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Ford: update curvature-C0 toggle description and install notes

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This commit is contained in:
Isaac Barham
2026-09-13 19:09:45 -04:00
parent 20485134e1
commit 57ae29f257
3 changed files with 9 additions and 8 deletions
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docs/ford_model_action_drive_test.md
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@@ -1,6 +1,6 @@
# Ford selected-action drive-test branch
This local v8 candidate uses [curvature-derived C0](ford_curvature_c0_v8.md)
This v8 controller uses [curvature-derived C0](ford_curvature_c0_v8.md)
and [continuous C1 PI feedback](ford_c1_minimal_pi.md)
with **P=0.50 and I=0.25**.
Only C0, C1 and accumulated error carry control history. C0 is now a 7 m circular arc from selected desired curvature.
@@ -10,9 +10,10 @@ through the existing persistent, default-off Sunnylink
toggle. Offline checks establish software behavior; physical tracking,
turn-exit behavior and closed-loop stability remain unvalidated.
The v8 implementation is on local branch `codex/ford-curvature-c0-trial`.
This evaluation does not push it to `hiimisaac-dev`; the deployed v7 commit is
`08b3a14ad`. The selection instructions below apply once a candidate is installed.
The v8 implementation was introduced in `20485134e` for `sunnypilot/hiimisaac-dev`.
It replaces v7 (`08b3a14ad`) once installed on the device. The gains remain
P=0.50 and I=0.25, and PSCM `LimitReached` handling is unchanged. The separate
offline experiment that ignores the reached-limit integration block is not included.
## Select and restore
openpilot/sunnypilot/sunnylink/settings_ui.json
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@@ -2183,8 +2183,8 @@
"widget": "toggle",
"needs_onroad_cycle": true,
"title": "Selected-Action Path Tracking (Experimental)",
"description": "Follow the selected steering plan using model-path centering and measured steering feedback on any Ford CAN FD vehicle.",
"details": "Uses the nearby model path for centering and adjusts the heading request using the difference between requested and measured steering. Uses remaining path-offset range when the base heading request reaches its limit. The correction holds when steering matches and clears on driver override. Default off; physical tracking and turn-exit behavior are not road-validated. Enable only for controlled testing. Turning it off restores upstream Ford curvature control, regardless of any previously stored experimental settings. Only Ford CAN FD vehicles can use this experiment. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.",
"description": "Follow the selected desired curvature using path-offset and heading commands with measured steering feedback on any Ford CAN FD vehicle.",
"details": "Derives path offset and heading from the same selected desired curvature and adjusts the heading request using the difference between requested and measured steering. Uses remaining path-offset range when the base heading request reaches its limit. The correction holds when steering matches and clears on driver override. Default off; physical tracking and turn-exit behavior are not road-validated. Enable only for controlled testing. Turning it off restores upstream Ford curvature control, regardless of any previously stored experimental settings. Only Ford CAN FD vehicles can use this experiment. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.",
"enablement": [
{
"type": "offroad_only"
openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
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@@ -14,8 +14,8 @@ sections:
widget: toggle
needs_onroad_cycle: true
title: Selected-Action Path Tracking (Experimental)
description: Follow the selected steering plan using model-path centering and measured steering feedback on any Ford CAN FD vehicle.
details: Uses the nearby model path for centering and adjusts the heading request using the difference between requested and measured steering. Uses remaining path-offset range when the base heading request reaches its limit. The correction holds when steering matches and clears on driver override. Default off; physical tracking and turn-exit behavior are not road-validated. Enable only for controlled testing. Turning it off restores upstream Ford curvature control, regardless of any previously stored experimental settings. Only Ford CAN FD vehicles can use this experiment. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.
description: Follow the selected desired curvature using path-offset and heading commands with measured steering feedback on any Ford CAN FD vehicle.
details: Derives path offset and heading from the same selected desired curvature and adjusts the heading request using the difference between requested and measured steering. Uses remaining path-offset range when the base heading request reaches its limit. The correction holds when steering matches and clears on driver override. Default off; physical tracking and turn-exit behavior are not road-validated. Enable only for controlled testing. Turning it off restores upstream Ford curvature control, regardless of any previously stored experimental settings. Only Ford CAN FD vehicles can use this experiment. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.
enablement:
- $ref: '#/macros/offroad'
- id: hyundai