Samples every 0.5 s at synchronized root steps; trailing 5 s window (11
samples); range and |slope*window| each at most 1 % of the official band
width. States the fluid-on-cylinder force sign, reports cd_positive,
defaults to the refined case and uses the review's label.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
(cherry picked from commit 71221837f9)