feat(arm): integrate KalmanTracker into main control loop#1
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Subtract FPGA_BASE_ADDR before indexing into the registers array. offset/4 was computing index ~285M into a 128-element array, causing an immediate segfault in drone_control_sim. Also correct for real hardware mmap path where registers_ points to the base of the mapping.
Wire kalman_tracker.h into the 100Hz control loop (Step 2b). Confirmed tracks (age >= 3 frames) replace raw CollisionPredictor output before EvasionController sees it, suppressing single-frame noise from triggering evasive maneuvers. - Add tracker.update() + get_confirmed_tracks() after predictor.assess() - Rebuild assessment.objects with KF-filtered positions - Add trk=/conf= columns to log_telemetry for flight debugging - Add make test target + test_arm_cp.cpp (6 unit tests, all passing) - Fix missing kalman_tracker.h dependency in Makefile %.o rule
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Wire kalman_tracker.h into the 100Hz control loop (Step 2b).
Confirmed tracks (age >= 3 frames) replace raw CollisionPredictor
output before EvasionController sees it, suppressing single-frame
noise from triggering evasive maneuvers.
Fixed a sim segfault.