feat: 60 GHz mmWave sensor fusion with WiFi CSI (ADR-063) #269
Description
Summary
Add support for 60 GHz mmWave radar sensors (Seeed MR60BHA2, HLK-LD2410/LD2450) alongside WiFi CSI for dual-modality sensing. mmWave provides clinical-grade heart rate (±1-2 BPM) and breathing rate (±0.5 BPM) in line-of-sight; WiFi CSI provides through-wall coverage. Fusing both eliminates false positives and enables self-calibrating vital sign extraction.
Architecture Decision Record
Full design: ADR-063
Key Features
- Auto-detection — firmware probes UART at boot, identifies sensor family, registers capabilities
- Dual-confirm fall detection — CSI + mmWave AND gate = near-zero false positives
- Kalman vital sign fusion — mmWave (high confidence) + CSI (through-wall fallback)
- RuVector integration — mmWave as ground truth for BVP calibration, triangulation, pre-movement detection
- 6 supported sensors — Seeed MR60BHA2/FDA1/MR24HPC1, HLK-LD2410/LD2450 ($3-$15 each)
- Three deployment modes — CSI-only ($9), mmWave-only ($15), fused ($24)
Hardware Verified
Live data captured from ESP32-C6 + Seeed MR60BHA2 (COM4): HR 90-92 bpm, BR 18-23/min, presence detection, illuminance.
Branch
feat/adr-063-mmwave-sensor-fusion