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sprint-8: EKF + adaptive tuner + HWID + SHA-256 audit hash-chain

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- heading_ekf.py: 2-state Kalman filter fusing PGN 127250 heading and
  127251 ROT with shortest-arc innovation and symmetric covariance update
- adaptive_tuner.py: gradient-descent outer-loop Kp/Ki adjuster bounded
  to ±adaptive_max_deviation_pct; oscillation vs steady-state detection
- hwid.py: HMAC-SHA256 activation token (verify side); hwid_from_mac_words
  converts three Modbus uint16 MAC words to 12-char hex HWID
- audit.py: SHA-256 hash-chain -- each JSONL line carries prev_hash and
  line_hash; verify_chain() detects tampering, deletion, insertion
- firmware/system/hwid.h+cpp: esp_efuse_mac_get_default wrapper + FNV-32
  hash + "AA:BB:CC:DD:EE:FF" formatter
- modbus_registers.yaml + generated .h/.py: HWID_MAC_01/23/45 at
  input addrs 9/10/11 (three 16-bit words = 6-byte MAC)
- modbus_slave.cpp: INPUT_HWID_MAC_01/23/45 cases read eFuse MAC
- main.cpp: logs HWID string + FNV-32 hash at boot (activation traceability)
- tests: 72 new tests (audit signing, EKF, adaptive tuner, HWID) -- 398 total

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Alvaro Enrique Romero Donado
2026-05-20 03:07:27 -04:00
parent 5f9b445572
commit 45642fda0e
15 changed files with 1217 additions and 5 deletions
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arautopilot/shared/modbus_register_map.py
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@@ -70,6 +70,9 @@ INPUTS: dict[str, Reg] = {
"CURRENT_MODE": Reg(addr=6, name="CURRENT_MODE", desc='Current AutopilotMode (0=STANDBY,1=HH,2=TC,3=TK,4=DODGE)', unit="", scale=1.0, offset=0.0),
"FREE_HEAP_KB": Reg(addr=7, name="FREE_HEAP_KB", desc='Current free heap, KiB', unit="KiB", scale=1.0, offset=0.0),
"MIN_FREE_HEAP_KB": Reg(addr=8, name="MIN_FREE_HEAP_KB", desc='Minimum free heap since boot', unit="KiB", scale=1.0, offset=0.0),
"HWID_MAC_01": Reg(addr=9, name="HWID_MAC_01", desc='Hardware ID bytes [0..1] (MAC eFuse high word)', unit="", scale=1.0, offset=0.0),
"HWID_MAC_23": Reg(addr=10, name="HWID_MAC_23", desc='Hardware ID bytes [2..3] (MAC eFuse mid word)', unit="", scale=1.0, offset=0.0),
"HWID_MAC_45": Reg(addr=11, name="HWID_MAC_45", desc='Hardware ID bytes [4..5] (MAC eFuse low word)', unit="", scale=1.0, offset=0.0),
"RUDDER_ANGLE_DEG_X100": Reg(addr=16, name="RUDDER_ANGLE_DEG_X100", desc='Filtered rudder angle, deg * 100 (-3500..+3500)', unit="deg", scale=0.01, offset=0.0),
"RUDDER_RAW_ADC": Reg(addr=17, name="RUDDER_RAW_ADC", desc='Raw ADC reading after median filter (0..4095)', unit="counts", scale=1.0, offset=0.0),
"RUDDER_VALID": Reg(addr=18, name="RUDDER_VALID", desc='1 if median filter has filled (>=5 samples)', unit="", scale=1.0, offset=0.0),