Refactor core layer to eliminate platform dependencies and improve testability

Author: DanielKusyDev

docs/architecture-refactoring.md

@@ -1,6 +1,6 @@
 # Architecture Refactoring: Clean Core Layer
 
-**Date**: 2025-01-XX
+**Date**: 2025-11-01 (Completed)
 **Goal**: Eliminate platform dependencies from `core/` modules using dependency injection and command pattern.
 
 ---
@@ -243,12 +243,25 @@ For existing modules that need HAL:
 
 ## Summary
 
-**Before**: 4 files in `core/` had platform dependencies
+**Before**: 6 files in `core/` had platform dependencies
+- `ground_safety.cpp` - Arduino.h, millis()
+- `arm_calibration.cpp` - Arduino.h, imu.h, nvs_cal.h, millis(), micros()
+- `mixer_table.cpp` - platform/arduino/assert.h
+- `safety.cpp` - Arduino.h, millis()
+- `imu_mapping.cpp` - platform/arduino/assert.h
+- `accel_cal_validation.cpp` - wrong namespace for isfinite/fabs
+
 **After**: 100% platform-independent (except logger utility)
 
+**Additional Fixes**:
+- Renamed `platform/arduino/assert.h` → `runtime_assert.h` (avoid system header conflict)
+- Fixed include paths in platform files (nvs_cal.cpp, radio.cpp, telemetry.cpp)
+- Added missing config.h includes (rc_packet.cpp, input_processor.cpp, test files)
+
 **Key Techniques**:
-- Dependency Injection (timing)
-- Command Pattern (HAL operations)
+- Dependency Injection (timing via parameters)
+- Command Pattern (HAL operations return commands)
 - Clean interfaces (no leaky abstractions)
 
 **Result**: Core business logic is now fully testable, portable, and maintainable.
+**Build Status**: ✅ All tests pass, ESP32 builds successfully