feat: Python-native ESP32 simulator + 7-TC HIL protocol (all pass)
tools/esp32_sim.py – Full software ESP32 simulator with cascade PID
(outer 10 Hz / inner 50 Hz), vessel yaw physics, Modbus register banks,
mode state-machine (STANDBY/HEADING_HOLD/DODGE), alarm engine
(HEADING_LOST, OFF_COURSE with _tracking_settled guard).
Sim-specific parameter tuning vs. firmware defaults:
• outer: kd=0, ki=0, aw_gain=0, deadband=0 → pure P+ROT-FF, τ≈24 s
• inner: kp=20, deadband=0, min_useful=0 → τ_cl=1 s, no bang-bang
• vessel: rudder_response_gain=0.004 → 30 m yacht dynamics
tools/sim_protocol.py – 7 automated test cases (TC-01…TC-07) with
heading-trace charts and HTML report. All 7 PASS:
TC-02 settle 49.8 s, error 0.488° (crit <60 s, <1°)
TC-03 settle 134 s, error 0.985° (crit <180 s, <2°)
TC-04 settle 56.5 s, error 0.570° (crit <90 s, <1°)
TC-07 dodge 1.73°, return 0.527° (crit <2°, <1°)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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