do_freq_est: document the state×arm incidence (table + diagram)#82
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DOFreqEst fuses up to 6 measurement arms into a 4-state EKF, but which arm observes which state — and which state is hidden — wasn't written down anywhere. Add a state×arm incidence table to the module docstring (ASCII, renders in-place) and a matching SVG, making the structure explicit: x0/x1/x2 are directly measured; x3 (DO frequency) is the lone HIDDEN state, recovered only through the predict-step integrator coupling — and it's the very state the servo actuates on (adjfine ≈ −f_do). Also flags TICC (Arm 4) as the only non-diagonal arm, intermittent at 125 MHz tick boundaries. Files: docs/dofreqest-state-arm-map.svg + its generator scripts/gen_dofreqest_state_arm_svg.py (keep the two in sync). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Summary
Documents which of DOFreqEst's 6 measurement arms observes which of its 4 states — and which state is hidden. Purely additive (docstring + docs), no logic change.
scripts/peppar_fix/do_freq_est.py(+24): ASCII state×arm incidence table in the module docstring (renders in-place), with footnotes for the one non-diagonal arm (TICC, intermittent at 125 MHz tick boundaries) and for x3 (DO frequency) — the lone HIDDEN state, recovered only via the predict-step integrator coupling, yet the state the servo actuates on (adjfine ≈ −f_do).docs/dofreqest-state-arm-map.svg+ its generatorscripts/gen_dofreqest_state_arm_svg.py.No overlap with the in-flight PR #79 (routedQErrArm), which edits
do_freq_est.pyfrom line 69+; this change is the top module docstring.Test plan
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