Two ESP32-S3 nodes on WiFi/ESP-NOW sync drift 10-150 ms (~70 ms typ.), exceeding
the 60 ms default guard → permanent trust demotion to Restricted, all pose output
suppressed, 200k+ errors, no escape but a container restart.
Add a direct WDP_GUARD_INTERVAL_US override (+ optional WDP_SOFT_GUARD_US) to
multistatic_guard_config_from_env. Precedence (most-specific wins): direct
override > WDP_TDM_SLOTS+WDP_TDM_SLOT_US schedule-derived > 60ms/20ms default.
Soft band always clamped strictly below hard; malformed/zero ignored (falls back,
never breaks fusion). Effective guard logged at startup.
Pinned by 6 tests (multistatic_guard_config_tests). sensing-server bin tests
449 -> 455, 0 failed. Python proof PASS, hash unchanged (off signal path).
Closes#1049.
Co-Authored-By: claude-flow <ruv@ruv.net>
c27d6cc98e