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whoisdomi
997c1be7b6
Issue: limit_accel_in_turns breakpoint table started at 20 m/s, causing np.interp to clamp a_total_max to 1.7 m/s² for all speeds below 20 m/s (~45 mph), overriding acceleration profiles during the entire low-speed pull. Fix: Extended _A_TOTAL_MAX_BP down to 0 m/s with a 3.5 m/s² ceiling, matching the maximum ACCEL_MAX. Turn protection still works correctly since a_y grows with v² and naturally consumes the budget in actual turns.