Make controller input best-effort and harden OTA rollback.

Accel/tap use fire-and-forget ESP-NOW with a 10 ms FreeRTOS-safe cadence, OTA recovers from seq gaps and auto-reboots after success, and bootloader app rollback confirms after a stable boot.

Co-authored-by: Cursor <cursoragent@cursor.com>

goTool/cmd_ble_stream.go

@@ -8,7 +8,7 @@ import (
 func runBleStream(h hostConn, args []string) error {
 	fs := flag.NewFlagSet("ble-stream", flag.ExitOnError)
 	clientID := fs.Uint("client", 0, "slave client id (0 = all_clients)")
-	periodMs := fs.Uint("period", 16, "BLE push period_ms (8–16)")
+	periodMs := fs.Uint("period", 10, "BLE push period_ms (10–16)")
 	count := fs.Int("count", 50, "number of BleStreamTick samples")
 	tolMs := fs.Float64("tol", 2.0, "tolerance ms around period for window_ok")
 	duration := fs.Float64("timeout", 15.0, "max seconds waiting for ticks")