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firestar5683
56 lines
3.4 KiB
Markdown
56 lines
3.4 KiB
Markdown
# StarPilot steering learning
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Galaxy’s Auto Learn results at `/tuning/flm` read the existing bounded training
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report and live plots. `/tuning` and `/tuning/plots` show Live Plots directly.
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Recorded-log analysis, manual GM trial generation, their worker and CLI have
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been removed. Shared log readers remain for route summaries and downloads.
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## Ioniq 6 torque-surface core
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`torque_surface.py` is a pure, inactive reconstruction of the frozen Ioniq 6
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surface stages. It accepts one immutable `standard` or `firmware_2025` profile
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with finite knobs checked against the historical Ioniq-specific numeric bounds;
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those bounds are not a live-trial or safety qualification. The
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controller's existing firmware-marker helper, not a model-year guess, must
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select the variant in any future integration. It returns center deadband,
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center taper, the directional-taper **target**, FF scale with an explicitly
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supplied filtered taper, friction threshold and low-speed angle-assist output.
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The filtered taper is required: the caller computes the raw target, updates
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its existing directional filter, then calls the pure evaluator. Its FF scale
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excludes center taper, so multiply those once; the returned threshold already
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includes the center-taper division.
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The controller still owns its filter, PID, 2023 unwind term, friction fade,
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highway output tapers, 2025 output limit and reset order. Missing or invalid
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profile data must leave the current Ioniq controller entirely unchanged.
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The Ioniq branch in the frozen controller already consumed its own FLM knobs;
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the frozen generic full-surface FF/friction branch expressly excluded Ioniq.
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Applying both would double shape FF. This module has no Params reader, gate or
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trial selector. Its output is a computation contract, not a qualified tune or
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permission to actuate. Reference provenance: frozen
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`latcontrol_vehicle_tunes.py` SHA256
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`2a7793c6ee4b53b45070d3267a01e8c7105dfd8df9d38cdfc96cfe4b672a125b`;
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baseline `ioniq6_policy.py` before the replay seam, SHA256
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`398353f28e8a367acb300a45dabc61967977aa5e952dd12888e1663b3b864bfb`.
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Historical numeric admission is not safe combination admission: setting all
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30 knobs to their allowed highs yields a negative directional taper near
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18 m/s, +0.9 m/s² setpoint and -3 m/s³ jerk. The pure module preserves this
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negative result and accepts a signed finite filtered-stage value for offline
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parity. It never clips or authorizes it. Any future live profile owner must
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reject or separately qualify coordinated knob combinations before application.
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`Ioniq6TorquePolicy` accepts an optional immutable surface at construction for
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offline replay. It validates exact Ioniq identity and the firmware-derived
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variant before modifying controller state. The normal controller constructor
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supplies no surface. Replay uses the same PID, request buffer, directional and
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jerk filters, driver override/reset order, and final output stages as the
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default Ioniq controller. No saved-profile or live selection path exists.
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Standalone frozen-controller fixtures cover both firmware variants, default
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and tuned surfaces, left/right transitions, driver override, reset, saturation,
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and the first actual torque-parameter update. That longer comparison exposed
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and corrected a prior startup-limit mismatch: the original Ioniq PID limits
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use the raw vehicle calibration until a learned/custom parameter update. The
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1.22 conversion factor alone must not silently widen those initial limits.
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