fix: multistatic canonicalization + csi_fps burst inflation + control-packet starvation (#1170, #1180, #1183) - #1193
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…acket starvation (#1170, #1180, #1183) #1170 — live multistatic bridge fed raw, un-canonicalized per-node CSI (64/128/192 bins) to MultistaticFuser, tripping DimensionMismatch every cycle and silently disabling fusion on mixed HT20/HT40 meshes. Add HardwareNormalizer::resample_to_canonical (resample-only, no z-score) and canonicalize every node frame onto the 56-tone grid before fusion. #1180 — update_csi_fps_ema only rejected dt<=0 or >=1s, so sub-ms UDP-burst arrivals (36us -> ~27kHz) inflated csi_fps_ema 40-840x. Add a 5ms plausibility floor and stop re-anchoring observe_csi_frame_arrival on burst deltas. #1183 — global ENOMEM backoff (CSI flood) starved <=48B/<=1Hz control packets. Add stream_sender_send_priority() bypassing the backoff gate without touching the streak; route feature_state/HEALTH/sync through it. Fix the misleading "HEALTH sent" log that printed even on rv_mesh_send failure. Verified: signal 501, sensing-server 677 tests (0 failed); firmware builds clean. Co-Authored-By: claude-flow <ruv@ruv.net> Claude-Session: https://claude.ai/code/session_01AgpTcBLRJ32hUsKWxDXf36
This was referenced Jun 29, 2026
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Fixes three issues anchored at
7831f294, all verified with tests.#1170 — Multistatic fusion
DimensionMismatchflood (High)The live bridge built a struct named
CanonicalCsiFramefrom raw per-node amplitudes (HT20≈64 / HT40≈128/192 bins) without resampling, soMultistaticFuser::fusetrippedDimensionMismatchevery cycle, silently fell back to per-node sum/dedup, and spuntotal_engine_errorsunbounded on any mixed mesh.hardware_norm.rs: addHardwareNormalizer::resample_to_canonical(resample-only, no z-score — preserves the amplitude scale the person-score relies on).multistatic_bridge.rs: canonicalize every node onto the 56-tone grid before fusion.#1180 —
csi_fps_emainflated 40–840× (Medium)update_csi_fps_emaonly rejecteddt ≤ 0/≥ 1 s, so 36 µs UDP-burst deltas (~27 kHz) polluted the EMA.main.rs: addMIN_PLAUSIBLE_CSI_DT_SEC = 0.005floor;observe_csi_frame_arrivalkeeps its anchor across sub-floor bursts so the next real gap measures true cadence.#1183 —
stream_senderENOMEM backoff starves control packets (High)The global backoff (CSI flood at weak RSSI) suppressed the ≤48 B/≤1 Hz
feature_state/HEALTH/sync packets too.stream_sender.{c,h}: addstream_sender_send_priority()(bypasses the gate, quiet on ENOMEM, never touches the streak); routefeature_state/HEALTH/anomaly/sync through it."HEALTH sent"log (nowsent/FAILEDfrom the real return).Verification
wifi-densepose-signal: 501 passed, 0 failedwifi-densepose-sensing-server: 677 passed, 0 failed (4 new tests + retargetedengine_bridge::observe_cycle_counts_engine_errors→TimestampMismatch, since canonicalization removed the old dimension error)🤖 Generated with claude-flow