NaN bug (ADR-154 §3) and the firmware vitals fixes (#998/#996/#987): prior hardening guarded the history boundary but not the filter-state boundary. Fix: when bandpass_filter computes a non-finite output it resets the IIR state to default and returns 0.0, so the resonator recovers on the next clean frame (the 0.0 is still dropped by the caller's finite-check, so no spurious sample enters history). Also de-magic the safety-critical HR physiological plausibility band into named HR_PLAUSIBLE_MIN_BPM/HR_PLAUSIBLE_MAX_BPM consts (value-identical 40/180 BPM). Pinned by: - breathing::tests::nan_frame_does_not_permanently_poison_filter (FAILS pre-fix) - breathing::tests::inf_mid_stream_does_not_freeze_history (FAILS pre-fix) - heartrate::tests::nan_frame_does_not_permanently_poison_filter (FAILS pre-fix) - heartrate::tests::pure_noise_is_never_reported_valid (fabricated-vital negative) - heartrate::tests::plausibility_band_constants_pinned (de-magic value pin) wifi-densepose-vitals --no-default-features: 55->60 lib tests, 0 failed. Workspace green (3370 passed, 0 failed). Python proof unchanged (vitals off the deterministic proof's signal path). Co-Authored-By: claude-flow <ruv@ruv.net> * docs(vitals): record IIR NaN/inf self-heal fix (ADR-021, CHANGELOG) Document the wifi-densepose-vitals filter-state poisoning fix in ADR-021 Implementation Notes (parallel to the firmware #998/#996/#987 robustness class) and add a CHANGELOG [Unreleased] Fixed entry. Notes the confirmed clean dimensions with evidence (flat -> None; noise -> low-confidence Unreliable, never Valid; harmonic-rich breathing -> not a confident false HR; out-of-band BPM clamped). Co-Authored-By: claude-flow <ruv@ruv.net>