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* fix(firmware): gate phantom persons + add presence hysteresis (#998, #996) Two ESP32 edge-vitals logic bugs in edge_processing.c. Both are robustness/logic fixes — NOT validated-accuracy claims. True count/PCK vs labelled ground truth remains hardware/data-gated (COM9 ESP32-S3). #998 — n_persons over-counted (reported 4 for one person): update_multi_person_vitals() split top-K subcarriers into top_k_count/2 groups and marked EVERY group active, so one body's multipath always read the full EDGE_MAX_PERSONS. Added two pure, host-testable helpers: - count_distinct_persons(): per-group energy gate (EDGE_PERSON_MIN_ENERGY_RATIO) + spatial dedup (EDGE_PERSON_MIN_SC_SEP) so weak/adjacent multipath groups don't count as separate bodies. Strongest group always counts (>=1). - person_count_debounce(): a gated count must hold EDGE_PERSON_PERSIST_FRAMES consecutive frames before it's emitted, so a single noisy frame can't promote a phantom. The active flags now mark only the strongest stable_count groups. #996 — presence flag flickered at ~50cm despite high presence_score: the bare `score > threshold` compare chattered on a noisy score (field-observed 2.6-26.7 frame-to-frame). Replaced with a Schmitt trigger + clear-debounce (presence_flag_update): assert above threshold, hold in the dead band down to threshold * EDGE_PRESENCE_HYST_RATIO, clear only after EDGE_PRESENCE_CLEAR_FRAMES consecutive sub-low frames. presence_score itself is unchanged and still emitted for consumer-side thresholding. All thresholds are named, documented constants in edge_processing.h. Firmware builds clean for esp32s3 (idf.py build RC=0). Co-Authored-By: claude-flow <ruv@ruv.net> * test(firmware): host C99 tests for vitals count + presence logic (#998, #996) test/test_vitals_count_presence.c pins the two fixes with deterministic host-buildable tests (no ESP-IDF needed). 13 cases / 22 assertions, all passing under gcc 13 -Wall -Wextra: #998 count gate: single strong signature + multipath -> count==1; two well-separated -> 2; two strong-but-adjacent -> 1 (dedup); no signal -> 0; three well-separated -> 3. #998 debounce: transient spike rejected; sustained change accepted; flapping count stays stable. #996 presence: dithering trace -> stable flag (no flicker); brief dips held by clear-debounce; genuine departure clears within hold window; dead-band holds state. The named tuning constants are #include'd from the real edge_processing.h so the test and firmware can never disagree on thresholds. `make run_vitals` / `make host_tests` added; binaries gitignored. Hardware-gated caveat documented in the test header: these pin the decision LOGIC; the exact energy/separation/hysteresis values that best match a real room vs labelled occupancy remain on-device tuning. Co-Authored-By: claude-flow <ruv@ruv.net> * docs: record ESP32 vitals count/presence fixes (#998, #996) CHANGELOG [Unreleased] Fixed: root cause + fix + named constants + test + explicit hardware/data-gated caveat for both bugs. ADR-021 Implementation Notes: dated 2026-06 entry noting the edge-path person-count + presence-flicker fixes are boolean/count emission-logic fixes, not a validated-accuracy claim; thresholds pending on-device calibration. Co-Authored-By: claude-flow <ruv@ruv.net> * fix(sensing-server): emit real field-derived person position/motion to /ws/sensing (#1050) The Observatory 3D figure never animated because the sensing_update WS frame carried no per-person position/motion_score/pose — only image-space keypoints. The FigurePool/PoseSystem (and demo-data.js's own contract) animate each figure from persons[i].position (room-world), .motion_score (0..100), and .pose; none were on the live stream. Honest scope (Case 2): the pipeline has no calibrated per-person room localizer or per-person skeletal pose. New field_localize module extracts the strongest peak(s) from the real signal_field grid (subcarrier variances x motion-band power) and maps the peak cell to Observatory world coords with the exact _buildSignalField transform. motion_score is the measured motion_band_power passed through; pose is set only from a real aggregate posture estimate, else None (never a fabricated skeleton). Empty/below-threshold field -> persons: [] (no phantom); present person with no resolvable peak keeps position [0,0,0], not invented coords. attach_field_positions runs after the tracker step at all five broadcast sites. New position/motion_score/pose fields added to both PersonDetection structs. No UI change needed — the Observatory already reads these fields. Tests: field_localize peak/coordinate/empty/separation units + observatory_persons_field_position_tests (known-peak -> emitted position, empty-room -> no phantom, pose real-or-None, below-threshold honesty). sensing-server bin 441->451, 0 failed. Co-Authored-By: claude-flow <ruv@ruv.net> * docs(changelog): record #1050 Observatory persons position/motion fix Co-Authored-By: claude-flow <ruv@ruv.net>