mirror of
https://github.com/ruvnet/RuView
synced 2026-06-20 12:03:19 +00:00
rUv
992c2b25cb
* fix(firmware): correct heart-rate estimation — sample-rate + harmonic lock The edge vitals HR was stuck at ~45 BPM regardless of true heart rate (Apple Watch ground truth 87 BPM read as ~45) and "dropped a lot" between frames. Two root causes: 1. Stale fixed sample rate. estimate_bpm_zero_crossing() used a hardcoded `sample_rate = 10.0f` (and the biquads a separate `fs = 20.0f`). That constant was correct when CSI came from ~10 Hz beacons, but #985's self-ping raised the callback rate to a VARIABLE ~13-19 Hz. BPM scales as (assumed_rate / actual_rate) x true, so a true 87 read ~45, and because the real rate fluctuates with CSI yield while the code assumed a fixed value, the reported HR swung frame-to-frame (the "drops"). 2. Breathing-harmonic lock. Zero-crossing HR estimation locked onto a breathing harmonic — a 0.25 Hz breathing fundamental puts its 3rd harmonic at ~0.74 Hz ~= 44 BPM, right in the HR band — so it parked at ~45 BPM independent of the real heartbeat. Fix: - Measure the real sample rate from inter-frame timestamps (EMA-smoothed, clamped 8-30 Hz); use it for both BPM conversion and biquad design, and re-tune the filters when the rate drifts >15% so the passbands stay in real Hz. - Replace the HR zero-crossing with estimate_hr_autocorr(): autocorrelation peak in the 45-180 BPM band that explicitly rejects lags within 8% of any breathing harmonic (k=1..6), with parabolic interpolation and a peak- confidence gate (returns 0 rather than a noise value). - Median-smooth (N=9) the emitted HR over valid estimates to kill residual single-frame outliers. Validated on hardware (ESP32-S3, COM8/192.168.1.80) vs an unmodified board (192.168.1.67) and an Apple Watch (87 BPM): - old firmware: HR pegged 40-52 BPM (median ~45) - fixed firmware: HR reaches the true 88-91 BPM range (peak 88.5, vs 87 GT) Known limitation: under subject motion (motion=Y) HR is still noisy because the breathing estimate degrades and misguides harmonic rejection; motion gating + breathing robustness are follow-ups. Co-Authored-By: claude-flow <ruv@ruv.net> * fix(firmware): robust HR harmonic rejection via autocorr breathing period (#987) Follow-up to 332c2a98d. The HR harmonic rejection was fed the noisy zero-crossing breathing estimate, which under motion notched the wrong frequencies and let the autocorr lock onto the ~0.75 Hz breathing harmonic (~45 BPM). Generalize estimate_hr_autocorr -> estimate_periodicity_autocorr and drive HR harmonic rejection from a robust autocorrelation breathing period instead; widen the HR median smoother to N=13. Hardware A/B (fixed .80 vs unmodified control .67, both edge_tier=2, subject in motion 100% of frames): - control (old fw): HR pegged 40-43 BPM (median 40.6) - fixed: HR 60-91 BPM (median 71.9) — sub-60 harmonic locks eliminated, spread 42->31 BPM vs previous build Reported breathing is unchanged (still zero-crossing); the autocorr breathing period is used only internally for HR harmonic rejection. Co-Authored-By: claude-flow <ruv@ruv.net> * docs(changelog): record ESP32 heart-rate fix (#987) Co-Authored-By: claude-flow <ruv@ruv.net>