survive disconnect during BLE MTU lookup

README.md

@@ -61,7 +61,17 @@ remains the nominal datasheet value. Mapped raw counts are stored directly, and
 sensor-native counts are reconstructed losslessly from the documented mapping.
 No software filtering or sensor fusion is performed yet.
 
-The ESP32-C3 polls at exactly 100 Hz in a dedicated acquisition task, but each
+The BLE reconnect fixture measured scheduling jitter without drift: among 2,575
+contiguous sample intervals, 1,293 differed from exactly 10 ms; absolute timing
+deviation had a 4 us median, 160 us p95, 170 us p99, and 780 us maximum, while
+cumulative error was only 152 us over 25.75 seconds. Bluetooth tasks can preempt
+the polling task, but every record carries its actual acquisition timestamp.
+Future fusion, integration, and filtering must derive each `dt` from those
+timestamps rather than assume a uniform 10 ms interval. Sensor DRDY/FIFO
+acquisition remains the later refinement for reducing the jitter itself.
+
+The ESP32-C3 schedules nominal 100 Hz polling in a dedicated acquisition task,
+but each
 sensor has an independent internal
 sample clock. The status registers are read immediately before each XYZ read so a
 consumer can distinguish a fresh sample from a repeated poll and identify gyro