Merge pull request #1762 from ruvnet/codex/zone-aware-calibration

firmware: fail closed occupancy and stabilize C6 temporal sensing

.github/workflows/firmware-ci.yml

@@ -162,10 +162,14 @@ jobs:
           mkdir -p release-staging
           cp build/esp32-csi-node.bin                      release-staging/${{ matrix.artifact_app }}
           cp build/partition_table/partition-table.bin     release-staging/${{ matrix.artifact_pt }}
-          if [ "${{ matrix.variant }}" = "8mb" ]; then
-            cp build/bootloader/bootloader.bin             release-staging/bootloader.bin
-            cp build/ota_data_initial.bin                  release-staging/ota_data_initial.bin
-          fi
+          cp build/bootloader/bootloader.bin               release-staging/bootloader.bin
+          cp build/ota_data_initial.bin                    release-staging/ota_data_initial.bin
+          cp version.txt                                   release-staging/version.txt
+          (cd release-staging && sha256sum \
+            "${{ matrix.artifact_app }}" \
+            "${{ matrix.artifact_pt }}" \
+            bootloader.bin ota_data_initial.bin version.txt \
+            > SHA256SUMS.txt)
           ls -la release-staging/
 
       - name: Check QEMU ESP32-S3 support status

README.md

@@ -5,16 +5,7 @@
     <img src="assets/ruview-seed.png" alt="RuView - WiFi DensePose" width="100%">
   </a>
 </p>
-<p align="center">
-  <a href="https://cognitum.one/marketplace">
-    <img src="assets/musica-promo.png" alt="Cognitum Musica" width="100%">
-  </a>
-</p>
-<p align="center">
-  <a href="https://github.com/ruvnet/RuCelium">
-    <img src="assets/rucelium-hero.png" alt="RuCelium — environmental intelligence" width="100%">
-  </a>
-</p>
+
 
 ## **See through walls with WiFi** ##
 

docs/adr/ADR-262-rufield-ruview-integration.md

@@ -139,6 +139,32 @@ Implement the §3.3 mapping: `effective_class → PrivacyClass`, `cog-ha-matter`
 Add an opt-in `/ws/field` endpoint (or a `field_events` array on `SensingUpdate` behind a flag) carrying the signed `FieldEvent` + a privacy badge. Add an ingest route to `rufield-viewer` (it has none today — `server.rs:63-72`) so it can replay RuView's live feed instead of only `SyntheticSim`. **Gate:** a WS integration test asserting a connected client receives a privacy-badged, signature-verifiable `FieldEvent`; a viewer test asserting the new ingest route renders a live event. The `cognitum` appliance can speak RuField by consuming this endpoint (it already runs `ruview-vitals-worker`); deferred to its own ADR.
 
 **P4 — fusion composition + multi-modality (ARCHITECTURE, optional).**
+
+> **Update — second modality landed as a library.** Open question 5 below asked
+> whether the second modality should be `rvcsi`. It is **ultrasonic**, because
+> the cost collapsed: `rufield-adapters` now ships `UltrasonicReplayAdapter`,
+> the first adapter for `Modality::Ultrasonic` (registry code 7, empty since
+> v0.1), which parses, validates and signs [BatVu](https://github.com/ruvnet/batvu)
+> range profiles upstream. RuView only has to decide what it will put on a wire.
+>
+> `wifi-densepose-rufield::ultrasonic` is that decision, and it is expressed
+> structurally: the adapter is configured for its 32-bin coarse output (`P1`,
+> egress-safe) rather than its full per-bin frame (`P0`, edge-local), because a
+> consumer cannot un-coarsen a coarse profile whereas a runtime check can be
+> reordered. The `network_egress_allowed` gate still runs and is asserted to
+> drop nothing.
+>
+> Gates: `tests/ultrasonic_gates.rs`, 12 tests — round-trip, signature-verify,
+> fusion ingest, P1 on **both** tensor and observation, structural unreachability
+> of P4/P5, trust-tier refusal in both directions, determinism, whole-file
+> rejection of a malformed recording. Plus one asserting the honest negative
+> result: **an ultrasonic scan produces no fused inferences at all**, because the
+> adapter declines to populate `presence` (one transducer pair cannot tell a
+> person from a coat on a chair) and the engine's feature vocabulary is entirely
+> statements about a body. RuField v0.1 has no predicate for static geometry.
+>
+> Not wired into the running server. P1 shipped as a library before P3 wired it
+> in; this follows the same staging.
 Wire a second modality (cheapest: an `rvcsi`-sourced event, or recorded mmWave) into `RuFieldFusion` alongside the WiFi event, proving cross-modality fusion above ruvsense. **Gate:** a fusion test with two modalities producing ≥1 cross-modal inference, with provenance coverage 100%.
 
 ---

docs/adr/ADR-344-adaptive-local-installation-discovery.md

@@ -0,0 +1,93 @@
+# ADR-344: Adaptive local installation discovery
+
+## Status
+
+Accepted — local advertisement and mobile discovery implemented; physical
+peer-link and hosted-relay qualification pending.
+
+## Context
+
+RuView installations previously depended on a manually stored IP address.
+DHCP changes, access-point changes, and client isolation could therefore leave
+a healthy sensing installation unreachable from the mobile app. Repeated
+authentication-policy log entries did not prove that the selected endpoint was
+reachable.
+
+Discovery must make commissioning recoverable without turning a service name
+into authentication, leaking sensor data, scanning arbitrary subnets, or
+silently moving private spatial data to a hosted service.
+
+## Decision
+
+The sensing server advertises one bounded `_ruview._tcp.local.` service when it
+is bound to a routable interface. Loopback-only instances do not advertise,
+and operators can disable advertisement with `--no-mdns`.
+
+The TXT contract is deliberately small:
+
+| Key | Required | Meaning |
+|---|---:|---|
+| `schema=ruview.installation.v1` | yes | Fail-closed protocol discriminator |
+| `tls=0|1` | yes | HTTP or HTTPS origin construction |
+| `installation=<opaque id>` | no | Bounded routing hint, never authentication |
+
+The advertisement contains no node inventory, room identifier, SSID,
+credentials, CSI, vital estimates, pose, identity, or learning data. The
+hostname is bounded and sanitized before registration. Advertisement failure
+is recoverable and does not stop sensing.
+
+RuView Mobile resolves only the matching service and schema, validates the
+resulting origin under its private-LAN/HTTPS policy, and requires an application
+health probe before selection. Its adaptive broker retains the configured
+origin preference and requires two failed configured probes plus two healthy
+fallback probes before switching. Credentials remain scoped to their saved
+origin.
+
+The recovery ladder is:
+
+1. configured private-LAN or HTTPS origin;
+2. verified Bonjour local origin;
+3. physically qualified Apple peer-to-peer local path;
+4. explicit, authenticated HTTPS relay for bounded derived frames only;
+5. optional administrator-managed WireGuard/Tailscale access.
+
+Only levels 1 and 2 are implemented and software-validated by this decision.
+Peer-to-peer browsing is enabled on Apple platforms, but it is not a qualified
+peer-link data plane. This repository does not provide a hosted relay and must
+fail closed when no local endpoint is healthy.
+
+## Security and privacy consequences
+
+- Service discovery is routing evidence, not installation authentication.
+- Public HTTP origins, credentials in URLs, malformed records, and records with
+  the wrong schema are rejected before use.
+- Raw CSI, RSSI streams, camera/LiDAR frames, room geometry, pose labels,
+  identity data, and training examples remain local.
+- Future relay work requires a separate consent, authentication, revocation,
+  minimization, and physical evidence review.
+- ESP32-S3/C6 nodes remain provisioned to the sensing installation. This ADR
+  does not claim direct phone-to-node discovery or invent a firmware protocol.
+
+## Validation
+
+Software acceptance requires:
+
+- unit tests for bounded advertisement construction and hostname sanitation;
+- mobile parser rejection, route scoring, anti-flapping, and Settings UI tests;
+- Rust, TypeScript, lint, security, metaharness, Expo, and native compile gates;
+- a real Bonjour resolve of the TXT contract followed by a successful
+  `/api/v1/status` probe.
+
+Physical qualification additionally requires installation discovery on an
+iPhone, live frame and node-inventory receipt, DHCP-change recovery without
+flapping, and a five-to-ten-minute zero-fusion-error burn-in. Simulator and
+host-only results remain `MEASURED_SOFTWARE`; peer-link, relay, and physical
+reconnection claims remain `NOT_MEASURED` until those captures exist.
+
+## Implementation references
+
+- `v2/crates/wifi-densepose-sensing-server/src/discovery.rs`
+- `v2/crates/wifi-densepose-sensing-server/src/main.rs`
+- Mobile companion decision: `cognitum-one/ruview-mobile`,
+  `docs/adr/ADR-026-adaptive-local-installation-discovery-and-transport-recovery.md`
+- Related decisions: ADR-034, ADR-054, ADR-296

docs/adr/ADR-346-fail-closed-edge-occupancy-evidence.md

@@ -0,0 +1,52 @@
+# ADR 346: Fail closed ESP32 occupancy evidence
+
+## Status
+
+Accepted and implemented. Physical qualification is required after each firmware build.
+
+## Date
+
+2026 08 31
+
+## Context
+
+The ESP32 Tier 2 pipeline produces two different signals. Presence is a debounced room level decision. Person count is a bounded subcarrier diversity heuristic. A live four node installation emitted packets with `presence=false` and `n_persons=3` or `4`. The server eventually gated the aggregate room count, but raw WebSocket consumers and diagnostics could still treat the contradictory count as occupancy evidence.
+
+That contradiction is more dangerous than a missed optional count. It can contaminate empty room calibration, train a room model on false labels, and encourage a product claim that the firmware cannot support. The count is not identity, pose, or a validated multi person estimator.
+
+## Decision
+
+1. Firmware person slots are subordinate to the debounced presence gate.
+2. When presence is false, the firmware clears slot activity, slot history, candidate count, persistence streak, and stable count.
+3. The serialized person count is always zero when presence is false and is clamped to `EDGE_MAX_PERSONS` when presence is true.
+4. The sensing server repeats the invariant for older firmware. A contradictory or out of range count becomes zero and carries `person_count_valid=false`.
+5. Fused CSI plus mmWave packets use either CSI presence or mmWave presence as the supporting presence condition.
+6. The node inventory and WebSocket diagnostics expose person count validity. Consumers must not infer a person from an invalid count.
+7. No count accuracy claim is created by this change. The firmware output remains a heuristic until a leakage free, held out physical dataset demonstrates otherwise.
+8. OTA admission uses the selected update partition size rather than a stale fixed 900 KB ceiling. The status endpoint reports that same hardware bound, while image validation and authenticated OTA remain mandatory.
+
+## Security and privacy
+
+The change retains no raw CSI or personal data. It reduces authority by preventing a secondary heuristic from asserting occupancy after the primary gate has closed. The host validates packet length, magic, range, and logical consistency before using count evidence.
+
+## Consequences
+
+Older firmware remains wire compatible. Invalid count evidence becomes visibly unavailable instead of silently affecting calibration. A true multi person event can still be undercounted when the presence gate is false, which is the intended fail closed behavior. Current C6 images larger than 900 KB can use the installed 1,900,544 byte OTA slots after one serial upgrade, without weakening the OTA authentication gate.
+
+The largest uncertainty is whether the current presence gate itself generalizes across the installed rooms. The fix path is a room bound empty baseline plus the fixed room selective held out protocol, not a global threshold reduction.
+
+## Evidence and acceptance
+
+MEASURED before implementation on 2026 08 31: four live nodes streamed for 86 seconds with zero transport errors, while edge packets repeatedly contradicted `presence=false` with counts of three or four.
+
+Software acceptance requires:
+
+1. Host firmware tests prove absent plus four active slots serializes zero.
+2. Rust parser tests prove contradictory and out of range counts fail closed.
+3. The node API exposes count validity without breaking older firmware.
+
+Physical acceptance requires the updated firmware on a confirmed board, a captured boot log, five minutes of live packets, zero logical count contradictions, and no increase in transport errors. Accuracy remains unmeasured until labelled held out sequences are recorded.
+
+Physical occupancy qualification completed for ESP32 C6 node 4 on 2026 08 31. The five minute run observed 242 edge packets, including 61 absent packets, with zero logical count contradictions and zero parse errors. See `docs/validation/2026-08-31-esp32-c6-occupancy-integrity.md`.
+
+ESP32 C6 node 7 was subsequently identified, upgraded to firmware 0.8.8, and transport qualified for five minutes with zero fused presence count contradictions and zero steady state transport errors. Its controlled empty room sequence remains required before occupancy qualification. See `docs/validation/2026-08-31-esp32-c6-node7-rate-aware-sensing.md`. Other nodes remain unqualified until separately identified and upgraded.

docs/adr/ADR-347-rate-aware-esp32-temporal-sensing.md

@@ -0,0 +1,85 @@
+# ADR 347: Rate aware ESP32 temporal sensing
+
+## Status
+
+Accepted. Implemented in firmware 0.8.8. The timing and transport path is
+physically qualified on ESP32 C6. The independent raw transport path is also
+physically qualified on an ESP32 S3 running Tier 0. Held out inference accuracy
+remains required.
+
+## Context
+
+The ESP32 firmware creates CSI opportunities by sending one byte ICMP probes to
+the connected access point. The traffic source is configured for 50 Hz, but the
+delivered CSI cadence varies with channel contention and callback safety gates.
+A physical ESP32 C6 produced 28 to 37 callbacks per second during the baseline
+capture. Firmware 0.8.5 then exposed that the old per-interval estimator saw
+only 12 to 16 Hz because WiFi replies arrived in short bursts separated by
+longer gaps. The filters still consumed those burst frames, so excluding them
+from the clock estimate was incorrect.
+
+The edge DSP estimates its sample rate from timestamps so that breathing,
+heartbeat, motion, and future Doppler features stay in physical Hertz. That
+estimator was capped at 30 Hz. Once the actual cadence exceeded the cap, every
+temporal feature was scaled against the wrong clock.
+
+Physical firmware 0.8.5 validation corrected that initial diagnosis. Although
+the callback path received 26 to 40 frames per second, Tier 2 on the unicore C6
+processed an irregular subset that converged toward the 8 Hz estimator floor.
+The right design is not to force the edge DSP to match raw capture. The paths
+need independent, explicit cadence contracts.
+
+The device free gesture preprint at
+`https://www.preprints.org/manuscript/202602.0018` reinforces the importance of
+timestamp correct Doppler features, but its 100 Hz controlled link is not a
+safe firmware default for RuView. Existing S3 and C6 evidence records WiFi ISR
+and packet buffer failures under sustained callback pressure above 50 Hz.
+
+## Decision
+
+1. Make the connected STA probe rate a build time setting from 10 through 50
+   Hz, with a default and hard ceiling of 50 Hz.
+
+2. Track the delivered DSP cadence by counting every processed frame interval
+   over one second timestamp windows, then smooth successive windows in an 8
+   through 60 Hz estimator range. The 60 Hz estimator ceiling accommodates
+   timestamp jitter; it does not authorize more than 50 Hz callback processing.
+
+3. Reject incomplete windows below one second and stalled windows above three
+   seconds. Do not discard valid burst frames from the estimated clock.
+
+4. Surface the DSP rate in the one second controller diagnostic so hardware
+   validation can compare callback yield with the clock used by temporal
+   filters.
+
+5. Keep raw CSI on the wire at the independent network cadence. Rate-limit the
+   C6 on-device Tier 1 and Tier 2 DSP input to a uniform 8 Hz. Physical 0.8.7
+   evidence showed that a requested 10 Hz input still converged to 8.0 through
+   8.4 Hz under Tier 2 load, while raw delivery remained 30 through 40 pps.
+   Eight hertz retains a 4 Hz Nyquist limit for the 0.1 through 2.0 Hz vital
+   bands without creating a backlog. The S3 default remains 20 Hz.
+
+6. STFT, spectrogram gating, and learned temporal
+   classification remain host or iPhone responsibilities where memory,
+   rollback, and held out evaluation are stronger.
+
+## Consequences
+
+Heartbeat, respiration, and motion features receive a stable timestamped clock
+instead of an accidental subset determined by C6 backlog. Operators can lower
+the probe or DSP load for constrained networks without editing source. The host
+still receives the higher-rate raw stream for richer Doppler processing.
+
+This does not prove vital sign accuracy or gesture recognition. Higher temporal
+fidelity only improves the representation available to a separately validated
+model. The 50 Hz ceiling also means the paper's 100 Hz results are not directly
+transferable.
+
+## Acceptance test
+
+On a physical C6, run at least five minutes after flashing. Pass when the boot
+log reports the configured probe and DSP rates, the controller converges within
+one hertz of the configured DSP cadence, raw callback yield remains at least 20
+pps, no steady-state ENOMEM, watchdog, panic, or reboot occurs, and the fail
+closed occupancy invariant remains zero contradictions for at least 30 absent
+packets.

docs/adr/README.md

@@ -105,6 +105,9 @@ Statuses: **Proposed** (under discussion), **Accepted** (approved and/or impleme
 | [ADR-035](ADR-035-live-sensing-ui-accuracy.md) | Live Sensing UI Accuracy and Data Transparency | Accepted |
 | [ADR-036](ADR-036-rvf-training-pipeline-ui.md) | Training Pipeline UI Integration | Proposed |
 | [ADR-043](ADR-043-sensing-server-ui-api-completion.md) | Sensing Server UI API Completion (14 endpoints) | Accepted |
+| [ADR-344](ADR-344-adaptive-local-installation-discovery.md) | Adaptive Local Installation Discovery | Accepted (local software path) |
+| [ADR-346](ADR-346-fail-closed-edge-occupancy-evidence.md) | Fail closed ESP32 occupancy evidence | Accepted (C6 occupancy integrity qualified) |
+| [ADR-347](ADR-347-rate-aware-esp32-temporal-sensing.md) | Rate aware ESP32 temporal sensing | Accepted (C6 timing and transport qualified) |
 | [ADR-115](ADR-115-home-assistant-integration.md) | Home Assistant integration via MQTT auto-discovery + Matter bridge (HA-DISCO + HA-FABRIC + HA-MIND) | Accepted (MQTT track) / Proposed (Matter SDK P8b) |
 | [ADR-169](ADR-169-adam-mode-light-theme.md) | adam-mode — light theme toggle for the three.js realtime demo | Proposed |
 | [ADR-170](ADR-170-yoga-mode-pose-system.md) | yoga-mode — yoga pose detection, classification, and scoring for the three.js realtime demo | Proposed |

docs/releases/v0.8.8-esp32.md

@@ -0,0 +1,111 @@
+# RuView ESP32 firmware 0.8.8
+
+Firmware 0.8.8 is a reliability and correctness release for ESP32-S3 and
+ESP32-C6 RuView nodes. It makes the timing used by signal processing explicit,
+prevents contradictory occupancy output, and improves update diagnostics.
+
+## What changed
+
+### Empty means zero people
+
+Older firmware could report `presence=false` and a nonzero person count in the
+same edge packet. That was internally contradictory and could contaminate an
+empty-room calibration. Firmware 0.8.8 clears the count whenever the presence
+gate is closed. The sensing server repeats the same check when it receives data
+from older nodes.
+
+This is a consistency fix, not proof that the heuristic can count multiple
+people accurately. See
+[ADR 346](../adr/ADR-346-fail-closed-edge-occupancy-evidence.md).
+
+### Stable time scale on ESP32-C6
+
+Raw CSI and on-device signal processing now have separate clocks. The C6 keeps
+raw CSI moving over the network while its Tier 2 filters process a stable 8 Hz
+sample stream. The S3 retains its 20 Hz DSP default. A phase-preserving sampler
+keeps callback jitter from shifting those clocks.
+
+The result is a correct time base for motion and vital-band features. It does
+not by itself prove that heartbeat, respiration, gesture, or pose estimates are
+more accurate. See
+[ADR 347](../adr/ADR-347-rate-aware-esp32-temporal-sensing.md).
+
+### Better diagnostics and safer updates
+
+The one-second controller log now shows both raw callback yield and DSP rate.
+The OTA status endpoint reports the actual selected application partition size
+instead of a fixed 900 KB assumption. Firmware upload remains fail closed when
+the node has no provisioned OTA signing secret.
+
+## Measured hardware validation
+
+All results below are physical measurements from 2026-08-31. They are not
+simulator claims.
+
+| Board | Duration | Raw CSI mean | DSP clock | Live coverage | Steady-state transport errors |
+|-------|---------:|-------------:|----------:|--------------:|------------------------------:|
+| ESP32-C6 node 4 | 300.64 s | 34.92 pps | 8.00 Hz | 97.62% | 0 |
+| ESP32-C6 node 7 | 300.70 s | 36.32 pps | 8.00 Hz | 97.40% | 0 |
+| ESP32-S3 node 1 | 300 s | 28.03 pps | Tier 0 | 100.00% | 0 |
+
+The first C6 empty-room qualification observed 61 absent packets with zero
+nonzero counts. The second C6 was transport-qualified in an occupied room and
+still needs its own controlled empty-room sequence. Full evidence is recorded
+in:
+
+1. [C6 timing and transport](../validation/2026-08-31-esp32-c6-rate-aware-sensing.md)
+2. [C6 occupancy integrity](../validation/2026-08-31-esp32-c6-occupancy-integrity.md)
+3. [Second C6 timing and transport](../validation/2026-08-31-esp32-c6-node7-rate-aware-sensing.md)
+4. [S3 transport](../validation/2026-08-31-esp32-s3-rate-aware-transport.md)
+
+## Choose the correct download
+
+| Release file | Target |
+|--------------|--------|
+| `esp32-csi-node-v0.8.8-s3-8mb-flash-bundle.zip` | ESP32-S3 with 8 MB flash |
+| `esp32-csi-node-v0.8.8-s3-4mb-flash-bundle.zip` | ESP32-S3 with 4 MB flash |
+| `esp32-csi-node-v0.8.8-c6-4mb-flash-bundle.zip` | ESP32-C6 using the supported 4 MB partition layout |
+| `esp32-csi-node-v0.8.8-s3-8mb.bin` | S3 8 MB application only |
+| `esp32-csi-node-v0.8.8-s3-4mb.bin` | S3 4 MB application only |
+| `esp32-csi-node-v0.8.8-c6-4mb.bin` | C6 application only |
+
+Never mix S3 and C6 images. Confirm the chip and physical flash before writing.
+
+## Install or update
+
+For a fresh installation, extract the matching bundle and follow its included
+`FLASHING.md`. The standard offsets are:
+
+| Image | Offset |
+|-------|-------:|
+| Bootloader | `0x0000` |
+| Partition table | `0x8000` |
+| OTA metadata | `0xf000` |
+| Application | `0x20000` |
+
+For an existing provisioned node:
+
+1. Back up the current application partition.
+2. Confirm the exact chip, flash layout, logical node, and serial port.
+3. Read `http://DEVICE_IP:8032/ota/status`.
+4. Use an application-only serial update at `0x20000` only when the running
+   partition is `ota_0` and the image matches the board.
+5. Reboot and confirm version 0.8.8, the preserved node identity, channel, and
+   sensing-server target.
+6. Run a five-minute burn-in before returning the node to calibration duty.
+
+The full bundle does not contain an NVS image. A four-offset install therefore
+preserves the existing WiFi and node settings, but operators should still keep
+a backup before changing firmware.
+
+## What this release does not prove
+
+Firmware 0.8.8 does not prove medical-grade vital signs, accurate person
+counting, identity, dense pose, through-wall video, or room separation. Those
+claims require synchronized references and leakage-free held-out sequences.
+
+The practical next acceptance test is a controlled empty-room capture with at
+least 30 absent edge packets per updated node, zero absent packets carrying a
+nonzero count, and zero transport or parser errors. Accuracy evaluation then
+needs held-out occupied, movement, heartbeat-reference, and adjacent-room
+sequences.

docs/validation/2026-08-31-esp32-c6-node7-rate-aware-sensing.md

@@ -0,0 +1,120 @@
+# ESP32 C6 node 7 rate aware sensing qualification
+
+## Scope
+
+This record qualifies the firmware 0.8.8 timing and transport path on a second
+physically attached ESP32 C6. It measures raw callback cadence, edge DSP
+cadence, process stability, and end to end sensing delivery. It does not
+qualify heartbeat, respiration, pose, identity, room separation, or person
+count accuracy against labelled ground truth.
+
+## Hardware and firmware
+
+| Field | Measured value |
+|---|---|
+| Board | ESP32 C6 QFN40 revision 0.2 |
+| Logical node | 7 |
+| Firmware before | 0.8.4 |
+| Firmware after | 0.8.8 development build |
+| App image | 1,051,552 bytes |
+| App SHA 256 | `eab7561d65e302dc33e9331ac591763a46f92fb3fa9f824fef0e9b541daddb3f` |
+| OTA slot size | 1,900,544 bytes |
+| OTA headroom | 848,992 bytes, 45 percent |
+
+Only the application partition at offset `0x20000` was flashed. WiFi
+credentials, logical node identity, sensing server target, channel, edge tier,
+bootloader, partition table, OTA metadata, and NVS were preserved. The pre
+update application was copied to a private recovery file outside the
+repository. Its SHA 256 is
+`f5ebc5e0142425adae16e9180bf298ef444ea8862ba0d8809c310a39fe45721d`.
+The device partition table was also read before the update and had SHA 256
+`0a8d2f192a8fff209d6c75ab639fcf8aa2f43c64abb732c6e74596fbd6971dca`.
+
+The post update boot log reported firmware 0.8.8, node 7, channel 10, Tier 2,
+an 8 Hz edge DSP cadence, and the preserved sensing server target. The OTA
+status endpoint reported firmware 0.8.8 running from `ota_0`, with `ota_1` as
+the next partition and the correct 1,900,544 byte limit. The sensing server
+health endpoint remained ready with ESP32 input.
+
+## Before and after
+
+The pre update baseline was a 20 second observation on the same attached board.
+The post update observation was a five minute steady state run after boot.
+
+| Observation | Before 0.8.4 | After 0.8.8 |
+|---|---:|---:|
+| Raw callback mean | 39.05 pps | 36.32 pps |
+| Raw callback range | 35 through 42 pps | 24 through 42 pps |
+| Server CSI FPS mean | 46.23 Hz | 48.88 Hz |
+| WebSocket parser errors | 0 | 0 |
+| WebSocket reconnects | 0 | 0 |
+
+Raw callback mean changed by negative 7.0 percent while the server CSI FPS
+estimate changed by positive 5.7 percent. Both remain above the 20 pps
+transport floor. The result is transport neutral rather than an accuracy lift;
+the room and WiFi traffic were not controlled between the two windows.
+
+Firmware 0.8.4 did not expose the edge DSP cadence used by the temporal
+filters. Firmware 0.8.8 held that separately governed clock at exactly 8.0 Hz
+for every controller sample while preserving the higher rate raw network path.
+
+## Five minute physical result
+
+MEASURED on 2026 08 31 after flashing firmware 0.8.8:
+
+| Device observation | Result |
+|---|---:|
+| Duration | 300.70 seconds |
+| Controller samples | 300 |
+| Raw callback mean | 36.32 pps |
+| Raw callback range | 24 through 42 pps |
+| Edge DSP mean | 8.00 Hz |
+| Edge DSP range | 8.00 through 8.00 Hz |
+| ENOMEM events | 0 |
+| UDP send failures | 0 |
+| ESP NOW nonzero failure lines | 0 |
+| Other steady state errors | 0 |
+| Watchdogs, panics, or reboots | 0 |
+
+| End to end WebSocket observation | Result |
+|---|---:|
+| Duration | 300.06 seconds |
+| Sensing frames | 36,254 |
+| JSON parse errors | 0 |
+| WebSocket errors or reconnects | 0 |
+| Frames containing node 7 | 35,313 |
+| Node 7 frame coverage | 97.40 percent |
+| Node 7 stale frames | 0 |
+| Maximum node 7 staleness | 972 ms |
+| Maximum node 7 inference age | 483 ms |
+| Maximum WebSocket frame gap | 108 ms |
+| Nodes per frame | 0 through 5 |
+| Fused presence count contradictions | 0 |
+
+One ENOMEM backoff occurred during startup and recovered in 210 ms. No memory
+backoff or send failure recurred in the separate five minute steady state
+window. The boot log also reported the documented fail closed OTA behavior:
+the status service was available, but image upload remained rejected because
+this node has no provisioned OTA signing secret.
+
+## Result and limitation
+
+The node 7 timing and transport update passes. Its configuration survived, the
+edge DSP clock remained phase stable at the measured sustainable C6 rate, and
+the live service received fresh node 7 data throughout the run. This does not
+complete the ADR 346 occupancy qualification for node 7 because the room was
+not held empty and the live aggregate did not expose 30 absent edge packets.
+
+The largest uncertainty remains inference accuracy. Timing stability cannot
+prove better vital, motion, room separation, or multi person estimates without
+synchronized held out labels and a controlled empty room sequence.
+
+## Acceptance test
+
+Repeat this five minute procedure after timing, WiFi, filter, or scheduling
+changes. Pass transport only when raw callback yield remains at least 20 pps,
+DSP cadence stays within one hertz of the configured target, the device has
+zero steady state memory backoff, send failure, watchdog, panic, and reboot
+events, the server has zero parse failures and reconnects, and the updated node
+stays fresh. Complete occupancy qualification separately with at least 30
+absent edge packets and zero absent packets carrying a nonzero person count.

docs/validation/2026-08-31-esp32-c6-occupancy-integrity.md

@@ -0,0 +1,60 @@
+# ESP32 C6 occupancy evidence qualification
+
+## Scope
+
+This record qualifies the fail closed person count invariant in ADR 346 on one physically attached ESP32 C6. It does not qualify person counting accuracy, identity, pose, room separation, or vital sign accuracy.
+
+## Hardware and firmware
+
+| Field | Measured value |
+|---|---|
+| Board | ESP32 C6 QFN40 revision 0.2 |
+| Logical node | 4 |
+| Firmware before | 0.7.0 |
+| Firmware after | 0.8.4 development build |
+| App image | 1,051,168 bytes |
+| App SHA 256 | `f9470a31b82612f1740f0cf0943ddb78917cd58784ba16d2e9d57cc8fb39364c` |
+| OTA slot size | 1,900,544 bytes |
+| CSI stream target | Preserved from NVS |
+
+The device partition table was read before the update. NVS, OTA metadata, bootloader, and partition table were not overwritten. A private recovery copy was created outside the repository and excluded from version control.
+
+## Software gates
+
+| Gate | Result |
+|---|---|
+| Firmware host tests | PASS, 54 assertions across encoding, vital evidence, and mmWave detection |
+| Rust sensing server package | PASS, 532 library tests plus all package integration and documentation tests |
+| Mobile Jest suite | PASS, 164 suites and 1,223 tests |
+| Mobile TypeScript | PASS |
+| Mobile ESLint | PASS |
+| Mobile security verifier | PASS |
+| Repository wide Rust formatting | PREEXISTING DRIFT outside this change; changed code builds and package tests pass |
+
+## Physical result
+
+MEASURED on 2026 08 31 from the live local sensing WebSocket for 300 seconds:
+
+| Node | Firmware state | Edge packets | Absent packets | Absent with nonzero count | Result |
+|---|---|---:|---:|---:|---|
+| 4 | Updated | 242 | 61 | 0 | PASS |
+| 3 | Unupdated control | 216 | 216 | 216 | Expected control failure |
+| 7 | Unupdated control | 280 | 278 | 278 | Expected control failure |
+
+Node 4 reduced the targeted logical contradiction from observed to zero, a 100 percent reduction for this invariant during this run. This is not a person count accuracy result.
+
+The WebSocket run had zero JSON parse errors and one expected client close at completion. The sensing server remained ready with `engine_error_count=0`. A separate 45 second serial observation recorded 120 log lines, 17 CSI callback markers, zero ENOMEM backoffs, and zero other error lines.
+
+The updated OTA status endpoint reports the selected 1,900,544 byte partition rather than the stale 921,600 byte constant. The 1,051,168 byte image therefore fits with 849,376 bytes of partition headroom.
+
+## Remaining qualification
+
+Nodes 3 and 7 still demonstrate the old contradictory behavior and must be upgraded only after their network identity, OTA credential, and rollback path are verified. The current run had no labelled ground truth, so multi person fidelity and adjacent room rejection remain unmeasured.
+
+## Subsequent node 7 status
+
+Later on 2026 08 31, node 7 was separately identified, backed up, upgraded to firmware 0.8.8, and transport qualified for five minutes. That later occupied room run had zero fused presence count contradictions but did not produce the 30 absent edge packets required to supersede the historical control result above. See `docs/validation/2026-08-31-esp32-c6-node7-rate-aware-sensing.md`.
+
+## Acceptance test
+
+Repeat a five minute capture after every firmware change. Pass only when every updated node has at least 30 absent packets, zero packets where `presence=false` and `n_persons>0`, zero parser errors, and a ready sensing server with zero engine errors.

docs/validation/2026-08-31-esp32-c6-rate-aware-sensing.md

@@ -0,0 +1,124 @@
+# ESP32 C6 rate aware sensing qualification
+
+## Scope
+
+This record qualifies ADR 347 on one physically attached ESP32 C6 and verifies
+that the same source compiles for ESP32 S3. It measures transport cadence, edge
+DSP cadence, process stability, and end to end sensing delivery. It does not
+qualify heartbeat, respiration, gesture, pose, identity, or person count
+accuracy against labelled ground truth.
+
+## Hardware and firmware
+
+| Field | Measured value |
+|---|---|
+| Board | ESP32 C6 QFN40 revision 0.2 |
+| Logical node | 4 |
+| Firmware before | 0.8.4 |
+| Firmware after | 0.8.8 development build |
+| C6 app image | 1,051,552 bytes |
+| C6 app SHA 256 | `f2ea422c9b99ec13c7a168afc2b019229642769ffabfd8f29a85978770236e87` |
+| OTA slot size | 1,900,544 bytes |
+| OTA headroom | 848,992 bytes, 45 percent |
+| S3 compile image | 1,127,104 bytes |
+| S3 compile SHA 256 | `63e4f0c484d79e7dd37eb28275951c8beb924e6908942f7fec0b90d92109129c` |
+
+Only the application partition at offset `0x20000` was flashed. WiFi
+credentials, node identity, sensing server target, bootloader, partition table,
+OTA metadata, and NVS were preserved. The pre update OTA application was read
+to a private recovery file outside the repository. Its SHA 256 is
+`a2e503f1622b2f3f9c1cfce0a07ba34b9fc5d6a413b6346311622af1fe18a6d8`.
+
+The OTA status endpoint reported firmware 0.8.8 running from `ota_0` after the
+update. The sensing server health endpoint remained ready with ESP32 input.
+
+## Software gates
+
+| Gate | Result |
+|---|---|
+| Rate estimator and occupancy host tests | PASS, 30 assertions |
+| ADR 110 encoding host tests | PASS, 21 assertions |
+| mmWave frame predicate host tests | PASS, 8 assertions |
+| ESP32 C6 IDF 5.4 ARM64 build | PASS |
+| ESP32 S3 IDF 5.4 ARM64 build | PASS, compile only |
+| Image checksum and validation hash | PASS |
+| Repository diff whitespace check | PASS |
+| Local libFuzzer aggregate | NOT RUN, local Xcode toolchain lacks `libclang_rt.fuzzer_osx.a` |
+
+For this C6 record, the S3 result was source and toolchain validation only and
+no S3 runtime claim is made here. The later physical S3 Tier 0 transport run is
+recorded separately in
+`docs/validation/2026-08-31-esp32-s3-rate-aware-transport.md`.
+
+## Measured rate correction
+
+The pre update 20 second C6 baseline delivered a mean 34.05 raw callbacks per
+second, median 34.5, and range 28 through 37. An intermediate 0.8.7 physical
+run requested 10 Hz edge DSP but converged to 8.0 through 8.4 Hz while raw CSI
+remained 30 through 40 packets per second. This proved that C6 Tier 2 compute,
+not the raw transport, was the limiting path.
+
+Firmware 0.8.8 therefore keeps the 50 Hz probe and independent raw network
+path, but sets the C6 Tier 2 DSP clock to its measured sustainable 8 Hz. The
+phase preserving sampler prevents callback jitter from shifting the configured
+clock, and the filter estimator follows processed timestamps rather than raw
+probe intent.
+
+## Five minute physical result
+
+MEASURED on 2026 08 31 after flashing firmware 0.8.8:
+
+| Device observation | Result |
+|---|---:|
+| Duration | 300.64 seconds |
+| Controller ticks | 300 |
+| Raw callback mean | 34.92 pps |
+| Raw callback range | 22 through 41 pps |
+| Edge DSP mean | 8.00 Hz |
+| Edge DSP range | 8.00 through 8.00 Hz |
+| ENOMEM events | 0 |
+| UDP send failures | 0 |
+| Other steady state errors | 0 |
+| Watchdogs, panics, or reboots | 0 |
+
+| End to end WebSocket observation | Result |
+|---|---:|
+| Duration | 300.01 seconds |
+| Sensing frames | 26,786 |
+| JSON parse errors | 0 |
+| Reconnects | 0 |
+| Frames containing node 4 | 26,148 |
+| Node 4 frame coverage | 97.62 percent |
+| Node 4 stale frames | 0 |
+| Maximum node 4 inference age | 176 ms |
+| Maximum WebSocket frame gap | 110 ms |
+| Nodes per frame | 0 through 4 |
+| Fused `presence=false` with nonzero count contradictions | 0 |
+
+The boot log emitted one expected iTWT negotiation error because the access
+point rejected the requested target wake time parameters. Firmware immediately
+selected its documented opportunistic CSI fallback. No iTWT or other error
+recurred during the five minute steady state window.
+
+## Result and limitation
+
+ADR 347 timing and transport acceptance passes on the attached C6. Raw
+throughput did not regress relative to the short baseline, the edge clock now
+matches the rate the temporal filters actually receive, and node 4 was never
+stale when present in the live sensing service. The separate occupancy
+qualification recorded 61 absent node 4 packets with zero contradictions for
+the unchanged fail closed invariant. This run did not repeat an empty room
+sequence because the room was occupied during qualification.
+
+The largest remaining uncertainty is inference accuracy. Stable timing removes
+one source of feature distortion but cannot prove better heartbeat, respiration,
+gesture, or multi person classification without synchronized held out labels.
+
+## Acceptance test
+
+Repeat this five minute procedure after any timing, WiFi, filter, or task
+scheduling change. Pass only when raw callback yield remains at least 20 pps,
+DSP cadence remains within one hertz of the configured target, the device has
+zero steady state ENOMEM, send failure, watchdog, panic, and reboot events, the
+server has zero parse failures and reconnects, node 4 stays fresh, and fused
+presence count contradictions remain zero.

docs/validation/2026-08-31-esp32-s3-rate-aware-transport.md

@@ -0,0 +1,126 @@
+# ESP32 S3 rate aware transport qualification
+
+## Scope
+
+This record qualifies the firmware 0.8.8 raw transport path on one physically
+attached ESP32 S3. The node retained its existing Tier 0 configuration, so this
+run does not qualify the S3 edge DSP rate, temporal filters, heartbeat,
+respiration, gesture, pose, identity, person count, or localization accuracy.
+
+## Hardware and firmware
+
+| Field | Measured value |
+|---|---|
+| Board | ESP32 S3 QFN56 revision 0.2 with 2 MB embedded PSRAM |
+| Logical node | 1 |
+| Firmware before | 0.8.4 |
+| Firmware after | 0.8.8 development build |
+| Edge tier | 0, raw passthrough |
+| App image | 1,127,104 bytes |
+| App SHA 256 | `b531c76900c07d0d6f6e864a5f28afff3e71f124777af97358bb405b34e339a2` |
+| OTA slot size | 2,097,152 bytes |
+| OTA headroom | 970,048 bytes, 46 percent |
+
+The production partition table was read from the device before the update.
+Only the application partition at offset `0x20000` was flashed. WiFi
+credentials, logical node identity, channel, sensing server target, bootloader,
+partition table, OTA metadata, and NVS were preserved. A private recovery copy
+of the prior 2 MB application partition was saved outside the repository. Its
+SHA 256 is
+`14e72c060c4f1a465f739949b873f6aade5b8899a8909f6c5bb591ee49837c1b`.
+
+The post update boot log reported firmware 0.8.8, logical node 1, channel 4,
+the preserved UDP target, Tier 0 raw passthrough, and successful CSI streaming.
+The OTA status endpoint reported firmware 0.8.8 running from `ota_0` with the
+correct 2,097,152 byte update limit. The sensing server health endpoint remained
+ready with ESP32 input.
+
+## Software and image gates
+
+| Gate | Result |
+|---|---|
+| Firmware encoding, vitals, occupancy, and mmWave host tests | PASS, 59 assertions |
+| Firmware provisioning Python tests | PASS, 14 tests |
+| ESP32 S3 IDF 5.4 ARM64 clean build | PASS |
+| Image target detection | PASS, ESP32 S3 |
+| Image checksum | PASS |
+| Image validation hash | PASS |
+| Application partition fit | PASS, 46 percent free |
+| Physical flash write verification | PASS |
+| Preserved runtime configuration | PASS |
+
+The build excluded the optional WASM3 source because it was not present in the
+firmware checkout. The boot log therefore reported WASM Tier 3 disabled. That
+is not a regression introduced by this update and is outside this transport
+qualification.
+
+## Before and after comparison
+
+The pre update baseline was a 20 second serial and WebSocket capture on firmware
+0.8.4. The post update stability observation was 300 seconds on firmware 0.8.8.
+
+| Observation | Before 0.8.4 | After 0.8.8 | Change |
+|---|---:|---:|---:|
+| Raw CSI yield mean | 27.80 pps | 28.03 pps | plus 0.83 percent |
+| Server CSI FPS mean | 39.58 | 39.13 | minus 1.15 percent |
+| Node frame coverage | 100 percent | 100 percent | unchanged |
+| Maximum node staleness | 1,571 ms | 1,565 ms | minus 0.38 percent |
+| Maximum WebSocket frame gap | 111 ms | 112 ms | plus 0.90 percent |
+| Device or parser errors | 0 | 0 | unchanged |
+
+These small movements are operationally neutral and within uncontrolled room
+and WiFi variation. Firmware 0.8.8 did not regress the raw transport. Because
+Tier 0 bypasses the DSP task, this run provides no evidence that temporal
+features or inference accuracy improved.
+
+## Five minute physical result
+
+MEASURED on 2026 08 31 after flashing firmware 0.8.8:
+
+| Device observation | Result |
+|---|---:|
+| Duration | 300 seconds |
+| Controller yield samples | 300 |
+| Raw CSI yield mean | 28.03 pps |
+| Raw CSI yield range | 22 through 34 pps |
+| ENOMEM or stack errors | 0 |
+| UDP send failures | 0 |
+| ESP NOW send failures | 0 |
+| Unexpected resets | 0 |
+| Watchdogs or panics | 0 |
+
+| End to end WebSocket observation | Result |
+|---|---:|
+| Duration | 300.03 seconds |
+| Sensing frames | 10,559 |
+| Frames containing node 1 | 10,559 |
+| Node 1 frame coverage | 100 percent |
+| Source offline frames | 0 |
+| JSON parse errors | 0 |
+| WebSocket errors | 0 |
+| Early closes | 0 |
+| Maximum node staleness | 1,565 ms |
+| Maximum WebSocket frame gap | 112 ms |
+
+## Result and limitation
+
+The ESP32 S3 raw transport acceptance passes. Firmware 0.8.8 booted from the
+existing slot, retained the installation configuration, sustained the prior raw
+CSI delivery rate, and completed the burn with zero transport or runtime
+errors. The result extends ADR 347 physical coverage to the S3 transport path.
+
+The largest remaining uncertainty is S3 Tier 2 behavior and inference accuracy.
+The log line reporting the configured 20 Hz DSP cadence is not proof that DSP
+ran because the preserved Tier 0 setting explicitly disables the DSP task. A
+separate, rollback protected Tier 2 qualification with synchronized held out
+labels is required before making heartbeat, respiration, motion, or accuracy
+claims.
+
+## Acceptance test
+
+Repeat this five minute procedure after any S3 timing, WiFi, transport, or task
+scheduling change. Pass only when raw callback yield remains at least 20 pps,
+node frame coverage remains at least 99 percent, and the device and server have
+zero send failures, offline frames, parser errors, WebSocket errors, watchdogs,
+panics, and unexpected resets. Qualify Tier 2 separately and require its
+measured DSP cadence to stay within one hertz of the configured target.

firmware/esp32-csi-node/README.md

@@ -7,40 +7,81 @@ This firmware captures WiFi Channel State Information (CSI) from an ESP32-S3 (pr
 [![ESP-IDF v5.4](https://img.shields.io/badge/ESP--IDF-v5.4-blue.svg)](https://docs.espressif.com/projects/esp-idf/en/v5.4/)
 [![Target: ESP32-S3 / ESP32-C6](https://img.shields.io/badge/target-ESP32--S3%20%7C%20ESP32--C6-purple.svg)](https://www.espressif.com/en/products/socs/esp32-s3)
 [![License: MIT OR Apache-2.0](https://img.shields.io/badge/license-MIT%20OR%20Apache--2.0-green.svg)](../../LICENSE)
-[![Binary: ~943 KB](https://img.shields.io/badge/binary-~943%20KB-orange.svg)](#memory-budget)
+[![Binary: up to 1.1 MB](https://img.shields.io/badge/binary-up%20to%201.1%20MB-orange.svg)](#memory-budget)
 [![CI: Docker Build](https://img.shields.io/badge/CI-Docker%20Build-brightgreen.svg)](../../.github/workflows/firmware-ci.yml)
 
-> | Capability | Method | Performance |
-> |------------|--------|-------------|
-> | **CSI streaming** | Per-subcarrier I/Q capture over UDP | ~20 Hz, ADR-018 binary format |
-> | **Breathing detection** | Bandpass 0.1-0.5 Hz, zero-crossing BPM | 6-30 BPM |
-> | **Heart rate** | Bandpass 0.8-2.0 Hz, zero-crossing BPM | 40-120 BPM |
-> | **Presence indicator** (heuristic) | Phase variance + adaptive threshold (60 s ambient learning) | < 1 ms latency, false-positives under strong RF interference — see [Tier 2 caveats](#what-this-firmware-does-not-do-tier-2-caveats) |
+> | Capability | Method | Current contract |
+> |------------|--------|------------------|
+> | **CSI streaming** | Per-subcarrier I/Q capture over UDP | Radio-dependent cadence with a 20 packets-per-second hardware acceptance floor, ADR-018 binary format |
+> | **Breathing estimate** | Bandpass 0.1-0.5 Hz, zero-crossing BPM | Experimental 6-30 BPM output; calibrate against a reference before use |
+> | **Heart-rate estimate** | Bandpass 0.8-2.0 Hz, zero-crossing BPM | Experimental 40-120 BPM output; not a medical measurement |
+> | **Presence indicator** (heuristic) | Phase variance + adaptive threshold (60 s ambient learning) | Fast local indicator; strong RF interference can cause false positives — see [Tier 2 caveats](#what-this-firmware-does-not-do-tier-2-caveats) |
 > | **Fall detection** | Phase acceleration threshold | Configurable sensitivity |
 > | **Programmable sensing** | WASM modules loaded over HTTP | Hot-swap, no reflash |
 
+## Firmware 0.8.8 in plain language
+
+Release 0.8.8 makes the sensing stream more internally consistent and easier
+to diagnose:
+
+1. An empty-room decision can no longer carry a nonzero person count. Older
+   firmware could expose those two contradictory values at the same time.
+2. ESP32-C6 signal processing now uses a stable 8 Hz clock while raw CSI keeps
+   streaming at the faster radio-dependent rate. This prevents temporal
+   filters from silently using the wrong time scale.
+3. The one-second diagnostic reports both raw callback yield and the DSP rate,
+   making slow or overloaded nodes visible.
+4. OTA reports the application slot selected by the board instead of assuming
+   a fixed 900 KB limit.
+
+Two ESP32-C6 boards and one ESP32-S3 completed five-minute physical transport
+runs. The updated nodes had zero steady-state send failures, parser failures,
+watchdogs, panics, or reboots. These results prove timing and transport
+stability, not better heartbeat, pose, identity, or person-count accuracy.
+See the [0.8.8 release notes](../../docs/releases/v0.8.8-esp32.md) and
+[ADR 347](../../docs/adr/ADR-347-rate-aware-esp32-temporal-sensing.md) for the
+measured evidence and limitations.
+
 ---
 
 ## Quick Start
 
 For users who want to get running fast. Detailed explanations follow in later sections.
 
-### 0. Pre-built binaries (v0.6.5 — skip the build step)
+### 0. Download the 0.8.8 release
 
-Pre-built binaries are in `firmware/esp32-csi-node/release_bins/` (version: see `release_bins/version.txt`).
-Flash them directly:
+Use the versioned source tag and binaries on the
+[v0.8.8 ESP32 release page](https://github.com/ruvnet/RuView/releases/tag/v0.8.8-esp32).
+Choose the package that names both your chip and flash size:
+
+| Package | Use it for |
+|---------|------------|
+| `esp32-csi-node-v0.8.8-s3-8mb-flash-bundle.zip` | Fresh ESP32-S3 installation with 8 MB flash |
+| `esp32-csi-node-v0.8.8-s3-4mb-flash-bundle.zip` | Fresh ESP32-S3 installation with 4 MB flash |
+| `esp32-csi-node-v0.8.8-c6-4mb-flash-bundle.zip` | Fresh ESP32-C6 installation using the supported 4 MB layout |
+
+Each bundle contains the matching bootloader, partition table, OTA metadata,
+application, checksums, and a short flashing guide. Never flash an S3 bundle
+onto a C6, or a C6 bundle onto an S3.
+
+Example for an 8 MB ESP32-S3 after extracting its bundle:
 
 ```bash
 python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
   write_flash --flash_mode dio --flash_size 8MB \
-  0x0     firmware/esp32-csi-node/release_bins/bootloader.bin \
-  0x8000  firmware/esp32-csi-node/release_bins/partition-table.bin \
-  0xf000  firmware/esp32-csi-node/release_bins/ota_data_initial.bin \
-  0x20000 firmware/esp32-csi-node/release_bins/esp32-csi-node.bin
+  0x0     bootloader.bin \
+  0x8000  partition-table.bin \
+  0xf000  ota_data_initial.bin \
+  0x20000 esp32-csi-node.bin
 ```
 
-For 4 MB boards use `release_bins/esp32-csi-node-4mb.bin` and `release_bins/partition-table-4mb.bin`
-with `--flash_size 4MB`.
+For an existing provisioned node, back up its current application and inspect
+`http://DEVICE_IP:8032/ota/status` before choosing an application-only update.
+Writing only offset `0x20000` is safe only when the status endpoint reports
+`running_partition` as `ota_0` and the downloaded image matches the board.
+The full bundles do not include NVS, so the documented four-offset install
+preserves WiFi and node configuration while replacing the boot and application
+images.
 
 ### 1. Build (Docker -- the only reliable method)
 
@@ -111,7 +152,7 @@ curl http://<ESP32_IP>:8032/wasm/list
 | **Recommended boards** | ESP32-S3-DevKitC-1, XIAO ESP32-S3 | Any ESP32-S3 with 8 MB flash works |
 | **Deployment** | 3-6 nodes per room | Multistatic mesh for 360-degree coverage |
 
-> **Tip:** A single node provides presence and vital signs along its line of sight. Multiple nodes (3-6) create a multistatic mesh that resolves 3D pose with <30 mm jitter and zero identity swaps.
+> **Tip:** A single node is mainly useful for presence and motion along one RF link. Three or more spatially separated links improve geometry and track separation. Location, pose, and multi-person accuracy still require room-specific calibration and held-out ground-truth evaluation.
 
 > **⚠️ Thermal warning — compact boards (ESP32-S3-Zero, SuperMini, other coin-sized clones):** This firmware runs the WiFi radio with modem sleep disabled (`WIFI_PS_NONE`, required for continuous CSI capture) plus a full edge-processing DSP pipeline on Core 1 (`edge_tier=2`) plus, on ADR-183 builds, a continuous 40 Hz onboard LED driver. That's sustained high current draw with no duty-cycling. Full-size dev boards (DevKitC-1, XIAO) have more copper pour and thermal mass around the regulator and tolerate this fine. Coin-sized clones with minimal PCB area and budget regulators may run hot to the touch during normal operation, and in at least one field report, boards that ran hot during a session failed to power on afterward (regulator damage suspected — see issue tracker). Give these boards airflow, don't stack or enclose them, and check them by touch during the first several minutes of a new deployment. If a board is uncomfortably hot (not just warm), power it down and let it cool before continuing.
 

firmware/esp32-csi-node/main/Kconfig.projbuild

@@ -39,6 +39,17 @@ menu "CSI Node Configuration"
         help
             WiFi channel to listen on for CSI data.
 
+    config CSI_SELF_PING_HZ
+        int "Connected-STA CSI probe rate (Hz)"
+        default 50
+        range 10 50
+        help
+            Rate of the one-byte ICMP probes used to create a stable OFDM
+            CSI source on quiet networks. Fifty hertz is the measured safety
+            ceiling for the current ESP-IDF WiFi callback path. Higher rates
+            are intentionally rejected because sustained callback load above
+            50 Hz has caused WiFi ISR and packet-buffer failures on S3 and C6.
+
 endmenu
 
 menu "Edge Intelligence (ADR-039)"
@@ -66,6 +77,18 @@ menu "Edge Intelligence (ADR-039)"
         help
             Number of highest-variance subcarriers to use for DSP.
 
+    config EDGE_DSP_SAMPLE_HZ
+        int "On-device edge DSP sample rate (Hz)"
+        default 8 if IDF_TARGET_ESP32C6
+        default 20
+        range 8 50
+        help
+            Uniform rate at which CSI callbacks enter the Tier 1 and Tier 2
+            edge DSP. Raw CSI transmission keeps its independent full-rate
+            path. Eight hertz is the hardware-measured sustainable C6 Tier 2
+            setting and preserves a 4 Hz Nyquist limit for the 0.1-2.0 Hz
+            vital bands.
+
     config EDGE_FALL_THRESH
         int "Fall detection threshold (x1000)"
         default 15000

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

@@ -248,9 +248,10 @@ static void medium_loop_cb(TimerHandle_t t)
     portEXIT_CRITICAL(&s_obs_lock);
 
     if (s_obs_valid) {
-        ESP_LOGI(TAG, "medium tick: state=%u yield=%upps motion=%.2f presence=%.2f rssi=%d",
+        ESP_LOGI(TAG, "medium tick: state=%u yield=%upps dsp=%.1fHz motion=%.2f presence=%.2f rssi=%d",
                  (unsigned)s_state,
                  (unsigned)obs.pkt_yield_per_sec,
+                 (double)edge_get_sample_rate_hz(),
                  (double)obs.motion_score,
                  (double)obs.presence_score,
                  (int)obs.rssi_median_dbm);

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

@@ -63,6 +63,32 @@ static uint32_t s_send_ok = 0;
 static uint32_t s_send_fail = 0;
 static uint32_t s_rate_skip = 0;
 
+#ifndef CONFIG_CSI_SELF_PING_HZ
+#define CONFIG_CSI_SELF_PING_HZ 50
+#endif
+
+#if CONFIG_CSI_SELF_PING_HZ < 10 || CONFIG_CSI_SELF_PING_HZ > 50
+#error "CONFIG_CSI_SELF_PING_HZ must stay within the hardware-qualified 10-50 Hz range"
+#endif
+
+#define CSI_SELF_PING_INTERVAL_MS (1000U / CONFIG_CSI_SELF_PING_HZ)
+
+#ifndef CONFIG_EDGE_DSP_SAMPLE_HZ
+#if CONFIG_IDF_TARGET_ESP32C6
+#define CONFIG_EDGE_DSP_SAMPLE_HZ 8
+#else
+#define CONFIG_EDGE_DSP_SAMPLE_HZ 20
+#endif
+#endif
+
+#if CONFIG_EDGE_DSP_SAMPLE_HZ < 8 || CONFIG_EDGE_DSP_SAMPLE_HZ > 50
+#error "CONFIG_EDGE_DSP_SAMPLE_HZ must stay within the supported 8-50 Hz range"
+#endif
+
+#define EDGE_DSP_MIN_INTERVAL_US (1000000U / CONFIG_EDGE_DSP_SAMPLE_HZ)
+static int64_t s_next_edge_enqueue_us = 0;
+static uint32_t s_edge_rate_skip = 0;
+
 /**
  * Minimum interval between UDP sends in microseconds.
  * CSI callbacks can fire hundreds of times per second in promiscuous mode.
@@ -300,10 +326,31 @@ static void wifi_csi_callback(void *ctx, wifi_csi_info_t *info)
         }
     }
 
-    /* ADR-039: Enqueue raw I/Q into edge processing ring buffer. */
+    /* ADR-039 / ADR-347: Raw CSI stays at the independent network cadence,
+     * while the on-device Tier 1/2 pipeline receives a uniform, sustainable
+     * stream. Enqueuing every burst frame overloaded the unicore C6 DSP and
+     * turned 30-40 callback pps into an irregular approximately 8 Hz subset. */
     if (info->buf && info->len > 0) {
-        edge_enqueue_csi((const uint8_t *)info->buf, (uint16_t)info->len,
-                         (int8_t)info->rx_ctrl.rssi, info->rx_ctrl.channel);
+        if (s_next_edge_enqueue_us == 0) {
+            s_next_edge_enqueue_us = now_us;
+        }
+
+        if (now_us >= s_next_edge_enqueue_us) {
+            (void)edge_enqueue_csi((const uint8_t *)info->buf, (uint16_t)info->len,
+                                   (int8_t)info->rx_ctrl.rssi, info->rx_ctrl.channel);
+
+            /* Preserve the configured sample clock instead of resetting it to
+             * each irregular callback. With roughly 35 raw callbacks per
+             * second, a last-seen 100 ms gate selected every fourth callback
+             * and drifted to roughly 8 Hz. Advancing the deadline by complete
+             * periods alternates the available callbacks around the configured
+             * phase and prevents both drift and catch-up bursts. */
+            int64_t periods = ((now_us - s_next_edge_enqueue_us) /
+                               EDGE_DSP_MIN_INTERVAL_US) + 1;
+            s_next_edge_enqueue_us += periods * EDGE_DSP_MIN_INTERVAL_US;
+        } else {
+            s_edge_rate_skip++;
+        }
     }
 
     /* ADR-110 §A0.11/§A0.12 — Emit a sync-packet every N CSI frames so the
@@ -411,7 +458,7 @@ static void csi_start_self_ping(void)
     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.interval_ms     = CSI_SELF_PING_INTERVAL_MS;
     cfg.data_size       = 1;
     cfg.task_stack_size = 4096;
 
@@ -424,7 +471,8 @@ static void csi_start_self_ping(void)
 
     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);
+        ESP_LOGI(TAG, "self-ping started -> %s @%dHz (CSI OFDM source, fix #521/#954)",
+                 gw_str, CONFIG_CSI_SELF_PING_HZ);
     } else {
         ESP_LOGW(TAG, "self-ping: esp_ping_new_session failed");
         s_self_ping = NULL;
@@ -592,6 +640,8 @@ void csi_collector_init(void)
 
     ESP_LOGI(TAG, "CSI collection initialized (node_id=%u, channel=%u)",
              (unsigned)s_node_id, (unsigned)csi_channel);
+    ESP_LOGI(TAG, "edge DSP cadence=%dHz; raw CSI network cadence remains independent",
+             CONFIG_EDGE_DSP_SAMPLE_HZ);
 
     /* RuView#521/#954: start the connected-STA traffic source so the CSI engine
      * receives a guaranteed OFDM unicast floor even when promiscuous capture is

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

@@ -38,6 +38,16 @@ extern nvs_config_t g_nvs_config;
 
 static const char *TAG = "edge_proc";
 
+#ifndef CONFIG_EDGE_DSP_SAMPLE_HZ
+#if CONFIG_IDF_TARGET_ESP32C6
+#define CONFIG_EDGE_DSP_SAMPLE_HZ 8
+#else
+#define CONFIG_EDGE_DSP_SAMPLE_HZ 20
+#endif
+#endif
+
+#define EDGE_CONFIGURED_SAMPLE_RATE_HZ ((float)CONFIG_EDGE_DSP_SAMPLE_HZ)
+
 /* ======================================================================
  * SPSC Ring Buffer (lock-free, single-producer single-consumer)
  * ====================================================================== */
@@ -355,11 +365,12 @@ 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;
+ * assumption and made it variable. A fixed rate scales BPM and Doppler bins
+ * incorrectly. Start from the filter design rate, then follow measured time. */
+static float    s_sample_rate_hz   = EDGE_CONFIGURED_SAMPLE_RATE_HZ;
+static float    s_filter_design_fs = EDGE_CONFIGURED_SAMPLE_RATE_HZ; /* fs the biquads were last designed at */
+static uint32_t s_rate_window_start_us = 0;
+static uint32_t s_rate_window_intervals = 0;
 
 /** Latest vitals state. */
 static float    s_breathing_bpm;
@@ -409,6 +420,21 @@ static edge_biquad_t s_person_bq_hr[EDGE_MAX_PERSONS];
 static float s_person_br_filt[EDGE_MAX_PERSONS][EDGE_PHASE_HISTORY_LEN];
 static float s_person_hr_filt[EDGE_MAX_PERSONS][EDGE_PHASE_HISTORY_LEN];
 
+/** Clear person slots whenever the room-level presence gate is closed. */
+static void reset_person_count_state(void)
+{
+    s_person_count_candidate = 0;
+    s_person_count_streak = 0;
+    s_person_count_stable = 0;
+    for (uint8_t p = 0; p < EDGE_MAX_PERSONS; p++) {
+        s_persons[p].active = false;
+        s_persons[p].history_len = 0;
+        s_persons[p].history_idx = 0;
+        s_persons[p].breathing_bpm = 0.0f;
+        s_persons[p].heartrate_bpm = 0.0f;
+    }
+}
+
 /** Latest vitals packet (thread-safe via volatile copy). */
 static volatile edge_vitals_pkt_t s_latest_pkt;
 static volatile bool s_pkt_valid;
@@ -898,7 +924,10 @@ static void send_vitals_packet(void)
     for (uint8_t p = 0; p < EDGE_MAX_PERSONS; p++) {
         if (s_persons[p].active) n_active++;
     }
-    pkt.n_persons = n_active;
+    /* Fail closed: the slot heuristic cannot assert occupants while the
+     * debounced presence gate is false. The host repeats this invariant for
+     * backward compatibility with older firmware. */
+    pkt.n_persons = edge_evidence_person_count(s_presence_detected, n_active);
 
     pkt.motion_energy = s_motion_energy;
     pkt.presence_score = s_presence_score;
@@ -1038,20 +1067,27 @@ 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;
+    /* Measure the real CSI sample rate over one-second timestamp windows. WiFi
+     * replies arrive in bursts, so filtering individual short intervals made
+     * a 35 pps stream look like 12-16 Hz. Counting all processed intervals in
+     * the window preserves the clock actually seen by the temporal filters. */
+    if (s_rate_window_start_us == 0) {
+        s_rate_window_start_us = slot->timestamp_us;
+        s_rate_window_intervals = 0;
+    } else if (slot->timestamp_us > s_rate_window_start_us) {
+        s_rate_window_intervals++;
+        uint32_t elapsed_us = slot->timestamp_us - s_rate_window_start_us;
+        if (elapsed_us >= EDGE_SAMPLE_RATE_WINDOW_MIN_US) {
+            s_sample_rate_hz = edge_sample_rate_window_update(
+                s_sample_rate_hz, s_rate_window_intervals, elapsed_us);
+            s_rate_window_start_us = slot->timestamp_us;
+            s_rate_window_intervals = 0;
         }
+    } else {
+        /* Timer wrap or reset. Start a fresh evidence window. */
+        s_rate_window_start_us = slot->timestamp_us;
+        s_rate_window_intervals = 0;
     }
-    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
@@ -1202,8 +1238,15 @@ static void process_frame(const edge_ring_slot_t *slot)
         }
     }
 
-    /* --- Step 11: Multi-person vitals --- */
-    update_multi_person_vitals(slot->iq_data, n_subcarriers, sample_rate);
+    /* --- Step 11: Multi-person vitals ---
+     * Person slots are subordinate to the room presence gate. Processing or
+     * retaining slots while absent produced contradictory packets such as
+     * presence=false with n_persons=4. */
+    if (s_presence_detected) {
+        update_multi_person_vitals(slot->iq_data, n_subcarriers, sample_rate);
+    } else {
+        reset_person_count_state();
+    }
     /* Yield after multi-person DSP so IDLE1 can feed Core 1 watchdog (#683). */
     if (s_cfg.tier >= 2) vTaskDelay(1);
 
@@ -1314,6 +1357,11 @@ bool edge_get_vitals(edge_vitals_pkt_t *pkt)
     return true;
 }
 
+float edge_get_sample_rate_hz(void)
+{
+    return s_sample_rate_hz;
+}
+
 void edge_get_multi_person(edge_person_vitals_t *persons, uint8_t *n_active)
 {
     uint8_t active = 0;
@@ -1373,6 +1421,10 @@ esp_err_t edge_processing_init(const edge_config_t *cfg)
     s_fall_detected = false;
     s_latest_rssi = 0;
     s_frame_count = 0;
+    s_sample_rate_hz = EDGE_CONFIGURED_SAMPLE_RATE_HZ;
+    s_filter_design_fs = EDGE_CONFIGURED_SAMPLE_RATE_HZ;
+    s_rate_window_start_us = 0;
+    s_rate_window_intervals = 0;
     s_prev_phase_velocity = 0.0f;
     s_fall_consec_count = 0;
     s_fall_last_alert_us = 0;
@@ -1397,9 +1449,9 @@ esp_err_t edge_processing_init(const edge_config_t *cfg)
     s_person_count_streak = 0;
     s_person_count_stable = 0;
 
-    /* Design biquad bandpass filters.
-     * Sampling rate ~20 Hz (typical ESP32 CSI callback rate). */
-    const float fs = 20.0f;
+    /* Design biquad bandpass filters against the configured DSP clock. The
+     * measured timestamp estimator then follows sustained hardware drift. */
+    const float fs = EDGE_CONFIGURED_SAMPLE_RATE_HZ;
     biquad_bandpass_design(&s_bq_breathing, fs, 0.1f, 0.5f);
     biquad_bandpass_design(&s_bq_heartrate, fs, 0.8f, 2.0f);
 

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

@@ -35,9 +35,56 @@
 #define EDGE_TOP_K            8     /**< Top-K subcarriers to track. */
 #define EDGE_MAX_SUBCARRIERS  128   /**< Max subcarriers per frame. */
 
+/* ---- Measured sample-rate tracking ----
+ *
+ * The connected-STA probe produces up to 50 CSI opportunities per second,
+ * while contention and callback gating make the delivered cadence variable.
+ * Temporal filters must follow measured time rather than a fixed frame-rate
+ * assumption. The 60 Hz estimator ceiling leaves jitter headroom above the
+ * qualified 50 Hz callback limit. A one-second frame-count window represents
+ * bursty but valid WiFi arrivals more accurately than averaging only selected
+ * inter-frame intervals. */
+#define EDGE_SAMPLE_RATE_MIN_HZ 8.0f
+#define EDGE_SAMPLE_RATE_MAX_HZ 60.0f
+#define EDGE_SAMPLE_RATE_EMA_ALPHA 0.25f
+#define EDGE_SAMPLE_RATE_WINDOW_MIN_US 1000000U
+#define EDGE_SAMPLE_RATE_WINDOW_MAX_US 3000000U
+
+static inline float edge_sample_rate_window_update(float current_hz,
+                                                   uint32_t frame_intervals,
+                                                   uint32_t elapsed_us)
+{
+    if (frame_intervals == 0 || elapsed_us < EDGE_SAMPLE_RATE_WINDOW_MIN_US ||
+        elapsed_us > EDGE_SAMPLE_RATE_WINDOW_MAX_US) {
+        return current_hz;
+    }
+
+    float instant_hz = (float)frame_intervals * 1000000.0f / (float)elapsed_us;
+    if (instant_hz < EDGE_SAMPLE_RATE_MIN_HZ) instant_hz = EDGE_SAMPLE_RATE_MIN_HZ;
+    if (instant_hz > EDGE_SAMPLE_RATE_MAX_HZ) instant_hz = EDGE_SAMPLE_RATE_MAX_HZ;
+    float next_hz = current_hz + EDGE_SAMPLE_RATE_EMA_ALPHA * (instant_hz - current_hz);
+    if (next_hz < EDGE_SAMPLE_RATE_MIN_HZ) return EDGE_SAMPLE_RATE_MIN_HZ;
+    if (next_hz > EDGE_SAMPLE_RATE_MAX_HZ) return EDGE_SAMPLE_RATE_MAX_HZ;
+    return next_hz;
+}
+
 /* ---- Multi-person ---- */
 #define EDGE_MAX_PERSONS      4     /**< Max simultaneous persons. */
 
+/**
+ * Enforce the wire-level occupancy invariant.
+ *
+ * A subcarrier slot estimate is supporting evidence only. It cannot assert an
+ * occupant when the independently debounced presence gate is false. Keeping
+ * this helper in the public firmware header lets host tests exercise the exact
+ * function used by the device build.
+ */
+static inline uint8_t edge_evidence_person_count(bool presence, uint8_t active_count)
+{
+    if (!presence) return 0;
+    return active_count > EDGE_MAX_PERSONS ? EDGE_MAX_PERSONS : active_count;
+}
+
 /* ---- Multi-person counting gates (issue #998) ----
  *
  * Over-counting root cause: the multi-person path used to split the top-K
@@ -238,6 +285,12 @@ bool edge_enqueue_csi(const uint8_t *iq_data, uint16_t iq_len,
  */
 bool edge_get_vitals(edge_vitals_pkt_t *pkt);
 
+/**
+ * Return the timestamp-derived CSI cadence used to design temporal filters.
+ * This is diagnostic evidence, not the raw callback or network delivery rate.
+ */
+float edge_get_sample_rate_hz(void);
+
 /**
  * Get multi-person vitals array.
  *

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

@@ -23,9 +23,6 @@ static const char *TAG = "ota_update";
 /** OTA HTTP server port. */
 #define OTA_PORT 8032
 
-/** Maximum firmware size (900 KB — matches CI binary size gate). */
-#define OTA_MAX_SIZE (900 * 1024)
-
 /** NVS namespace and key for the OTA pre-shared key. */
 #define OTA_NVS_NAMESPACE "security"
 #define OTA_NVS_KEY       "ota_psk"
@@ -95,11 +92,11 @@ static esp_err_t ota_status_handler(httpd_req_t *req)
     int len = snprintf(response, sizeof(response),
         "{\"version\":\"%s\",\"date\":\"%s\",\"time\":\"%s\","
         "\"running_partition\":\"%s\",\"next_partition\":\"%s\","
-        "\"max_size\":%d}",
+        "\"max_size\":%lu}",
         app->version, app->date, app->time,
         running ? running->label : "unknown",
         update ? update->label : "none",
-        OTA_MAX_SIZE);
+        (unsigned long)(update ? update->size : 0));
 
     httpd_resp_set_type(req, "application/json");
     httpd_resp_send(req, response, len);
@@ -121,12 +118,6 @@ static esp_err_t ota_upload_handler(httpd_req_t *req)
 
     ESP_LOGI(TAG, "OTA update started, content_length=%d", req->content_len);
 
-    if (req->content_len <= 0 || req->content_len > OTA_MAX_SIZE) {
-        httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST,
-                            "Invalid firmware size (must be 1B - 900KB)");
-        return ESP_FAIL;
-    }
-
     const esp_partition_t *update_partition = esp_ota_get_next_update_partition(NULL);
     if (update_partition == NULL) {
         httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR,
@@ -134,6 +125,15 @@ static esp_err_t ota_upload_handler(httpd_req_t *req)
         return ESP_FAIL;
     }
 
+    if (req->content_len <= 0 || (size_t)req->content_len > update_partition->size) {
+        ESP_LOGW(TAG, "OTA rejected: content_length=%d exceeds partition '%s' size=%lu",
+                 req->content_len, update_partition->label,
+                 (unsigned long)update_partition->size);
+        httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST,
+                            "Invalid firmware size for OTA partition");
+        return ESP_FAIL;
+    }
+
     esp_ota_handle_t ota_handle;
     esp_err_t err = esp_ota_begin(update_partition, OTA_WITH_SEQUENTIAL_WRITES, &ota_handle);
     if (err != ESP_OK) {

firmware/esp32-csi-node/sdkconfig.defaults.esp32c6

@@ -58,6 +58,10 @@ CONFIG_ULP_COPROC_RESERVE_MEM=8192
 # CONFIG_DISPLAY_ENABLE is not set
 # CONFIG_WASM_ENABLE is not set
 
+# Physical Tier 2 qualification on ESP32-C6 rev 0.2 converges at 8 Hz while
+# leaving the raw network CSI stream independent at roughly 30-40 pps.
+CONFIG_EDGE_DSP_SAMPLE_HZ=8
+
 # ── Compiler ──
 CONFIG_COMPILER_OPTIMIZATION_SIZE=y
 

firmware/esp32-csi-node/test/test_vitals_count_presence.c

@@ -266,6 +266,19 @@ static void test_debounce_flapping_stays_stable(void)
     CHECK_EQ_U8("flapping count stays at 1", out, 1);
 }
 
+/* The packet count is evidence subordinated to presence, never an independent
+ * occupancy assertion. This guards the field failure where a node emitted
+ * presence=false with n_persons=3 or 4. */
+static void test_person_count_fails_closed_without_presence(void)
+{
+    CHECK_EQ_U8("absent with four active slots -> zero",
+                edge_evidence_person_count(false, 4), 0);
+    CHECK_EQ_U8("present preserves a bounded count",
+                edge_evidence_person_count(true, 3), 3);
+    CHECK_EQ_U8("present count clamps to protocol maximum",
+                edge_evidence_person_count(true, 255), EDGE_MAX_PERSONS);
+}
+
 /* ──────────────────────────────────────────────────────────────────────
  *  #996 — presence_flag_update: dithering score must NOT flicker the flag
  * ────────────────────────────────────────────────────────────────────── */
@@ -357,6 +370,36 @@ static void test_presence_dead_band_holds_state(void)
     CHECK_TRUE("dead band does not clear from true", flag);
 }
 
+/* The physical C6 delivered 28-37 CSI frames/s while the former estimator was
+ * capped at 30 Hz. A 34 Hz stream must converge above that old ceiling. */
+static void test_sample_rate_tracks_above_thirty_hz(void)
+{
+    float rate = 20.0f;
+    for (int i = 0; i < 12; i++) {
+        rate = edge_sample_rate_window_update(rate, 34U, 1000000U);
+    }
+    CHECK_TRUE("sample rate follows measured 34 Hz cadence", rate > 33.0f && rate < 35.0f);
+}
+
+static void test_sample_rate_requires_complete_window(void)
+{
+    float rate = 34.0f;
+    CHECK_TRUE("short window rejected",
+               edge_sample_rate_window_update(rate, 10U, 200000U) == rate);
+    CHECK_TRUE("stalled window rejected",
+               edge_sample_rate_window_update(rate, 10U, 4000000U) == rate);
+}
+
+static void test_sample_rate_is_bounded(void)
+{
+    float rate = EDGE_SAMPLE_RATE_MAX_HZ;
+    CHECK_TRUE("sample rate upper bound holds",
+               edge_sample_rate_window_update(rate, 1000U, 1000000U) <= EDGE_SAMPLE_RATE_MAX_HZ);
+    rate = EDGE_SAMPLE_RATE_MIN_HZ;
+    CHECK_TRUE("sample rate lower bound holds",
+               edge_sample_rate_window_update(rate, 1U, 1000000U) >= EDGE_SAMPLE_RATE_MIN_HZ);
+}
+
 /* ──────────────────────────────────────────────────────────────────────
  *  main
  * ────────────────────────────────────────────────────────────────────── */
@@ -375,6 +418,7 @@ int main(void)
     test_debounce_rejects_transient_spike();
     test_debounce_accepts_sustained_change();
     test_debounce_flapping_stays_stable();
+    test_person_count_fails_closed_without_presence();
 
     /* #996 presence hysteresis */
     test_presence_no_flicker_on_dither();
@@ -382,6 +426,11 @@ int main(void)
     test_presence_genuine_departure_clears();
     test_presence_dead_band_holds_state();
 
+    /* Timestamp-derived temporal calibration */
+    test_sample_rate_tracks_above_thirty_hz();
+    test_sample_rate_requires_complete_window();
+    test_sample_rate_is_bounded();
+
     printf("\n%d passed, %d failed\n", g_passed, g_failed);
     return g_failed == 0 ? 0 : 1;
 }

firmware/esp32-csi-node/version.txt

@@ -1 +1 @@
-0.8.4
+0.8.8

v2/Cargo.lock

@@ -1553,7 +1553,7 @@ version = "3.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "faf9468729b8cbcea668e36183cb69d317348c2e08e994829fb56ebfdfbaac34"
 dependencies = [
- "windows-sys 0.48.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -1791,36 +1791,36 @@ dependencies = [
 
 [[package]]
 name = "cranelift-assembler-x64"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f8e1303ae2128891cb59691a74de4547dd208bc8511a2f287cca2b93bb3c728"
+checksum = "6835dba958b2ab7ab523e7e99296e0524317f60430a00cf5850562ef78ea7001"
 dependencies = [
  "cranelift-assembler-x64-meta",
 ]
 
 [[package]]
 name = "cranelift-assembler-x64-meta"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58b2740a5936332028d9a1e8f29a199de2fd386e426d44da5fea70cf8e3f8e75"
+checksum = "0b6e4ce8ee6d899381fbdd9e6561336c651189d46cecaeee09b29e8d80aa786e"
 dependencies = [
  "cranelift-srcgen",
 ]
 
 [[package]]
 name = "cranelift-bforest"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "37fd128d3629fb105e433bda09744c5a2959cd1da04617a455c4cc17dff1ebef"
+checksum = "0cb6d37015df7ea4b60450c1229ad5f5819a1fb27434b063f8e6216dfbd0c42a"
 dependencies = [
  "cranelift-entity",
 ]
 
 [[package]]
 name = "cranelift-bitset"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24a88f6d5a6cf6fcbc6386415d48948094721dfa4585d6615938b11ca938f20a"
+checksum = "986bea0b0858b55192782120032ce9c15943fa073f186f6e479653c59e62c329"
 dependencies = [
  "serde",
  "serde_derive",
@@ -1828,9 +1828,9 @@ dependencies = [
 
 [[package]]
 name = "cranelift-codegen"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "daa4a357d030bdd586d8fe3da56b394f7f6b6ded506e59f945e7b32b1e126b71"
+checksum = "9f30aeb2de7f97d6f26b4a1642615834daad58e2e4d7c027810010a3a32f22be"
 dependencies = [
  "bumpalo",
  "cranelift-assembler-x64",
@@ -1855,9 +1855,9 @@ dependencies = [
 
 [[package]]
 name = "cranelift-codegen-meta"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4121e36a8757dea6fb237435ee5095eba25bc13ecc2eaee57eb9bffd4b27784f"
+checksum = "cd5dd137fcdedef33b6fd40edf1ced024460d764ceb75833e8198a843395945c"
 dependencies = [
  "cranelift-assembler-x64-meta",
  "cranelift-codegen-shared",
@@ -1868,24 +1868,24 @@ dependencies = [
 
 [[package]]
 name = "cranelift-codegen-shared"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5173265fc30b9e42205cf06dfca9a272ee949667ce4115d975ed2c08d466e2f8"
+checksum = "ab54b260ef23a8f0f536679b9fc3b3b3e05353e8d1448f3ab83df02078e8be9b"
 
 [[package]]
 name = "cranelift-control"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b6ca8a393e66dc13f915c6f456bdcf496d78fac4995792f7022b7806352d7a4"
+checksum = "3f3e569779ad70537f34a670d444ee3d75ae583b2023913f4682814b0979f7e8"
 dependencies = [
  "arbitrary",
 ]
 
 [[package]]
 name = "cranelift-entity"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e609d9ba416bc26d774f343295a1d411515248a6a6d83d5f7492a0dd919569fa"
+checksum = "2ff53acc85f5c5f7d9315ff133a6671d329a0f04aa2d1a8a2e81d59709ccddcb"
 dependencies = [
  "cranelift-bitset",
  "serde",
@@ -1894,9 +1894,9 @@ dependencies = [
 
 [[package]]
 name = "cranelift-frontend"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90a3a277b1a0aff1123f6bae61c080a4bcb6df964829ed427f98e18dff14257f"
+checksum = "ab5976c0ff5bfadf61cd8bda81fea78ee5a07018b9cd03e66c0952c56684928b"
 dependencies = [
  "cranelift-codegen",
  "log",
@@ -1906,15 +1906,15 @@ dependencies = [
 
 [[package]]
 name = "cranelift-isle"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "be53dd9b3a4cbeb9ced45c4a543ea8417ccfb334c3ba1cbb2233f4b25fb2531f"
+checksum = "77b4f73d2288e9480fd2d1d9ab576394dce4805443d6148c6d819dbf78865ce4"
 
 [[package]]
 name = "cranelift-native"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca62ab1d9f48cad97da5843b913ccf96c3dfde935af5d750cb5a6d367ccfb262"
+checksum = "fe9650c2baf22fa1e2542a5bdd8152616ec2023d929c4cbb450ff677ad8d9c21"
 dependencies = [
  "cranelift-codegen",
  "libc",
@@ -1923,9 +1923,9 @@ dependencies = [
 
 [[package]]
 name = "cranelift-srcgen"
-version = "0.123.13"
+version = "0.123.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a13b72860f54a2a19d3756bd47575fd8bddeafd6e5bbbf16372cdfebc482628a"
+checksum = "4ad4f61ae701d73c326d3df08c366b29ad10f1ba06c245092f217b8d2306746b"
 
 [[package]]
 name = "crc"
@@ -3333,7 +3333,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
 dependencies = [
  "libc",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -5549,7 +5549,7 @@ checksum = "3640c1c38b8e4e43584d8df18be5fc6b0aa314ce6ebf51b53313d4306cca8e46"
 dependencies = [
  "hermit-abi",
  "libc",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -8051,7 +8051,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b570b25f7617e43d59005d0990ccb79e950a423952cea19671b7a876da390adf"
 dependencies = [
  "anyhow",
- "itertools 0.14.0",
+ "itertools 0.10.5",
  "proc-macro2",
  "quote",
  "syn 2.0.117",
@@ -8088,9 +8088,9 @@ dependencies = [
 
 [[package]]
 name = "pulley-interpreter"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2662666315cb90dfb4d99a652ee053d4d8598f71c474209e84da031ca56ae5a4"
+checksum = "eb0a4b56042e461cc64456650182938e2d1ede98fa0c8a975027416a2809c414"
 dependencies = [
  "cranelift-bitset",
  "log",
@@ -8100,9 +8100,9 @@ dependencies = [
 
 [[package]]
 name = "pulley-macros"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bb9a7d9ed2618f94b6d054aba3eb2768c9b489fe16b4ef8847fbc6ed41b707bb"
+checksum = "244667bea2e214273442a71f26adb12b88a41f66718fb2c6eea47c00f0dc325f"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -8240,7 +8240,7 @@ dependencies = [
  "once_cell",
  "socket2 0.5.10",
  "tracing",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -8968,6 +8968,17 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "rufield-adapters"
+version = "0.1.0"
+dependencies = [
+ "rufield-core",
+ "rufield-provenance",
+ "serde",
+ "serde_json",
+ "sha2 0.10.9",
+]
+
 [[package]]
 name = "rufield-core"
 version = "0.1.0"
@@ -9093,7 +9104,7 @@ dependencies = [
  "errno",
  "libc",
  "linux-raw-sys",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -9151,7 +9162,7 @@ dependencies = [
  "security-framework",
  "security-framework-sys",
  "webpki-root-certs",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -11105,7 +11116,7 @@ dependencies = [
  "getrandom 0.4.1",
  "once_cell",
  "rustix",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -12471,9 +12482,9 @@ dependencies = [
 
 [[package]]
 name = "wasmtime"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "93d881c5dcff5f230368d84fcf110ca25fe47badc694e7d559c3891492159916"
+checksum = "7d05c745dc0978e589ef295958f3130122afc33d96af6bad3f0f06dbe7ac43a8"
 dependencies = [
  "addr2line",
  "anyhow",
@@ -12526,9 +12537,9 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-environ"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4b25534a3ff9dd844701c2bc997f76cb1f97bf2af0546a7066ae96f49c2e068"
+checksum = "9fd1d43cfaa1a0859d2f4fccc15e7e571e2a88b357e81bc88ba6c501b83d925d"
 dependencies = [
  "anyhow",
  "cpp_demangle",
@@ -12553,18 +12564,18 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-internal-asm-macros"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1d02832d760351fb3a1aa99eb8f7b95596c0f4e4e52df1547fcdb295ea5c780c"
+checksum = "515dd7158bf1719b41290cd2e6a2a46ec944484146816992f195af3720e49b3f"
 dependencies = [
  "cfg-if",
 ]
 
 [[package]]
 name = "wasmtime-internal-cache"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "651f8a16b51cde3ee8bd5b775bcedc24b66040d7dca1f13ad855b10c660e1d01"
+checksum = "12a53145473629ea40f445235ed95182b76940f00a67c3c9c6c4857dae0ad823"
 dependencies = [
  "anyhow",
  "base64 0.22.1",
@@ -12582,9 +12593,9 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-internal-component-macro"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ba2ed6dbe24607573f7bcc59222f3bc2e7f7d31609466055c67b9484045a374a"
+checksum = "dfca017b7daa80ff217c66f105ee20e674d87b7c11dca85bbb9d0146e9f443fb"
 dependencies = [
  "anyhow",
  "proc-macro2",
@@ -12597,15 +12608,15 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-internal-component-util"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e21aadbf677ee3503ef2580ce3c6955508e90a2810e961739b30f79585af254c"
+checksum = "1c3e218b51d2ef9eb181499e42c691512c1bc11dd6dc7746807a9b2b9290369c"
 
 [[package]]
 name = "wasmtime-internal-cranelift"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "65821bab751956cddfc6ee957beb13a0e2a6cf682050d75dfb7a0228db2ed499"
+checksum = "5ba1736927b58e50e741e407da7c037c0250f3e213833a09c89dcd8f73ae2eac"
 dependencies = [
  "anyhow",
  "cfg-if",
@@ -12630,9 +12641,9 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-internal-fiber"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "18cf73e5e8d28a2b30d86454430c7dea3b593598dcbbc0ebb927ca2716222d41"
+checksum = "7b238e4c20bddb900ec0cb380252d63e8d0644fd94de001119574f5921e895d9"
 dependencies = [
  "anyhow",
  "cc",
@@ -12646,9 +12657,9 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-internal-jit-debug"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4279dc3147ddaa21e5b3d2c0eaff117881c4f937747bdd2379eb361665843bd3"
+checksum = "8f259b13685ad51e3dcf58cb69031279ed0d79c25bc3ccc8b50e7160ed04fbfe"
 dependencies = [
  "cc",
  "object",
@@ -12658,9 +12669,9 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-internal-jit-icache-coherence"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a8eb677944201839c0be19b39b0f19dcd663efbcbc05a09c73f26fec7bdf0331"
+checksum = "41fed85537936b16460bac352ad149052c025db50467c7bc539dd47b31439374"
 dependencies = [
  "anyhow",
  "cfg-if",
@@ -12670,24 +12681,24 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-internal-math"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db9a153e184878df396a11f8912444531c2e4d0c7a1d9e9a52b30d9853d89cb9"
+checksum = "82fff10da41d0d15d90ebba70946a0aa16ed0957ae7b77e0b6d2a46e8221e555"
 dependencies = [
  "libm",
 ]
 
 [[package]]
 name = "wasmtime-internal-slab"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b771494bead25e1f0c4c89a9476dd0b65eacca314ed82125f1e197fbc3f0396b"
+checksum = "e44a8c097bab08d349d57dce1ab818859fefbe261ab3632b38fe127b1b551108"
 
 [[package]]
 name = "wasmtime-internal-unwinder"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90199caed6925420434a923861d8ad813689ca8533d2c679f805d12e35b40a4b"
+checksum = "7f40a57d5e7c221ce56391d7dca0a918ba17ea00185462c7facbf534d7745184"
 dependencies = [
  "anyhow",
  "cfg-if",
@@ -12698,9 +12709,9 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-internal-versioned-export-macros"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae71687aa834f9cc9eb5b0f97c85184d7dc70b84d32fd8927af0887998a1ba35"
+checksum = "e085bfce1cb2089dbeef6e280a5d598666923d3dcd308712fe429fe43c9d19f5"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -12709,9 +12720,9 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-internal-winch"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5d0ba45c0d766dd56257d97702d3284b6f69efdd4c53ca981a0754cc0a139df0"
+checksum = "c4916cd526e1ce294984cc5b70264cfc0ca103b41ca665b58728bde250b6b82f"
 dependencies = [
  "anyhow",
  "cranelift-codegen",
@@ -12726,9 +12737,9 @@ dependencies = [
 
 [[package]]
 name = "wasmtime-internal-wit-bindgen"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41a64d5112c06f9d54b41e61f0b757d3a5a52361bf359f01131cc7cb8551ac73"
+checksum = "39ad2f9d9c3baa70ee4d157b55b4c08e5dc00f1d80aad3692b1e0806393914ea"
 dependencies = [
  "anyhow",
  "bitflags 2.11.0",
@@ -13377,6 +13388,7 @@ version = "0.1.0"
 name = "wifi-densepose-rufield"
 version = "0.3.0"
 dependencies = [
+ "rufield-adapters",
  "rufield-core",
  "rufield-fusion",
  "rufield-privacy",
@@ -13430,6 +13442,7 @@ dependencies = [
  "futures-util",
  "hmac",
  "jsonwebtoken",
+ "mdns-sd",
  "midstreamer-attractor",
  "midstreamer-temporal-compare",
  "opentelemetry-appender-tracing",
@@ -13611,7 +13624,7 @@ version = "0.1.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c2a7b1c03c876122aa43f3020e6c3c3ee5c05081c9a00739faf7503aeba10d22"
 dependencies = [
- "windows-sys 0.48.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -13622,9 +13635,9 @@ checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
 [[package]]
 name = "winch-codegen"
-version = "36.0.13"
+version = "36.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "82ea9625459ce35d6a4188cf0f07c9095cbb0e5afd86f711d63955bfc4216e64"
+checksum = "e826c012c68403725e77adf6b904c2ea809e5d464aaf25aa6eda14559300b3df"
 dependencies = [
  "anyhow",
  "cranelift-assembler-x64",

v2/crates/wifi-densepose-rufield/Cargo.toml

@@ -19,6 +19,10 @@ rufield-core = { version = "0.1.0", path = "../../../vendor/rufield/crates/rufie
 rufield-provenance = { version = "0.1.0", path = "../../../vendor/rufield/crates/rufield-provenance" }
 rufield-privacy = { version = "0.1.0", path = "../../../vendor/rufield/crates/rufield-privacy" }
 rufield-fusion = { version = "0.1.0", path = "../../../vendor/rufield/crates/rufield-fusion" }
+# ADR-262 P4 second modality: UltrasonicReplayAdapter parses, validates and
+# signs BatVu range profiles upstream, so RuView only has to decide what it is
+# willing to put on a wire. Same pure-Rust constraint as the four above.
+rufield-adapters = { version = "0.1.0", path = "../../../vendor/rufield/crates/rufield-adapters" }
 serde = { workspace = true }
 serde_json = { workspace = true }
 

v2/crates/wifi-densepose-rufield/src/bridge.rs

@@ -145,6 +145,21 @@ pub fn snapshot_to_field_event(snap: &SensingSnapshot, signer: &Signer) -> Field
         features: build_features(snap, range_m),
         labels: build_labels(snap),
         privacy_class: class,
+        // ── fields added upstream since the previous submodule pin ─────────
+        //
+        // Each empty for its own reason rather than because a default was
+        // convenient. `track_id`: this bridge emits per-cycle snapshots, not
+        // tracks, and a stable per-person identifier is exactly what §3.3
+        // warns about. `attributes`: nothing `features` and `labels` do not
+        // already carry, and an empty map is omitted from the wire.
+        // `identity_evidence` / `channel_sounding_provenance`: both are
+        // structurally BLE-only — `validate_evidence_at` rejects either on any
+        // other modality — so for `wifi_csi` they are not unset, they are
+        // unrepresentable.
+        track_id: None,
+        attributes: Default::default(),
+        identity_evidence: None,
+        channel_sounding_provenance: None,
     };
 
     // ── 3. Provenance (real sha256 over the tensor bytes) ───────────────────
@@ -166,6 +181,15 @@ pub fn snapshot_to_field_event(snap: &SensingSnapshot, signer: &Signer) -> Field
         vendor: "esp32".to_string(),
         device_id: snap.node_id.clone(),
         placement: "unknown".to_string(),
+        // Optional sensor pose, added upstream. Left unset on purpose: a CSI
+        // link has no boresight and no surveyed position here, and §6 is
+        // explicit that this surface makes no validated room-coordinate claim
+        // (`field_localize`). A placeholder pose would be inventing exactly
+        // that claim. The ultrasonic path DOES set these, because a handheld
+        // scanner genuinely knows where it was pointing.
+        coordinate_frame: None,
+        position_m: None,
+        orientation_xyzw: None,
         clock_domain: "local".to_string(),
     };
 

v2/crates/wifi-densepose-rufield/src/lib.rs

@@ -71,12 +71,14 @@
 pub mod bridge;
 pub mod privacy;
 pub mod snapshot;
+pub mod ultrasonic;
 
 pub use bridge::{snapshot_egress_class, snapshot_to_field_event};
 pub use privacy::{apply_demotion_floor, egress_class, map_privacy};
 pub use snapshot::{
     RuViewPrivacyClass, SensingClass, SensingFeatures, SensingSnapshot, SignalField,
 };
+pub use ultrasonic::{ScanError, ScanSource, UltrasonicScan, ULTRASONIC_EGRESS_CLASS};
 
 // Re-export the rufield surface a bridge consumer needs, so callers depend on
 // one crate.

v2/crates/wifi-densepose-rufield/src/ultrasonic.rs

@@ -0,0 +1,233 @@
+//! ADR-262 **P4, second modality**: ultrasonic range profiles on the field
+//! surface.
+//!
+//! Until now RuView's `/api/field` and `/ws/field` have carried exactly one
+//! modality — WiFi CSI, through [`crate::bridge`]. ADR-262 §4 lists multi-
+//! modality as P4 and leaves the choice of the second one open (§8 question 5
+//! asks whether it should be `rvcsi`, "making RuField the convergence point for
+//! both vendored sensing runtimes").
+//!
+//! This is a different answer to that question, and the reason is that it costs
+//! almost nothing: `rufield-adapters` now ships
+//! [`UltrasonicReplayAdapter`](rufield_adapters::UltrasonicReplayAdapter), the
+//! first adapter for `Modality::Ultrasonic` — registry code 7, which had sat in
+//! the §8 registry since v0.1 with nothing implementing it. It parses, validates
+//! and **signs** BatVu recordings upstream. RuView does not have to build any of
+//! that; it has to decide what it is willing to put on a wire.
+//!
+//! # What BatVu is, in one paragraph
+//!
+//! [BatVu](https://github.com/ruvnet/batvu) is a handheld sonar that runs in a
+//! phone browser: a 17.5–20.5 kHz chirp out of the speaker, a matched filter
+//! over the microphone, and a **range profile** — echo amplitude against
+//! distance along one beam. One microphone, so it measures range and infers
+//! bearing only from where the operator was pointing. That asymmetry is why the
+//! beam is carried as sensor *pose* rather than as an angle axis.
+//!
+//! # Why this module exists at all, given the adapter does the work
+//!
+//! Because RuView's egress rule is **stricter** than RuField's default guard,
+//! and the difference has to be structural rather than a runtime refusal.
+//!
+//! The adapter offers two output modes. [`UltrasonicOutput::RangeProfile`] is
+//! the full per-bin frame, classified `P0`, which
+//! [`network_egress_allowed`](crate::network_egress_allowed) holds edge-local —
+//! correctly, but *silently*, as a dropped event at the end of a pipeline that
+//! did all the parsing and signing first.
+//! [`UltrasonicOutput::CoarseProfile`] is a 32-bin max-pooled reduction,
+//! classified `P1`, which is egress-safe.
+//!
+//! So this module does not offer the choice. It configures the adapter for the
+//! coarse mode and says why, because a consumer cannot un-coarsen a coarse
+//! profile and a policy expressed in the *shape of the data* cannot be
+//! misconfigured later. The egress gate still runs — belt and braces, and it is
+//! asserted by a test — but by then there is nothing left for it to catch.
+//!
+//! # Honesty (ADR-262 §0 / §6)
+//!
+//! Same posture as P1, plus one more caveat that is BatVu's rather than ours:
+//!
+//! 1. **Replay, not live.** A file, not a streaming phone.
+//! 2. **Every current BatVu recording is its own simulator's output**, so the
+//!    events carry `synthetic: true` and are fusable only under
+//!    [`TrustPolicy::simulation`](rufield_provenance::TrustPolicy::simulation).
+//!    `captured_replay()` and `production()` reject them outright, as they
+//!    should. When a real device recording exists it declares
+//!    `device_capture` and this module refuses it unless the caller has asked
+//!    for that source explicitly — a recording cannot talk its way up a trust
+//!    tier by relabelling itself.
+//! 3. **No accuracy is claimed.** The detections are CFAR outputs at a
+//!    documented false-alarm rate. That is an operating point, not validated
+//!    accuracy against surveyed ground truth.
+//! 4. **Nothing here says a person is present.** The adapter deliberately
+//!    declines to populate the `presence` feature that would light up the
+//!    shipped `person_present` rule: one transducer pair cannot distinguish a
+//!    person from a coat over the back of a chair. The visible consequence is
+//!    that ultrasonic events currently produce no fused inferences at all, and
+//!    `ultrasonic_gates.rs` asserts that rather than papering over it.
+//!
+//! # What this does NOT do
+//!
+//! It does not touch the running server. P1 shipped as a library before P3
+//! wired it in, and this follows the same staging: a tested translation with
+//! its own gates, reviewable on its own, with the surface change as a separate
+//! change once the shape is agreed. [`UltrasonicScan::egress_events`] returns
+//! exactly what `FieldSurface::emit` would need to broadcast.
+
+use rufield_adapters::{
+    UltrasonicConfig, UltrasonicOutput, UltrasonicReplayAdapter, UltrasonicSource,
+};
+use rufield_core::{FieldEvent, PrivacyClass};
+
+use crate::network_egress_allowed;
+
+/// Which recordings a deployment is willing to accept.
+///
+/// Mirrors [`UltrasonicSource`] rather than re-exporting it, so a caller does
+/// not have to depend on `rufield-adapters` to make the choice — the bridge
+/// stays the single coupling point (ADR-262 §5.4).
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum ScanSource {
+    /// Rendered by BatVu's acoustic simulator. Events are `synthetic: true`.
+    /// The safe default: it cannot be mistaken for a measurement.
+    Simulated,
+    /// Captured from a real phone microphone. Events are `synthetic: false`
+    /// and are eligible for captured-replay trust once the sensor key is
+    /// enrolled.
+    DeviceCapture,
+}
+
+impl From<ScanSource> for UltrasonicSource {
+    fn from(s: ScanSource) -> Self {
+        match s {
+            ScanSource::Simulated => UltrasonicSource::Simulated,
+            ScanSource::DeviceCapture => UltrasonicSource::DeviceCapture,
+        }
+    }
+}
+
+/// Errors from loading a BatVu recording.
+#[derive(Debug, Clone, PartialEq)]
+pub enum ScanError {
+    /// The recording failed the adapter's parser. Carries its message, which
+    /// names the offending line.
+    Parse(String),
+    /// Calibration could not be established.
+    Calibrate(String),
+}
+
+impl std::fmt::Display for ScanError {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        match self {
+            ScanError::Parse(m) => write!(f, "ultrasonic recording rejected: {m}"),
+            ScanError::Calibrate(m) => write!(f, "ultrasonic calibration failed: {m}"),
+        }
+    }
+}
+
+impl std::error::Error for ScanError {}
+
+/// A loaded BatVu scan, ready to put on the field surface.
+#[derive(Debug)]
+pub struct UltrasonicScan {
+    adapter: UltrasonicReplayAdapter,
+    calibration_id: String,
+}
+
+impl UltrasonicScan {
+    /// Load a `.ultrasonic.jsonl` recording.
+    ///
+    /// `zone_id` is the room the scan was taken in and lands on every
+    /// observation. `accept` declares which source the deployment will take; a
+    /// recording declaring anything else is **refused**, in both directions, so
+    /// neither is a silent reinterpretation.
+    ///
+    /// Calibration runs here rather than being optional. The receipt id ends up
+    /// on every tensor, so an event that skipped it would be one nobody could
+    /// later ask "under what calibration was this measured".
+    pub fn load(text: &str, zone_id: &str, accept: ScanSource) -> Result<Self, ScanError> {
+        let config = UltrasonicConfig {
+            accept: accept.into(),
+            zone_id: zone_id.to_string(),
+            placement: "handheld".to_string(),
+            // Not a caller's choice. See the module docs: the raw per-bin frame
+            // is P0 and would be dropped by the egress gate after all the work
+            // of parsing and signing it. Coarsening at the source makes the
+            // policy a property of the data instead of a property of a check
+            // somebody could later reorder.
+            output: UltrasonicOutput::CoarseProfile,
+        };
+        let mut adapter = UltrasonicReplayAdapter::from_jsonl_with(text, config)
+            .map_err(|e| ScanError::Parse(e.to_string()))?;
+        let receipt = adapter
+            .calibrate(zone_id)
+            .map_err(|e| ScanError::Calibrate(e.to_string()))?;
+        Ok(UltrasonicScan {
+            adapter,
+            calibration_id: receipt.calibration_id,
+        })
+    }
+
+    /// Pings in the recording.
+    #[must_use]
+    pub fn ping_count(&self) -> usize {
+        self.adapter.ping_count()
+    }
+
+    /// The sensor identity the whole recording belongs to.
+    ///
+    /// This is the key RuField's replay watermark and trust registry are both
+    /// keyed on, so it has to be stable across scans — the adapter refuses a
+    /// recording whose device changes midway.
+    #[must_use]
+    pub fn device_id(&self) -> &str {
+        self.adapter.device_id()
+    }
+
+    /// The calibration receipt every tensor in this scan cites.
+    #[must_use]
+    pub fn calibration_id(&self) -> &str {
+        &self.calibration_id
+    }
+
+    /// Every event in the recording, signed and validated by the adapter.
+    ///
+    /// Includes events that the egress gate would refuse. Use this for an
+    /// edge-local consumer; use [`egress_events`](Self::egress_events) for
+    /// anything that reaches a network.
+    pub fn events(&mut self) -> Result<Vec<FieldEvent>, ScanError> {
+        self.adapter
+            .collect_events()
+            .map_err(|e| ScanError::Parse(e.to_string()))
+    }
+
+    /// Only the events RuView will put on the wire.
+    ///
+    /// Runs the same [`network_egress_allowed`] gate the CSI path runs, with
+    /// `identity_bound: false` — an ultrasonic scan has no identity to bind, and
+    /// hard-coding it rather than plumbing a flag means there is no argument a
+    /// caller can pass that turns the P4/P5 consent exception on. There is no
+    /// consent story for a room scan.
+    ///
+    /// In the coarse mode configured by [`load`](Self::load) this should drop
+    /// nothing, and `coarse_scan_passes_the_egress_gate_intact` asserts it. The
+    /// gate stays because a policy that is only enforced where it never fires
+    /// is a policy nobody notices removing.
+    pub fn egress_events(&mut self) -> Result<Vec<FieldEvent>, ScanError> {
+        Ok(self
+            .events()?
+            .into_iter()
+            .filter(|e| network_egress_allowed(e.observation.privacy_class, false))
+            .filter(|e| network_egress_allowed(e.tensor.privacy_class, false))
+            .collect())
+    }
+}
+
+/// The privacy class every event from [`UltrasonicScan`] carries.
+///
+/// `P1` — a derived non-identity feature. Stated as a constant so a test can
+/// pin it: if the adapter's default output mode ever changes upstream, that is
+/// a submodule bump which silently moves data from edge-local to network-eligible
+/// or back, and it should fail a build here rather than change behaviour in a
+/// deployment.
+pub const ULTRASONIC_EGRESS_CLASS: PrivacyClass = PrivacyClass::P1;

v2/crates/wifi-densepose-rufield/tests/fixtures/batvu_living_room.ultrasonic.jsonl

@@ -0,0 +1,72 @@
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v2/crates/wifi-densepose-rufield/tests/ultrasonic_gates.rs

@@ -0,0 +1,260 @@
+//! ADR-262 P4 gates for the second modality.
+//!
+//! Same shape as `p1_gates.rs`: round-trip, fusability, privacy-safety,
+//! determinism. Not accuracy — nothing here claims an ultrasonic scan is
+//! *right*, only that it is well-formed, signed, correctly classified, and that
+//! the things it must refuse to do, it refuses.
+//!
+//! The fixture is not hand-written. `batvu_living_room.ultrasonic.jsonl` is
+//! produced by BatVu's own `npm run artifacts` — a 72-ping simulated sweep,
+//! written by its TypeScript emitter — and copied here verbatim. The same file
+//! is a test fixture in `ruvnet/rufield`, so a schema drift between BatVu's
+//! emitter and RuField's parser fails a build in one of three repositories
+//! rather than an ingest in a deployment.
+
+use rufield_core::{FieldEvent, FusionEngine, InferenceQuery, Modality, PrivacyClass};
+use rufield_fusion::RuFieldFusion;
+use rufield_provenance::{is_fusable, verify_event};
+use wifi_densepose_rufield::{
+    network_egress_allowed, ScanSource, UltrasonicScan, ULTRASONIC_EGRESS_CLASS,
+};
+
+const SCAN: &str = include_str!("fixtures/batvu_living_room.ultrasonic.jsonl");
+
+fn scan() -> UltrasonicScan {
+    UltrasonicScan::load(SCAN, "living_room", ScanSource::Simulated).expect("fixture loads")
+}
+
+// ── round-trip ───────────────────────────────────────────────────────────────
+
+#[test]
+fn gate_round_trip_every_event_is_well_formed_and_serializes() {
+    let mut s = scan();
+    assert_eq!(s.ping_count(), 72);
+    assert_eq!(s.device_id(), "batvu-reference-01");
+    assert!(!s.calibration_id().is_empty());
+
+    let events = s.events().expect("events");
+    assert_eq!(events.len(), 72);
+
+    let mut previous = 0u64;
+    for event in &events {
+        event
+            .validate_evidence_at(event.timestamp_ns)
+            .expect("structural evidence invariants hold");
+
+        assert_eq!(event.tensor.modality, Modality::Ultrasonic);
+        assert_eq!(event.sensor.vendor, "batvu");
+        assert_eq!(event.observation.zone_id.as_deref(), Some("living_room"));
+
+        // Every profile value finite and non-negative. `FieldTensor::validate`
+        // checks only shape and axis rank, so a NaN would serialize to JSON
+        // `null` and then fail to deserialize as an f32 on the far side of the
+        // wire — the worst place to find it. The adapter rejects it at parse.
+        assert!(
+            event
+                .tensor
+                .values
+                .iter()
+                .all(|v| v.is_finite() && *v >= 0.0),
+            "profile values are finite and non-negative"
+        );
+
+        // Strictly increasing, which RuField's replay watermark requires in
+        // every trust mode and silently drops what does not satisfy.
+        assert!(event.timestamp_ns > previous);
+        previous = event.timestamp_ns;
+
+        // serde round-trip, byte-stable.
+        let json = serde_json::to_string(event).expect("serializes");
+        let back: FieldEvent = serde_json::from_str(&json).expect("deserializes");
+        assert_eq!(*event, back);
+    }
+
+    let mut ids: Vec<&str> = events.iter().map(|e| e.event_id.as_str()).collect();
+    ids.sort_unstable();
+    ids.dedup();
+    assert_eq!(ids.len(), events.len(), "event ids are unique");
+}
+
+// ── fusability ───────────────────────────────────────────────────────────────
+
+#[test]
+fn gate_every_event_carries_a_signature_that_verifies() {
+    let mut s = scan();
+    let events = s.events().expect("events");
+    for event in &events {
+        verify_event(event).expect("ed25519 signature verifies");
+        assert!(is_fusable(event));
+    }
+
+    // And tampering breaks it, so the signature is load-bearing rather than
+    // decorative.
+    let mut tampered = events[0].clone();
+    tampered.tensor.values[0] = 999.0;
+    assert!(verify_event(&tampered).is_err());
+}
+
+#[test]
+fn gate_fusion_ingests_every_event() {
+    let mut s = scan();
+    let mut engine = RuFieldFusion::new();
+    for event in s.events().expect("events") {
+        engine.ingest(event).expect("fusion accepts the event");
+    }
+}
+
+// ── privacy safety — the correctness item ────────────────────────────────────
+
+#[test]
+fn gate_coarse_scan_passes_the_egress_gate_intact() {
+    // The claim the module makes: configuring the adapter for the coarse output
+    // means the egress gate has nothing left to catch. If a submodule bump ever
+    // changes the adapter's default class, this is where it surfaces.
+    let mut s = scan();
+    let all = s.events().expect("events").len();
+
+    let mut s = scan();
+    let egress = s.egress_events().expect("egress events").len();
+
+    assert_eq!(all, 72);
+    assert_eq!(
+        egress, all,
+        "no event is dropped at the gate in coarse mode"
+    );
+}
+
+#[test]
+fn gate_every_event_is_p1_on_both_tensor_and_observation() {
+    let mut s = scan();
+    for event in s.events().expect("events") {
+        assert_eq!(event.tensor.privacy_class, ULTRASONIC_EGRESS_CLASS);
+        assert_eq!(event.observation.privacy_class, ULTRASONIC_EGRESS_CLASS);
+        // Both, because the guard is conjunctive over the pair — a P0 tensor
+        // under a P1 observation is exactly the composite leak the default
+        // guard exists to close.
+        assert!(network_egress_allowed(event.tensor.privacy_class, false));
+        assert!(network_egress_allowed(
+            event.observation.privacy_class,
+            false
+        ));
+    }
+    assert_eq!(ULTRASONIC_EGRESS_CLASS, PrivacyClass::P1);
+}
+
+#[test]
+fn gate_ultrasonic_can_never_reach_the_identity_tiers() {
+    // P5 is only reachable through `identity_evidence`, which
+    // `validate_evidence_at` restricts to BLE advertisement RSSI — so an
+    // ultrasonic event carrying it is a hard validation failure rather than a
+    // policy question. The ceiling is structural.
+    let mut s = scan();
+    for event in s.events().expect("events") {
+        assert!(event.tensor.privacy_class < PrivacyClass::P4);
+        assert!(event.observation.privacy_class < PrivacyClass::P4);
+        assert!(event.observation.identity_evidence.is_none());
+        assert!(event.observation.channel_sounding_provenance.is_none());
+    }
+}
+
+#[test]
+fn gate_no_event_claims_a_person() {
+    // The tempting mistake, refused deliberately. `presence` is one of exactly
+    // six feature keys the fusion window reads, and populating it would light
+    // up the shipped `person_present` rule. One transducer pair cannot
+    // distinguish a person from a coat over the back of a chair.
+    let mut s = scan();
+    for event in s.events().expect("events") {
+        for forbidden in ["presence", "breathing_band", "posture_height", "transient"] {
+            assert!(
+                !event.observation.features.contains_key(forbidden),
+                "an ultrasonic event must not claim `{forbidden}`"
+            );
+        }
+        for label in &event.observation.labels {
+            assert!(
+                !label.contains("person") && !label.contains("presence"),
+                "unexpected personhood label: {label}"
+            );
+        }
+    }
+}
+
+/// The honest negative result, asserted rather than avoided.
+///
+/// Because nothing claims presence, a BatVu scan produces no fused inferences
+/// under the shipped rules. Two independent reasons, and pinning both matters
+/// because fixing only the first would look like progress and change nothing:
+/// no rule lists `"ultrasonic"` among its inputs, and the engine's feature
+/// vocabulary is entirely statements about a body, so `range_m` has nothing to
+/// drive. RuField v0.1 has no predicate for static geometry.
+#[test]
+fn gate_no_inferences_and_that_is_the_correct_outcome() {
+    let mut s = scan();
+    let mut engine = RuFieldFusion::new();
+    for event in s.events().expect("events") {
+        engine.ingest(event).expect("ingest");
+    }
+    let inferences = engine
+        .infer(&InferenceQuery {
+            zone_id: Some("living_room".into()),
+            labels: vec![],
+            track_id: None,
+            as_of_ns: None,
+        })
+        .expect("infer");
+    assert!(
+        inferences.is_empty(),
+        "no shipped rule can fire on a range-only sensor: {inferences:?}"
+    );
+}
+
+// ── trust tier ───────────────────────────────────────────────────────────────
+
+#[test]
+fn gate_a_recording_cannot_relabel_itself_into_a_higher_trust_tier() {
+    // The fixture declares `simulated`. An operator pointing a capture-trusting
+    // deployment at it gets a hard refusal rather than a silently upgraded
+    // tier — and the reverse is refused too, so neither direction is a quiet
+    // reinterpretation.
+    let err = UltrasonicScan::load(SCAN, "living_room", ScanSource::DeviceCapture)
+        .expect_err("must refuse");
+    assert!(
+        err.to_string().contains("device_capture"),
+        "the refusal names the mismatch: {err}"
+    );
+}
+
+#[test]
+fn gate_simulated_recordings_are_marked_synthetic() {
+    // Not cosmetic: `synthetic: true` is what keeps simulator output out of
+    // captured-replay and production trust, which reject it before any key
+    // lookup. Marking it otherwise to get it accepted is the §11 invariant
+    // violation ADR-262 forbids.
+    let mut s = scan();
+    for event in s.events().expect("events") {
+        assert!(event.provenance.synthetic);
+    }
+}
+
+// ── determinism ──────────────────────────────────────────────────────────────
+
+#[test]
+fn gate_same_recording_yields_a_byte_identical_event_stream() {
+    let mut a = scan();
+    let mut b = scan();
+    let left = serde_json::to_string(&a.events().expect("events")).expect("serializes");
+    let right = serde_json::to_string(&b.events().expect("events")).expect("serializes");
+    assert_eq!(left, right);
+}
+
+#[test]
+fn gate_a_malformed_recording_is_refused_whole() {
+    // No partial ingest. A stream that half-replays and then dies is the worst
+    // outcome for a consumer, because it has already acted on the good prefix.
+    let mut bad = SCAN.lines().take(4).collect::<Vec<_>>().join("\n");
+    bad.push_str("\n{\"timestamp\":1756162800,\"source\":\"simulated\",\"device_id\":\"x\"}\n");
+    let err =
+        UltrasonicScan::load(&bad, "living_room", ScanSource::Simulated).expect_err("must refuse");
+    assert!(err.to_string().contains("rejected"));
+}

v2/crates/wifi-densepose-sensing-server/Cargo.toml

@@ -26,6 +26,7 @@ tower-http = { version = "0.6", features = ["fs", "cors", "set-header"] }
 tokio = { workspace = true, features = ["full", "process"] }
 futures-util = "0.3"
 ruvector-mincut = { workspace = true }
+mdns-sd = "0.11"
 
 # Serialization
 serde = { workspace = true }

v2/crates/wifi-densepose-sensing-server/src/csi.rs

@@ -9,6 +9,17 @@ use crate::adaptive_classifier;
 use crate::types::*;
 use crate::vital_signs::VitalSigns;
 
+const EDGE_MAX_PERSONS: u8 = 4;
+
+/// Person count is supporting evidence, never an independent occupancy claim.
+/// Return zero and mark invalid for contradictory or out-of-range firmware.
+fn sanitize_edge_person_count(presence: bool, raw: u8) -> (u8, bool) {
+    if raw > EDGE_MAX_PERSONS || (!presence && raw != 0) {
+        return (0, false);
+    }
+    (raw, true)
+}
+
 // ── ESP32 UDP frame parsers ─────────────────────────────────────────────────
 
 /// Parse a 32-byte edge vitals packet (magic 0xC511_0002).
@@ -26,26 +37,63 @@ pub fn parse_esp32_vitals(buf: &[u8]) -> Option<Esp32VitalsPacket> {
     let breathing_raw = u16::from_le_bytes([buf[6], buf[7]]);
     let heartrate_raw = u32::from_le_bytes([buf[8], buf[9], buf[10], buf[11]]);
     let rssi = buf[12] as i8;
-    let n_persons = buf[13];
+    let presence = (flags & 0x01) != 0;
+    let (n_persons, person_count_valid) = sanitize_edge_person_count(presence, buf[13]);
     let motion_energy = f32::from_le_bytes([buf[16], buf[17], buf[18], buf[19]]);
     let presence_score = f32::from_le_bytes([buf[20], buf[21], buf[22], buf[23]]);
     let timestamp_ms = u32::from_le_bytes([buf[24], buf[25], buf[26], buf[27]]);
 
     Some(Esp32VitalsPacket {
         node_id,
-        presence: (flags & 0x01) != 0,
+        presence,
         fall_detected: (flags & 0x02) != 0,
         motion: (flags & 0x04) != 0,
         breathing_rate_bpm: breathing_raw as f64 / 100.0,
         heartrate_bpm: heartrate_raw as f64 / 10000.0,
         rssi,
         n_persons,
+        person_count_valid,
         motion_energy,
         presence_score,
         timestamp_ms,
     })
 }
 
+#[cfg(test)]
+mod edge_vitals_integrity_tests {
+    use super::*;
+
+    fn packet(presence: bool, n_persons: u8) -> Vec<u8> {
+        let mut buf = vec![0u8; 32];
+        buf[0..4].copy_from_slice(&0xC511_0002u32.to_le_bytes());
+        buf[4] = 4;
+        buf[5] = u8::from(presence);
+        buf[13] = n_persons;
+        buf
+    }
+
+    #[test]
+    fn contradictory_count_fails_closed() {
+        let parsed = parse_esp32_vitals(&packet(false, 4)).expect("valid packet");
+        assert_eq!(parsed.n_persons, 0);
+        assert!(!parsed.person_count_valid);
+    }
+
+    #[test]
+    fn bounded_present_count_is_preserved() {
+        let parsed = parse_esp32_vitals(&packet(true, 3)).expect("valid packet");
+        assert_eq!(parsed.n_persons, 3);
+        assert!(parsed.person_count_valid);
+    }
+
+    #[test]
+    fn out_of_range_count_fails_closed() {
+        let parsed = parse_esp32_vitals(&packet(true, 5)).expect("valid packet");
+        assert_eq!(parsed.n_persons, 0);
+        assert!(!parsed.person_count_valid);
+    }
+}
+
 /// Parse a WASM output packet (magic 0xC511_0007 — reassigned per issue #928;
 /// the original 0xC511_0004 collided with ADR-063 fused vitals).
 pub fn parse_wasm_output(buf: &[u8]) -> Option<WasmOutputPacket> {

v2/crates/wifi-densepose-sensing-server/src/discovery.rs

@@ -0,0 +1,125 @@
+//! Local DNS-SD advertisement for RuView installation discovery.
+//!
+//! The TXT record deliberately contains no SSID, node identifiers, room data,
+//! sensor values, credentials, or personal data. Mobile clients treat the
+//! installation id as a routing hint only and still health-check the service.
+
+use std::collections::HashMap;
+
+use mdns_sd::{ServiceDaemon, ServiceInfo};
+
+pub const SERVICE_TYPE: &str = "_ruview._tcp.local.";
+pub const SCHEMA: &str = "ruview.installation.v1";
+
+pub struct DiscoveryAdvertiser {
+    daemon: ServiceDaemon,
+    fullname: String,
+}
+
+impl Drop for DiscoveryAdvertiser {
+    fn drop(&mut self) {
+        let _ = self.daemon.unregister(&self.fullname);
+        let _ = self.daemon.shutdown();
+    }
+}
+
+/// Reduce an operator/host label to a deterministic RFC 6762-safe hostname.
+pub fn discovery_hostname(raw: &str) -> String {
+    let mut label = String::with_capacity(48);
+    for character in raw.chars().flat_map(char::to_lowercase) {
+        if character.is_ascii_alphanumeric() {
+            label.push(character);
+        } else if (character == '-' || character == '_' || character == ' ')
+            && !label.ends_with('-')
+        {
+            label.push('-');
+        }
+        if label.len() >= 40 {
+            break;
+        }
+    }
+    let label = label.trim_matches('-');
+    let safe = if label.is_empty() {
+        "installation"
+    } else {
+        label
+    };
+    format!("ruview-{safe}.local.")
+}
+
+pub fn build_service(
+    instance_name: &str,
+    installation_id: &str,
+    hostname: &str,
+    http_port: u16,
+    tls: bool,
+) -> Result<ServiceInfo, mdns_sd::Error> {
+    let mut properties = HashMap::with_capacity(3);
+    properties.insert("schema".to_string(), SCHEMA.to_string());
+    properties.insert("tls".to_string(), if tls { "1" } else { "0" }.to_string());
+    properties.insert(
+        "installation".to_string(),
+        installation_id.chars().take(128).collect(),
+    );
+    ServiceInfo::new(
+        SERVICE_TYPE,
+        &instance_name.chars().take(96).collect::<String>(),
+        hostname,
+        (),
+        http_port,
+        Some(properties),
+    )
+    .map(ServiceInfo::enable_addr_auto)
+}
+
+/// Register a live local advertisement. Failure is recoverable: the sensing
+/// server remains available through its explicitly configured origin.
+pub fn start_advertiser(
+    instance_name: &str,
+    installation_id: &str,
+    hostname: &str,
+    http_port: u16,
+) -> Result<DiscoveryAdvertiser, mdns_sd::Error> {
+    let daemon = ServiceDaemon::new()?;
+    let service = build_service(instance_name, installation_id, hostname, http_port, false)?;
+    let fullname = service.get_fullname().to_owned();
+    daemon.register(service)?;
+    Ok(DiscoveryAdvertiser { daemon, fullname })
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn advertisement_matches_mobile_contract_without_sensor_metadata() {
+        let service = build_service(
+            "RuView Living Room",
+            "home-a",
+            "ruview-home-a.local.",
+            3000,
+            false,
+        )
+        .unwrap();
+        assert_eq!(service.get_type(), SERVICE_TYPE);
+        assert_eq!(service.get_port(), 3000);
+        assert!(service.is_addr_auto());
+        assert_eq!(service.get_property_val_str("schema"), Some(SCHEMA));
+        assert_eq!(service.get_property_val_str("tls"), Some("0"));
+        assert_eq!(service.get_property_val_str("installation"), Some("home-a"));
+        for forbidden in ["ssid", "node", "room", "csi", "pose", "token"] {
+            assert!(service.get_property(forbidden).is_none());
+        }
+    }
+
+    #[test]
+    fn hostname_is_bounded_and_safe() {
+        assert_eq!(
+            discovery_hostname("Cohen's Mac Mini"),
+            "ruview-cohens-mac-mini.local."
+        );
+        let value = discovery_hostname("🚫 ///");
+        assert_eq!(value, "ruview-installation.local.");
+        assert!(discovery_hostname(&"A".repeat(200)).len() <= 54);
+    }
+}

v2/crates/wifi-densepose-sensing-server/src/engine_bridge.rs

@@ -41,7 +41,7 @@ use wifi_densepose_signal::ruvsense::fusion_quality::CalibrationId;
 use wifi_densepose_signal::ruvsense::multistatic::MultistaticConfig;
 use wifi_densepose_worldgraph::WorldId;
 
-use super::multistatic_bridge::node_frames_from_states;
+use super::multistatic_bridge::node_frames_from_states_with_guard;
 use super::NodeState;
 
 /// Minimum spacing between engine-error warn logs (errors are still counted
@@ -53,6 +53,8 @@ const ENGINE_ERROR_WARN_INTERVAL: Duration = Duration::from_secs(10);
 /// live sensing loop publishes beliefs into.
 pub struct EngineBridge {
     engine: StreamingEngine,
+    /// Hard timestamp guard shared by cohort selection and engine validation.
+    guard_interval_us: u64,
     room: WorldId,
     /// Nodes already wired into the WorldGraph as sensors (by `node_id`).
     registered_nodes: HashMap<u8, WorldId>,
@@ -94,6 +96,11 @@ impl EngineBridge {
         room_name: &str,
         multistatic_cfg: Option<MultistaticConfig>,
     ) -> Self {
+        let guard_interval_us = multistatic_cfg
+            .as_ref()
+            .map_or_else(|| MultistaticConfig::default().guard_interval_us, |cfg| {
+                cfg.guard_interval_us
+            });
         let mut engine = StreamingEngine::new(mode, model_version, GeoRegistration::default());
         if let Some(cfg) = multistatic_cfg {
             engine.set_multistatic_config(cfg);
@@ -101,6 +108,7 @@ impl EngineBridge {
         let room = engine.add_room(room_area_id, room_name);
         Self {
             engine,
+            guard_interval_us,
             room,
             registered_nodes: HashMap::new(),
             calibration: CalibrationId(0x5256_0001), // "RV\0\x01" — placeholder epoch
@@ -165,7 +173,8 @@ impl EngineBridge {
         node_states: &HashMap<u8, NodeState>,
         now_ms: i64,
     ) -> Option<Result<TrustedOutput, EngineError>> {
-        let frames = node_frames_from_states(node_states);
+        let frames =
+            node_frames_from_states_with_guard(node_states, self.guard_interval_us);
         if frames.is_empty() {
             return None;
         }
@@ -195,7 +204,15 @@ impl EngineBridge {
         node_states: &HashMap<u8, NodeState>,
         now_ms: i64,
     ) -> Option<TrustedOutput> {
-        match self.process_cycle_from_states(node_states, now_ms)? {
+        let result = self.process_cycle_from_states(node_states, now_ms)?;
+        self.record_cycle_result(result)
+    }
+
+    fn record_cycle_result(
+        &mut self,
+        result: Result<TrustedOutput, EngineError>,
+    ) -> Option<TrustedOutput> {
+        match result {
             Ok(trust) => {
                 self.last_witness = Some(trust.witness);
                 self.recalibration_recommended = trust.recalibration_recommended;
@@ -419,45 +436,29 @@ mod tests {
         assert!(!bridge.suppress_raw_outputs());
     }
 
-    /// Error wiring (review finding 1a): a live cycle that fails fusion yields
-    /// an `EngineError` — previously dropped by `if let Some(Ok(..))` at the
-    /// call sites. The counter must increment and the last good trust state
-    /// must survive a later failure.
-    ///
-    /// Originally this forced the failure with a 56-vs-30 subcarrier mismatch
-    /// (`DimensionMismatch`). Since #1170 the live bridge canonicalizes every
-    /// node onto the 56-tone grid, so heterogeneous counts now fuse cleanly —
-    /// a frame-timestamp spread wider than the fuser's 60 ms guard interval is
-    /// the remaining deterministic way to provoke a fusion error here.
+    /// Error-result accounting is independent from live cohort selection, so
+    /// a future engine error remains auditable without deliberately forwarding
+    /// temporally incoherent frames through the production bridge.
     #[test]
     fn observe_cycle_counts_engine_errors() {
-        // Both nodes are 56-subcarrier (canonicalization-clean), but their
-        // frame timestamps are 500 ms apart — far beyond the 60 ms guard —
-        // so the fuser rejects the cycle with TimestampMismatch. Future
-        // offsets keep both instants safely after the bridge's lazy EPOCH.
-        fn mismatched_states() -> HashMap<u8, NodeState> {
-            let now = Instant::now();
-            let mut a = node_state_with_history(1.0, 56);
-            a.last_frame_time = Some(now + std::time::Duration::from_millis(600));
-            let mut b = node_state_with_history(1.05, 56);
-            b.last_frame_time = Some(now + std::time::Duration::from_millis(100));
-            let mut m = HashMap::new();
-            m.insert(0u8, a);
-            m.insert(1u8, b);
-            m
-        }
-
         let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
-        let mismatched = mismatched_states();
+        let error = || {
+            EngineError::Fusion(
+                wifi_densepose_signal::ruvsense::multistatic::MultistaticError::TimestampMismatch {
+                    spread_us: 500_000,
+                    guard_us: 60_000,
+                },
+            )
+        };
 
-        assert!(bridge.observe_cycle(&mismatched, 1_000).is_none());
+        assert!(bridge.record_cycle_result(Err(error())).is_none());
         assert_eq!(bridge.engine_error_count(), 1);
         assert!(
             bridge.last_trust_witness().is_none(),
             "no witness from a failed cycle"
         );
 
-        assert!(bridge.observe_cycle(&mismatched, 2_000).is_none());
+        assert!(bridge.record_cycle_result(Err(error())).is_none());
         assert_eq!(bridge.engine_error_count(), 2);
 
         // A later good cycle records trust state; the audit count is kept.
@@ -467,11 +468,39 @@ mod tests {
         assert_eq!(bridge.engine_error_count(), 2);
 
         // And a subsequent failure keeps the last good witness readable.
-        assert!(bridge.observe_cycle(&mismatched, 4_000).is_none());
+        assert!(bridge.record_cycle_result(Err(error())).is_none());
         assert_eq!(bridge.engine_error_count(), 3);
         assert!(bridge.last_trust_witness().is_some());
     }
 
+    #[test]
+    fn governed_cycles_prune_slow_mixed_width_nodes_without_errors() {
+        let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
+
+        for tick in 0..50_i64 {
+            let now = Instant::now();
+            let mut states = HashMap::new();
+            for (node_id, age_ms, n_sub) in [
+                (1, 0, 64),
+                (3, 10, 256),
+                (4, 50, 64),
+                (7, 1_000, 256),
+            ] {
+                let mut node = node_state_with_history(1.0 + node_id as f64 * 0.01, n_sub);
+                node.last_frame_time = Some(now - Duration::from_millis(age_ms));
+                states.insert(node_id, node);
+            }
+
+            assert!(
+                bridge.observe_cycle(&states, 1_000 + tick * 50).is_some(),
+                "governed cycle {tick}"
+            );
+        }
+
+        assert_eq!(bridge.engine_error_count(), 0);
+        assert!(bridge.last_trust_witness().is_some());
+    }
+
     /// ADR-141 mapping (review finding 1c): a cycle emitted at class
     /// Restricted flips `suppress_raw_outputs`, which `main.rs` uses to strip
     /// per-node raw amplitude vectors from the live publish — the same field

v2/crates/wifi-densepose-sensing-server/src/lib.rs

@@ -13,6 +13,7 @@ pub mod browser_session;
 pub mod ws_ticket;
 pub mod cli;
 pub mod dataset;
+pub mod discovery;
 pub mod edge_registry;
 pub mod error_response;
 pub mod host_validation;

v2/crates/wifi-densepose-sensing-server/src/main.rs

@@ -133,6 +133,23 @@ struct Args {
     #[arg(long, default_value = "127.0.0.1", env = "SENSING_BIND_ADDR")]
     bind_addr: String,
 
+    /// Disable local `_ruview._tcp` discovery. Discovery is automatically
+    /// skipped for loopback-only binds and never carries sensor data.
+    #[arg(long, env = "RUVIEW_NO_MDNS")]
+    no_mdns: bool,
+
+    /// Stable, non-secret installation routing hint published over mDNS.
+    #[arg(long, env = "RUVIEW_INSTALLATION_ID")]
+    installation_id: Option<String>,
+
+    /// Human-readable local service name shown by commissioning clients.
+    #[arg(
+        long,
+        default_value = "RuView Installation",
+        env = "RUVIEW_INSTALLATION_NAME"
+    )]
+    installation_name: String,
+
     /// Additional hostname (with or without `:PORT`) to permit in the `Host`
     /// header — defends loopback-bound deployments against DNS rebinding.
     /// Loopback names (`localhost`, `127.0.0.1`, `[::1]`) are always permitted
@@ -1696,11 +1713,21 @@ struct Esp32VitalsPacket {
     heartrate_bpm: f64,
     rssi: i8,
     n_persons: u8,
+    person_count_valid: bool,
     motion_energy: f32,
     presence_score: f32,
     timestamp_ms: u32,
 }
 
+const EDGE_MAX_PERSONS: u8 = 4;
+
+fn sanitize_edge_person_count(presence: bool, raw: u8) -> (u8, bool) {
+    if raw > EDGE_MAX_PERSONS || (!presence && raw != 0) {
+        return (0, false);
+    }
+    (raw, true)
+}
+
 /// Parse a 32-byte edge vitals packet (magic 0xC511_0002).
 fn parse_esp32_vitals(buf: &[u8]) -> Option<Esp32VitalsPacket> {
     if buf.len() < 32 {
@@ -1716,26 +1743,56 @@ fn parse_esp32_vitals(buf: &[u8]) -> Option<Esp32VitalsPacket> {
     let breathing_raw = u16::from_le_bytes([buf[6], buf[7]]);
     let heartrate_raw = u32::from_le_bytes([buf[8], buf[9], buf[10], buf[11]]);
     let rssi = buf[12] as i8;
-    let n_persons = buf[13];
+    let presence = (flags & 0x01) != 0;
+    let (n_persons, person_count_valid) = sanitize_edge_person_count(presence, buf[13]);
     let motion_energy = f32::from_le_bytes([buf[16], buf[17], buf[18], buf[19]]);
     let presence_score = f32::from_le_bytes([buf[20], buf[21], buf[22], buf[23]]);
     let timestamp_ms = u32::from_le_bytes([buf[24], buf[25], buf[26], buf[27]]);
 
     Some(Esp32VitalsPacket {
         node_id,
-        presence: (flags & 0x01) != 0,
+        presence,
         fall_detected: (flags & 0x02) != 0,
         motion: (flags & 0x04) != 0,
         breathing_rate_bpm: breathing_raw as f64 / 100.0,
         heartrate_bpm: heartrate_raw as f64 / 10000.0,
         rssi,
         n_persons,
+        person_count_valid,
         motion_energy,
         presence_score,
         timestamp_ms,
     })
 }
 
+#[cfg(test)]
+mod edge_vitals_integrity_tests {
+    use super::*;
+
+    fn packet(presence: bool, n_persons: u8) -> Vec<u8> {
+        let mut buf = vec![0u8; 32];
+        buf[0..4].copy_from_slice(&0xC511_0002u32.to_le_bytes());
+        buf[4] = 4;
+        buf[5] = u8::from(presence);
+        buf[13] = n_persons;
+        buf
+    }
+
+    #[test]
+    fn contradictory_count_fails_closed() {
+        let parsed = parse_esp32_vitals(&packet(false, 4)).expect("valid packet");
+        assert_eq!(parsed.n_persons, 0);
+        assert!(!parsed.person_count_valid);
+    }
+
+    #[test]
+    fn present_count_is_preserved() {
+        let parsed = parse_esp32_vitals(&packet(true, 3)).expect("valid packet");
+        assert_eq!(parsed.n_persons, 3);
+        assert!(parsed.person_count_valid);
+    }
+}
+
 // ── ADR-040: WASM Output Packet (magic 0xC511_0007 — reassigned per #928) ─────
 
 /// Single WASM event (type + value).
@@ -1812,6 +1869,7 @@ struct EdgeFusedVitalsPacket {
     heartrate_bpm: f32,
     rssi: i8,
     n_persons: u8,
+    person_count_valid: bool,
     /// `mmwave_type_t` enum value from firmware.
     mmwave_type: u8,
     /// 0-100 fusion quality score.
@@ -1846,7 +1904,8 @@ fn parse_edge_fused_vitals(buf: &[u8]) -> Option<EdgeFusedVitalsPacket> {
     let breathing_raw = u16::from_le_bytes([buf[6], buf[7]]);
     let heartrate_raw = u32::from_le_bytes([buf[8], buf[9], buf[10], buf[11]]);
     let rssi = buf[12] as i8;
-    let n_persons = buf[13];
+    let any_presence = (flags & 0x09) != 0;
+    let (n_persons, person_count_valid) = sanitize_edge_person_count(any_presence, buf[13]);
     let mmwave_type = buf[14];
     let fusion_confidence = buf[15];
     let motion_energy = f32::from_le_bytes([buf[16], buf[17], buf[18], buf[19]]);
@@ -1866,6 +1925,7 @@ fn parse_edge_fused_vitals(buf: &[u8]) -> Option<EdgeFusedVitalsPacket> {
         heartrate_bpm: heartrate_raw as f32 / 10000.0,
         rssi,
         n_persons,
+        person_count_valid,
         mmwave_type,
         fusion_confidence,
         motion_energy,
@@ -1922,6 +1982,7 @@ mod issue_928_magic_collision_tests {
         assert!((pkt.heartrate_bpm - 72.0).abs() < 1e-3, "heartrate scale 10000");
         assert_eq!(pkt.rssi, -55);
         assert_eq!(pkt.n_persons, 1);
+        assert!(pkt.person_count_valid);
         assert_eq!(pkt.mmwave_type, 2);
         assert_eq!(pkt.fusion_confidence, 85);
         assert!((pkt.motion_energy - 0.42).abs() < 1e-6);
@@ -6177,6 +6238,9 @@ async fn nodes_endpoint(State(state): State<SharedState>) -> Json<serde_json::Va
                 "rssi_dbm": rssi,
                 "motion_level": &ns.current_motion_level,
                 "person_count": ns.prev_person_count,
+                "person_count_valid": ns.edge_vitals
+                    .as_ref()
+                    .map(|vitals| vitals.person_count_valid),
             })
         })
         .collect();
@@ -6336,6 +6400,7 @@ async fn udp_receiver_task(
                         "breathing_rate_bpm": vitals.breathing_rate_bpm,
                         "heartrate_bpm": vitals.heartrate_bpm,
                         "n_persons": vitals.n_persons,
+                        "person_count_valid": vitals.person_count_valid,
                         "motion_energy": vitals.motion_energy,
                         "presence_score": vitals.presence_score,
                         "rssi": vitals.rssi,
@@ -6635,6 +6700,7 @@ async fn udp_receiver_task(
                         "breathing_rate_bpm": fused.breathing_rate_bpm,
                         "heartrate_bpm": fused.heartrate_bpm,
                         "n_persons": fused.n_persons,
+                        "person_count_valid": fused.person_count_valid,
                         "fusion_confidence": fused.fusion_confidence,
                         "mmwave": {
                             "hr_bpm": fused.mmwave_hr_bpm,
@@ -8762,9 +8828,15 @@ async fn main() {
         );
         wifi_densepose_sensing_server::host_validation::HostAllowlist::disabled()
     } else {
+        let discovery_label = args.installation_id.as_deref().unwrap_or("installation");
+        let discovery_host =
+            wifi_densepose_sensing_server::discovery::discovery_hostname(discovery_label);
         let allowlist =
             wifi_densepose_sensing_server::host_validation::HostAllowlist::from_cli_and_env(
-                args.allowed_hosts.iter().cloned(),
+                args.allowed_hosts
+                    .iter()
+                    .cloned()
+                    .chain(std::iter::once(discovery_host)),
             );
         info!(
             "Host-header validation ON ({} entries; loopback names always included)",
@@ -8978,6 +9050,32 @@ async fn main() {
         args.http_port
     );
 
+    let discovery_label = args.installation_id.as_deref().unwrap_or("installation");
+    let discovery_hostname =
+        wifi_densepose_sensing_server::discovery::discovery_hostname(discovery_label);
+    let _discovery_advertiser = if args.no_mdns || bind_ip.is_loopback() {
+        if bind_ip.is_loopback() && !args.no_mdns {
+            info!("RuView discovery skipped for loopback-only HTTP bind");
+        }
+        None
+    } else {
+        match wifi_densepose_sensing_server::discovery::start_advertiser(
+            &args.installation_name,
+            discovery_label,
+            &discovery_hostname,
+            args.http_port,
+        ) {
+            Ok(advertiser) => {
+                info!(hostname = %discovery_hostname, port = args.http_port, "RuView local discovery advertised");
+                Some(advertiser)
+            }
+            Err(error) => {
+                warn!(%error, "RuView local discovery unavailable; manual origin remains usable");
+                None
+            }
+        }
+    };
+
     // Run the HTTP server with graceful shutdown support
     let shutdown_state = state.clone();
     let server = axum::serve(http_listener, http_app).with_graceful_shutdown(async {

v2/crates/wifi-densepose-sensing-server/src/multistatic_bridge.rs

@@ -12,7 +12,9 @@ use std::time::{Duration, Instant};
 
 use wifi_densepose_signal::hardware_norm::{CanonicalCsiFrame, HardwareNormalizer, HardwareType};
 use wifi_densepose_signal::ruvsense::multiband::MultiBandCsiFrame;
-use wifi_densepose_signal::ruvsense::multistatic::{FusedSensingFrame, MultistaticFuser};
+use wifi_densepose_signal::ruvsense::multistatic::{
+    FusedSensingFrame, MultistaticConfig, MultistaticFuser,
+};
 
 use super::NodeState;
 
@@ -44,6 +46,24 @@ static NORMALIZER: LazyLock<HardwareNormalizer> = LazyLock::new(HardwareNormaliz
 /// `last_frame_time`.
 pub fn node_frame_from_state(node_id: u8, ns: &NodeState) -> Option<MultiBandCsiFrame> {
     let last_time = ns.last_frame_time.as_ref()?;
+    let timestamp_us = ns
+        .mesh_aligned_us_for_latest_csi_frame()
+        .unwrap_or_else(|| host_arrival_timestamp_us(last_time));
+    node_frame_from_state_at(node_id, ns, timestamp_us)
+}
+
+fn host_arrival_timestamp_us(last_time: &Instant) -> u64 {
+    last_time
+        .checked_duration_since(*EPOCH)
+        .unwrap_or_default()
+        .as_micros() as u64
+}
+
+fn node_frame_from_state_at(
+    node_id: u8,
+    ns: &NodeState,
+    timestamp_us: u64,
+) -> Option<MultiBandCsiFrame> {
     let latest = ns.frame_history.back()?;
     if latest.is_empty() {
         return None;
@@ -60,19 +80,6 @@ pub fn node_frame_from_state(node_id: u8, ns: &NodeState) -> Option<MultiBandCsi
     let n_sub = amplitude.len();
     let phase = vec![0.0_f32; n_sub];
 
-    // Prefer the capture timestamp recovered from the node's mesh sync. This
-    // keeps UDP scheduling jitter out of the fuser's cross-node guard. Older
-    // firmware, stale sync state, and frames without the sync-valid bit retain
-    // the process-local host-arrival fallback.
-    let timestamp_us = ns
-        .mesh_aligned_us_for_latest_csi_frame()
-        .unwrap_or_else(|| {
-            last_time
-                .checked_duration_since(*EPOCH)
-                .unwrap_or_default()
-                .as_micros() as u64
-        });
-
     let canonical = CanonicalCsiFrame {
         amplitude,
         phase,
@@ -88,25 +95,91 @@ pub fn node_frame_from_state(node_id: u8, ns: &NodeState) -> Option<MultiBandCsi
     })
 }
 
-/// Collect `MultiBandCsiFrame`s from all active nodes.
+/// Collect the default-guard coherent `MultiBandCsiFrame` cohort.
 ///
 /// A node is considered active if its `last_frame_time` is within
 /// [`STALE_THRESHOLD`] of `now`.
 pub fn node_frames_from_states(node_states: &HashMap<u8, NodeState>) -> Vec<MultiBandCsiFrame> {
-    let now = Instant::now();
-    let mut frames = Vec::with_capacity(node_states.len());
+    node_frames_from_states_with_guard(
+        node_states,
+        MultistaticConfig::default().guard_interval_us,
+    )
+}
 
-    for (&node_id, ns) in node_states {
-        // Skip stale nodes
-        if let Some(ref t) = ns.last_frame_time {
-            if now.duration_since(*t) > STALE_THRESHOLD {
-                continue;
-            }
-        } else {
+/// Collect the freshest temporally coherent cohort of active node frames.
+///
+/// Nodes can publish at very different rates (for example, a mixed S3/C6
+/// fleet). `STALE_THRESHOLD` determines whether a node is alive; it does not
+/// mean its latest frame belongs to the current sensing cycle. After choosing
+/// one timestamp domain for the whole cycle, retain only frames within the
+/// fuser's hard guard of the freshest frame. This prevents a slow-but-live node
+/// from turning every governed cycle into `TimestampMismatch`, while always
+/// preserving at least the freshest node for the supported single-node path.
+pub fn node_frames_from_states_with_guard(
+    node_states: &HashMap<u8, NodeState>,
+    guard_interval_us: u64,
+) -> Vec<MultiBandCsiFrame> {
+    let now = Instant::now();
+    let mut active: Vec<(u8, &NodeState)> = node_states
+        .iter()
+        .filter_map(|(&node_id, ns)| {
+            let last_time = ns.last_frame_time.as_ref()?;
+            (now.duration_since(*last_time) <= STALE_THRESHOLD).then_some((node_id, ns))
+        })
+        .collect();
+    active.sort_unstable_by_key(|(node_id, _)| *node_id);
+
+    if active.is_empty() {
+        return Vec::new();
+    }
+
+    let guard_interval_us = guard_interval_us.max(1);
+
+    // Timestamp domains must be selected for the cycle as a whole. A CSI
+    // frame can legitimately arrive between periodic sync-marked frames. If
+    // that one node fell back to process-local host time while a peer retained
+    // mesh epoch time, the resulting hundreds-of-seconds spread made every
+    // governed fusion cycle fail. Use mesh time only when every active node
+    // can provide it; otherwise use host-arrival time consistently for all.
+    let mesh_times: Option<Vec<u64>> = active
+        .iter()
+        .map(|(_, ns)| ns.mesh_aligned_us_for_latest_csi_frame())
+        .collect::<Option<Vec<_>>>()
+        .filter(|times| {
+            let Some(min) = times.iter().min() else {
+                return false;
+            };
+            let Some(max) = times.iter().max() else {
+                return false;
+            };
+            max.saturating_sub(*min) <= guard_interval_us
+        });
+
+    let mut timed = Vec::with_capacity(active.len());
+    for (index, (node_id, ns)) in active.into_iter().enumerate() {
+        let timestamp_us = mesh_times.as_ref().map_or_else(
+            || {
+                host_arrival_timestamp_us(
+                    ns.last_frame_time.as_ref().expect("active node has time"),
+                )
+            },
+            |times| times[index],
+        );
+        timed.push((node_id, ns, timestamp_us));
+    }
+
+    let freshest_timestamp_us = timed
+        .iter()
+        .map(|(_, _, timestamp_us)| *timestamp_us)
+        .max()
+        .expect("non-empty active cohort");
+
+    let mut frames = Vec::with_capacity(timed.len());
+    for (node_id, ns, timestamp_us) in timed {
+        if freshest_timestamp_us.saturating_sub(timestamp_us) > guard_interval_us {
             continue;
         }
-
-        if let Some(frame) = node_frame_from_state(node_id, ns) {
+        if let Some(frame) = node_frame_from_state_at(node_id, ns, timestamp_us) {
             frames.push(frame);
         }
     }
@@ -125,7 +198,8 @@ pub fn fuse_or_fallback(
     node_states: &HashMap<u8, NodeState>,
     dedup_factor: f64,
 ) -> (Option<FusedSensingFrame>, Option<usize>) {
-    let frames = node_frames_from_states(node_states);
+    let frames =
+        node_frames_from_states_with_guard(node_states, fuser.guard_interval_us());
     if frames.is_empty() {
         return (None, Some(0));
     }
@@ -313,26 +387,127 @@ mod tests {
     }
 
     #[test]
-    fn unsynchronized_frames_keep_host_arrival_guard() {
+    fn partial_sync_uses_one_host_timestamp_domain_for_the_cycle() {
         let base = Instant::now() - Duration::from_millis(500);
         let mut states = HashMap::new();
 
-        for (node_id, arrival) in [
-            (1, base),
-            (2, base + Duration::from_millis(200)),
+        let mut synced_history = VecDeque::new();
+        synced_history.push_back(vec![1.0; 64]);
+        let mut synced = make_node_state(synced_history, None, 0);
+        mark_mesh_timed_frame(&mut synced, 1, 100, 101, 500_000_000, base);
+        states.insert(1, synced);
+
+        let mut unsynced_history = VecDeque::new();
+        unsynced_history.push_back(vec![1.1; 64]);
+        states.insert(
+            2,
+            make_node_state(unsynced_history, Some(base + Duration::from_millis(5)), 0),
+        );
+
+        let frames = node_frames_from_states(&states);
+        let spread = frames.iter().map(|f| f.timestamp_us).max().unwrap()
+            - frames.iter().map(|f| f.timestamp_us).min().unwrap();
+        assert_eq!(spread, 5_000, "partial sync must fall back as one cycle");
+        assert!(
+            MultistaticFuser::new().fuse(&frames).is_ok(),
+            "mixed sync validity must not mix mesh and host timestamp domains"
+        );
+    }
+
+    #[test]
+    fn incoherent_mesh_timestamps_fall_back_to_host_arrival_for_the_cycle() {
+        let base = Instant::now() - Duration::from_millis(500);
+        let mut states = HashMap::new();
+
+        for (node_id, mesh_epoch_us, arrival) in [
+            (1, 1_000_000, base),
+            (2, 500_000_000, base + Duration::from_millis(5)),
         ] {
+            let mut history = VecDeque::new();
+            history.push_back(vec![1.0; 64]);
+            let mut state = make_node_state(history, None, 0);
+            mark_mesh_timed_frame(&mut state, node_id, 100, 101, mesh_epoch_us, arrival);
+            states.insert(node_id, state);
+        }
+
+        let frames = node_frames_from_states(&states);
+        let spread = frames.iter().map(|f| f.timestamp_us).max().unwrap()
+            - frames.iter().map(|f| f.timestamp_us).min().unwrap();
+        assert_eq!(spread, 5_000, "incoherent mesh time must not reach fusion");
+        assert!(MultistaticFuser::new().fuse(&frames).is_ok());
+    }
+
+    #[test]
+    fn unsynchronized_frames_prune_to_freshest_host_cohort() {
+        let base = Instant::now() - Duration::from_millis(500);
+        let mut states = HashMap::new();
+
+        for (node_id, arrival) in [(1, base), (2, base + Duration::from_millis(200))] {
             let mut history = VecDeque::new();
             history.push_back(vec![1.0; 64]);
             states.insert(node_id, make_node_state(history, Some(arrival), 0));
         }
 
         let frames = node_frames_from_states(&states);
+        assert_eq!(frames.len(), 1, "only the freshest host frame is coherent");
+        assert_eq!(frames[0].node_id, 2);
         assert!(
-            MultistaticFuser::new().fuse(&frames).is_err(),
-            "without valid mesh time, 200 ms arrival skew must still trip the 60 ms guard"
+            MultistaticFuser::new().fuse(&frames).is_ok(),
+            "an asynchronous slow node must not fail the live cycle"
         );
     }
 
+    #[test]
+    fn slow_live_node_is_excluded_from_fresh_cohort() {
+        let now = Instant::now();
+        let mut states = HashMap::new();
+        for (node_id, age_ms, n_sub) in [
+            (1, 0, 64),
+            (3, 10, 256),
+            (4, 50, 64),
+            (7, 1_000, 256),
+        ] {
+            let mut history = VecDeque::new();
+            history.push_back(vec![1.0 + node_id as f64 * 0.01; n_sub]);
+            states.insert(
+                node_id,
+                make_node_state(
+                    history,
+                    Some(now - Duration::from_millis(age_ms)),
+                    1,
+                ),
+            );
+        }
+
+        let frames = node_frames_from_states_with_guard(&states, 60_000);
+        let ids: Vec<u8> = frames.iter().map(|frame| frame.node_id).collect();
+        assert_eq!(ids, vec![1, 3, 4]);
+        assert!(MultistaticFuser::new().fuse(&frames).is_ok());
+    }
+
+    #[test]
+    fn configured_guard_is_shared_with_cohort_selection() {
+        let base = Instant::now() - Duration::from_millis(500);
+        let mut states = HashMap::new();
+        for (node_id, arrival) in [
+            (1, base),
+            (2, base + Duration::from_millis(150)),
+        ] {
+            let mut history = VecDeque::new();
+            history.push_back(vec![1.0; 64]);
+            states.insert(node_id, make_node_state(history, Some(arrival), 0));
+        }
+
+        let cfg = MultistaticConfig {
+            guard_interval_us: 200_000,
+            ..MultistaticConfig::default()
+        };
+        let fuser = MultistaticFuser::with_config(cfg);
+        let (fused, fallback) = fuse_or_fallback(&fuser, &states, 3.0);
+        assert_eq!(fused.as_ref().map(|frame| frame.active_nodes), Some(2));
+        assert!(fallback.is_none());
+    }
+
     #[test]
     fn heterogeneous_node_counts_canonicalize_and_fuse() {
         // Issue #1170 regression: a mixed mesh with HT20 (64-bin) and HT40

v2/crates/wifi-densepose-sensing-server/src/types.rs

@@ -258,6 +258,9 @@ pub struct Esp32VitalsPacket {
     pub heartrate_bpm: f64,
     pub rssi: i8,
     pub n_persons: u8,
+    /// True only when the firmware count is protocol-bounded and consistent
+    /// with the packet presence flag.
+    pub person_count_valid: bool,
     pub motion_energy: f32,
     pub presence_score: f32,
     pub timestamp_ms: u32,

v2/crates/wifi-densepose-signal/src/ruvsense/multistatic.rs

@@ -272,6 +272,17 @@ impl MultistaticFuser {
         self.node_positions = positions;
     }
 
+    /// Return the configured hard timestamp guard in microseconds.
+    ///
+    /// Callers that assemble frames before invoking [`Self::fuse`] use this
+    /// to select one temporally coherent sensing cohort. Keeping selection and
+    /// validation on the same guard prevents stale low-rate nodes from making
+    /// every otherwise-live fusion cycle fail.
+    #[must_use]
+    pub fn guard_interval_us(&self) -> u64 {
+        self.config.guard_interval_us
+    }
+
     /// Return the current node positions.
     pub fn node_positions(&self) -> &[[f32; 3]] {
         &self.node_positions