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feat(lateral): add confidence-gated lane centering

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Adapt the lane-centering implementation from PR #74 by @jc01rho.

Keep controls in Galaxy developer settings, add confidence and geometry gates, preserve E2E path authority, and reset all related offsets through Safe Mode.
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jc01rho
2026-07-23 09:58:30 +09:00
committed by firestar5683
parent 370654637a
commit 9f1066ce83
10 changed files with 391 additions and 0 deletions
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common/params_keys.h
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@@ -371,6 +371,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"IssueReported", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
{"KonikDongleId", {PERSISTENT, STRING, "", "", 0}},
{"KonikMinutes", {PERSISTENT, INT, "0", "0", 0}},
{"LaneCentering", {PERSISTENT, BOOL, "0", "0", 2}},
{"LaneCenteringE2EAuthority", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
{"LaneCenterOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"LaneChanges", {PERSISTENT, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
{"LaneChangeSmoothing", {PERSISTENT, INT, "5", "10", 1, SETTINGS_SIMPLE}},
{"LaneChangeTime", {PERSISTENT, FLOAT, "1.0", "0.0", 1, SETTINGS_SIMPLE}},