Validate only the causal tuning pose interval

openpilot/starpilot/flm/live_tracking_ingress.py

@@ -125,7 +125,7 @@ class LiveTrackingIngress:
                  control.controller_revision, control.native_identity, control.native_required) != lineage
                 or control.generation != pair[0].generation):
               return None
-          self.profile(control)  # Unknown consumption still fails closed.
+            self.profile(control)  # Unknown consumption inside the original interval still fails closed.
       except (AttributeError, TypeError, ValueError):
         return None
     return pair

openpilot/starpilot/flm/tests/test_tracking_pose_interval.py

@@ -43,6 +43,24 @@ class TestTrackingPoseInterval(unittest.TestCase):
     assert selected[0] is rows[0][0] and selected[1] is rows[0][1]
     assert rows[0][1].apply_ns == 1_000_000_000
 
+  def test_unknown_older_profile_outside_causal_interval_does_not_replace_pair(self):
+    owner = subject()
+    rows = [pair(owner, stamp) for stamp in (990_000_000, 1_000_000_000, 1_010_000_000)]
+    rows[0][0].applied_coordinates = (0.001, 0.)
+    pose = SimpleNamespace(source_lower_ns=1_005_000_000, source_upper_ns=1_015_000_000)
+    selected = owner.original_pose_pair(rows, pose)
+    assert selected is not None
+    assert selected[0] is rows[1][0] and selected[1] is rows[1][1]
+
+  def test_unknown_newer_profile_outside_causal_interval_does_not_replace_pair(self):
+    owner = subject()
+    rows = [pair(owner, stamp) for stamp in (1_000_000_000, 1_010_000_000, 1_020_000_000)]
+    rows[-1][0].applied_coordinates = (0.001, 0.)
+    pose = SimpleNamespace(source_lower_ns=1_005_000_000, source_upper_ns=1_015_000_000)
+    selected = owner.original_pose_pair(rows, pose)
+    assert selected is not None
+    assert selected[0] is rows[0][0] and selected[1] is rows[0][1]
+
   def test_plant_model_keeps_single_emission_requirement(self):
     owner = subject(False)
     rows = [pair(owner, 1_000_000_000), pair(owner, 1_010_000_000)]

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "c91dc5a51a37f9bea11a203ac847690732612932799ffa5b1d1abebd07fc3950", "schema_version": 1}
+{"protected_inventory_sha256": "a4e57edf60b47ca5ef9240ac00554772506d95b7f05cdd5e758d86cc0c41007b", "schema_version": 1}