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firestar5683
200632aabd
Learn bounded feed-forward corrections on eligible torque controllers behind Use StarPilot Auto Learn, preserving installed tunes and native safety limits. Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com> Co-authored-by: whoisdomi <dcantu83@gmail.com>
23 lines
1.0 KiB
Python
23 lines
1.0 KiB
Python
"""Whole-block causal phase selection in the optional fitter process."""
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def stage_blocks(raw, split, calibration_response_end_ns):
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"""Keep original rows and clocks; quarantine whole boundary maneuvers.
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Response lag can put early commands of the next maneuver before the end of
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calibration responses. Such a block is retained in the raw replay recording,
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but cannot become stage training or heldout evidence. Never slice its rows.
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"""
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admitted, boundary = [], []
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for block in raw[split:]:
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if not block['samples']:
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raise ValueError('empty phase block')
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support = tuple((point['control_ns'], point['apply_ns'], point['mono_ns']) for point in block['samples'])
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if any(not 0 < command <= applied <= response for command, applied, response in support):
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raise ValueError('phase source chronology')
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if min(command for command, _, _ in support) <= calibration_response_end_ns:
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boundary.append(block['block_id'])
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else:
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admitted.append(block)
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return tuple(admitted), tuple(boundary)
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