diff --git a/.gitignore b/.gitignore
index 9af4e66..1f435b1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -16,6 +16,8 @@ Thumbs.db
 firmware/build/
 firmware/managed_components/
 firmware/.cache/
+firmware/sdkconfig
+firmware/sdkconfig.old
 
 # Test and coverage
 *.test
diff --git a/firmware/dependencies.lock b/firmware/dependencies.lock
new file mode 100644
index 0000000..980b472
--- /dev/null
+++ b/firmware/dependencies.lock
@@ -0,0 +1,15 @@
+dependencies:
+  espressif/mdns:
+    component_hash: 1ebe3bd675bb9d1c58f52bc0b609b32f74e572b01c328f9e61282040c775495c
+    source:
+      service_url: https://api.components.espressif.com/
+      type: service
+    version: 1.11.0
+  idf:
+    component_hash: null
+    source:
+      type: idf
+    version: 5.2.0
+manifest_hash: a992e70b09ad37a4feedff824c5e65dd614da5cb2c82b738b9b86cdfd9e94072
+target: esp32s3
+version: 1.0.0
diff --git a/firmware/main/CMakeLists.txt b/firmware/main/CMakeLists.txt
index 8ec2d37..157bef3 100644
--- a/firmware/main/CMakeLists.txt
+++ b/firmware/main/CMakeLists.txt
@@ -1,3 +1,7 @@
+# Ensure the generated headers directory exists before ESP-IDF validates include paths
+set(GENERATED_HEADERS_DIR "${CMAKE_BINARY_DIR}/spaxel-firmware/main")
+file(MAKE_DIRECTORY "${GENERATED_HEADERS_DIR}")
+
 idf_component_register(
     SRCS "main.c"
          "wifi.c"
@@ -8,6 +12,6 @@ idf_component_register(
          "nvs_migration.c"
          "ntp.c"
          "led.c"
-    INCLUDE_DIRS "." "${CMAKE_BINARY_DIR}/spaxel-firmware/main"
-    REQUIRES esp_wifi esp_netif nvs_flash mdns esp_http_client esp_timer bt driver log esp_http_server mbedtls esp_ota
+    INCLUDE_DIRS "." "${GENERATED_HEADERS_DIR}"
+    REQUIRES esp_wifi esp_netif nvs_flash esp_http_client esp_timer bt driver log esp_http_server mbedtls app_update json freertos
 )
diff --git a/firmware/main/ble.c b/firmware/main/ble.c
index bf13e16..39a1ca6 100644
--- a/firmware/main/ble.c
+++ b/firmware/main/ble.c
@@ -7,7 +7,7 @@
 #include "esp_gap_ble_api.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-#include "freertos/semaphore.h"
+#include "freertos/semphr.h"
 #include "cJSON.h"
 #include <string.h>
 
diff --git a/firmware/main/csi.c b/firmware/main/csi.c
index 4332e9c..8217842 100644
--- a/firmware/main/csi.c
+++ b/firmware/main/csi.c
@@ -8,6 +8,7 @@
 #include "freertos/task.h"
 #include "freertos/queue.h"
 #include <string.h>
+#include <math.h>
 
 static const char *TAG = "csi";
 
@@ -38,11 +39,11 @@ static bool s_passive_filter_enabled = false;
 static void csi_rx_task(void *arg);
 static void csi_tx_task(void *arg);
 static float compute_amplitude_variance(float new_amp);
-static void wifi_csi_cb(void *ctx, esp_wifi_csi_info_t *info);
+static void wifi_csi_cb(void *ctx, wifi_csi_info_t *info);
 
 esp_err_t csi_init(void) {
     // Create CSI queue
-    s_csi_queue = xQueueCreate(SPAXEL_CSI_QUEUE_SIZE, sizeof(esp_wifi_csi_info_t *));
+    s_csi_queue = xQueueCreate(SPAXEL_CSI_QUEUE_SIZE, sizeof(wifi_csi_info_t *));
     if (!s_csi_queue) {
         ESP_LOGE(TAG, "Failed to create CSI queue");
         return ESP_ERR_NO_MEM;
@@ -86,7 +87,7 @@ esp_err_t csi_init(void) {
     return ESP_OK;
 }
 
-static void wifi_csi_cb(void *ctx, esp_wifi_csi_info_t *info) {
+static void wifi_csi_cb(void *ctx, wifi_csi_info_t *info) {
     s_stats.frames_received++;
 
     // Apply passive BSSID filter if enabled
@@ -99,9 +100,9 @@ static void wifi_csi_cb(void *ctx, esp_wifi_csi_info_t *info) {
     }
 
     // Copy CSI info to queue (pointer to heap-allocated copy)
-    esp_wifi_csi_info_t *copy = malloc(sizeof(esp_wifi_csi_info_t));
+    wifi_csi_info_t *copy = malloc(sizeof(wifi_csi_info_t));
     if (copy) {
-        memcpy(copy, info, sizeof(esp_wifi_csi_info_t));
+        memcpy(copy, info, sizeof(wifi_csi_info_t));
         if (xQueueSend(s_csi_queue, &copy, 0) != pdPASS) {
             free(copy);
             s_stats.frames_dropped++;
@@ -112,7 +113,7 @@ static void wifi_csi_cb(void *ctx, esp_wifi_csi_info_t *info) {
 }
 
 static void csi_rx_task(void *arg) {
-    esp_wifi_csi_info_t *info;
+    wifi_csi_info_t *info;
 
     while (1) {
         if (xQueueReceive(s_csi_queue, &info, portMAX_DELAY) == pdPASS) {
diff --git a/firmware/main/idf_component.yml b/firmware/main/idf_component.yml
index fa27ea4..f0047d8 100644
--- a/firmware/main/idf_component.yml
+++ b/firmware/main/idf_component.yml
@@ -4,3 +4,4 @@
 dependencies:
   idf: ">=5.0"
   espressif/mdns: ">=1.3.0"
+  espressif/esp_websocket_client: ">=1.0.0"
diff --git a/firmware/main/led.c b/firmware/main/led.c
index 6606a2f..38978ae 100644
--- a/firmware/main/led.c
+++ b/firmware/main/led.c
@@ -100,7 +100,6 @@ esp_err_t led_blink_identify(uint32_t duration_ms) {
         2048,
         (void *)(uintptr_t)duration_ms,
         5,  // Priority
-        NULL,
         &s_led_state.task_handle
     );
 
diff --git a/firmware/main/main.c b/firmware/main/main.c
index f622db6..60989a1 100644
--- a/firmware/main/main.c
+++ b/firmware/main/main.c
@@ -14,6 +14,7 @@
 #include "nvs.h"
 #include "esp_mac.h"
 #include "freertos/task.h"
+#include <string.h>
 
 static const char *TAG = "spaxel";
 
diff --git a/firmware/main/websocket.c b/firmware/main/websocket.c
index 6bba13f..a19e122 100644
--- a/firmware/main/websocket.c
+++ b/firmware/main/websocket.c
@@ -7,12 +7,14 @@
 #include "esp_log.h"
 #include "esp_timer.h"
 #include "esp_system.h"
+#include "esp_netif.h"
+#include "driver/temperature_sensor.h"
 #include "esp_ota_ops.h"
 #include "esp_http_client.h"
 #include "mbedtls/sha256.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-#include "freertos/semaphore.h"
+#include "freertos/semphr.h"
 #include "cJSON.h"
 #include <string.h>
 #include <strings.h>
@@ -336,8 +338,18 @@ esp_err_t websocket_send_health(void) {
                             esp_timer_get_time() / 1000);
 
     // Temperature (if available)
-    extern float esp_temp_get_celsius(void);
-    cJSON_AddNumberToObject(root, "temperature_c", esp_temp_get_celsius());
+    {
+        float tsens_value = 0.0f;
+        temperature_sensor_handle_t tsens = NULL;
+        temperature_sensor_config_t tsens_cfg = TEMPERATURE_SENSOR_CONFIG_DEFAULT(10, 50);
+        if (temperature_sensor_install(&tsens_cfg, &tsens) == ESP_OK) {
+            temperature_sensor_enable(tsens);
+            temperature_sensor_get_celsius(tsens, &tsens_value);
+            temperature_sensor_disable(tsens);
+            temperature_sensor_uninstall(tsens);
+        }
+        cJSON_AddNumberToObject(root, "temperature_c", tsens_value);
+    }
 
     cJSON_AddNumberToObject(root, "csi_rate_hz", g_state.packet_rate);
     cJSON_AddNumberToObject(root, "wifi_channel", wifi_get_channel());
diff --git a/firmware/main/wifi.c b/firmware/main/wifi.c
index 56d9013..3a1625d 100644
--- a/firmware/main/wifi.c
+++ b/firmware/main/wifi.c
@@ -1,6 +1,7 @@
 #include "wifi.h"
 #include "spaxel.h"
 #include "esp_log.h"
+#include "esp_mac.h"
 #include "esp_wifi.h"
 #include "esp_event.h"
 #include "esp_netif.h"
@@ -13,6 +14,10 @@
 #include <string.h>
 #include <ctype.h>
 
+#ifndef MIN
+#define MIN(a, b) ((a) < (b) ? (a) : (b))
+#endif
+
 static const char *TAG = "wifi";
 
 static bool s_connected = false;
@@ -181,7 +186,7 @@ bool wifi_discover_mothership(char *ip_buf, size_t buf_len, uint16_t *port) {
     // Query mDNS for the mothership service
     mdns_result_t *results = NULL;
     esp_err_t err = mdns_query_ptr(SPAXEL_MDNS_SERVICE, SPAXEL_MDNS_PROTO,
-                                    5000, &results);
+                                    5000, 10, &results);
 
     if (err != ESP_OK || results == NULL) {
         ESP_LOGW(TAG, "mDNS query failed or no results");
@@ -308,7 +313,7 @@ static void url_decode(char *dst, const char *src, size_t dst_size) {
         if (src[i] == '+') {
             dst[j++] = ' ';
             i++;
-        } else if (src[i] == '%' && isxdigit(src[i+1]) && isxdigit(src[i+2])) {
+        } else if (src[i] == '%' && isxdigit((unsigned char)src[i+1]) && isxdigit((unsigned char)src[i+2])) {
             char hex[3] = {src[i+1], src[i+2], 0};
             dst[j++] = (char)strtol(hex, NULL, 16);
             i += 3;
diff --git a/firmware/main/wifi.h b/firmware/main/wifi.h
index f032ce4..cff4cb2 100644
--- a/firmware/main/wifi.h
+++ b/firmware/main/wifi.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <stdbool.h>
+#include <stdint.h>
 #include "esp_err.h"
 
 /**
diff --git a/firmware/sdkconfig.defaults b/firmware/sdkconfig.defaults
index a8e59cb..9868a07 100644
--- a/firmware/sdkconfig.defaults
+++ b/firmware/sdkconfig.defaults
@@ -4,6 +4,10 @@
 # Chip target
 CONFIG_IDF_TARGET="esp32s3"
 
+# Flash size — partitions.csv requires 12.1MB (factory 4MB + ota_0 4MB + ota_1 4MB)
+CONFIG_ESPTOOLPY_FLASHSIZE_16MB=y
+CONFIG_ESPTOOLPY_FLASHSIZE="16MB"
+
 # WiFi CSI Configuration
 CONFIG_ESP_WIFI_RX_BCN_ADAPT=y
 CONFIG_ESP_WIFI_RX_BCN_ADAPT_THRESHOLD=10