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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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firmware/ar_autopilot_v1/modbus_registers.yaml
+3
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@@ -83,6 +83,9 @@ inputs:
- { addr: 6, name: CURRENT_MODE, desc: "Current AutopilotMode (0=STANDBY,1=HH,2=TC,3=TK,4=DODGE)", unit: "" }
- { addr: 7, name: FREE_HEAP_KB, desc: "Current free heap, KiB", unit: "KiB" }
- { addr: 8, name: MIN_FREE_HEAP_KB, desc: "Minimum free heap since boot", unit: "KiB" }
- { addr: 9, name: HWID_MAC_01, desc: "Hardware ID bytes [0..1] (MAC eFuse high word)", unit: "" }
- { addr: 10, name: HWID_MAC_23, desc: "Hardware ID bytes [2..3] (MAC eFuse mid word)", unit: "" }
- { addr: 11, name: HWID_MAC_45, desc: "Hardware ID bytes [4..5] (MAC eFuse low word)", unit: "" }
- { addr: 16, name: RUDDER_ANGLE_DEG_X100, desc: "Filtered rudder angle, deg * 100 (-3500..+3500)", unit: "deg", scale: 0.01 }
- { addr: 17, name: RUDDER_RAW_ADC, desc: "Raw ADC reading after median filter (0..4095)", unit: "counts" }