StarPilot's angle-only bluepilot_lateral adaptation and the BluePilot-derived curvature strategies (Mach-E,
classic, Explorer, generic CAN FD, new-port curvature, manual-turn latch, curvature preview, pinion
measurement) are removed, with their extended safety profiles 16/32/64 and the interim angle word 128. Ford
lateral is upstream's stock curvature path until the BluePilot lateral library is mounted.
StarPilot's own Ford features stay, re-keyed from the extended words to the stock ones:
- AOL: classic 32 -> 0, Mach-E 18 and the CAN FD trucks 66 -> 2 (+1 with openpilot long); the CAN FD
retained-display rules apply to word 2. Edge/Mondeo/Transit and the manual bit (256) are unchanged.
- release CAN FD long: word 3 (was 19/67); 19 and 67 are now retired and denied.
- stock cruise switch, CAN FD camera-lead radar handling, hands-free cluster: keyed on the Ford family.
- classic stock ACC (0) keeps the no-ACCDATA TX list the extended classic profile had.
Bits 9-14 of the Ford param are reserved for the BluePilot lateral library's startup bits
(safety/modes/ford_param.h); AOL and pandad mask them out of the profile word.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Build nested typed evidence rows directly while retaining every original field and validation. Complete serialized bytes match the prior writer on recorded d8 evidence and regression fixtures.
Fresh-head combined qualification: 459 tests passed. Cloud performance measurements do not claim device loop-rate recovery or a successful learning trial.
Merge bounded control/output FIFO heads using original publisher headers. Preserve original age, native, source, overflow and malformed-input checks; retain producer order after joins.
Validated with actual pinned cloud dependencies and fresh-head regression tests.
YassineYousfi