Strengthen local and CI validation

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,25 @@
+## Summary
+
+## Related issues
+- Closes #
+
+## Changes
+
+## Testing
+- [ ] `just fmt-check`
+- [ ] `just check`
+- [ ] `just test`
+- [ ] Other (please specify):
+
+pro-tip: `just` with no parameters in the root defaults to `just fmt-check`, `just check`, and `just test`.
+
+## Checklist
+- [ ] I have updated docs or examples where needed
+- [ ] I have added or updated tests where needed
+- [ ] I have considered host vs embedded impact
+- [ ] I have considered config/logging changes (if applicable)
+- [ ] This change is not a breaking change (or I documented it below)
+
+## Breaking changes (if any)
+
+## Additional context

.github/workflows/ci.yml

@@ -14,6 +14,21 @@ env:
   CARGO_TERM_COLOR: always
 
 jobs:
+  fmt:
+    name: Format Check
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v6
+
+      - name: Install Rust
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
+
+      - name: Check formatting
+        run: cargo fmt --all -- --check
+
   host:
     name: Host Example Checks
     runs-on: ubuntu-latest
@@ -40,6 +55,12 @@ jobs:
           cargo check -p cu-feetech-demo --all-targets
           cargo check -p cu-gnss-ublox-demo --all-targets --features logexport
 
+      - name: Run host tests
+        run: |
+          cargo test -p cu-human-pose
+          cargo test -p cu-flight-controller --bin quad-sim --features textlogs
+          cargo test -p cu-rp-balancebot --bin balancebot-sim
+
   embedded:
     name: Embedded Example Checks
     runs-on: ubuntu-latest

README.md

@@ -39,13 +39,17 @@ repository dispatch event.
 ## Checks
 
 ```bash
-just check
+just pr-check
 ```
 
-The host checks cover the Linux-targeted apps. `cu-human-pose` needs GStreamer
-development packages installed locally. The embedded smoke checks use
-cross-target `cargo check` against the same RP2350 and STM32H7 targets exercised
-by these demos.
+`just pr-check` runs formatting verification, the existing host/embedded compile
+smoke checks, and the host-side unit tests that are stable in CI.
+
+`just check` remains available when you only want the compile-smoke pass. The
+host checks cover the Linux-targeted apps. `cu-human-pose` needs GStreamer
+development packages installed locally. The embedded smoke checks use cross-target
+`cargo check` against the same RP2350 and STM32H7 targets exercised by these
+demos.
 
 ## License
 

justfile

@@ -1,8 +1,16 @@
-default: check
+default: pr-check
+
+pr-check:
+	just fmt-check
+	just check
+	just test
 
 fmt:
 	cargo fmt --all
 
+fmt-check:
+	cargo fmt --all -- --check
+
 check: check-host check-embedded
 
 check-host:
@@ -15,3 +23,10 @@ check-host:
 check-embedded:
 	cargo check -p cu-elrs-bdshot-demo --target thumbv8m.main-none-eabihf
 	cargo check -p cu-flight-controller --target thumbv7em-none-eabihf --no-default-features --features firmware,textlogs --bin quad
+
+# Host-side tests only. The embedded demo is compile-checked separately and the
+# balancebot resim/logreader paths pull in local-only or Python-linked flows.
+test:
+	cargo test -p cu-human-pose
+	cargo test -p cu-flight-controller --bin quad-sim --features textlogs
+	cargo test -p cu-rp-balancebot --bin balancebot-sim