firestar5683StarPilot steering learning
Galaxy’s Auto Learn results at /tuning/flm read the existing bounded training
report and live plots. /tuning and /tuning/plots show Live Plots directly.
Recorded-log analysis, manual GM trial generation, their worker and CLI have
been removed. Shared log readers remain for route summaries and downloads.
Ioniq 6 torque-surface core
torque_surface.py is a pure, inactive reconstruction of the frozen Ioniq 6
surface stages. It accepts one immutable standard or firmware_2025 profile
with finite knobs checked against the historical Ioniq-specific numeric bounds;
those bounds are not a live-trial or safety qualification. The
controller's existing firmware-marker helper, not a model-year guess, must
select the variant in any future integration. It returns center deadband,
center taper, the directional-taper target, FF scale with an explicitly
supplied filtered taper, friction threshold and low-speed angle-assist output.
The filtered taper is required: the caller computes the raw target, updates
its existing directional filter, then calls the pure evaluator. Its FF scale
excludes center taper, so multiply those once; the returned threshold already
includes the center-taper division.
The controller still owns its filter, PID, 2023 unwind term, friction fade,
highway output tapers, 2025 output limit and reset order. Missing or invalid
profile data must leave the current Ioniq controller entirely unchanged.
The Ioniq branch in the frozen controller already consumed its own FLM knobs;
the frozen generic full-surface FF/friction branch expressly excluded Ioniq.
Applying both would double shape FF. This module has no Params reader, gate or
trial selector. Its output is a computation contract, not a qualified tune or
permission to actuate. Reference provenance: frozen
latcontrol_vehicle_tunes.py SHA256
2a7793c6ee4b53b45070d3267a01e8c7105dfd8df9d38cdfc96cfe4b672a125b;
baseline ioniq6_policy.py before the replay seam, SHA256
398353f28e8a367acb300a45dabc61967977aa5e952dd12888e1663b3b864bfb.
Historical numeric admission is not safe combination admission: setting all 30 knobs to their allowed highs yields a negative directional taper near 18 m/s, +0.9 m/s² setpoint and -3 m/s³ jerk. The pure module preserves this negative result and accepts a signed finite filtered-stage value for offline parity. It never clips or authorizes it. Any future live profile owner must reject or separately qualify coordinated knob combinations before application.
Ioniq6TorquePolicy accepts an optional immutable surface at construction for
offline replay. It validates exact Ioniq identity and the firmware-derived
variant before modifying controller state. The normal controller constructor
supplies no surface. Replay uses the same PID, request buffer, directional and
jerk filters, driver override/reset order, and final output stages as the
default Ioniq controller. No saved-profile or live selection path exists.
Standalone frozen-controller fixtures cover both firmware variants, default and tuned surfaces, left/right transitions, driver override, reset, saturation, and the first actual torque-parameter update. That longer comparison exposed and corrected a prior startup-limit mismatch: the original Ioniq PID limits use the raw vehicle calibration until a learned/custom parameter update. The 1.22 conversion factor alone must not silently widen those initial limits.