…anchor (#942) (#945) * fix(firmware): on_send ESP-NOW callback compat for IDF v6.0 (closes #944) ESP-IDF v6.0 changed `esp_now_send_cb_t` from void (*)(const uint8_t *mac, esp_now_send_status_t status) to void (*)(const esp_now_send_info_t *tx_info, esp_now_send_status_t status) The C6 sync ESP-NOW path's `on_recv` was already version-guarded with `#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)` (lines 102-112) but the `on_send` sibling missed the equivalent guard. CI runs against IDF v5.4 so the regression slipped through; the reporter on IDF v6.0.1 with xtensa-esp-elf esp-15.2.0_20251204 hit: c6_sync_espnow.c:182:30: error: passing argument 1 of 'esp_now_register_send_cb' from incompatible pointer type [-Wincompatible-pointer-types] Fix: mirror the recv guard with `#if ESP_IDF_VERSION_MAJOR >= 6` since the send-callback signature change happened at IDF v6.0 (not v5.x like the recv-callback). Both branches ignore the address-side argument since `on_send` only inspects `status` to bump the TX-fail counter. Adds `#include "esp_idf_version.h"` so the macro is in scope. Closes #944 Co-Authored-By: claude-flow <ruv@ruv.net> * fix(signal): anchor estimate_occupancy noise floor to calibration (closes #942) `test_estimate_occupancy_noise_only` asserts that 20 noise-only frames fed through a 50-frame calibrated `FieldModel` yield 0 occupancy. Failure reported on the upstream Linux + BLAS build. Root cause Calibration and estimation each compute their own Marcenko-Pastur threshold: threshold = noise_var · (1 + sqrt(p / N))² with `noise_var` = median of the bottom half of positive eigenvalues from their own covariance. The MP ratio differs across the two phases: calibration (50 frames, p=8): ratio = 0.16, factor ≈ 1.96 estimation (20 frames, p=8): ratio = 0.40, factor ≈ 2.66 On a small estimation window the local `noise_var` estimate can also be smaller than the calibration's (fewer samples → bottom-half median hits lower-magnitude eigenvalues). The combination of a smaller noise_var on estimation and the larger MP factor can flip eigenvalues on/off the "significant" line in a sample-size-dependent way, so an identical-distribution test window scores `significant > baseline_eigenvalue_count` and reports phantom persons. Fix Persist the calibration `noise_var` on `FieldNormalMode` (new field `baseline_noise_var: f64`) and use `max(local_noise_var, baseline_noise_var)` as the noise floor inside `estimate_occupancy`. This anchors the threshold to the calibration scale and prevents the short-window collapse without changing behavior when the local window's own noise dominates (the real-motion case). `baseline_noise_var` defaults to 0.0 in the diagonal-fallback paths; the estimation code treats 0.0 as "no anchored floor available" and preserves the pre-#942 single-window behavior — so older `FieldNormalMode` instances deserialised from disk continue to work unchanged. Test results cargo test --workspace --no-default-features → 413 lib tests pass (signal crate), 0 fail, 1 ignored. The actual `eigenvalue`-gated test still requires BLAS (not buildable on Windows). Logic-trace via the four numerical anchors above shows the fix flips `noise_var` from the smaller local value back up to the calibration scale, dropping `significant` to or below `baseline_eigenvalue_count` so the saturating subtraction returns 0. Closes #942 Co-Authored-By: claude-flow <ruv@ruv.net>

idf build failed for esp32-csi-node #944

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