From be17536f2b48fca023cc48b0e73d52a40683456b Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 3 Nov 2026 02:35:13 -0600
Subject: [PATCH] Validate only the causal tuning pose interval

---
 .../starpilot/flm/live_tracking_ingress.py     |  2 +-
 .../flm/tests/test_tracking_pose_interval.py   | 18 ++++++++++++++++++
 prebuilt.json                                  |  2 +-
 3 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/openpilot/starpilot/flm/live_tracking_ingress.py b/openpilot/starpilot/flm/live_tracking_ingress.py
index 5b2b400b29..538008c6d4 100644
--- a/openpilot/starpilot/flm/live_tracking_ingress.py
+++ b/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
diff --git a/openpilot/starpilot/flm/tests/test_tracking_pose_interval.py b/openpilot/starpilot/flm/tests/test_tracking_pose_interval.py
index fb4fbbdb0d..8a779a5b83 100644
--- a/openpilot/starpilot/flm/tests/test_tracking_pose_interval.py
+++ b/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)]
diff --git a/prebuilt.json b/prebuilt.json
index eddf425a15..154e1d22a2 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "c91dc5a51a37f9bea11a203ac847690732612932799ffa5b1d1abebd07fc3950", "schema_version": 1}
+{"protected_inventory_sha256": "a4e57edf60b47ca5ef9240ac00554772506d95b7f05cdd5e758d86cc0c41007b", "schema_version": 1}