FTM Indoor Positioning

A 3D indoor positioning bench built from ESP32-C3 boards using Wi-Fi FTM (Fine Timing Measurement). One initiator measures its distance to several stationary anchors; distances plus known anchor positions give a position fix.

Start at docs/PLAN.md. It is the index for everything else.

Quick orientation

I want to…	Read
Understand the project and its phases	docs/PLAN.md
Work on a phase (agents start here)	docs/AGENT_BRIEF.md
Know what the hardware actually does	docs/HARDWARE_FINDINGS.md — normative
Build or run tests	docs/CONTAINER.md, tests/README.md
Check a board is healthy	tools/bench_firmware/README.md

Common commands

.\tools\dev.ps1 setup        # build the container image (once)
.\tools\dev.ps1 venv         # create .venv and install test deps (once)

.\tools\dev.ps1 build        # bench firmware, in the container
.\tools\dev.ps1 test-host    # L1a + L1b unit tests, no hardware needed
.\tools\dev.ps1 coverage     # gcovr report
.\tools\dev.ps1 e2e          # end-to-end across both boards

Builds and host unit tests run in a Linux container; flashing and anything touching the boards runs on Windows in the project venv. dev.ps1 routes each subcommand to the right side.

Status

Phases 0 (container and test infrastructure) and 1 (bench validation firmware) are merged. See the phase table in docs/PLAN.md for what is next, and docs/reports/ for what each completed phase actually delivered.