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Task #19

open

Add boundary test: bias > rest threshold → MOVING → no ZARU

Task #19: Add boundary test: bias > rest threshold → MOVING → no ZARU

Added by knight8241 about 1 month ago. Updated about 1 month ago.

Status:
To Do
Priority:
Medium
Assignee:
-
% Done:

0%

Estimated time:

Description

Imported from the Aether local task tracker (task ref: #7).
Tasker: Claude Code agent (on behalf of runknight / )

ISSUES ENCOUNTERED
The ZARU rest gate had an uncovered boundary: a bias above the rest threshold must classify MOVING and suppress ZARU, but nothing asserted it.

SOLUTION
Added a bracketing unit test that drives bias above the rest threshold and asserts MOVING → no ZARU.

Files

0001-test-ekf-bracket-the-ZARU-rest-gate-with-an-above-th.patch (3.6 KB) 0001-test-ekf-bracket-the-ZARU-rest-gate-with-an-above-th.patch knight8241, 08/07/2026 18:31

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