sprint-8: EKF + adaptive tuner + HWID + SHA-256 audit hash-chain
- 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>
alro65
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