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Ford: simplify C1 feedback with continuous PI unwind

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Isaac Barham
2026-09-13 12:30:22 -04:00
parent 5e6993aabb
commit 08b3a14ad4
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docs/ford_c1_minimal_pi.md
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# Ford continuous PI drive trial (v7)
The selected controller follows the current, upstream-limited desired curvature
with P=0.50 and I=0.25. It replaces v6's request-change, C0-confirmation and
unwind-catchup release rules. C0 mapping, heading overflow allocation, input
health gates, driver/PSCM arbitration and final output limits remain unchanged.
Only C0, C1 and I carry control history. C2/C3 stay zero.
```text
D = max(7 m, speed × 1 s)
error = selected desired curvature − measured steering-derived curvature
base = clip(D × desired curvature, −0.5, +0.5)
P = 0.50 × D × error
increment = 0.25 × speed × error × fresh steering measurement interval
C1 target = clip(base + P + I, −0.5, +0.5)
```
After PSCM outward-accumulation arbitration, the increment first cancels up to
its own magnitude of opposing I. It cannot cross zero in that step. Any remainder
is bounded by the combined command's amplitude/slew headroom. C1 output still
slews at 0.5 rad/s. This allows old I to unwind even when the output is already
slewing. It adds no timer, request history, turn detection or position threshold.
P doubles relative to v6, and I builds at one quarter the previous rate for an
identical error and fresh measurement interval. Lower I also unwinds more slowly
for an identical existing state and error; its replay benefit comes mainly from
storing less correction. Zero error removes P and holds I. Persistent tracking
bias may need that holding correction. There is no claim that all I is unwanted.
## Evidence and limitations
Six offline settings were compared across fourteen routes and 1,578,250 source
cycles before selecting this candidate. The production selector and adapter now
exactly reproduce the selected P=0.50/I=0.25 archived commands, validity, P, I,
feedforward, C0 overflow and feedback/PSCM gates on every cycle of all fourteen
routes. These comprise Lightning 112–117, a0, a2, a5, a9, b8, b9, ca and Raptor 02.
The integration replay performs 1,578,250 actual Float32/CAN round trips.
A further 20,000 randomized cycles with mirrored and independent C0 paths perform
60,000 CAN checks on production, checking independent scalar arithmetic,
C0-independent feedback, symmetry, reset, amplitude and slew behavior.
The Ford, Sunnylink, params, sender and safety suite passes 679 tests and
9,145 subtests; 178 are skipped by the platform test suite. Removed maneuver
heuristic tests are replaced with continuous-error, cancellation, freshness,
three-state reproduction and actual controlsd-to-CAN entry/exit checks.
Historical untracked offline experiment tests are outside this deployment suite.
At a previously reviewed route-115 exit (133.595 s), the original small PI
controller requested +0.1090 rad C1; this trial requests +0.0175. That sample
includes driver context. Reviewed large entries remain similar, but commands
are not identical everywhere. In a previously well-tracked route-116 bend
(112 s), C1 falls from +0.1530 to +0.1355 rad. Lower I could weaken a persistent
bend, while higher P can increase response to measurement fluctuations.
Recorded wheel motion remains fixed in replay. These checks establish software
behavior and exact integration of the candidate; they do not establish improved
physical tracking or stability. Gains remain experimental, not an identified
universal PSCM calibration. No device build, boot or new drive is claimed.
## Selection and reproduction
Use the existing default-off Sunnylink **Selected-Action Path Tracking
(Experimental)** toggle on any Ford CAN FD, followed by a real offroad-to-onroad
cycle. Logs identify `model-action-c1-pi-v7`, `proportional_gain=0.5`,
`integral_gain=0.25`. Toggle-off selects upstream Ford control. See the
[drive instructions](ford_model_action_drive_test.md).
With the built cereal/opendbc environment and archived local extracts:
```sh
export PYTHONPATH=.:opendbc_repo:.cache/ford_v6/test_deps
export PYTHONDONTWRITEBYTECODE=1
export PARAMS_ROOT=/tmp/ford-v7-params
export LOG_ROOT=/tmp/ford-v7-logs
python -m tools.ford_pscm_lab.minimal_pi_validate --output .cache/ford_minimal_tuning/production --workers 4
python -m tools.ford_pscm_lab.minimal_pi_production_stress --cycles 20000 --output .cache/ford_minimal_tuning/production_stress.json
```
The validation JSON records route and source hashes. The archived six-setting
sweep is local evidence, not a checked-in dataset. Historical v5/v6 lab tools
load their pinned controller revisions so their baseline comparisons retain
their original meaning after production changes.
docs/ford_c1_minimal_pi_validation.json
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{
"scope": "Production integration of the selected continuous PI drive trial; fixed recorded motion, not a physical tracking prediction.",
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"control_history": [
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"scope": "Ford controls, tracked PSCM lab tests, PSCM status, Sunnylink, params, Ford car and safety suites; historical untracked experiments excluded."
},
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],
"production_stress": {
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"can_round_trips": 60000,
"seed": 20260913,
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},
"limits": [
"No hardware build, device boot or new physical drive performed.",
"Matched offline commands do not establish improved tracking or closed-loop stability.",
"Higher P can amplify measurement fluctuations; lower I can take longer to correct persistent error.",
"Toggle defaults off and off selects upstream Ford control; on applies to any Ford CAN FD."
]
}
docs/ford_model_action_drive_test.md
+18 -30
View File
@@ -1,11 +1,9 @@
# Ford selected-action drive-test branch
The current experiment adds [measured-curvature C1 feedback](ford_c1_feedback.md)
and [conditional correction release](ford_c1_carryover.md) to the restored
original v1 mapping, with [base C1 overflow allocated to C0](ford_c1_overflow.md)
and [completed-unwind correction release](ford_unwind_catchup.md).
V6 adds [explicit proportional C1 feedback with P=0.25](ford_c1_pi.md), retaining
the existing feedback timing. This is an initial drive-trial gain.
The current v7 experiment uses [continuous C1 PI feedback](ford_c1_minimal_pi.md)
with **P=0.50 and I=0.25**, replacing the earlier conditional-release rules.
Only C0, C1 and accumulated error carry control history. The restored model
mapping and [base C1 overflow allocation to C0](ford_c1_overflow.md) remain.
It is selectable on **any Ford CAN FD vehicle**
through the existing persistent, default-off Sunnylink
toggle. Offline checks establish software behavior; physical tracking,
@@ -23,19 +21,12 @@ turn-exit behavior and closed-loop stability remain unvalidated.
The startup event `Ford path controller selected` should report
`FordModelActionController`. Periodic `Ford C2-free path tracking` events
identify **`hypothesis=model-action-c1-pi-v6`**. They report desired and
measured curvature, base heading, proportional and accumulated correction, applied heading,
feedback timing and driver/PSCM gating. `carryover_release_count` counts
conditional releases since the last controller reset; it does not control
steering. `offset_overflow` reports the extra C0 target in meters before C0
amplitude and slew limits. `calibration_approved=false` remains.
`request_release` reports correction retired on the current cycle when a changed
request and sufficiently large measured error agree. Periodic logs can miss
individual retirement cycles.
`unwind_direction` remembers an unfinished unwind; `unwind_release` reports
correction retired when a confirmed unwind catches the selected curvature.
`heading_proportional`, `proportional_gain`, `feedback_curvature` and
`feedback_error` separate the new P contribution and its reference from I.
identify **`hypothesis=model-action-c1-pi-v7`**. They report desired and measured
curvature, base heading, proportional and accumulated correction, applied heading,
feedback timing and driver/PSCM gating. `proportional_gain=0.5` and
`integral_gain=0.25` identify the trial. `offset_overflow` reports the extra C0
target in meters before C0 amplitude and slew limits. `calibration_approved=false`
remains. The retired request/unwind/reversal diagnostic fields are removed.
Turning the toggle off and completing another offroad-to-onroad cycle restores
**upstream Ford curvature control**: 20 Hz steering messages, limited mode on
@@ -54,15 +45,11 @@ error without accumulating. Repeated publications may advance P and output slew
but cannot integrate the same elapsed interval twice.
Driver override clears P and I. A fresh PSCM reached-limit flag stops
extra outward accumulation while preserving unwind and base model changes.
With fresh feedback, the controller can discard an opposing correction when
it prevents C1 from following the direction shared by original model C0, applied C0
and base C1, while measured curvature is still opposite. A separate bounded
release now handles changed requests within the same turn when measured error
also opposes the old correction. V5 additionally retires dominant unwind memory
at catch-up when the selected request reaches zero/new-side curvature and both
C0 requests confirm that side. Steady requests cannot arm this release, and
catching an old-side bend retains correction. Final output slew still applies.
See [completed-unwind release](ford_unwind_catchup.md).
With fresh feedback, the part of the error increment that cancels existing I
is applied before the ordinary accumulation clamp. Any remainder must fit the
combined feedforward/P/I amplitude and slew envelope. There is no C0 confirmation
threshold or remembered turn direction. Zero error removes P and holds I; it
does not trigger a release. Final command limits still apply.
C0 starts with the original 7 m model-path mapping. When the raw base heading
exceeds ±0.5 rad, C0 additionally receives 7 m times the clipped-away heading.
@@ -74,8 +61,9 @@ place. An explicit selection flag distinguishes upstream mode from an invalid
experimental command; invalid experimental input cannot switch to upstream.
The opendbc sender restores upstream behavior when that flag is false.
See [proportional feedback trial and validation](ford_c1_pi.md) and
`ford_c1_pi_validation.json` for current evidence and reproduction commands.
See [continuous PI trial and validation](ford_c1_minimal_pi.md) and
`ford_c1_minimal_pi_validation.json` for current evidence and reproduction commands.
[Proportional feedback](ford_c1_pi.md) and its validation JSON record v6.
[Completed-unwind release](ford_unwind_catchup.md) and
`ford_unwind_catchup_validation.json` record v5. [Changed-request release](ford_c1_request_release.md) and its
validation JSON record v4. The [overflow specification](ford_c1_overflow.md) and