I will buy you a new house

selfdrive/controls/controlsd.py

@@ -67,12 +67,23 @@ CURVATURE_HOLD_HARD_SPEED = 4.5 * CV.MPH_TO_MS
 # wake at ~2.2 m/s and never showed it). Hold authority above creep speed is bounded
 # by the opposite-command release and the decay band, not by this ceiling.
 CURVATURE_HOLD_RELEASE_SPEED = 10.0 * CV.MPH_TO_MS
-# Pre-wind stays a low-speed device: the plan-geometry source only feeds the ratchet
-# below this speed; above it only the model's own action can raise the hold, and only
-# at a limited rate so a single-frame action spike (left1 rlog 21.9s: -0.157 for one
-# model frame) can't get captured and floored for seconds.
-CURVATURE_HOLD_PLAN_SOURCE_SPEED = 6.0 * CV.MPH_TO_MS
+# Pre-wind is a NEAR-STANDSTILL device: winding the wheel is only free when the car
+# isn't moving. On rolling slow turns a plan-sourced floor applies the turn's final
+# curvature at the entry, starting the arc 4-7 m early — the "turning too much"
+# corrections in the stickyright1/2 and left-crossing rlogs (2026-07-16) all trace to
+# plan capture while moving. Above this speed only the model's own action can raise
+# the hold, rate-limited so a single-frame action spike (left1 rlog 21.9s: -0.157 for
+# one model frame) can't get captured and floored for seconds.
+CURVATURE_HOLD_PLAN_SOURCE_SPEED = 2.0 * CV.MPH_TO_MS
 CURVATURE_HOLD_RATCHET_RATE = 0.04  # 1/m per s, hold growth limit above the plan-source speed
+# Once the model's action has sustainably taken over the turn, hand off COMPLETELY:
+# clear the hold and don't re-engage until the blinker cycle ends. A floor that chases
+# the awake action only distorts the model's entry spiral, mid-turn shape, and exit
+# unwind — the sticky right-turn exits were the floor trailing the model's unwind by
+# 0.03-0.05 even at the fast decay (stickyright1 41.15s: floor 0.064 vs action 0.014,
+# driver correcting +394). The bridge job is done the moment the action is awake.
+CURVATURE_HOLD_HANDOFF_FRAC = 0.75
+CURVATURE_HOLD_HANDOFF_TIME = 0.3  # s of sustained action >= frac*hold before handoff
 CURVATURE_HOLD_DECAY_TAU = 2.0     # s; hold tracks a sustained lower model demand with this time constant
 # At a turn exit the model unwinds through small SAME-sign commands (curvature only
 # flips negative for the final counter-steer), so the opposite-release fires late and
@@ -191,6 +202,8 @@ class Controls:
     self.turn_hold_curvature = 0.0
     self.turn_hold_standstill_t = 0.0
     self.turn_hold_swept = 0.0
+    self.turn_hold_handoff_t = 0.0
+    self.turn_hold_done = False
 
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
@@ -322,6 +335,8 @@ class Controls:
       self.turn_hold_curvature = 0.0
       self.turn_hold_standstill_t = 0.0
       self.turn_hold_swept = 0.0
+      self.turn_hold_handoff_t = 0.0
+      self.turn_hold_done = False
     else:
       if self.turn_hold_curvature == 0.0:
         self.turn_hold_swept = 0.0
@@ -344,13 +359,29 @@ class Controls:
         self.turn_hold_standstill_t += DT_CTRL
         if self.turn_hold_standstill_t > CURVATURE_HOLD_STANDSTILL_TIMEOUT:
           self.turn_hold_curvature = 0.0
+        # a stop resets the turn cycle: the model goes blind again, so a prior handoff
+        # must not block the standstill pre-wind (turn4 regression in v9 replay)
+        self.turn_hold_done = False
       else:
         self.turn_hold_standstill_t = 0.0
       if CC.latActive and self.turn_hold_curvature != 0.0 and \
          new_desired_curvature * math.copysign(1.0, self.turn_hold_curvature) < -CURVATURE_HOLD_OPPOSITE_RELEASE:
         # model is actively counter-steering: the turn is over, release at any speed
         self.turn_hold_curvature = 0.0
-      if blinker_dir != 0.0:
+        self.turn_hold_done = True
+      if CC.latActive and self.turn_hold_curvature != 0.0 and \
+         new_desired_curvature * math.copysign(1.0, self.turn_hold_curvature) >= CURVATURE_HOLD_HANDOFF_FRAC * abs(self.turn_hold_curvature):
+        self.turn_hold_handoff_t += DT_CTRL
+        if self.turn_hold_handoff_t > CURVATURE_HOLD_HANDOFF_TIME:
+          # action has sustainably taken over: hand off completely (see HANDOFF consts)
+          self.turn_hold_curvature = 0.0
+          self.turn_hold_done = True
+      else:
+        self.turn_hold_handoff_t = 0.0
+      if blinker_dir == 0.0:
+        # blinker cycle over: a fresh turn may engage a fresh hold
+        self.turn_hold_done = False
+      if blinker_dir != 0.0 and not self.turn_hold_done:
         # Ratchet up on the raw model command, never on the floored/measured value, so
         # the hold can't feed itself and defeat the decay. Below the release speed the
         # plan's spatial curvature (see get_plan_spatial_curvature) is the second,