diff --git a/docs/hardware-config-plan.md b/docs/hardware-config-plan.md
index c11d261..281b23f 100644
--- a/docs/hardware-config-plan.md
+++ b/docs/hardware-config-plan.md
@@ -439,6 +439,7 @@ Branch `worktree-hardware-config` (worktree at `.claude/worktrees/hardware-confi
 | 11 | `test hardware` | **done**, 11 tests. Five leaves (`axes` / `motor` / `imu` / `env` / `camera`) under a new `hardware` subsystem; included in a bare `test`, and deliberately not gated on a homed gimbal. Nothing declared reports SKIP, never PASS |
 | 5  | Delete the `Application.cpp` speed literals | **done**, 13 tests. Decision 2 answered: speed is declared as `[Motor.<axis>] scan_speed_deg_s` (default **8.0 deg/s**) and converted per tower through `counts_per_deg` (`AxisSpeed.h`). The literals sent 36.4 deg/s against an intended 21.8 |
 | 6  | Config handshake — **host half** | **done**, 13 tests. `FirmwareConfig.h` parses `NEED` and plans the `SET` lines; unanswered keys and unknown keys are reported separately. `[Features] mock_needcfg` makes the simulated controller run the handshake, so the host half is verified with no firmware. **The firmware half is not written** |
+| 6  | Config handshake — **firmware half** | **written, NOT compile-verified.** `NEEDCFG` state (`ST` code `C`), `NEED` emitted with the banner, `SET <axis> <key> <value>`, `USE DEFAULTS`, and the init block split so the residual-motion stop still runs at boot. Parser verified locally (30 native tests, g++); the rest type-checks against stubs on both board branches but has never been built by PlatformIO or run on hardware |
 
 Presence reconciliation (§10) changes nothing on a tower without a `hardware.ini`: absent is
 silent and `hardware.declared` stays false. Verified by running the binary both ways.