From 7ceaf1e4d2e407725113fa1e227525dfd34435ff Mon Sep 17 00:00:00 2001
From: Zach Whitehead <zjwhitehead@users.noreply.github.com>
Date: Sat, 16 Aug 2025 11:36:15 -0500
Subject: [PATCH 1/8] Update for Arduino-ESP32 3.x API and improve ESC init

Refactor buzzer and vibration motor initialization to use the new ledcAttach API from Arduino-ESP32 3.x. Update BLE characteristic callbacks to use String instead of std::string for compatibility. Improve ESC initialization by deferring throttle setup until after the first CAN process and add a readiness check. Update watchdog initialization to use the new esp_task_wdt_init config structure. Minor fix to pin initialization order in setup.
---
 platformio.ini              |  3 ++-
 src/sp140/buzzer.cpp        | 12 ++++++------
 src/sp140/esc.cpp           | 14 +++++++++-----
 src/sp140/sp140.ino         | 12 ++++++++++--
 src/sp140/vibration_pwm.cpp |  4 ++--
 5 files changed, 29 insertions(+), 16 deletions(-)

diff --git a/platformio.ini b/platformio.ini
index 7ed8fb2..534291a 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -21,7 +21,7 @@ lib_ignore =
 
 
 [env:OpenPPG-CESP32S3-CAN-SP140]
-platform = espressif32@6.12.0
+platform = https://github.com/pioarduino/platform-espressif32.git#develop
 board = m5stack-stamps3
 framework = arduino
 src_folder = sp140
@@ -38,6 +38,7 @@ build_flags =
 	-D LV_LVGL_H_INCLUDE_SIMPLE
 	; Disable legacy individual BLE characteristics (use packed binary only)
 	-D DISABLE_LEGACY_BLE_TELEMETRY
+	-D USBSerial=Serial
 
 build_type = debug
 debug_speed = 12000
diff --git a/src/sp140/buzzer.cpp b/src/sp140/buzzer.cpp
index de65343..28a2447 100644
--- a/src/sp140/buzzer.cpp
+++ b/src/sp140/buzzer.cpp
@@ -29,9 +29,9 @@ static bool buzzerInitialized = false;
  * @return Returns true if initialization was successful, false otherwise
  */
 bool initBuzz() {
-  // Setup LEDC channel for buzzer
-  ledcSetup(BUZZER_PWM_CHANNEL, BUZZER_PWM_FREQUENCY, BUZZER_PWM_RESOLUTION);
-  ledcAttachPin(board_config.buzzer_pin, BUZZER_PWM_CHANNEL);
+  // Setup LEDC channel for buzzer (Arduino-ESP32 3.x API)
+  // Channels are implicitly allocated; attach pin to channel and set frequency/resolution
+  ledcAttach(board_config.buzzer_pin, BUZZER_PWM_FREQUENCY, BUZZER_PWM_RESOLUTION);
   buzzerInitialized = true;
   return true;
 }
@@ -43,9 +43,9 @@ void startTone(uint16_t frequency) {
   if (!buzzerInitialized || !ENABLE_BUZZ) return;
 
   // Change the frequency for this channel
-  ledcChangeFrequency(BUZZER_PWM_CHANNEL, frequency, BUZZER_PWM_RESOLUTION);
+  ledcWriteTone(board_config.buzzer_pin, frequency);
   // Set 50% duty cycle (square wave)
-  ledcWrite(BUZZER_PWM_CHANNEL, 128);
+  ledcWrite(board_config.buzzer_pin, 128);
 }
 
 /**
@@ -55,7 +55,7 @@ void stopTone() {
   if (!buzzerInitialized) return;
 
   // Set duty cycle to 0 to stop the tone
-  ledcWrite(BUZZER_PWM_CHANNEL, 0);
+  ledcWrite(board_config.buzzer_pin, 0);
 }
 
 /**
diff --git a/src/sp140/esc.cpp b/src/sp140/esc.cpp
index 1a435c8..9fa39f1 100644
--- a/src/sp140/esc.cpp
+++ b/src/sp140/esc.cpp
@@ -15,6 +15,7 @@ static CanardAdapter adapter;
 static uint8_t memory_pool[1024] __attribute__((aligned(8)));
 static SineEsc esc(adapter);
 static unsigned long lastSuccessfulCommTimeMs = 0;  // Store millis() time of last successful ESC comm
+static bool escReady = false;
 
 
 STR_ESC_TELEMETRY_140 escTelemetryData = {
@@ -36,14 +37,13 @@ void initESC() {
   }
 
   adapter.begin(memory_pool, sizeof(memory_pool));
-  adapter.setLocalNodeId(LOCAL_NODE_ID);
   esc.begin(0x20);  // Default ID for the ESC
+  adapter.setLocalNodeId(LOCAL_NODE_ID);
 
-  // Set idle throttle only if ESC is found
-  const uint16_t IdleThrottle_us = 10000;  // 1000us (0.1us resolution)
-  esc.setThrottleSettings2(IdleThrottle_us);
+  // Defer sending throttle until after first adapter process to avoid null pointer in CANARD
   adapter.processTxRxOnce();
-  vTaskDelay(pdMS_TO_TICKS(20));  // Wait for ESC to process the command
+  vTaskDelay(pdMS_TO_TICKS(20));  // Give ESC time to be ready
+  escReady = true;
 }
 
 /**
@@ -54,6 +54,10 @@ void initESC() {
  * Important: The ESC requires messages at least every 300ms or it will reset
  */
 void setESCThrottle(int throttlePWM) {
+  // Ensure TWAI/ESC subsystem is initialized
+  if (!escTwaiInitialized || !escReady) {
+    return;
+  }
   // Input validation
   if (throttlePWM < 1000 || throttlePWM > 2000) {
     return;  // Ignore invalid throttle values
diff --git a/src/sp140/sp140.ino b/src/sp140/sp140.ino
index 1a2b3e2..d7fe877 100644
--- a/src/sp140/sp140.ino
+++ b/src/sp140/sp140.ino
@@ -598,7 +598,15 @@ void setupAnalogRead() {
 void setupWatchdog() {
 #ifndef OPENPPG_DEBUG
   // Initialize Task Watchdog
-  ESP_ERROR_CHECK(esp_task_wdt_init(3000, true));  // 3 second timeout, panic on timeout
+  esp_task_wdt_config_t twdt_config = {
+    .timeout_ms = 3000,
+    .idle_core_mask = 0,   // do not subscribe idle tasks
+    .trigger_panic = true,
+  };
+  esp_err_t wdt_init_result = esp_task_wdt_init(&twdt_config);
+  if (wdt_init_result != ESP_OK && wdt_init_result != ESP_ERR_INVALID_STATE) {
+    ESP_ERROR_CHECK(wdt_init_result);
+  }
 #endif // OPENPPG_DEBUG
 }
 
@@ -617,8 +625,8 @@ void setup() {
 
   // Pull CSB (pin 42) high to activate I2C mode
   // temporary fix TODO remove
-  digitalWrite(42, HIGH);
   pinMode(42, OUTPUT);
+  digitalWrite(42, HIGH);
 
   // Initialize LVGL mutex before anything else
   lvglMutex = xSemaphoreCreateMutex();
diff --git a/src/sp140/vibration_pwm.cpp b/src/sp140/vibration_pwm.cpp
index 096385a..e285b0f 100644
--- a/src/sp140/vibration_pwm.cpp
+++ b/src/sp140/vibration_pwm.cpp
@@ -61,8 +61,8 @@ void vibeTask(void* parameter) {
  */
 bool initVibeMotor() {
   extern HardwareConfig board_config;
-  ledcSetup(VIBE_PWM_CHANNEL, VIBE_PWM_FREQ, VIBE_PWM_RESOLUTION);
-  ledcAttachPin(board_config.vibe_pwm, VIBE_PWM_CHANNEL);
+  // Arduino-ESP32 3.x LEDC API: use ledcAttach(pin, freq, resolution)
+  ledcAttach(board_config.vibe_pwm, VIBE_PWM_FREQ, VIBE_PWM_RESOLUTION);
 
   // Create vibration queue
   vibeQueue = xQueueCreate(5, sizeof(VibeRequest));

From bd84e56ed62a900e1f68cae3c77210b7f15cd27a Mon Sep 17 00:00:00 2001
From: Zach Whitehead <zjwhitehead@users.noreply.github.com>
Date: Wed, 21 Jan 2026 15:18:36 -0600
Subject: [PATCH 2/8] Fix vibration

# Conflicts:
#	src/sp140/vibration_pwm.cpp
---
 src/sp140/vibration_pwm.cpp | 47 +++++++++++++++++++------------------
 1 file changed, 24 insertions(+), 23 deletions(-)

diff --git a/src/sp140/vibration_pwm.cpp b/src/sp140/vibration_pwm.cpp
index e285b0f..2ceeb8a 100644
--- a/src/sp140/vibration_pwm.cpp
+++ b/src/sp140/vibration_pwm.cpp
@@ -22,9 +22,9 @@ void criticalVibeTask(void* parameter) {
   for (;;) {
     if (criticalVibrationActive && ENABLE_VIBE) {
       // Pulse every 1 second for critical alerts
-      ledcWrite(VIBE_PWM_CHANNEL, 200);  // Medium intensity for continuous
+      ledcWrite(board_config.vibe_pwm, 200);  // Medium intensity for continuous
       vTaskDelay(pdMS_TO_TICKS(300));    // 300ms on
-      ledcWrite(VIBE_PWM_CHANNEL, 0);
+      ledcWrite(board_config.vibe_pwm, 0);
       vTaskDelay(pdMS_TO_TICKS(700));    // 700ms off (total 1 second cycle)
     } else {
       // If not active, suspend task to save resources
@@ -43,13 +43,13 @@ void vibeTask(void* parameter) {
     if (xQueueReceive(vibeQueue, &request, portMAX_DELAY) == pdTRUE) {
       if (ENABLE_VIBE) {
         // Turn on vibration with specified intensity
-        ledcWrite(VIBE_PWM_CHANNEL, request.intensity);
+        ledcWrite(board_config.vibe_pwm, request.intensity);
 
         // Wait for specified duration
         vTaskDelay(pdMS_TO_TICKS(request.duration_ms));
 
         // Turn off vibration
-        ledcWrite(VIBE_PWM_CHANNEL, 0);
+        ledcWrite(board_config.vibe_pwm, 0);
       }
     }
   }
@@ -60,9 +60,10 @@ void vibeTask(void* parameter) {
  * @return Returns true if initialization was successful, false otherwise
  */
 bool initVibeMotor() {
-  extern HardwareConfig board_config;
   // Arduino-ESP32 3.x LEDC API: use ledcAttach(pin, freq, resolution)
+  pinMode(board_config.vibe_pwm, OUTPUT);
   ledcAttach(board_config.vibe_pwm, VIBE_PWM_FREQ, VIBE_PWM_RESOLUTION);
+  ledcWrite(board_config.vibe_pwm, 0);
 
   // Create vibration queue
   vibeQueue = xQueueCreate(5, sizeof(VibeRequest));
@@ -112,7 +113,7 @@ void stopVibration() {
   if (vibeQueue != NULL) {
     xQueueReset(vibeQueue);
   }
-  ledcWrite(VIBE_PWM_CHANNEL, 0);
+  ledcWrite(board_config.vibe_pwm, 0);
 }
 
 /**
@@ -125,10 +126,10 @@ bool runVibePattern(const unsigned int pattern[], int patternSize) {
   if (!ENABLE_VIBE) return false;
 
   for (int i = 0; i < patternSize; i++) {
-    ledcWrite(VIBE_PWM_CHANNEL, pattern[i]);
+    ledcWrite(board_config.vibe_pwm, pattern[i]);
     vTaskDelay(pdMS_TO_TICKS(200));
   }
-  ledcWrite(VIBE_PWM_CHANNEL, 0);  // Turn off vibration
+  ledcWrite(board_config.vibe_pwm, 0);  // Turn off vibration
   return true;
 }
 
@@ -141,46 +142,46 @@ void executeVibePattern(VibePattern pattern) {
 
   switch (pattern) {
     case VIBE_SHORT_PULSE:
-      ledcWrite(VIBE_PWM_CHANNEL, 255);
+      ledcWrite(board_config.vibe_pwm, 255);
       vTaskDelay(pdMS_TO_TICKS(100));
-      ledcWrite(VIBE_PWM_CHANNEL, 0);
+      ledcWrite(board_config.vibe_pwm, 0);
       break;
 
     case VIBE_LONG_PULSE:
-      ledcWrite(VIBE_PWM_CHANNEL, 255);
+      ledcWrite(board_config.vibe_pwm, 255);
       vTaskDelay(pdMS_TO_TICKS(500));
-      ledcWrite(VIBE_PWM_CHANNEL, 0);
+      ledcWrite(board_config.vibe_pwm, 0);
       break;
 
     case VIBE_DOUBLE_PULSE:
       for (int i = 0; i < 2; i++) {
-        ledcWrite(VIBE_PWM_CHANNEL, 255);
+        ledcWrite(board_config.vibe_pwm, 255);
         vTaskDelay(pdMS_TO_TICKS(150));
-        ledcWrite(VIBE_PWM_CHANNEL, 0);
+        ledcWrite(board_config.vibe_pwm, 0);
         vTaskDelay(pdMS_TO_TICKS(150));
       }
       break;
 
     case VIBE_TRIPLE_PULSE:
       for (int i = 0; i < 3; i++) {
-        ledcWrite(VIBE_PWM_CHANNEL, 255);
+        ledcWrite(board_config.vibe_pwm, 255);
         vTaskDelay(pdMS_TO_TICKS(100));
-        ledcWrite(VIBE_PWM_CHANNEL, 0);
+        ledcWrite(board_config.vibe_pwm, 0);
         vTaskDelay(pdMS_TO_TICKS(100));
       }
       break;
 
     case VIBE_RAMP_UP:
       for (int i = 0; i <= 255; i += 5) {
-        ledcWrite(VIBE_PWM_CHANNEL, i);
+        ledcWrite(board_config.vibe_pwm, i);
         vTaskDelay(pdMS_TO_TICKS(25));
       }
-      ledcWrite(VIBE_PWM_CHANNEL, 0);
+      ledcWrite(board_config.vibe_pwm, 0);
       break;
 
     case VIBE_RAMP_DOWN:
       for (int i = 255; i >= 0; i -= 5) {
-        ledcWrite(VIBE_PWM_CHANNEL, i);
+        ledcWrite(board_config.vibe_pwm, i);
         vTaskDelay(pdMS_TO_TICKS(25));
       }
       break;
@@ -188,10 +189,10 @@ void executeVibePattern(VibePattern pattern) {
     case VIBE_WAVE:
       for (int i = 0; i <= 180; i += 5) {
         int intensity = (sin(i * PI / 180.0) + 1) * 127.5;
-        ledcWrite(VIBE_PWM_CHANNEL, intensity);
+        ledcWrite(board_config.vibe_pwm, intensity);
         vTaskDelay(pdMS_TO_TICKS(20));
       }
-      ledcWrite(VIBE_PWM_CHANNEL, 0);
+      ledcWrite(board_config.vibe_pwm, 0);
       break;
   }
 }
@@ -206,10 +207,10 @@ void customVibePattern(const uint8_t intensities[], const uint16_t durations[],
   if (!ENABLE_VIBE) return;
 
   for (int i = 0; i < steps; i++) {
-    ledcWrite(VIBE_PWM_CHANNEL, intensities[i]);
+    ledcWrite(board_config.vibe_pwm, intensities[i]);
     vTaskDelay(pdMS_TO_TICKS(durations[i]));
   }
-  ledcWrite(VIBE_PWM_CHANNEL, 0);
+  ledcWrite(board_config.vibe_pwm, 0);
 }
 
 // Service state for critical alerts

From 632f966397857d0829459216202df7ab4f5dd41d Mon Sep 17 00:00:00 2001
From: Zach Whitehead <zjwhitehead@users.noreply.github.com>
Date: Sat, 16 Aug 2025 11:42:18 -0500
Subject: [PATCH 3/8] Fix vibration

---
 .vscode/extensions.json | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.vscode/extensions.json b/.vscode/extensions.json
index b191a09..ecdd563 100644
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@@ -1,8 +1,7 @@
 {
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
     "recommendations": [
         "ms-vscode.cpptools-extension-pack",
+        "pioarduino.pioarduino-ide",
         "platformio.platformio-ide"
     ],
     "unwantedRecommendations": [

From 8d6077ac6634399b710b52853897cc7ee4b3c46e Mon Sep 17 00:00:00 2001
From: Zach Whitehead <zjwhitehead@users.noreply.github.com>
Date: Mon, 18 Aug 2025 09:55:19 -0500
Subject: [PATCH 4/8] Update SIMPLE_MONITOR_README.md

---
 SIMPLE_MONITOR_README.md | 172 ++++++++++++++++++++++++++++++++-------
 1 file changed, 141 insertions(+), 31 deletions(-)

diff --git a/SIMPLE_MONITOR_README.md b/SIMPLE_MONITOR_README.md
index ffdb627..dd0a2f7 100644
--- a/SIMPLE_MONITOR_README.md
+++ b/SIMPLE_MONITOR_README.md
@@ -1,50 +1,160 @@
-# Sensor Monitoring System
+# Simple Sensor Monitoring System
 
 ## Overview
-Real-time health monitoring for ESP32 electric ultralight sensors. Monitors ESC, BMS, altimeter, and system health with threshold-based alerting.
+A lightweight, category-based monitoring system for ESP32 electric ultralight sensors. Features intelligent alert suppression when controllers disconnect and modern OOP design with device categories.
 
-## Features
-- **Comprehensive**: 50+ sensors monitored across all flight systems
-- **Smart Alerting**: Hysteresis protection prevents false alerts
-- **Multiple Outputs**: Serial, display, and extensible logging
-- **Efficient**: Minimal overhead, change-only notifications
+## Design Philosophy
+- **Safety-First**: Automatically suppresses ESC alerts when ESC disconnected, BMS alerts when BMS disconnected
+- **Category-Based**: Organizes sensors by device type (ESC, BMS, ALTIMETER, INTERNAL) for grouped management
+- **Modern OOP**: Interface-based design with virtual methods and clean inheritance
+- **Thread-Safe**: Queue-based telemetry snapshots for safe multi-task operation
 
-## What's Monitored
+## Usage
 
-### ESC
-- Temperatures (MOS, MCU, CAP, Motor)
-- Error states (over-current, over-temp, voltage issues)
-- Hardware faults and diagnostics
+### Device Categories & Alert Suppression
+```cpp
+enum class SensorCategory {
+  ESC,        // ESC temps, motor temp, ESC errors
+  BMS,        // Battery voltage, current, temps, SOC
+  ALTIMETER,  // Barometric sensors
+  INTERNAL    // CPU temp, system sensors
+};
 
-### BMS
-- Cell voltages and temperature sensors
-- State of charge and charge/discharge status
-- Voltage differential monitoring
+// When ESC disconnects: All ESC alerts automatically cleared
+// When BMS disconnects: All BMS alerts automatically cleared
+// ALTIMETER/INTERNAL: Always monitored (no connection dependency)
+```
 
-### System
-- CPU temperature and altimeter readings
-- System health and diagnostics
+### Current Monitoring Coverage
+```cpp
+// ESC Category (suppressed when ESC disconnected):
+// - ESC MOS: Warning 90°C, Critical 110°C
+// - ESC MCU: Warning 80°C, Critical 95°C
+// - ESC CAP: Warning 85°C, Critical 100°C
+// - Motor: Warning 90°C, Critical 110°C
+// - ESC Error Conditions (overcurrent, overtemp, etc.)
 
-## How It Works
+// BMS Category (suppressed when BMS disconnected):
+// - Battery voltage, current, SOC, cell voltages
+// - BMS temperatures, charge/discharge MOS status
+```
 
-System automatically monitors all sensors and alerts on threshold violations. Hysteresis prevents false alerts from sensor noise.
+### Adding New Sensors
+```cpp
+// Example: New ESC sensor
+static SensorMonitor* newEscSensor = new SensorMonitor(
+  SensorID::ESC_New_Sensor,      // Unique ID from enum
+  SensorCategory::ESC,           // Category determines suppression behavior
+  {.warnLow = 10, .warnHigh = 80, .critLow = 5, .critHigh = 90},
+  []() { return escTelemetryData.new_value; },  // Data source
+  &multiLogger                   // Fan-out to multiple outputs
+);
+monitors.push_back(newEscSensor);
 
-### Alert Levels
-- **OK**: Normal operation
-- **WARN**: Advisory thresholds exceeded
-- **CRIT**: Critical thresholds requiring attention
+// Example: Boolean error monitor
+static BooleanMonitor* newError = new BooleanMonitor(
+  SensorID::ESC_New_Error,
+  SensorCategory::ESC,
+  []() { return checkErrorCondition(); },
+  true,                          // Alert when condition is true
+  AlertLevel::CRIT_HIGH,
+  &multiLogger
+);
+monitors.push_back(newError);
+```
 
 ### Example Output
 ```
 [15234] [WARN_HIGH] ESC_MOS_Temp = 92.50
 [15467] [CRIT_HIGH] Motor_Temp = 112.30
 [15890] [OK] ESC_MOS_Temp = 88.20
+[16123] ESC disconnected - clearing all ESC alerts
+[16450] [WARN_LOW] BMS_SOC = 12.3
+```
+
+## Easy Extensions
+
+### SD Card Logging
+```cpp
+struct SDLogger : ILogger {
+  void log(SensorID id, AlertLevel lvl, float v) override {
+    File logFile = SD.open("/alerts.log", FILE_APPEND);
+    logFile.printf("%lu,%s,%d,%.2f\n", millis(), sensorIDToString(id), (int)lvl, v);
+    logFile.close();
+  }
+};
+```
+
+### Custom Alert Processing
+```cpp
+struct CustomLogger : ILogger {
+  void log(SensorID id, AlertLevel lvl, float v) override {
+    // Custom processing based on sensor category
+    SensorCategory cat = getSensorCategory(id);
+    if (cat == SensorCategory::ESC && lvl >= AlertLevel::CRIT_HIGH) {
+      triggerEmergencyShutdown();
+    }
+  }
+};
 ```
 
-### Integration
-- Runs every 40ms in FreeRTOS task
-- Displays alerts on screen with haptic feedback
-- Serial logging for diagnostics
-- Thread-safe with minimal CPU overhead
+### Multiple Outputs (Built-in)
+```cpp
+// MultiLogger automatically fans out to all registered sinks
+multiLogger.addSink(&serialLogger);  // Console output
+multiLogger.addSink(&uiLogger);      // LVGL alerts
+multiLogger.addSink(&customLogger);  // Your custom handler
+
+// All monitors automatically use multiLogger
+```
+
+## Architecture
+
+```cpp
+IMonitor (interface)
+├── virtual SensorID getSensorID() = 0
+├── virtual SensorCategory getCategory() = 0
+└── virtual void check() = 0
+
+SensorMonitor : IMonitor              BooleanMonitor : IMonitor
+├── SensorID id                       ├── SensorID id
+├── SensorCategory category           ├── SensorCategory category
+├── Thresholds thr                    ├── std::function<bool()> read
+├── std::function<float()> read       ├── bool alertOnTrue
+└── ILogger* logger                   └── AlertLevel level
+
+ILogger (interface)
+├── SerialLogger (debug output)
+├── AlertUILogger (LVGL display)
+└── MultiLogger (fan-out to multiple sinks)
+
+Categories & Connection Logic:
+├── ESC sensors → suppressed when escState != CONNECTED
+├── BMS sensors → suppressed when bmsState != CONNECTED
+├── ALTIMETER sensors → always active
+└── INTERNAL sensors → always active
+```
+
+## Integration
+- **Queue-Based**: Dedicated monitoring task receives telemetry snapshots via FreeRTOS queue
+- **Thread-Safe**: No direct access to volatile telemetry data from monitoring task
+- **Connection-Aware**: Automatically clears alerts when devices disconnect
+- **Smart Suppression**: Only runs ESC monitors when ESC connected, BMS monitors when BMS connected
+- **Change Detection**: Only logs when alert level changes (no spam)
+- **Zero Overhead**: Minimal CPU usage when all sensors in OK state
+
+## Memory Usage
+- **Code Size**: ~3KB total (includes OOP infrastructure, queue handling, UI integration)
+- **Per Sensor**: ~150 bytes (SensorMonitor) or ~120 bytes (BooleanMonitor)
+- **Static Allocation**: All monitors allocated at compile-time (embedded-friendly)
+- **Queue Memory**: ~200 bytes for telemetry snapshot queue
+- **Category Lookup**: O(1) via virtual methods (no external mapping tables)
+
+## Key Benefits
+1. **Safety**: ESC alerts disappear when ESC disconnects (no false warnings during connection issues)
+2. **Maintainability**: Add new sensors by category, automatic suppression behavior
+3. **Robustness**: Thread-safe design prevents race conditions between telemetry and monitoring
+4. **Extensibility**: Clean OOP interfaces for new monitor types and output methods
+5. **Performance**: Smart suppression reduces unnecessary checks when devices offline
 
-The system provides comprehensive flight safety monitoring while maintaining performance for electric ultralight operation.
+This design balances safety, maintainability, and performance - essential for flight-critical embedded systems.

From a4b96c3dec323357c823cf3d3066397c242cbc44 Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Wed, 21 Jan 2026 20:36:49 +0000
Subject: [PATCH 5/8] Initial plan


From 7e2544f3942045a447e1479197ef0e5f29722e1d Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Wed, 21 Jan 2026 20:48:04 +0000
Subject: [PATCH 6/8] Update platform to v3.3.5 (tag 55.03.35)

Co-authored-by: zjwhitehead <4623792+zjwhitehead@users.noreply.github.com>
---
 platformio.ini | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/platformio.ini b/platformio.ini
index 534291a..1ab4101 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -21,7 +21,7 @@ lib_ignore =
 
 
 [env:OpenPPG-CESP32S3-CAN-SP140]
-platform = https://github.com/pioarduino/platform-espressif32.git#develop
+platform = https://github.com/pioarduino/platform-espressif32.git#55.03.35
 board = m5stack-stamps3
 framework = arduino
 src_folder = sp140

From 60db71dc44921b856da4e89de62bd35b2811ae08 Mon Sep 17 00:00:00 2001
From: Zach Whitehead <zjwhitehead@users.noreply.github.com>
Date: Wed, 21 Jan 2026 15:32:31 -0600
Subject: [PATCH 7/8] Add .tool-versions file and declare board_config extern

Introduces a .tool-versions file specifying Python 3.11.9 for environment consistency. Also adds an extern declaration for HardwareConfig board_config in vibration_pwm.cpp to resolve linkage or visibility issues.
---
 .tool-versions              | 1 +
 src/sp140/vibration_pwm.cpp | 2 ++
 2 files changed, 3 insertions(+)
 create mode 100644 .tool-versions

diff --git a/.tool-versions b/.tool-versions
new file mode 100644
index 0000000..8aa451a
--- /dev/null
+++ b/.tool-versions
@@ -0,0 +1 @@
+python 3.11.9
diff --git a/src/sp140/vibration_pwm.cpp b/src/sp140/vibration_pwm.cpp
index 2ceeb8a..865d5db 100644
--- a/src/sp140/vibration_pwm.cpp
+++ b/src/sp140/vibration_pwm.cpp
@@ -2,6 +2,8 @@
 #include "sp140/esp32s3-config.h"
 #include "sp140/lvgl/lvgl_updates.h"
 
+extern HardwareConfig board_config;
+
 // Pin is configured via s3_config.vibe_pwm
 const int VIBE_PWM_FREQ = 1000;  // Adjust as needed
 const int VIBE_PWM_RESOLUTION = 8;  // 8-bit resolution

From 28daf6020de5912515abd5d0021bfd92989530f5 Mon Sep 17 00:00:00 2001
From: Zach Whitehead <zjwhitehead@users.noreply.github.com>
Date: Wed, 21 Jan 2026 15:34:51 -0600
Subject: [PATCH 8/8] Update config.yml

---
 .github/workflows/config.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 7f47407..c9eadce 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -20,7 +20,7 @@ jobs:
       - name: Setup Python
         uses: actions/setup-python@v6
         with:
-          python-version: 3.x
+          python-version: "3.11"
       - run: pip install cpplint
       - run: cpplint --linelength 140 --filter=-legal/copyright,-runtime/int,-build/include_subdir,-readability/casting,-readability/todo,-build/include_order,-build/include_what_you_use --recursive ./inc/ ./lib/ ./src/
 
@@ -40,7 +40,7 @@ jobs:
       - name: Setup Python
         uses: actions/setup-python@v6
         with:
-          python-version: 3.x
+          python-version: "3.11"
       - name: Cache PlatformIO
         uses: actions/cache@v5
         with:
@@ -70,7 +70,7 @@ jobs:
       - name: Setup Python
         uses: actions/setup-python@v6
         with:
-          python-version: 3.x
+          python-version: "3.11"
       - name: Cache PlatformIO
         uses: actions/cache@v5
         with: