diff --git a/docs/ford_model_action_cadence.md b/docs/ford_model_action_cadence.md
deleted file mode 100644
index f2c0ffafba..0000000000
--- a/docs/ford_model_action_cadence.md
+++ /dev/null
@@ -1,60 +0,0 @@
-# Selected-action 20 Hz cadence experiment
-
-The selected-action controller now sends LateralMotionControl2 every fifth
-100 Hz update (20 Hz, nominally 50 ms). Each send uses the latest published
-C0/C1. The v6 controller module is byte-identical to `c70a9ee84`: its geometry,
-150 ms forecast, caps, two states, and 4 m/s / 0.5 rad/s slew are unchanged.
-C2 and C3 remain zero. This tests transport cadence, not a new strength gain.
-
-The existing default-off `FordModelActionController` Sunnylink setting is
-snapshotted by `card` into `CarParamsSP.flags` on the supported CAN FD Lightning.
-Both controller selection and send cadence use that snapshot. An onroad setting
-write cannot switch either one. Complete an offroad-to-onroad cycle after updating.
-The diagnostic hypothesis remains `model-action-measured-pose-v6`; the build
-commit, CarParamsSP flag, and measured send cadence distinguish this experiment.
-
-With the toggle off, existing CAN FD controllers retain 100 Hz transmission.
-Legacy CAN stays at 20 Hz. Panda safety is byte-identical to `c21a9013`.
-The sender retains Panda's existing per-message C2 slew bound even on the
-20 Hz path; this controller does not use C2. No safety limit is relaxed.
-Counters advance once per transmitted request, including wrap from 15 to 0.
-Invalid paths zero the next scheduled request; disengagement sends mode 0 on
-that request, without a new ramp-out sequence. Relative to a 100 Hz sender,
-a change can wait up to four more control ticks (nominally 40 ms).
-
-## Evidence and limits
-
-On route `84865544361f55cb_000000a5--d0f935d323`, the camera's observed inactive
-LMC2 stream ran at 19.993 Hz (7,952 messages, median 50.051 ms). Our sender ran
-at 99.321 Hz (38,496 messages, median 9.938 ms). The camera data does not establish
-the factory's active-mode cadence. All supplied v1–v6 drives already used
-100 Hz; cadence has not been established as the cause of weak tracking.
-
-The [transport replay record](ford_model_action_cadence_validation.json) covers
-38,496 recorded send cycles at each of five possible scheduling phases:
-192,480 sender updates and 38,496 transmitted requests in total. Every emitted
-C0/C1 exactly matched the corresponding recorded request; C2/C3 stayed zero;
-mode, counter and checksum checks passed. Every request passed the unchanged,
-compiled Panda TX hook with controls eligibility set from the recorded mode.
-This tests TX bounds, not a full Panda RX watchdog, vehicle response, or device boot.
-
-Targeted tests additionally cover exact send intervals, latest-sample delivery,
-counter wrap, every disengagement/invalid-input phase, unchanged fallback cadence,
-100 Hz core slew, and a shared selection snapshot surviving serialization and
-subsequent stored-toggle changes. The broader offline run passed 689 tests and
-9,146 subtests; 178 inherited safety cases were skipped as inapplicable.
-Ruff and typechecking of the touched production modules passed.
-
-No physical tracking improvement is claimed. The next drive must establish
-whether the lower cadence helps ordinary bends and turn exits, while checking
-for added turn-in delay. Offline replay cannot predict that closed-loop response.
-
-## Reproduce
-
-Initialize the pinned submodule and use the project's built Python/native environment:
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:opendbc_repo
-python -m pytest -q openpilot/selfdrive/controls/tests/test_ford*.py tools/ford_pscm_lab opendbc_repo/opendbc/car/ford/tests/test_ford.py openpilot/sunnypilot/sunnylink/tests openpilot/sunnypilot/mads/tests openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/common/tests/test_params.py opendbc_repo/opendbc/safety/tests/test_ford.py
-```
diff --git a/docs/ford_model_action_cadence_validation.json b/docs/ford_model_action_cadence_validation.json
deleted file mode 100644
index 0766fd97c2..0000000000
--- a/docs/ford_model_action_cadence_validation.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "scope": "Frozen a5 publications through actual 20Hz CarController and unchanged compiled Panda TX hook, all five scheduling phases. No physical response simulation.",
-  "route": "84865544361f55cb_000000a5--d0f935d323",
-  "baseline_root": "c70a9ee84bbf6db9a687d63ef674ed4db9c13e3a",
-  "baseline_opendbc": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-  "input_sha256": "815d1e248ff5c3e5e5cfc11dfbd0690d0d13ddafe1436890e239975a72dae9b8",
-  "phases": [
-    {
-      "phase": 0,
-      "input_cycles": 38496,
-      "sent_and_accepted": 7700
-    },
-    {
-      "phase": 1,
-      "input_cycles": 38496,
-      "sent_and_accepted": 7699
-    },
-    {
-      "phase": 2,
-      "input_cycles": 38496,
-      "sent_and_accepted": 7699
-    },
-    {
-      "phase": 3,
-      "input_cycles": 38496,
-      "sent_and_accepted": 7699
-    },
-    {
-      "phase": 4,
-      "input_cycles": 38496,
-      "sent_and_accepted": 7699
-    }
-  ],
-  "core_byte_identical": true,
-  "ford_safety_byte_identical": true,
-  "source_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "326539389b04034932db41ca2c67794779403b2c0e97f408a81a9f5734114899",
-    "openpilot/selfdrive/controls/controlsd.py": "002d57a0b5b6e4e3a04789bee20b9b175a71d6893dd06074cebca2738f3986da",
-    "openpilot/sunnypilot/mads/helpers.py": "24970993d37242fe8a0457bac118e2c265c4c32427dc930c0001de12e5f204dd",
-    "opendbc_repo/opendbc/car/ford/carcontroller.py": "591b0d8455d256f7504cbd2a6a11fe1a54ba6ad3e12ac16a6952dbd92274f303",
-    "opendbc_repo/opendbc/car/ford/values.py": "edadaacc13581642917d1fba473ef3efc90d7145dbe801915f860747a4294046",
-    "opendbc_repo/opendbc/safety/modes/ford.h": "1d9d996292d6697ab4f02d55fae348d6aca1df94a07f7bdae48b68971b91afe7",
-    ".cache/ford_cadence/replay.py": "7227f0b4f130be0e5b28f517416ffbf281f0b33085b8391f66814aa531c3e514"
-  }
-}
diff --git a/docs/ford_model_action_damping.md b/docs/ford_model_action_damping.md
deleted file mode 100644
index 3e871c5736..0000000000
--- a/docs/ford_model_action_damping.md
+++ /dev/null
@@ -1,88 +0,0 @@
-# Experimental Ford offset damping, v2
-
-This document and its validation counts describe the archived v2 source. The
-[current v4 experiment](ford_model_action_full_prediction.md) uses full path prediction.
-
-Segment 10 of the supplied route9b recording shows measured turning persisting
-as requested right curvature falls. At about 643.0 s, before strong driver
-intervention, device-gyro curvature is approximately 0.01786/m against a
-0.01172/m request. Around 643.9 s, heading demand has reversed slightly but
-C0 still requests approximately +0.12 m into the turn. Strong column input
-starts around 643.852 s; later motion cannot establish autonomous recovery.
-Earlier light driver input also exists.
-
-The outgoing CAN commands match preceding publications. All 70,937 decoded
-frames have zero C2/C3 and valid checksums. Focused exit diagnostics have fresh
-model/carState inputs and targets within normal quantization of the outputs.
-This supports trying less residual C0; it does not identify PSCM dynamics or
-prove C0 alone caused the physical oversteer.
-
-## Change
-
-C0 starts from the clipped current model offset at 7 m. When C0 and measured
-host yaw point in the same direction, compute:
-
-```
-requested_yaw = max(0, sign(C0) * speed * desiredCurvature)
-excess = max(0, sign(C0) * yaw - requested_yaw - 0.02 rad/s)
-reduction = 7 m * 0.2 s * excess
-target = sign(C0) * max(0, abs(C0) - reduction)
-```
-
-Opposing centering demand is unchanged. The correction cannot increase the
-target's magnitude or reverse its sign. Opposite-direction planned curvature
-cannot amplify a small yaw bias into a correction. Existing 4 m/s C0 slew still
-applies; this target bound is not a claim that every stateful output is smaller than a
-separate v1 controller after arbitrary direction reversals. C1 construction,
-clipping and slew are unchanged; C2=C3=0. Only C0/C1 slew states persist.
-There is no integral, model-history filter, turn state machine or fitted plant.
-
-Host yaw is `-carState.yawRate`, as in the existing Ford call path. The
-0.02 rad/s deadband exceeds the approximately 0.008 rad/s offset measured
-against the device gyro on quiet straights. The 0.2 s scale is an initial
-engineering choice, not an identified delay or gain. Both remain physically
-unvalidated. Large biased or noisy yaw within the existing sanity gate can
-still attenuate useful centering; fixed-input replay cannot establish stability.
-
-## Offline evidence
-
-The complete 12-rlog route is replayed at original controls publication times,
-with exact consumed model geometry, causal carState, and carControl matched
-within 5 ms. These times proxy computation; full SubMaster health is unavailable.
-V1 reconstruction is within one field quantum of all 64,701 paired active
-publications. V2 has identical eligibility and exactly identical C1.
-
-On 381.78 seconds of driver-clean low requests above 8 m/s, only 3 of 37,937 cycles
-change C0, each by one 0.01 m quantum. Across the 642.7–643.852 s exit window,
-C0 changes on all 115 cycles, averaging 0.080 m reduction. Entry/peak C0
-maximum stays 2.80 m; some entry-window samples decrease by up to 0.05 m.
-These are command comparisons on recorded inputs, not predicted tracking.
-Low request means requested lateral acceleration below 0.15 m/s²; it is a
-proxy for straight driving and does not establish a physically straight path.
-
-The original routes90/95 also run through v2. Their zero-yaw baseline pass
-checks archived v1 compatibility; the measured-yaw adapter pass checks current
-construction, eligibility, field limits and packing. It is not an exact match
-to v1 or v8. Randomized testing checks the damping against an independent
-piecewise oracle, mirror symmetry, resets and slew, with real Float32/CAN
-round trips. See `ford_model_action_damping_validation.json` for counts and hashes.
-
-Final validation passes 325 tests and 26 subtests, with 100% controller
-statement/branch coverage, 204,946 original route cycles and 628,030 CAN round
-trips. The module is 166 total lines, including 107 code lines excluding
-comments, blanks and docstrings. Standards and Spec reviews have no remaining findings.
-
-## Reproduce
-
-Use the dependency setup and suite command in the [drive-test guide](ford_model_action_drive_test.md).
-The new route replay requires the deployment opendbc pin recorded there:
-
-```sh
-python -m tools.ford_pscm_lab.damping_replay /path/to/complete/rlogs --baseline v1 --candidate v2 --window segment10_entry_peak 637 640 --window segment10_exit_before_strong_input 642.7 643.852 --output /path/to/separate/results
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output /path/to/stress.json
-```
-
-At the v2 revision, the same default-off Sunnylink toggle selects v2; no additional setting is
-introduced. Updating an installation with the toggle already enabled selects
-v2 at the next controlsd startup. `calibration_approved=false` remains explicit.
-No physical fix, hardware build or device boot is established by these checks.
diff --git a/docs/ford_model_action_damping_validation.json b/docs/ford_model_action_damping_validation.json
deleted file mode 100644
index 4354f2c5ac..0000000000
--- a/docs/ford_model_action_damping_validation.json
+++ /dev/null
@@ -1,164 +0,0 @@
-{
-  "date": "2026-09-07",
-  "baseline_commit": "5fc16abc7662020706e29f57d31a6d5e2bc1293a",
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev"
-  },
-  "hypothesis": "model-action-c0-c1-yaw-damping-v2",
-  "scope": "Experimental bounded offset damping; fixed-input offline evidence only.",
-  "calibration_approved": false,
-  "hardware_build_and_device_boot": "not performed",
-  "controller_size": {
-    "total_lines": 166,
-    "code_lines_excluding_blanks_comments_docstrings": 107,
-    "core_persistent_values": 2,
-    "adapter_timestamps": 3
-  },
-  "checks": {
-    "combined_ford_params_sunnylink_suite": "325 passed, 26 subtests passed; no skips",
-    "suite_log_sha256": "69cb8ab40e93e00a9ff7b6ea1933e4c3554336746860efb53dad3b29f94fc9d3",
-    "coverage": {
-      "statements": 98,
-      "branches": 28,
-      "percent": 100.0
-    },
-    "ruff": "pass",
-    "ty_controller_and_lab": "pass",
-    "settings_compiler_check": "pass",
-    "standards_review_remaining_findings": 0,
-    "spec_review_remaining_findings": 0,
-    "review_resolutions": [
-      "Prevent opposite-direction planned curvature amplifying small yaw bias; eight new cases failed before the fix and passed after it.",
-      "Relabel requested-acceleration cohort as low request; it does not establish physically straight driving."
-    ],
-    "mutation_probe": "Disabling damping fails all four mirrored recorded-exit cases."
-  },
-  "stress": {
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "bounded_excess_yaw_damping_checked": true,
-    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
-  },
-  "routes": {
-    "route90": {
-      "cycles": 78812,
-      "core_exact_archived_match": true,
-      "adapter_active_cycles": 73055,
-      "adapter_matches_current_core_with_yaw_and_fresh_engagement_dt": true,
-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 2280,
-      "adapter_max_absolute_command_difference_c0_c1": [
-        0.1900000000000004,
-        0.0020000000000000018
-      ],
-      "float32_can_round_trips": 157624,
-      "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7"
-    },
-    "route95": {
-      "cycles": 54738,
-      "core_exact_archived_match": true,
-      "adapter_active_cycles": 37614,
-      "adapter_matches_current_core_with_yaw_and_fresh_engagement_dt": true,
-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 2051,
-      "adapter_max_absolute_command_difference_c0_c1": [
-        0.22999999999999998,
-        0.0010000000000000009
-      ],
-      "float32_can_round_trips": 109476,
-      "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7"
-    },
-    "route9b": {
-      "cycles": 71396,
-      "eligible_cycles": 64701,
-      "same_validity": true,
-      "c1_exactly_unchanged": true,
-      "field_slew_zero_c2_c3_pass": true,
-      "float32_can_round_trips": 142792,
-      "v1_reconstruction_vs_recorded": {
-        "paired_cycles": 64701,
-        "within_one_quantum_cycles": 64701,
-        "maximum_absolute_error_c0_c1": [
-          0.010000114440917862,
-          0.0005000143051147043
-        ]
-      },
-      "timing": "Publication-time proxy, causal carState, exact consumed model; full SubMaster health unavailable.",
-      "baseline": "Current adapter with zero yaw retains v1 targets and actual-yaw sanity gate.",
-      "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-      "cohorts": {
-        "driver_clean_low_request_above_8mps": {
-          "cycles": 37937,
-          "seconds": 381.77672216900055,
-          "changed_c0_cycles": 3,
-          "mean_absolute_c0_change_m": 8.419774473786704e-07,
-          "max_absolute_c0_change_m": 0.009999999999999787,
-          "v1_peak_absolute_c0_m": 0.08999999999999986,
-          "v2_peak_absolute_c0_m": 0.08999999999999986
-        },
-        "segment10_entry_peak": {
-          "cycles": 298,
-          "seconds": 2.9932484459999387,
-          "changed_c0_cycles": 100,
-          "mean_absolute_c0_change_m": 0.007564164795694466,
-          "max_absolute_c0_change_m": 0.04999999999999982,
-          "v1_peak_absolute_c0_m": 2.8000000000000003,
-          "v2_peak_absolute_c0_m": 2.8000000000000003
-        },
-        "segment10_exit_before_strong_input": {
-          "cycles": 115,
-          "seconds": 1.156770048999988,
-          "changed_c0_cycles": 115,
-          "mean_absolute_c0_change_m": 0.0799313220721162,
-          "max_absolute_c0_change_m": 0.1200000000000001,
-          "v1_peak_absolute_c0_m": 0.75,
-          "v2_peak_absolute_c0_m": 0.7000000000000002
-        }
-      },
-      "exit_c0_strictly_lower_on_all_115_cycles": true,
-      "rlog_sha256_by_segment": {
-        "0": "22746f7119109b73ed7f2c26ce8c99f87136e9124fb7fc14c9554409a28a7c3f",
-        "1": "4c2e1d7083c31a2b37d0f8dd3be4d330898511b7e02c26f7d40ca9bc2779397d",
-        "2": "62f3e049e220cd3681fadf386f2969537bd571998ae2f6ba2d08479428b5a28f",
-        "3": "83bf0131b2d36b2ba7e5ba050bbc13c0a3350feb5c9b89dc9c87d3a37abebfb3",
-        "4": "430985a80dd6e10f7abeb89457a17022e6bb6978617f415c905f584b1647603e",
-        "5": "8c0c5ae6323ec33b3e14f84ca834f70cb56f6b29f471a350f1e3efc06b6ba553",
-        "6": "db53dfa8156b9d66792c3eff0b2ce5d31b71ad41cc580dec85f528845593c184",
-        "7": "91b0b3be10cb7d7d7f7dd2024d8f9ee99d1e9fd2204203a3a9a2f2f1c6e3fa03",
-        "8": "687dbbfc49837efbfe8fa6bc091e40f7fad2908832234d7884f4616d1bc9ccff",
-        "9": "a88ec4d25b04cdbf5844686fc77f6b28dca920c9b164e37ebf69844a3ae398fc",
-        "10": "fe6b29580a6c94e1c236d13e18db4cd9f31cc1b25d52e1e6e19a5021125c9932",
-        "11": "150d31b1944d7a1b8c562f3aee20b66cefa6c4e8d02660ec889907d835142f45"
-      }
-    }
-  },
-  "total_original_route_cycles": 204946,
-  "total_float32_can_round_trips": 628030,
-  "source_sha256": {
-    "docs/ford_model_action_damping.md": "1aca8ca8e78d953beeda5b0c9803161a1d7c58556b1966040c71f809c3960bf8",
-    "docs/ford_model_action_drive_test.md": "3ce8bf6cb511a4461fa7abf194f47020af7ef5a6c90fcae7ed09571d1f750846",
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "59d66297a017557f3d4f28b115be3f6220b800566c11935e2284b3814783fb7e",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "318742bd707ae526d0f5181bf7f081660c2c55de4bdf28518ccdf50d60e88080",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "de6f8524347f7c4a339941bc8565ccaa131cb93aa0418c75006ce08ab7edeb99",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_damping.py": "76466997ab4fef435f44339a6cb2d06303d5f0ab8717d487f27655297bd429d1",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "dbb78c98f57eef532f0dff0cb0b38396442882876e6d115f0d3c36159f64baf5",
-    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "b92b55e23467e74227988fb39fff13a4ebba3c960fb90e34a6b341411699fc95",
-    "tools/ford_pscm_lab/damping_replay.py": "2f52fef12116ce87c0a1f465cf13d6af5e9fd76ce05d4318d72e34b70bc6a11f",
-    "tools/ford_pscm_lab/model_action_replay.py": "05a658dfcaf81693bf0d92184c0edff0172802f351a61a9e866a7967e74ae46d",
-    "tools/ford_pscm_lab/stress_model_action.py": "3e308733f4af0101ad0c414fbd724f6a99f56269ed8e791f0e15526d8bfd8f17"
-  },
-  "artifact_sha256": {
-    "route9b/report.json": "1b9317850c1724f433269c6a58349d0a0ee4eb6c9a03d6ec5858fa17713796c5",
-    "route9b/commands.npz": "d9f553a5384c84416a27c52b5dda0e751dda25edc5d6620fc311977f34a7a946",
-    "route90/report.json": "e37f71dc032e375b1c9b0beb4d6e0c915257bf72e59b0785ac0ca49c2472d2c2",
-    "route95/report.json": "d42d5a080fef8a1f0b3c7ae2cabcad20c88ce01d91be07ab33770ff5948c06b6",
-    "stress.json": "06e69a23340e3f5ed174e8e0b2e5791b320686dce7df963233d50a9982dca17b",
-    "coverage.json": "8f7915b9bd884abedfdbc2e0c18ef4474737e27225a714414384242535cc396f",
-    "mutation.txt": "67a76549fd7bb71e7092a155d4d0c3459be7b04dc2ca36eef9b54fbb574ad83d",
-    "bias_regression_red.txt": "8903c5a967e8c376050db85f7cf5f73abf71ee972f6025b25eb874479f94c62c",
-    "segment10_damping.png": "7d60cf9aabdcca9000fcf49bd14bd6130418aa6ab1b57af2678b171498ee9505"
-  }
-}
diff --git a/docs/ford_model_action_drive_test.md b/docs/ford_model_action_drive_test.md
index 9e5d453261..70cf6875a3 100644
--- a/docs/ford_model_action_drive_test.md
+++ b/docs/ford_model_action_drive_test.md
@@ -1,80 +1,83 @@
-# Ford model-point drive-test branch
+# Ford selected-action drive-test branch
 
-The default-off **Selected-Action Path Tracking (Experimental)** Sunnylink toggle
-now selects the v7 model-point candidate on the **Ford CAN FD F-150 Lightning**.
-The stored key remains `FordModelActionController`; an already enabled setting
-selects this revision after updating and completing an offroad-to-onroad cycle.
-
-The controller reads **model lateral position and model heading at the same
-point**. Start with the model's predicted distance at one second, enforce the
-existing seven-metre minimum, and hold the available endpoint when necessary.
-C0 is that point's lateral position in metres; C1 is its unwrapped heading in
-radians. C2 and C3 stay zero. The 150 ms yaw-based forecast and the reconstruction
-of heading from selected curvature are removed.
-
-This point choice is an engineering guess, not an identified Ford reference or
-PSCM calibration. `calibration_approved=false`: offline tests do not establish
-physical tracking, turn-exit behavior, or stability across different PSCMs.
-See [the model-point decision and validation](ford_model_points.md).
+The candidate is selectable on the **Ford CAN FD F-150 Lightning** behind
+its own persistent, default-off Sunnylink toggle. The command law and input
+gates from the [offline candidate](ford_model_action_candidate.md) are unchanged.
+`calibration_approved=false`: offline checks do not establish physical tracking,
+turn-exit behavior or closed-loop stability.
 
 ## Select and restore
 
-1. Install branch `hiimisaac-dev` from `sunnypilot/sunnypilot` and allow the build
-   to finish.
-2. While offroad, open Sunnylink device settings → Vehicle → Ford. Keep or enable
-   **Selected-Action Path Tracking (Experimental)**.
-3. Complete a real offroad-to-onroad cycle. `card` snapshots the toggle into
-   `CarParamsSP`; the sender and `controlsd` share that selection. Changing a
-   stored toggle or disengaging alone cannot swap an active controller.
+1. Install branch `hiimisaac-dev` from
+   `sunnypilot/sunnypilot` on the device using your normal branch-switch process.
+   Allow its build to finish before changing the setting.
+2. While offroad, open Sunnylink device settings → Vehicle → Ford and enable
+   **Selected-Action Path Tracking (Experimental)** (`FordModelActionController`).
+3. Complete a real offroad-to-onroad cycle. Selection occurs when `controlsd`
+   starts; changing a stored toggle or disengaging alone cannot swap an active
+   controller. Initial physical evaluation remains controlled testing.
 
-The startup event `Ford path controller selected` reports
-`FordModelActionController`. Periodic `Ford C2-free path tracking` events report
-`hypothesis=model-pose-one-second-v7`, `pose_source=model`, `preview_time_s=1.0`
-and `minimum_station_m=7.0`, plus input ages, slew state and the command tuple.
-Selected desired curvature is still logged, but no longer constructs C0/C1.
+The startup log event `Ford path controller selected` should report
+`FordModelActionController`. Periodic `Ford C2-free path tracking` events
+identify `hypothesis=model-action-c0-c1-v1` and report the command tuple.
 
-Turning the toggle off and completing another offroad-to-onroad cycle restores
-**PSCM Coefficient Observer** if selected, otherwise the original Ford path
-controller. Other vehicles keep their previous selection. The retired v8 toggle
-cannot select this candidate.
+Turning the new toggle off and completing another offroad-to-onroad cycle
+restores **PSCM Coefficient Observer** if selected, otherwise the original
+Ford path controller. The stored observer selection is preserved. The candidate
+takes priority on the supported vehicle, independently of EPS firmware query
+results. Other vehicles retain their existing selection.
 
-## Wiring and limits
+The v8 implementation, its Sunnylink toggle and its dedicated tests are removed.
+A leftover `FordVirtualAngleController=1` file cannot enable the new controller.
+The shared Float32/CAN rounding helper now lives in `ford_model_action.py`;
+unused v8 PSCM-feedback plumbing is removed. Historical v8 route evidence remains
+in Git history and the archived validation documents.
 
-Both model fields must have matching, finite, strictly increasing time arrays
-starting at zero. Malformed geometry, stale required services, invalid timing,
-or disengagement resets both actuator states. Freshness still requires model,
-car-state and reference publications no older than 150 ms, with at most 5 ms
-future skew. The valid control timestep remains 2–100 ms.
+## Wiring and validation
 
-Only the two unquantized C0/C1 slew positions persist in the core. Field caps are
-±5.11 m / ±0.5 rad and slew rates are 4 m/s / 0.5 rad/s. Calculation stays at
-100 Hz; the existing [cadence experiment](ford_model_action_cadence.md) sends this
-candidate at 20 Hz. Float32 publication, host-to-wire negation, packing and
-Panda safety are unchanged. The opendbc pin remains
-`87ca78e6e641eefb2d654f260a6ab08df3058bd5`.
+`Controls.__init__` selects the candidate once at startup. It shares the
+existing Ford call path, selected upstream-limited curvature, service gates,
+invalid-output disengagement, Float32 publication and downstream CAN builder.
+C2 and C3 stay zero. No opendbc pointer or Panda safety change is included.
 
-Normal operation uses the model's point directly. The upstream scalar curvature
-and its clipping still exist for logging/other controllers, but no longer bound
-this candidate's heading target. Its C0/C1 field caps and slew still apply;
-passing Panda TX checks does not establish an actual vehicle acceleration bound.
-Lateral maneuver test mode supplies only a scalar curvature, not a model pose.
-It explicitly invalidates/disengages this candidate as `unsupported_reference`.
-Optional measured motion is no longer a command input.
+Sunnylink publishes the toggle through its generated settings schema and
+writes the registered Boolean through the existing parameter endpoint. The
+offroad UI rule and `needs_onroad_cycle` metadata describe when it can be
+changed and when it takes effect. An onroad backend write changes storage
+only; the controller continues using its startup selection.
 
-## Reproduce offline checks
+Native validation also exposed a pre-existing `params_keys_by_flag` bug:
+every returned buffer referenced the same reusable string. Sunnylink backup
+key enumeration could therefore return corrupted names. The bridge now
+returns separate strings owned by the parameter handle. Regression tests
+check distinct registered keys across flags, and toggle tests check its
+persistence and backup registration using the rebuilt native library.
 
-Initialize the pinned submodule and build the project's native Python dependencies:
+The current validation record is `ford_model_action_drive_test_validation.json`.
+The final combined Ford, Params and Sunnylink suite passes **284 tests and
+26 subtests**, with no skips. The candidate has **100% statement and branch
+coverage** (87 statements, 26 branches). Ruff, Ty, settings compilation and
+both review axes pass. The fresh route/stress runs check **485,238 Float32/CAN
+round trips**, including 200,000 randomized and 200,000 mirrored core updates.
+The controller is 145 total lines, including 95 code lines excluding comments,
+blanks and docstrings; v8's 469-line module is removed.
+
+The previous 133,550-cycle route reconstruction, 485,238 packing round trips
+and mutation probes remain recorded separately in
+`ford_model_action_validation.json` at the offline-stage source hashes.
+
+## Reproduce deployment checks
+
+Initialize the branch's exact opendbc submodule (`c21a9013700734dd20b09e05aa68329ad8cc20f9`)
+and build the native Params library from this branch before testing.
 
 ```sh
-git submodule update --init opendbc_repo
 export PYTHONDONTWRITEBYTECODE=1
 export PYTHONPATH=.:opendbc_repo
-python -m pytest -q openpilot/selfdrive/controls/tests/test_ford*.py tools/ford_pscm_lab opendbc_repo/opendbc/car/ford/tests/test_ford.py openpilot/sunnypilot/sunnylink/tests openpilot/sunnypilot/mads/tests openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/common/tests/test_params.py opendbc_repo/opendbc/safety/tests/test_ford.py
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260908 --opendbc-revision 87ca78e6e641eefb2d654f260a6ab08df3058bd5 --output .cache/ford_model_points/stress.json
+python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py
+python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_model_action_drive_test/stress.json
 ```
 
-Historical v1–v6 validation files retain their original source hashes and apply
-to those revisions. In particular, `ford_model_action_measured_pose_validation.json`
-describes v6, not the current model-point mapping. The hardware build and device
-boot are not performed by these offline checks. Pushing a branch does not update
-a device or change its stored settings.
+The full hardware build and device boot are not performed by these offline
+tests. Installing the branch and enabling the toggle are separate actions;
+pushing the branch does not change a device's selected software or settings.
diff --git a/docs/ford_model_action_full_prediction.md b/docs/ford_model_action_full_prediction.md
deleted file mode 100644
index c402714688..0000000000
--- a/docs/ford_model_action_full_prediction.md
+++ /dev/null
@@ -1,86 +0,0 @@
-# Experimental Ford full path prediction, v4
-
-This document archives v4. The [current v5 controller](ford_model_action_no_yaw_damping.md)
-retains this prediction and removes yaw damping.
-
-V4 removes the extra 15 cm / 25% limit on the geometric prediction introduced
-in [v3](ford_model_action_prediction.md). Those numbers were hand-chosen tuning
-bounds, not identified Ford response limits. The current user request is to
-remove that restriction; the existing default-off Sunnylink toggle remains.
-
-The controller now uses the full predicted offset from the same model path,
-assuming 150 ms of motion along the selected, upstream-limited curvature. The
-150 ms horizon remains an engineering assumption. Available model geometry
-still limits the prediction distance, with endpoint hold for short paths and
-fallback to the valid base offset if prediction arithmetic is nonfinite.
-
-The existing total command limits (C0 ±5.11 m, C1 ±0.5 rad), independent slew
-rates (4 m/s, 0.5 rad/s), quantization, yaw damping, input/service gates and
-zero C2/C3 remain unchanged. Only two control states persist. No integrator,
-model history, extra toggle or PSCM feedback loop is added.
-
-Removing the adjustment cap also permits the predicted C0 to oppose the
-original offset or become nonzero from a zero original offset. For example,
-a straight path with a nonzero selected turn request can have an opposing
-future-frame offset. Tests cover that behavior, mirrored turn releases,
-return to zero, and unchanged slew; sign preservation of the original C0 is
-no longer claimed. The yaw damper still cannot reverse its input target.
-
-## Evidence and interpretation
-
-The PSCM reports a generic `LimitReached` state. It does not tell us whether
-an incoming target is geometrically correct or well timed. Its internal
-limits cannot establish the tracking performance of this predictor. Removal
-is an experiment supported by command comparisons, not by an assumption that
-the PSCM will correct an excessive or mistimed request.
-
-Compared with capped v3 on identical recorded inputs:
-
-| Interval | Effect of removing the extra cap |
-| --- | --- |
-| Latest tight-left entry, 173–175.4 s | Mean C0 magnitude +0.032 m, maximum change 0.07 m |
-| Earlier right entry, 637–640 s | Mean magnitude +0.028 m, maximum change 0.10 m |
-| Earlier right exit, 642.7–643.852 s | All 115 commands unchanged |
-| Driver-clean low requests above 8 m/s, routes9b/9e | Mean absolute change 0.0018 / 0.0014 m; maximum 0.02 m |
-| All eligible samples on either recent route | Maximum absolute command change 0.13 m |
-
-C1 and command eligibility are exactly identical to v3 on both recent routes.
-Some command signs change near zero: this is an intended consequence of using
-the full transform, not proof those corrections improve driving. Entry windows
-include driver input, reported in the validation record. The magnitude changes
-above describe controller C0, not measured lateral vehicle displacement.
-
-The earlier v1 archive is also reproduced exactly on routes90/95, separately
-from the current controller pass. All replay uses original timestamps;
-publication times proxy computation, exact consumed model frames and causal
-carState are retained, and complete SubMaster health is unavailable. The
-recorded model and vehicle motion remain fixed. There is no measured physical
-improvement, stability result or new desired-versus-actual steering trajectory.
-
-Final validation passes 374 tests and 26 subtests with 100% controller statement
-and branch coverage, 299,604 original route cycles and 817,346 Float32/CAN
-round trips. The controller is 190 total lines / 122 code lines excluding
-blanks, comments and docstrings; two control states persist.
-
-See `ford_model_action_full_prediction_validation.json` for final test counts,
-coverage, dependency pins, source hashes and route/packing results. The initial
-uncapped variant was evaluated in a separate lab file before editing production;
-final route checks execute the production v4 source.
-
-## Reproduce and select
-
-Use the dependencies and combined suite command in the
-[drive-test guide](ford_model_action_drive_test.md). For the recent routes:
-
-```sh
-python -m tools.ford_pscm_lab.damping_replay /path/to/route9e/rlogs --baseline v3 --candidate current --window left_entry 173 175.4 --window left_peak 175.4 178.3 --window left_exit 178.3 180.5 --window reversal 728 734 --output /path/to/separate/route9e-results
-python -m tools.ford_pscm_lab.damping_replay /path/to/route9b/rlogs --baseline v3 --candidate current --window right_entry 637 640 --window right_exit 642.7 643.852 --output /path/to/separate/route9b-results
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output /path/to/stress.json
-```
-
-The same **Selected-Action Path Tracking (Experimental)** toggle selects v4
-on the CAN FD F-150 Lightning. An installation with the toggle already enabled
-selects v4 after updating and restarting controlsd. Diagnostics identify
-`model-action-c0-c1-prediction-v4`; `calibration_approved=false` remains explicit.
-Deployment branch: `sunnypilot/sunnypilot`, `hiimisaac-dev`. This work does not
-install software on the device or change its settings.
diff --git a/docs/ford_model_action_full_prediction_validation.json b/docs/ford_model_action_full_prediction_validation.json
deleted file mode 100644
index 0d0d82e38c..0000000000
--- a/docs/ford_model_action_full_prediction_validation.json
+++ /dev/null
@@ -1,799 +0,0 @@
-{
-  "date": "2026-09-07",
-  "baseline_commit": "01f8d51c82b3e863f1012d383b5994813ef01b81",
-  "hypothesis": "model-action-c0-c1-prediction-v4",
-  "scope": "Removal of only the extra prediction adjustment cap; no physical tracking or stability claim.",
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev"
-  },
-  "calibration_approved": false,
-  "hardware_build_and_device_boot": "not performed",
-  "controller_size": {
-    "total_lines": 190,
-    "code_lines_excluding_blanks_comments_docstrings": 122,
-    "core_persistent_values": 2,
-    "adapter_timestamps": 3
-  },
-  "checks": {
-    "combined_ford_params_sunnylink_suite": "374 passed, 26 subtests passed; no skips",
-    "coverage": {
-      "covered_lines": 113,
-      "num_statements": 113,
-      "percent_covered": 100.0,
-      "percent_covered_display": "100",
-      "missing_lines": 0,
-      "excluded_lines": 0,
-      "percent_statements_covered": 100.0,
-      "percent_statements_covered_display": "100",
-      "num_branches": 32,
-      "num_partial_branches": 0,
-      "covered_branches": 32,
-      "missing_branches": 0,
-      "percent_branches_covered": 100.0,
-      "percent_branches_covered_display": "100"
-    },
-    "ruff": "pass",
-    "ty_controller_and_lab": "pass",
-    "settings_compiler_check": "pass",
-    "cap_removal_red_probe": "11 tests fail with the v3 cap present; all 40 prediction tests pass after removal.",
-    "standards_review_remaining_findings": 0,
-    "spec_review_remaining_findings": 0,
-    "independent_review_verification": "Each reviewer passed 172 focused tests and verified source/artifact hashes and route/packing totals."
-  },
-  "stress": {
-    "seed": 20260907,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "bounded_excess_yaw_damping_checked": true,
-    "full_geometric_prediction_checked": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.400000000000329,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Numerical construction only; no PSCM response or closed-loop performance claims.",
-    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-    "source_sha256": {
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/stress_model_action.py": "66adef6cba120a1a3d8e9730ea987ef49f8fe283023362dbb99608dee0e3229f",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "7a226cf3cdf6dc8c3b15829078a7b93e486ba4722c4a1d93ceb55dd2e6c77b21",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/model_action_replay.py": "7cddac7ce9e88cc32bc7afbec7f9df79b66bb4dfa2fa5f9b36654891fae23a19"
-    }
-  },
-  "routes": {
-    "route90": {
-      "scope": "Command construction and adapter reconstruction only; no counterfactual closed-loop score.",
-      "calibration_approved": false,
-      "executes_live_selector": false,
-      "cycles": 78812,
-      "core_active_cycles": 73055,
-      "core_exact_archived_match": true,
-      "cohorts_reproduced": true,
-      "adapter_active_cycles": 73055,
-      "adapter_status_counts": {
-        "inactive": 5757,
-        "active": 73055
-      },
-      "adapter_matches_current_core_with_yaw_and_fresh_engagement_dt": true,
-      "core_active_path_shorter_than_7m_cycles": 0,
-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 42170,
-      "adapter_max_absolute_command_difference_c0_c1": [
-        0.33999999999999986,
-        0.0020000000000000018
-      ],
-      "field_slew_zero_c2_c3_pass": true,
-      "float32_can_round_trips": 157624,
-      "timing": "Original controls publication timestamps proxy computation time; repeated frames and gaps retained. No identified delay.",
-      "eligibility": "Adapter checks recorded services independently; full SubMaster health is unavailable. Core uses archived validity.",
-      "reference": "Recorded controlsState.desiredCurvature, already selected/limited. These two routes have no maneuver publications.",
-      "host_yaw": "Extract cs.yaw equals -carState.yawRate; current adapter uses it for bounded damping.",
-      "archived_core_revision": "5fc16abc7662020706e29f57d31a6d5e2bc1293a",
-      "archived_core_source_sha256": "8f3bc5d68e0051776f614a2ccffae84a88f7898dc95bdc12c23dcfe10dfe676a",
-      "cohorts": {
-        "small_request": {
-          "seconds": 475.24161910000026,
-          "core_c0_c1_rms": [
-            0.06125184365338734,
-            0.0057692154738982855
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.057970374224682646,
-            0.007060795713496332
-          ],
-          "adapter_eligible_seconds": 475.24161910000026,
-          "adapter_c0_c1_rms": [
-            0.0666350702799088,
-            0.0057692154738982855
-          ]
-        },
-        "turn": {
-          "seconds": 47.85871389900012,
-          "core_c0_c1_rms": [
-            0.18725251016049418,
-            0.046449510236699354
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.4773534845264775,
-            0.04315935101392594
-          ],
-          "adapter_eligible_seconds": 47.85871389900012,
-          "adapter_c0_c1_rms": [
-            0.21255148222786066,
-            0.046449510236699354
-          ]
-        },
-        "small_speed_2_8": {
-          "seconds": 38.696717235999785,
-          "core_c0_c1_rms": [
-            0.209264275431127,
-            0.014019080484620104
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.1593558816527209,
-            0.01823849401244768
-          ],
-          "adapter_eligible_seconds": 38.696717235999785,
-          "adapter_c0_c1_rms": [
-            0.22422047076469706,
-            0.014019080484620104
-          ]
-        },
-        "turn_speed_2_8": {
-          "seconds": 0.30159887100000304,
-          "core_c0_c1_rms": [
-            2.090789090165622,
-            0.21878942570759013
-          ],
-          "recorded_v8_c0_c1_rms": [
-            2.155728831937131,
-            0.38375302254248855
-          ],
-          "adapter_eligible_seconds": 0.30159887100000304,
-          "adapter_c0_c1_rms": [
-            2.2977717861671105,
-            0.21878942570759013
-          ]
-        },
-        "small_speed_8_15": {
-          "seconds": 79.2599167590001,
-          "core_c0_c1_rms": [
-            0.02250905681378238,
-            0.005843904113223639
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.03477379324171293,
-            0.006545440153133947
-          ],
-          "adapter_eligible_seconds": 79.2599167590001,
-          "adapter_c0_c1_rms": [
-            0.027461818062006878,
-            0.005843904113223639
-          ]
-        },
-        "turn_speed_8_15": {
-          "seconds": 0.022264622000001566,
-          "core_c0_c1_rms": [
-            0.20999999999999996,
-            0.04349999999999998
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.25,
-            0.04050000011920929
-          ],
-          "adapter_eligible_seconds": 0.022264622000001566,
-          "adapter_c0_c1_rms": [
-            0.20999999999999996,
-            0.04349999999999998
-          ]
-        },
-        "small_speed_15_55": {
-          "seconds": 357.2849851050004,
-          "core_c0_c1_rms": [
-            0.011622097035118838,
-            0.003925571829874466
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.03809717934501699,
-            0.0045587590980714285
-          ],
-          "adapter_eligible_seconds": 357.2849851050004,
-          "adapter_c0_c1_rms": [
-            0.017138026451004092,
-            0.003925571829874466
-          ]
-        },
-        "turn_speed_15_55": {
-          "seconds": 47.53485040600012,
-          "core_c0_c1_rms": [
-            0.08686835454709245,
-            0.043216347944464766
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.4471065308273131,
-            0.030663943784303503
-          ],
-          "adapter_eligible_seconds": 47.53485040600012,
-          "adapter_c0_c1_rms": [
-            0.10939067791228956,
-            0.043216347944464766
-          ]
-        },
-        "pose_quiet": {
-          "seconds": 427.99642020700026,
-          "core_c0_c1_rms": [
-            0.01261133542366393,
-            0.00422389167351435
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.03724956081568198,
-            0.0046880581807907966
-          ],
-          "adapter_eligible_seconds": 427.99642020700026,
-          "adapter_c0_c1_rms": [
-            0.017590935519277658,
-            0.00422389167351435
-          ]
-        }
-      },
-      "workspace_head": "01f8d51c82b3e863f1012d383b5994813ef01b81",
-      "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
-      "opendbc_import_path": "/Users/ibpersonal/.codex/worktrees/b926/sunnypilot/opendbc_repo",
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/model_action_replay.py": "7cddac7ce9e88cc32bc7afbec7f9df79b66bb4dfa2fa5f9b36654891fae23a19",
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-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/damping_replay.py": "8c4f1f987b65e2be146c473a6e529168f08b1f7ce3c9514e22a9874450fa430e",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "7a226cf3cdf6dc8c3b15829078a7b93e486ba4722c4a1d93ceb55dd2e6c77b21"
-      }
-    }
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-  "ablation_comparison": {
-    "route9b": {
-      "lab_variant_commands_exactly_match_production": true,
-      "opposed_nonzero_c0_commands": 24,
-      "max_absolute_difference_on_opposed_commands_m": 0.05999999999999961
-    },
-    "route9e": {
-      "lab_variant_commands_exactly_match_production": true,
-      "opposed_nonzero_c0_commands": 30,
-      "max_absolute_difference_on_opposed_commands_m": 0.02999999999999936
-    }
-  },
-  "total_original_route_cycles": 299604,
-  "total_float32_can_round_trips": 817346,
-  "source_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "7a226cf3cdf6dc8c3b15829078a7b93e486ba4722c4a1d93ceb55dd2e6c77b21",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "30cfffb86fcd3830320e9b2ec1f65cdfd219684a55d0bc0bb13f77966cc18b53",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "8ab5dd52958f13a2426e07f8713b7d8d56c52b8a05d173ffba87ffccc0087796",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_damping.py": "a7062d2c3c46b3abcd4c3facd97970644ce609fb55285daa0359681950948250",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_prediction.py": "eb50e1d6acdb5e7332fadc3dcfcfa1b3809545e607c47c54b0ba3de80b2df208",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py": "f826c6328f0abac2a61f1a0a6f8d119fdbab858e363cb466d84ba9a7783059cd",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "175a1969ac83b14b88798bbde37371f740cd05cf3f8f6e5d21bbf9afe857bb57",
-    "tools/ford_pscm_lab/__init__.py": "db4b8b7d2e317ed34ca0ec220bf9d53e7b80a23e766f4e1cb2c8224dada45f2e",
-    "tools/ford_pscm_lab/damping_replay.py": "8c4f1f987b65e2be146c473a6e529168f08b1f7ce3c9514e22a9874450fa430e",
-    "tools/ford_pscm_lab/model_action_replay.py": "7cddac7ce9e88cc32bc7afbec7f9df79b66bb4dfa2fa5f9b36654891fae23a19",
-    "tools/ford_pscm_lab/stress_model_action.py": "66adef6cba120a1a3d8e9730ea987ef49f8fe283023362dbb99608dee0e3229f",
-    "tools/ford_pscm_lab/test_model_action_replay.py": "1f7d90c06ec09b405571565632653dc7d984b106b955877916d4a0836c11e3b5",
-    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "41ac31726b941e470f5be34e2523dc1fc2b25fb6a12705ab267a57ed4f3c27c8",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "c44c75e02042a0485b5bd7896e0b794761d768bbe513b6dc9c2c986ddd22b44c"
-  },
-  "artifact_sha256": {
-    ".cache/ford_prediction_uncapped/uncapped_red.txt": "09160dbc36320be886561cfdbdd21eef0c8bc420a11bae9bb1a8dd43f7b93a3c",
-    ".cache/ford_prediction_uncapped/suite_run.txt": "99b3bd2af256c9a4a083cb015a51a458a26ac02a8cad73c28c47470f9a5eb910",
-    ".cache/ford_prediction_uncapped/coverage.json": "50a282c90fa86147ed6925fdf37918471f8e5204a4c1e1ef9adb39335e220f42",
-    ".cache/ford_prediction_uncapped/stress.json": "e4226f403a3a914b9f3a7868b14a2b763215ec1f77e7d45ac06604859acc9fb6",
-    ".cache/ford_prediction_uncapped/route90/report.json": "c5cee3c56f9f7f292c8069be22dd1ffb1649055fccaf829b28d96bdec6558541",
-    ".cache/ford_prediction_uncapped/route95/report.json": "6fcc8a3bd7abb5b513888cb64426670e7e05f8b2100b1876be196a800cec2c90",
-    ".cache/ford_prediction_uncapped/final9b/report.json": "79faca3ff89e2015dad4823d4d988ea26ead55c7e51e4a594258102d32701b07",
-    ".cache/ford_prediction_uncapped/final9e/report.json": "9b003ce97225e65e03e351c5e133f3fed08dc79e026f73308098d51a98dd67ae",
-    ".cache/ford_prediction_uncapped/route90/commands.npz": "8787aabbe7007bcd7c68976c272085761aec6a4f360fa6cc8c8553bd1421c92b",
-    ".cache/ford_prediction_uncapped/route95/commands.npz": "349b716bd910cd030716b9ef519ee24f620fae5280776ffa871bc43318939400",
-    ".cache/ford_prediction_uncapped/final9b/commands.npz": "ff4a14fc74b144800f459c250be961ebb05a46a20e6ad1fc0394a659c9854394",
-    ".cache/ford_prediction_uncapped/final9e/commands.npz": "59f6046acb10b00ef00e7b9feb5b8547139a67a2f8767d7cbfe3603a59e6c77d"
-  }
-}
diff --git a/docs/ford_model_action_measured_pose_validation.json b/docs/ford_model_action_measured_pose_validation.json
deleted file mode 100644
index b42944fd5f..0000000000
--- a/docs/ford_model_action_measured_pose_validation.json
+++ /dev/null
@@ -1,94 +0,0 @@
-{
-  "version": "model-action-measured-pose-v6",
-  "base_commit": "72e9d94f62487d07e9b7c5cb17d5988d5ddfbedb",
-  "opendbc_revision": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-  "scope": "Offline runtime command replay on frozen recorded calibrated yaw, geometry and vehicle inputs; separate controlsd integration tests exercise health/freshness, calibration updates, publication and CAN. No counterfactual vehicle simulation or road-validation claim.",
-  "calibration_approved": false,
-  "source_sha256": {
-    "openpilot/selfdrive/controls/controlsd.py": "c12e8d9be37e21f27a2132974b0efe98f3e681fd07e12c263e897ad67a44871b",
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "326539389b04034932db41ca2c67794779403b2c0e97f408a81a9f5734114899",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "2a55779b1a32f4dc3317b568365efbadc1f6aab06a0b3398514be891025d5e2d",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "0e131ca17380a5a4fe37754659f77aeda550f5e3c113edb27b576673e57bf6b4",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_measured_pose.py": "4d81efa0f09350559ff4290fd2ec11e744be221623fd414de85adfe2fecb4289",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py": "4e87ff347046d8de7248b9272a0393dd5d12e10df5430f00540b675331d7fe58",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_yaw.py": "063b066aeddf0410dc208fa0017a58cda78effb1ca33c2af8b53422dbdad06f3",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "6f8900aa642d7f3883b003fd9244f29997343808fc22119c5ca953c3e1946fde",
-    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "c8f7cc4c44e39027fecb52efc61dd5f3902e030193b10ac2f2c36c51cc6d4010"
-  },
-  "validation": {
-    "pytest": {
-      "passed": 427,
-      "subtests_passed": 26,
-      "skipped": 0,
-      "command": "python -m pytest -q openpilot/selfdrive/controls/tests/test_ford*.py tools/ford_pscm_lab opendbc_repo/opendbc/car/ford/tests/test_ford.py openpilot/sunnypilot/sunnylink/tests",
-      "output_sha256": "ed2ecdf280dadc52a834b2dfaa777e64505f7763d1a271849dadc729a86abb5d"
-    },
-    "type_check": "ty check openpilot/selfdrive/controls/lib/ford_model_action.py openpilot/selfdrive/controls/controlsd.py: pass",
-    "ruff_changed_python": "pass",
-    "settings_compiler_check": "pass",
-    "diff_check": "pass",
-    "regression_red_green": "49 measured-pose tests and 4 state-freshness/calibration tests failed before their implementation and passed afterward"
-  },
-  "replay": {
-    "cycles": 340757,
-    "wire_round_trips": 681514,
-    "command_matches_reviewed_candidate": true,
-    "baseline_matches_archived_v5": true,
-    "c1_eligibility_unchanged": true,
-    "checks": [
-      "finite values",
-      "caps",
-      "independent slew",
-      "inactive reset",
-      "Float32/CAN packing",
-      "zero C2 and C3",
-      "publication and filter-state freshness"
-    ],
-    "routes": {
-      "a2": {
-        "cycles": 71111,
-        "wire_round_trips": 142222,
-        "runtime_matches_reviewed_lab_candidate": true,
-        "baseline_matches_archive": true,
-        "identical_c1_eligibility": true
-      },
-      "a0": {
-        "cycles": 114582,
-        "wire_round_trips": 229164,
-        "runtime_matches_reviewed_lab_candidate": true,
-        "baseline_matches_archive": true,
-        "identical_c1_eligibility": true
-      },
-      "9b": {
-        "cycles": 71396,
-        "wire_round_trips": 142792,
-        "runtime_matches_reviewed_lab_candidate": true,
-        "baseline_matches_archive": true,
-        "identical_c1_eligibility": true
-      },
-      "9e": {
-        "cycles": 83668,
-        "wire_round_trips": 167336,
-        "runtime_matches_reviewed_lab_candidate": true,
-        "baseline_matches_archive": true,
-        "identical_c1_eligibility": true
-      }
-    },
-    "report_sha256": {
-      "a2_pose_report.json": "35d709991507ac7c10fd3148fd61dcf33a9606f97cd134d2bd94cee999f9cbe1",
-      "a0_pose_report.json": "1e34fbcdb14d04b23ce755ddd2e66fa6ab12377ab925693474e9f719b6339530",
-      "9b_pose_report.json": "e601662de44a354247f3943c233ca14ce5c449dbb4289ab9564ced21d524f02b",
-      "9e_pose_report.json": "fb0ee49e7aab65d45b61251aa83ad2247cd90e91f6c077f86d2f8474af7013e4"
-    },
-    "reproduce": "PYTHONDONTWRITEBYTECODE=1 PYTHONPATH=.:opendbc_repo python .cache/ford_v6/replay.py a2 a0 9b 9e",
-    "reproduction_requirements": "Original route extracts in the local .cache directories and the matching scripts/reports in the ford-v6 artifact. Replay scripts and private recordings are not shipped on the device."
-  },
-  "limitations": [
-    "All route extracts came from one truck; cross-PSCM behavior is unverified.",
-    "C0 command changes are not percentages of physical steering improvement.",
-    "The older overshoot example has nearby driver influence.",
-    "The same C1 cap remains active during tight-turn peak misses.",
-    "Quiet-path per-cycle C0-change RMS increases about 28%; physical centering is unverified.",
-    "Hardware build, device boot and physical driving were not performed."
-  ]
-}
diff --git a/docs/ford_model_action_no_yaw_damping.md b/docs/ford_model_action_no_yaw_damping.md
deleted file mode 100644
index cd42dc5881..0000000000
--- a/docs/ford_model_action_no_yaw_damping.md
+++ /dev/null
@@ -1,67 +0,0 @@
-# Experimental Ford selected-action controller, v5
-
-V5 removes the excess-yaw C0 attenuation at the user's request. The damping
-function, 0.02 rad/s deadband and 0.2 s reduction scale are deleted. Valid measured
-yaw no longer changes either command target. Existing yaw input-health checks
-and logging remain. No replacement gain, increment gate or controller state is added.
-
-The full 150 ms geometric prediction introduced in v4 remains, along with the
-7 m offset station and one-second heading scale. This is not a return to v1:
-v1 did not predict the offset. C0/C1 bounds, slew, quantization, service gates,
-engagement, downstream driver arbitration and zero C2/C3 are unchanged.
-
-The latest supplied route a0 ran v2, not v4. Prior same-input comparisons found
-identical v1/v2 commands during its driver-clean minor-bend warning intervals
-and the preceding five seconds. That evidence does not identify damping as the
-cause of those misses. Removing damping can restore C0 demand where the damper
-was active, including turn exits; it is not evidence of improved tracking or
-reduced oversteer.
-
-## Offline validation
-
-The regression suite checks yaw-independent commands through mirrored turn
-entry, release and reversal, including valid yaw extremes and small yaw offsets.
-Six cases fail with v4 damping present and pass after removal. Invalid yaw still
-resets the controller. Actual controlsd selection, upstream limiting, Float32
-publication and downstream CAN tests cover both model and maneuver references.
-
-Full-rlog comparisons run pinned v4 against production v5 on routes9b, 9e and a0.
-They preserve original clocks, exact consumed model frames and causal carState;
-publication times proxy computation time, and complete SubMaster health is
-unavailable. The numerical stress run checks independent geometric targets,
-scalar slew, mirrored turns and Float32/CAN packing. Recorded vehicle motion
-stays fixed: none of these checks establishes counterfactual steering response,
-closed-loop stability or a physical tracking improvement.
-
-Results and source hashes are recorded in
-`ford_model_action_no_yaw_damping_validation.json`. Earlier validation documents
-remain archives of their specified controller versions.
-
-Validation passes 356 tests and 26 subtests with 100% controller statement and
-branch coverage, 280,636 recorded route cycles and 779,410 Float32/CAN round trips,
-including 200,000 random stress cycles. C1 and input eligibility match v4 exactly
-on all three routes. Commands during all 1,578 driver-clean ordinary-bend warning
-cycles on route a0 also remain identical to v4. At the earlier right-turn exit,
-removing damping increases C0 magnitude by a mean 0.079 m, maximum 0.13 m; these
-are command offsets, not measured vehicle displacement.
-
-The module is 171 total lines, or 111 code lines excluding blanks, comments and
-docstrings, with two control states. No hardware build or device boot was performed.
-
-## Reproduce and select
-
-Use the dependency setup and combined suite in the
-[drive-test guide](ford_model_action_drive_test.md). Replay and stress commands:
-
-```sh
-python -m tools.ford_pscm_lab.damping_replay /path/to/route9b/rlogs --baseline v4 --candidate current --window right_entry 637 640 --window right_exit 642.7 643.852 --output /path/to/separate/route9b-results
-python -m tools.ford_pscm_lab.damping_replay /path/to/route9e/rlogs --baseline v4 --candidate current --window left_entry 173 175.4 --window left_peak 175.4 178.3 --window left_exit 178.3 180.5 --output /path/to/separate/route9e-results
-python -m tools.ford_pscm_lab.damping_replay /path/to/routea0/rlogs --baseline v4 --candidate current --window bends_5min 298 338 --window bend_7min 449 458 --window bend_9min 579 588 --output /path/to/separate/routea0-results
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260908 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output /path/to/stress.json
-```
-
-The same default-off **Selected-Action Path Tracking (Experimental)** Sunnylink
-toggle selects v5 on the CAN FD F-150 Lightning. Deployment remains
-`sunnypilot/sunnypilot`, branch `hiimisaac-dev`. After updating, restart controlsd
-through a real offroad-to-onroad cycle. Diagnostics identify
-`model-action-c0-c1-prediction-v5`; `calibration_approved=false` remains explicit.
diff --git a/docs/ford_model_action_no_yaw_damping_validation.json b/docs/ford_model_action_no_yaw_damping_validation.json
deleted file mode 100644
index 1d53666480..0000000000
--- a/docs/ford_model_action_no_yaw_damping_validation.json
+++ /dev/null
@@ -1,304 +0,0 @@
-{
-  "date": "2026-09-08",
-  "baseline_commit": "7e63449749d112f096c56cb848dd289054e5f85b",
-  "hypothesis": "model-action-c0-c1-prediction-v5",
-  "scope": "Remove yaw damping only; retain full path prediction and existing input-health gates. Fixed-input command checks, not physical tracking or stability evidence.",
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev"
-  },
-  "calibration_approved": false,
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-    ".cache/ford_no_yaw_damping/suite_run.txt": "434d80389bc7d2859070c9f9df0cac1ac0f854151b5888dcedc2ce38df23d519",
-    ".cache/ford_no_yaw_damping/coverage.json": "d99baeb8729a1394b41d9a4739b538372aad27b56d379f4b9cefe682ed99d662",
-    ".cache/ford_no_yaw_damping/stress.json": "3e2c49dcc473d90ea03c95dc12905c2216ee573a691891b8a1f56ba82fd78251",
-    ".cache/ford_no_yaw_damping/route9b/report.json": "446371173fed1ff632ece4286e53d0d941491be590d467af960d1931431212ca",
-    ".cache/ford_no_yaw_damping/route9b/commands.npz": "d543a92991f06b56e20d0ed58daf6e4ef6a0021b79c027570b8d997658336b9d",
-    ".cache/ford_no_yaw_damping/route9e/report.json": "fb8ddd8d2c242a14a63993593c96604e7306dcd97219d073bbcfcbeba68af45b",
-    ".cache/ford_no_yaw_damping/route9e/commands.npz": "375a94227f3cb1a161a1295496908baa428d5ef0e0b79134a728f876477dbd6b",
-    ".cache/ford_no_yaw_damping/routea0/report.json": "7959b77af715016b4da45b9bc8f095872702f662950324f64a0f4d332c814eb0",
-    ".cache/ford_no_yaw_damping/routea0/commands.npz": "4f9dcde39ad9e20958ad04e53dbb32830c6a933dc7f743fdffe5a612252cb16b"
-  }
-}
diff --git a/docs/ford_model_action_prediction.md b/docs/ford_model_action_prediction.md
deleted file mode 100644
index 2cad0d6a33..0000000000
--- a/docs/ford_model_action_prediction.md
+++ /dev/null
@@ -1,126 +0,0 @@
-# Experimental Ford path prediction, v3
-
-This document and its counts describe archived v3. The
-[current v4 experiment](ford_model_action_full_prediction.md) removes the extra
-15 cm / 25% prediction adjustment cap.
-
-The latest driven route9e used v1 (`5fc16abc7`), before the v2 yaw damping.
-It often follows the requested steering angle closely, but some tight turns
-fall behind after a reasonable initial turn-in. The requested angle is replanned
-from the car's changing position; a large late request may partly be a recovery
-request after arriving wide. It is not proof that the original turn required
-that much steering. The generic PSCM limit flag does not identify a torque,
-rate or mechanical limit, and the miss starts before our C1 cap in the clearest
-left turn.
-
-Short measured-motion integrations against earlier frozen model paths are
-consistent with a growing miss, but model uncertainty, reference timing and
-some driver input prevent a conclusive causal attribution. V3 tests a bounded
-change to initial path demand. No counterfactual physical tracking score is
-claimed from replaying fixed logs.
-
-## Change and bounds
-
-Start with the current model's lateral offset at 7 m of path arc length, as in
-v1/v2. Advance the reference pose by speed × 0.15 s along the **selected,
-upstream-limited curvature**, and read the same model path 7 m beyond that
-advance, expressed in the predicted ego frame. Bound the change from the
-original offset to both ±0.15 m and ±25% of its magnitude. Prediction cannot
-reverse that target or create C0 from a zero offset.
-
-For advance `d`, selected curvature `k`, rotation `theta = k*d`, and model
-point `(x, y)` at arc station `7+d`, the predicted lateral coordinate is:
-
-```
-y_predicted = cos(theta)*y - sin(theta)*x + (1-cos(theta))/k
-```
-
-The code evaluates the last term continuously at zero curvature without
-cancellation. Available path horizon limits `d`; prediction tapers to zero as
-the horizon approaches 7 m. Nonfinite prediction falls back to the validated
-current offset. The existing endpoint hold remains for paths shorter than 7 m.
-
-A matched constant-radius path retains essentially the same C0, subject to
-sample interpolation. Developing and flattening bends can move the target
-earlier. This is a geometric hypothesis assuming motion along selected
-curvature, not an identified 150 ms actuator delay or a calibrated plant model.
-Errors in that assumption can increase or reduce useful steering demand.
-
-The predicted offset passes through the existing ±5.11 m clip, v2 excess-yaw
-damping, independent 4 m/s slew and 0.01 m quantization. C1 construction, clip,
-slew and quantization are unchanged. C2=C3=0. Input sanity, freshness, service
-health and startup selection gates are unchanged. There are still only two
-control states (C0 and C1 slew positions), plus three adapter timestamps.
-The module is 193 total lines, including 125 code lines excluding blanks,
-comments and docstrings (18 more code lines than v2). No model history, integral
-or turn state machine is added. The bounds above
-apply to the prediction target, not arbitrary differences between separately
-slewed controllers after different histories.
-
-## Offline results and tradeoff
-
-All four supplied routes run at their original controls timestamps. Routes90/95
-also reproduce the archived v1 command construction exactly. The newer routes
-compare immutable v2 code with v3 using identical measured yaw, selected
-curvature, exact consumed model and causal carState. Publication times proxy
-computation time; complete SubMaster health is unavailable. Neither v2 nor v3
-was driven on these recordings. V2-versus-recorded error is therefore not a
-reconstruction accuracy measurement.
-
-| Recorded interval | Command change versus v2 |
-| --- | --- |
-| route9e left entry, 173–175.4 s | Mean C0 magnitude +0.143 m; same 2.0 m level reached 0.203 s earlier |
-| route9e left peak, 175.4–178.3 s | Mean magnitude +0.095 m; prediction also increases some late demand |
-| route9e reversal, 728–734 s | Peak C0 magnitude 0.24 → 0.22 m |
-| route9b right exit, 642.7–643.852 s | Mean C0 +0.024 m, partially offsetting v2 damping |
-| Driver-clean low requests above 8 m/s, routes9b/9e | Mean absolute C0 change ≈0.0015 m; maximum 0.02 m |
-
-The entry C0 crossings at 0.5, 1.0, 1.5, 2.0 and 2.4 m move earlier by 61, 64,
-367, 203 and 90 ms respectively. These are command-level crossing times,
-not measured improvements in wheel response. Several entry/peak windows
-contain driver input, quantified in the validation record.
-
-On all 115 earlier right-exit cycles before strong intervention, v3 remains
-below the driven v1 reconstruction: mean C0 is 0.370 m for v1, 0.290 m for v2,
-and 0.314 m for v3. This tradeoff is retained explicitly; v3 does not improve
-every exit command relative to v2. There is no evidence yet that it reduces
-the late model request or the physical miss.
-
-Route9b now includes full rlogs 12/13, added after the archived v2 evaluation.
-Its 14-rlog totals therefore differ from the historical 12-rlog report. The
-focused segment-10 comparison uses identical timestamps and data.
-
-Validation passes 372 tests and 26 subtests, including the real extracted
-controlsd selection/limiter/publication path and downstream CAN builder, with
-100% controller statement and branch coverage. Four routes cover 299,604
-original cycles. Randomized testing adds 200,000 core updates plus their
-mirrors against an independent analytic geometry/damping/slew oracle; boundary
-and route checks total 817,346 Float32/CAN round trips. These checks establish
-command construction and retained gates, not closed-loop vehicle behavior.
-See `ford_model_action_prediction_validation.json` for provenance and counts.
-
-## Reproduce and select
-
-To reproduce the archived suite and stress results, use v3 commit
-`01f8d51c82b3e863f1012d383b5994813ef01b81` with the native dependencies and
-suite command in the [drive-test guide](ford_model_action_drive_test.md).
-Current replay tooling can select the immutable v3 source explicitly. New-route comparisons use
-the deployment opendbc pin `c21a9013700734dd20b09e05aa68329ad8cc20f9`:
-
-```sh
-python -m tools.ford_pscm_lab.damping_replay /path/to/route9e/rlogs --baseline v2 --candidate v3 --window left_entry 173 175.4 --window left_peak 175.4 178.3 --window left_exit 178.3 180.5 --window reversal 728 734 --window final_entry 822 825.5 --output /path/to/separate/route9e-results
-python -m tools.ford_pscm_lab.damping_replay /path/to/route9b/rlogs --baseline v2 --candidate v3 --window right_entry 637 640 --window right_exit_before_strong_input 642.7 643.852 --output /path/to/separate/route9b-results
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output /path/to/stress.json
-```
-
-Historical replay loads trusted controller source from immutable local Git
-commits; those objects must exist in the checkout. The original replay tool
-still requires its explicit historical opendbc pin. Neither tool downloads
-code or drives the car.
-
-The existing default-off Sunnylink **Selected-Action Path Tracking
-(Experimental)** toggle selects v3 on the CAN FD F-150 Lightning. Updating
-with that toggle already enabled selects v3 at the next controlsd startup.
-Diagnostics identify `model-action-c0-c1-prediction-v3` and keep
-`calibration_approved=false`. No new device installation, hardware build,
-physical calibration or device boot is part of this offline validation.
diff --git a/docs/ford_model_action_prediction_validation.json b/docs/ford_model_action_prediction_validation.json
deleted file mode 100644
index 0077761f91..0000000000
--- a/docs/ford_model_action_prediction_validation.json
+++ /dev/null
@@ -1,849 +0,0 @@
-{
-  "date": "2026-09-07",
-  "baseline_commit": "744a97d9bc08d8743b250eceff7c88585b5480de",
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev"
-  },
-  "hypothesis": "model-action-c0-c1-prediction-v3",
-  "scope": "Bounded geometric prediction; fixed-input offline evidence only.",
-  "calibration_approved": false,
-  "hardware_build_and_device_boot": "not performed",
-  "controller_size": {
-    "total_lines": 193,
-    "code_lines_excluding_blanks_comments_docstrings": 125,
-    "core_persistent_values": 2,
-    "adapter_timestamps": 3
-  },
-  "checks": {
-    "combined_ford_params_sunnylink_suite": "372 passed, 26 subtests passed; no skips",
-    "suite_log_sha256": "b9546bd4cac8349ab9a699f175ba569ed41fc8a9e85e79a0018c79d3af24c11d",
-    "coverage": {
-      "covered_lines": 116,
-      "num_statements": 116,
-      "percent_covered": 100.0,
-      "percent_covered_display": "100",
-      "missing_lines": 0,
-      "excluded_lines": 0,
-      "percent_statements_covered": 100.0,
-      "percent_statements_covered_display": "100",
-      "num_branches": 32,
-      "num_partial_branches": 0,
-      "covered_branches": 32,
-      "missing_branches": 0,
-      "percent_branches_covered": 100.0,
-      "percent_branches_covered_display": "100"
-    },
-    "ruff": "pass",
-    "ty_controller_and_lab": "pass",
-    "settings_compiler_check": "pass",
-    "prediction_red_probe": "Disabling prediction fails all four mirrored developing/flattening-bend cases (4 failed, 34 passed); all 38 pass with prediction.",
-    "standards_review_remaining_findings": 0,
-    "spec_review_remaining_findings": 0,
-    "review_scope": "Tracked and untracked v3 changes since 744a97d9bc08d8743b250eceff7c88585b5480de; final loader unit test checked separately.",
-    "test_portability": "Archive loader unit test mocks Git source retrieval; full offline route runs use the actual immutable commit sources."
-  },
-  "stress": {
-    "seed": 20260907,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "bounded_excess_yaw_damping_checked": true,
-    "bounded_geometric_prediction_checked": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.40000000000015523,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Numerical construction only; no PSCM response or closed-loop performance claims.",
-    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-    "source_sha256": {
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/stress_model_action.py": "be77689e5327a13b7b4d0e18a3fc1863b57cab76be714339efc609124400489f",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "5b9f7946f29b5fcd94ca93e53be14a12b18ae74d7ca27380e92b90c8c599dce0",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/model_action_replay.py": "a872cf4594e364988796394b09f531d18cc3d6732e0c92f45eed9fbf6f5cbee6"
-    }
-  },
-  "routes": {
-    "route90": {
-      "scope": "Command construction and adapter reconstruction only; no counterfactual closed-loop score.",
-      "calibration_approved": false,
-      "executes_live_selector": false,
-      "cycles": 78812,
-      "core_active_cycles": 73055,
-      "core_exact_archived_match": true,
-      "cohorts_reproduced": true,
-      "adapter_active_cycles": 73055,
-      "adapter_status_counts": {
-        "inactive": 5757,
-        "active": 73055
-      },
-      "adapter_matches_current_core_with_yaw_and_fresh_engagement_dt": true,
-      "core_active_path_shorter_than_7m_cycles": 0,
-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 27264,
-      "adapter_max_absolute_command_difference_c0_c1": [
-        0.16000000000000014,
-        0.0020000000000000018
-      ],
-      "field_slew_zero_c2_c3_pass": true,
-      "float32_can_round_trips": 157624,
-      "timing": "Original controls publication timestamps proxy computation time; repeated frames and gaps retained. No identified delay.",
-      "eligibility": "Adapter checks recorded services independently; full SubMaster health is unavailable. Core uses archived validity.",
-      "reference": "Recorded controlsState.desiredCurvature, already selected/limited. These two routes have no maneuver publications.",
-      "host_yaw": "Extract cs.yaw equals -carState.yawRate; current adapter uses it for bounded damping.",
-      "archived_core_revision": "5fc16abc7662020706e29f57d31a6d5e2bc1293a",
-      "archived_core_source_sha256": "8f3bc5d68e0051776f614a2ccffae84a88f7898dc95bdc12c23dcfe10dfe676a",
-      "cohorts": {
-        "small_request": {
-          "seconds": 475.24161910000026,
-          "core_c0_c1_rms": [
-            0.06125184365338734,
-            0.0057692154738982855
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.057970374224682646,
-            0.007060795713496332
-          ],
-          "adapter_eligible_seconds": 475.24161910000026,
-          "adapter_c0_c1_rms": [
-            0.06384544973437024,
-            0.0057692154738982855
-          ]
-        },
-        "turn": {
-          "seconds": 47.85871389900012,
-          "core_c0_c1_rms": [
-            0.18725251016049418,
-            0.046449510236699354
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.4773534845264775,
-            0.04315935101392594
-          ],
-          "adapter_eligible_seconds": 47.85871389900012,
-          "adapter_c0_c1_rms": [
-            0.20375259142277982,
-            0.046449510236699354
-          ]
-        },
-        "small_speed_2_8": {
-          "seconds": 38.696717235999785,
-          "core_c0_c1_rms": [
-            0.209264275431127,
-            0.014019080484620104
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.1593558816527209,
-            0.01823849401244768
-          ],
-          "adapter_eligible_seconds": 38.696717235999785,
-          "adapter_c0_c1_rms": [
-            0.21664870054721863,
-            0.014019080484620104
-          ]
-        },
-        "turn_speed_2_8": {
-          "seconds": 0.30159887100000304,
-          "core_c0_c1_rms": [
-            2.090789090165622,
-            0.21878942570759013
-          ],
-          "recorded_v8_c0_c1_rms": [
-            2.155728831937131,
-            0.38375302254248855
-          ],
-          "adapter_eligible_seconds": 0.30159887100000304,
-          "adapter_c0_c1_rms": [
-            2.2043400076988204,
-            0.21878942570759013
-          ]
-        },
-        "small_speed_8_15": {
-          "seconds": 79.2599167590001,
-          "core_c0_c1_rms": [
-            0.02250905681378238,
-            0.005843904113223639
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.03477379324171293,
-            0.006545440153133947
-          ],
-          "adapter_eligible_seconds": 79.2599167590001,
-          "adapter_c0_c1_rms": [
-            0.026080258136122546,
-            0.005843904113223639
-          ]
-        },
-        "turn_speed_8_15": {
-          "seconds": 0.022264622000001566,
-          "core_c0_c1_rms": [
-            0.20999999999999996,
-            0.04349999999999998
-          ],
-          "recorded_v8_c0_c1_rms": [
-            0.25,
-            0.04050000011920929
-          ],
-          "adapter_eligible_seconds": 0.022264622000001566,
-          "adapter_c0_c1_rms": [
-            0.20999999999999996,
-            0.04349999999999998
-          ]
-        },
-        "small_speed_15_55": {
-          "seconds": 357.2849851050004,
-          "core_c0_c1_rms": [
-            0.011622097035118838,
-            0.003925571829874466
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-          "recorded_v8_c0_c1_rms": [
-            0.03809717934501699,
-            0.0045587590980714285
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-          "adapter_eligible_seconds": 357.2849851050004,
-          "adapter_c0_c1_rms": [
-            0.013693372023947319,
-            0.003925571829874466
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-        "turn_speed_15_55": {
-          "seconds": 47.53485040600012,
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-            0.043216347944464766
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-          "recorded_v8_c0_c1_rms": [
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-          "adapter_eligible_seconds": 47.53485040600012,
-          "adapter_c0_c1_rms": [
-            0.10462899220936993,
-            0.043216347944464766
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-        "pose_quiet": {
-          "seconds": 427.99642020700026,
-          "core_c0_c1_rms": [
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-            0.00422389167351435
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-          "recorded_v8_c0_c1_rms": [
-            0.03724956081568198,
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-            0.00422389167351435
-          ]
-        }
-      },
-      "workspace_head": "744a97d9bc08d8743b250eceff7c88585b5480de",
-      "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
-      "opendbc_import_path": "/Users/ibpersonal/.codex/worktrees/b926/sunnypilot/opendbc_repo",
-      "source_sha256": {
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-        "/Users/ibpersonal/.codex/worktrees/3548/sunnypilot/analysis/controller_search_20260904/route90/route.npz": "51e8c26eedde253e171af47d704c1967ba45ae6825d883393bec1fb9e00251c1",
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-        "/Users/ibpersonal/.codex/worktrees/3548/sunnypilot/analysis/controller_search_20260904/route90/encoder_comparison.npz": "7a625d3ed5cbd8013d1028aa3bc421740551dcae5c3d60981208bd047af9794c",
-        "/Users/ibpersonal/.codex/worktrees/3548/sunnypilot/analysis/controller_search_20260904/route90/encoder_comparison.json": "64e1cc4be84394ac7ec408d383b99b48ada9b3fd129cdef2fd846e5fac620d66",
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-      }
-    },
-    "route95": {
-      "scope": "Command construction and adapter reconstruction only; no counterfactual closed-loop score.",
-      "calibration_approved": false,
-      "executes_live_selector": false,
-      "cycles": 54738,
-      "core_active_cycles": 37614,
-      "core_exact_archived_match": true,
-      "cohorts_reproduced": true,
-      "adapter_active_cycles": 37614,
-      "adapter_status_counts": {
-        "inactive": 17124,
-        "active": 37614
-      },
-      "adapter_matches_current_core_with_yaw_and_fresh_engagement_dt": true,
-      "core_active_path_shorter_than_7m_cycles": 44,
-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 20110,
-      "adapter_max_absolute_command_difference_c0_c1": [
-        0.16999999999999993,
-        0.0010000000000000009
-      ],
-      "field_slew_zero_c2_c3_pass": true,
-      "float32_can_round_trips": 109476,
-      "timing": "Original controls publication timestamps proxy computation time; repeated frames and gaps retained. No identified delay.",
-      "eligibility": "Adapter checks recorded services independently; full SubMaster health is unavailable. Core uses archived validity.",
-      "reference": "Recorded controlsState.desiredCurvature, already selected/limited. These two routes have no maneuver publications.",
-      "host_yaw": "Extract cs.yaw equals -carState.yawRate; current adapter uses it for bounded damping.",
-      "archived_core_revision": "5fc16abc7662020706e29f57d31a6d5e2bc1293a",
-      "archived_core_source_sha256": "8f3bc5d68e0051776f614a2ccffae84a88f7898dc95bdc12c23dcfe10dfe676a",
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diff --git a/docs/ford_model_points.md b/docs/ford_model_points.md
deleted file mode 100644
index 18c7fcab02..0000000000
--- a/docs/ford_model_points.md
+++ /dev/null
@@ -1,130 +0,0 @@
-# Ford model-point candidate v7
-
-## Decision
-
-Use the model's own position and orientation at one shared path point. This
-implements the request to follow model geometry through C0/C1, with C2/C3 zero,
-without a fitted PSCM plant, new strength gain, yaw integral, or release mode.
-
-Let `s(t)` be cumulative planar arc distance along model position. Choose:
-
-```
-station = min(path_end, max(7 metres, s(1 second)))
-C0_target = model.position.y at station
-C1_target = unwrapped model.orientation.z at station
-C2 = C3 = 0
-```
-
-Use the published model timestamps, not `speed × 1 second`, so the point also
-follows the model's predicted acceleration/braking. The seven-metre floor keeps
-the existing low-speed preview distance; it can select a time beyond one second.
-If the entire path is shorter, both fields hold the same endpoint. Interpolation
-uses the same arc segment and weights for position and heading.
-
-One second keeps C1 near the old one-second heading scale in ordinary driving.
-Using that same point for C0 represents a meaningful change in faster bends.
-This is a chosen local approximation; Ford's expected reference point and
-preview are unknown. Matching metres/radians does not prove PSCM equivalence.
-
-The former 150 ms vehicle-pose forecast is removed. C1 no longer uses
-`max(7, speed) × selected desiredCurvature`. Measured yaw remains an input-health
-check only; calibrated yaw has no command role. Freshness, independent slew,
-packing, the shared startup toggle, 20 Hz sends, and Panda safety remain.
-The upstream scalar curvature is still logged but does not limit this geometry;
-C0/C1 retain their existing amplitude and slew limits. The scalar-only lateral
-maneuver test reference is explicitly unsupported and disengages this candidate.
-
-## Offline evidence
-
-The broad run passed **585 tests and 9,146 subtests**, with 178 inherited safety
-cases skipped as inapplicable. Tests of the removed yaw forecast were retired;
-new tests cover actual model clocks, a nonconstant-speed trajectory, shared-point
-sampling, the distance floor, endpoint holding, heading unwrap, source selection,
-invalid geometry, reset, independent slew, and actual CAN delivery.
-
-The stress run covers 200,000 random cycles plus mirrored turns, 18,138 field
-boundary cases, and 218,138 Float32/CAN round trips. An independent scalar oracle
-checks analytic model points and slew. No vehicle plant is simulated.
-
-Five recorded routes (a5, a2, a0, 9b, 9e) supply **379,718 controller cycles** and
-**76,294 model frames**. Original rlog hashes and position/orientation timestamps
-were checked. An independently implemented segment-weight oracle matches every
-sampled target and eligible slew state. Every cycle passed packing/bound checks;
-all **75,947** scheduled 20 Hz requests passed the actual unchanged Panda TX hook.
-This is TX acceptance with controlled eligibility, not a full Panda RX watchdog
-or vehicle-response replay. The [validation manifest](ford_model_points_validation.json)
-binds the results to their source and input hashes.
-
-On a5's 61.24-second driver-clean ordinary-bend cohort, mean absolute C0 changes
-from 0.075 m recorded to 0.167 m replayed; C1 changes from 0.02287 to 0.02224 rad.
-Neither field target clips in that cohort. These are command differences, not
-predicted changes in steering strength or tracking error.
-
-| a5 time | Recorded C0 / C1 | Candidate C0 / C1 | Selected station / time |
-| --- | --- | --- | --- |
-| 107.995 s, ordinary bend | +0.20 m / +0.068 rad | +0.55 m / +0.0685 rad | 13.71 m / 1.00 s |
-| 390.681 s, sustained bend | −0.52 m / −0.1235 rad | −0.75 m / −0.1215 rad | 9.37 m / 1.00 s |
-| 374.889 s, tight turn | −3.76 m / −0.50 rad | −3.46 m / −0.50 rad | 7.00 m / 1.49 s |
-| 17.607 s, exit overshoot | −0.01 m / −0.015 rad | −0.05 m / −0.012 rad | 7.00 m / 1.85 s |
-
-The exit example retains more C0 into the turn than v6; physical unwind behavior
-must be evaluated. Tight-turn C1 clipping remains (14.92 eligible seconds on a5).
-No root cause or physical fix is proven by frozen inputs. The latest a5 road
-logs used 100 Hz sends, whereas the immediately preceding code revision already
-changed to 20 Hz; a comparison against that drive also includes the cadence change.
-
-## Unwind comparison
-
-The follow-up a5 comparison includes all seven clearly separated tight turns and
-four completed ordinary bends identified in the full-route command plot. A fifth
-bend runs into the next turn and is excluded from the summary. All scored windows
-remain continuously paired-active, without control gaps over 30 ms. The tight
-turns contain driver input; this compares instructions on frozen inputs, not
-unassisted tracking or hypothetical truck motion.
-
-Measure the first time each instruction falls below the same fixed level on
-exit and stays below for 100 ms. All seven tight turns exceed these levels:
-
-| Instruction | Candidate minus recorded clearance time |
-| --- | --- |
-| C0 below 0.5 m into the turn | 0.10 s later median; five later by 0.01–0.46 s, two unchanged |
-| C1 below 0.1 rad into the turn | 0.10 s earlier median; all seven 0.04–0.17 s earlier |
-
-These are control-publication times. Actual packet timing also includes the
-20 Hz send phase; shifts of only a few tens of milliseconds should not be
-interpreted as equally precise changes at the PSCM.
-
-The report also compares half of each command's own peak: C1 reaches that level
-0.25 s earlier in the median tight turn and C0 0.12 s later. Those normalized
-crossings have different absolute thresholds when amplitudes differ. Comparing
-half the smaller peak at an identical level instead gives C0 earlier in one
-turn and later in six. No single threshold captures the whole release waveform.
-
-For the ordinary bend around 108 s, C0 reaches half of its own peak 0.20 s later;
-C1 reaches half-peak 0.24 s earlier. The larger C0 takes 0.95 s longer to fall
-below the same 0.05 m threshold. On the last tight turn, C0 clears 0.05 m 0.23 s
-later. Near-zero thresholds are sensitive to small residual model offsets; the
-complete report retains 90%, 50%, 10%, common-level and near-zero crossings
-rather than treating any one threshold as a physical success criterion.
-
-The plotted candidate target and command largely coincide during these exits:
-the longer C0 tail comes from the selected model point continuing to ask for
-lateral offset, rather than a retained yaw correction. C1 can release sooner
-because it now follows model orientation directly. These results do not show
-that every command unwinds earlier, or that the vehicle will unwind earlier.
-
-Ten additional end-to-end sender cases cover both signs and all five CAN send
-phases. After a full-cap turn, a zero model target starts reducing both states on
-the first control update and appears on the next scheduled CAN message, 0–40 ms
-later at nominal 100 Hz calculation. There is no additional release hold. The
-unchanged slew itself takes 1.28 s of updates to clear 5.11 m C0 and 1.00 s to
-clear 0.5 rad C1, plus scheduling to transmit zero. These are software timing
-checks, not measured PSCM dynamics. The [unwind report](ford_model_points_unwind.json)
-records the episode timings, method and source hashes.
-
-Older offline utilities now fail explicitly when their input lacks original
-model clocks or their historical unchanged-C1 comparison cannot support v7.
-This prevents missing model inputs from producing an all-invalid apparent match.
-
-`calibration_approved=false` remains. Installation instructions and restore
-behavior are in the [drive-test guide](ford_model_action_drive_test.md).
diff --git a/docs/ford_model_points_unwind.json b/docs/ford_model_points_unwind.json
deleted file mode 100644
index c7c667564b..0000000000
--- a/docs/ford_model_points_unwind.json
+++ /dev/null
@@ -1,1157 +0,0 @@
-{
-  "scope": "a5 recorded v6 vs v7 commands on identical recorded inputs; no counterfactual steering or plant response.",
-  "method": "Signed request into each turn. After each own peak, first below 90/50/10% held for 100 ms; near-zero is <=0.05 m C0 or <=0.01 rad C1 into the original turn. Common half is half the smaller peak; fixed clearance is <=0.5 m C0 or <=0.1 rad C1, scored only when both peaks exceed it. Negative timing delta means earlier. Windows must remain paired-active without >30 ms gaps. Driver inputs are retained and explicitly flagged; these are command comparisons, not driver-free tracking scores. Times are publication proxies; CAN scheduling is tested separately across all five send phases.",
-  "summary": {
-    "tight": {
-      "episodes": 7,
-      "c0": {
-        "below_90pct_s": {
-          "n": 7,
-          "median_s": 0.0,
-          "min_s": -0.12269046900000546,
-          "max_s": 0.04266988000000538,
-          "earlier": 2,
-          "later": 2
-        },
-        "below_50pct_s": {
-          "n": 7,
-          "median_s": 0.12129962300002717,
-          "min_s": 0.0848213179999675,
-          "max_s": 0.8246327600000001,
-          "earlier": 0,
-          "later": 7
-        },
-        "below_10pct_s": {
-          "n": 7,
-          "median_s": 0.1376267710000434,
-          "min_s": 0.0,
-          "max_s": 0.45046578099999124,
-          "earlier": 0,
-          "later": 6
-        },
-        "near_zero_s": {
-          "n": 5,
-          "median_s": 0.1399018539999588,
-          "min_s": -0.5224231490000193,
-          "max_s": 1.9510819790000085,
-          "earlier": 1,
-          "later": 4
-        },
-        "common_half_s": {
-          "n": 7,
-          "median_s": 0.07685077599995793,
-          "min_s": -0.2591174110000338,
-          "max_s": 0.5661551039999893,
-          "earlier": 1,
-          "later": 6
-        },
-        "fixed_clearance_s": {
-          "n": 7,
-          "median_s": 0.10080577899998389,
-          "min_s": 0.0,
-          "max_s": 0.4609723959999883,
-          "earlier": 0,
-          "later": 5
-        }
-      },
-      "c1": {
-        "below_90pct_s": {
-          "n": 7,
-          "median_s": -0.3856273459999784,
-          "min_s": -0.5246007750000103,
-          "max_s": 0.5545458859999997,
-          "earlier": 6,
-          "later": 1
-        },
-        "below_50pct_s": {
-          "n": 7,
-          "median_s": -0.2540558009999927,
-          "min_s": -0.46442294700000275,
-          "max_s": -0.21144918100003451,
-          "earlier": 7,
-          "later": 0
-        },
-        "below_10pct_s": {
-          "n": 6,
-          "median_s": -0.15774414349999688,
-          "min_s": -0.20159088100001554,
-          "max_s": 0.0,
-          "earlier": 5,
-          "later": 0
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-        "near_zero_s": {
-          "n": 5,
-          "median_s": 0.0,
-          "min_s": -0.148710938000022,
-          "max_s": 1.5534367700000047,
-          "earlier": 2,
-          "later": 2
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-        "common_half_s": {
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-          "median_s": -0.2528352759999848,
-          "min_s": -0.45502116000000115,
-          "max_s": -0.15168304499999863,
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-          "later": 0
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-          "median_s": -0.10267424500000288,
-          "min_s": -0.1688626670000417,
-          "max_s": -0.040530361999969955,
-          "earlier": 7,
-          "later": 0
-        }
-      }
-    },
-    "ordinary": {
-      "episodes": 4,
-      "c0": {
-        "below_90pct_s": {
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-          "median_s": 0.49771416100000465,
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diff --git a/docs/ford_model_points_validation.json b/docs/ford_model_points_validation.json
deleted file mode 100644
index 29c8751eb9..0000000000
--- a/docs/ford_model_points_validation.json
+++ /dev/null
@@ -1,632 +0,0 @@
-{
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-            "min_s": -0.5246007750000103,
-            "max_s": 0.5545458859999997,
-            "earlier": 6,
-            "later": 1
-          },
-          "below_50pct_s": {
-            "n": 7,
-            "median_s": -0.2540558009999927,
-            "min_s": -0.46442294700000275,
-            "max_s": -0.21144918100003451,
-            "earlier": 7,
-            "later": 0
-          },
-          "below_10pct_s": {
-            "n": 6,
-            "median_s": -0.15774414349999688,
-            "min_s": -0.20159088100001554,
-            "max_s": 0.0,
-            "earlier": 5,
-            "later": 0
-          },
-          "near_zero_s": {
-            "n": 5,
-            "median_s": 0.0,
-            "min_s": -0.148710938000022,
-            "max_s": 1.5534367700000047,
-            "earlier": 2,
-            "later": 2
-          },
-          "common_half_s": {
-            "n": 7,
-            "median_s": -0.2528352759999848,
-            "min_s": -0.45502116000000115,
-            "max_s": -0.15168304499999863,
-            "earlier": 7,
-            "later": 0
-          },
-          "fixed_clearance_s": {
-            "n": 7,
-            "median_s": -0.10267424500000288,
-            "min_s": -0.1688626670000417,
-            "max_s": -0.040530361999969955,
-            "earlier": 7,
-            "later": 0
-          }
-        }
-      },
-      "ordinary": {
-        "episodes": 4,
-        "c0": {
-          "below_90pct_s": {
-            "n": 4,
-            "median_s": 0.49771416100000465,
-            "min_s": 0.2530698499999744,
-            "max_s": 3.195503137000003,
-            "earlier": 0,
-            "later": 4
-          },
-          "below_50pct_s": {
-            "n": 4,
-            "median_s": 0.3417062340000143,
-            "min_s": 0.19507780300000377,
-            "max_s": 0.4595077099999685,
-            "earlier": 0,
-            "later": 4
-          },
-          "below_10pct_s": {
-            "n": 4,
-            "median_s": 0.11352378200000146,
-            "min_s": 0.09310488600004874,
-            "max_s": 1.1537201169999776,
-            "earlier": 0,
-            "later": 4
-          },
-          "near_zero_s": {
-            "n": 4,
-            "median_s": 0.6988682280000234,
-            "min_s": 0.40513631699997177,
-            "max_s": 3.1885321799999815,
-            "earlier": 0,
-            "later": 4
-          },
-          "common_half_s": {
-            "n": 4,
-            "median_s": 1.0263607459999946,
-            "min_s": 0.7940629349999995,
-            "max_s": 2.846801904000017,
-            "earlier": 0,
-            "later": 4
-          },
-          "fixed_clearance_s": {
-            "n": 2,
-            "median_s": 1.97568246000003,
-            "min_s": 1.5486082510000188,
-            "max_s": 2.4027566690000413,
-            "earlier": 0,
-            "later": 2
-          }
-        },
-        "c1": {
-          "below_90pct_s": {
-            "n": 4,
-            "median_s": -0.0037014085000066643,
-            "min_s": -0.25255103900002496,
-            "max_s": 0.3999567310000316,
-            "earlier": 2,
-            "later": 1
-          },
-          "below_50pct_s": {
-            "n": 4,
-            "median_s": -0.17102558000001977,
-            "min_s": -0.2489269939999872,
-            "max_s": -0.046780566999984785,
-            "earlier": 4,
-            "later": 0
-          },
-          "below_10pct_s": {
-            "n": 4,
-            "median_s": -0.10130154349999998,
-            "min_s": -0.29764589699999533,
-            "max_s": 0.05121605200002932,
-            "earlier": 2,
-            "later": 1
-          },
-          "near_zero_s": {
-            "n": 4,
-            "median_s": -0.022888650000027155,
-            "min_s": -0.10325871399999187,
-            "max_s": 0.24679704999999785,
-            "earlier": 2,
-            "later": 1
-          },
-          "common_half_s": {
-            "n": 4,
-            "median_s": -0.22263683349999042,
-            "min_s": -0.2573995380000156,
-            "max_s": -0.09939024700003074,
-            "earlier": 4,
-            "later": 0
-          },
-          "fixed_clearance_s": {
-            "n": 2,
-            "median_s": -0.17009618150001415,
-            "min_s": -0.24998850800000127,
-            "max_s": -0.09020385500002703,
-            "earlier": 2,
-            "later": 0
-          }
-        }
-      }
-    }
-  }
-}
diff --git a/opendbc_repo b/opendbc_repo
index 87ca78e6e6..c21a901370 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 87ca78e6e641eefb2d654f260a6ab08df3058bd5
+Subproject commit c21a9013700734dd20b09e05aa68329ad8cc20f9
diff --git a/openpilot/selfdrive/controls/controlsd.py b/openpilot/selfdrive/controls/controlsd.py
index f1b91e03bd..5ab125d59a 100755
--- a/openpilot/selfdrive/controls/controlsd.py
+++ b/openpilot/selfdrive/controls/controlsd.py
@@ -12,7 +12,7 @@ from openpilot.common.realtime import config_realtime_process, DT_CTRL, Priority
 from openpilot.common.swaglog import cloudlog
 
 from opendbc.car.car_helpers import interfaces
-from opendbc.car.ford.values import FordFlags, FordFlagsSP
+from opendbc.car.ford.values import FordFlags
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.ford_model_action import FordModelActionController, select_model_action_controller
@@ -59,7 +59,7 @@ class Controls(ControlsExt):
     self.ford_pscm_observer = (self.CP.brand == "ford" and self.CP.flags & FordFlags.CANFD and
                                self.params.get_bool("FordPscmObserver"))
     self.ford_path_controller = FordPscmObserverPathController() if self.ford_pscm_observer else FordPathController()
-    self.ford_path_controller = select_model_action_controller(self.CP, bool(self.CP_SP.flags & FordFlagsSP.MODEL_ACTION),
+    self.ford_path_controller = select_model_action_controller(self.CP, self.params.get_bool("FordModelActionController"),
                                                               self.ford_path_controller)
     self.ford_model_action = isinstance(self.ford_path_controller, FordModelActionController)
     if self.CP.brand == "ford":
@@ -171,15 +171,12 @@ class Controls(ControlsExt):
     if self.CP.brand == "ford":
       ford_model = model_v2 if self.sm.valid['modelV2'] else None
       if self.ford_model_action:
-        assert isinstance(self.ford_path_controller, FordModelActionController)
         reference_service = 'lateralManeuverPlan' if self.sm.valid['lateralManeuverPlan'] else 'modelV2'
-        now = time.monotonic()
         self.ford_path = self.ford_path_controller.update(
-          ford_model, self.desired_curvature, yaw_rate=-CS.yawRate, speed=CS.vEgo, now=now,
+          ford_model, self.desired_curvature, yaw_rate=-CS.yawRate, speed=CS.vEgo, now=time.monotonic(),
           measurement_time=self.sm.logMonoTime['carState'] * 1e-9,
           model_time=self.sm.logMonoTime['modelV2'] * 1e-9,
           reference_time=self.sm.logMonoTime[reference_service] * 1e-9,
-          reference_source=reference_service,
           active=CC.latActive, valid=CS.canValid and self.sm.all_checks(['carState', 'vehicleParameters', 'modelV2', reference_service]),
         )
         if not self.ford_path.valid:
@@ -191,7 +188,6 @@ class Controls(ControlsExt):
                          measured_curvature=self.curvature,
                          **self.ford_path_controller.diagnostics)
       elif self.ford_pscm_observer:
-        assert isinstance(self.ford_path_controller, FordPscmObserverPathController)
         self.ford_path = self.ford_path_controller.update(ford_model, self.desired_curvature,
                                                           current_curvature=self.curvature, v_ego=CS.vEgo,
                                                           v_ego_raw=CS.vEgoRaw, active=CC.latActive)
diff --git a/openpilot/selfdrive/controls/lib/ford_model_action.py b/openpilot/selfdrive/controls/lib/ford_model_action.py
index 56ca418620..9f01b43b3f 100644
--- a/openpilot/selfdrive/controls/lib/ford_model_action.py
+++ b/openpilot/selfdrive/controls/lib/ford_model_action.py
@@ -1,7 +1,7 @@
-"""Experimental Ford C2-free controller using one shared model-path point.
+"""Experimental Ford C2-free controller: nearby offset and selected-action heading.
 
-The one-second preview and seven-metre minimum are engineering choices,
-not identified Ford reference points or PSCM calibration.
+Selected only by its explicit toggle. The 7 m station and one-second scale are
+engineering choices, not identified PSCM gains or physical calibration.
 """
 import math
 import struct
@@ -12,8 +12,8 @@ from opendbc.car.ford.values import FordFlags
 from openpilot.selfdrive.controls.lib.ford_path import FordPath, _model_path
 
 
-MIN_STATION_M = 7.0
-PREVIEW_TIME_S = 1.0
+OFFSET_STATION_M = 7.0
+HEADING_TIME_S = 1.0
 CALIBRATION_APPROVED = False
 
 
@@ -31,34 +31,31 @@ def _finite(*values):
 
 
 def encode_model_action(model, desired_curvature, speed):
-  """Sample model lateral position and heading at the same arc station.
+  """Encode y(7) and max(7, v*1s)*selected limited curvature.
 
-  Use the model's distance at one second, with a seven-metre minimum and an
-  endpoint hold. Selected curvature remains a health/diagnostic input; it does
-  not reconstruct heading or rotate the model geometry in this experiment.
+  Preserve the reviewed core's endpoint hold when the path ends before 7 m.
+  This samples the available geometry; it does not extrapolate an unseen path.
   """
   if not _finite(desired_curvature, speed) or not .3 <= speed <= 55 or abs(desired_curvature) > 1:
     return FordPath()
   try:
     path = _model_path(model)
-    times = [float(t) for t in model.position.t]
-    heading_times = [float(t) for t in model.orientation.t]
-  except (AttributeError, TypeError, ValueError, OverflowError):
+  except OverflowError:
     return FordPath()
   if path is None or not all(_finite(*values) for values in path):
     return FordPath()
-  station, _, lateral, heading = path
-  if (len(times) != len(station) or not times or times[0] != 0. or times != heading_times or
-      not _finite(*times) or any(b <= a for a, b in zip(times, times[1:], strict=False))):
-    return FordPath()
-  sample_station = min(station[-1], max(MIN_STATION_M, float(np.interp(PREVIEW_TIME_S, times, station))))
-  c0 = float(np.interp(sample_station, station, lateral))
-  c1 = float(np.interp(sample_station, station, heading))
+  station, _, lateral, _ = path
+  c0 = float(np.interp(min(OFFSET_STATION_M, station[-1]), station, lateral))
+  c1 = max(OFFSET_STATION_M, speed*HEADING_TIME_S)*desired_curvature
   return FordPath(True, c0, c1, 0., 0.) if _finite(c0, c1) else FordPath()
 
 
 class ModelActionController:
-  """Only two states: independently slewed C0/C1 model-point requests."""
+  """Only two control states: unquantized, independently slewed C0 and C1.
+
+  Freshness and engagement belong to the caller. No measured yaw, model
+  history, heading integral, blending or release modes enter the law.
+  """
   __slots__ = ('c0', 'c1')
 
   def __init__(self):
@@ -67,9 +64,8 @@ class ModelActionController:
   def reset(self):
     self.c0 = self.c1 = 0.
 
-  def update(self, model, desired_curvature, *, speed, dt, yaw_rate=0., active=True, valid=True):
-    # Raw Ford yaw remains an input-health check, not a pose measurement.
-    if not active or not valid or not _finite(dt, yaw_rate) or not .002 <= dt <= .1 or abs(yaw_rate) > 3:
+  def update(self, model, desired_curvature, *, speed, dt, active=True, valid=True):
+    if not active or not valid or not _finite(dt) or not .002 <= dt <= .1:
       self.reset()
       return FordPath()
     target = encode_model_action(model, desired_curvature, speed)
@@ -84,11 +80,16 @@ class ModelActionController:
 
 
 class FordModelActionController:
-  """Freshness, engagement and reference checks for model-point tracking.
+  """Input adapter for the opt-in selected-action controller.
 
-  Scalar-only maneuver references cannot supply this controller's model pose.
-  Reject them explicitly rather than silently following a different reference.
-  Measured yaw checks input health only; it never modifies valid geometry.
+  controlsd owns upstream selection/limiting and service health. This adapter
+  checks ages and clock order, then supplies elapsed time to the two-state
+  core. Its timestamps and diagnostics never affect the targets. Raw model
+  geometry is checked on every cycle, even at a repeated model timestamp.
+
+  Yaw is checked only for the inherited finite/range input gate. Engagement
+  and downstream driver arbitration still apply. This controller does not use
+  PSCM status or driver torque as control-law inputs.
   """
   def __init__(self):
     self.core = ModelActionController()
@@ -97,16 +98,14 @@ class FordModelActionController:
   def reset(self, status='inactive'):
     self.core.reset()
     self.last_time = self.last_measurement_time = self.last_model_time = None
-    self.diagnostics = {'status': status, 'hypothesis': 'model-pose-one-second-v7',
+    self.diagnostics = {'status': status, 'hypothesis': 'model-action-c0-c1-v1',
                         'calibration_approved': CALIBRATION_APPROVED, 'command': (0., 0., 0., 0.)}
 
   def update(self, model, desired_curvature, *, yaw_rate, speed, now, measurement_time, model_time, reference_time,
-             active, valid=True, reference_source="modelV2"):
+             active, valid=True):
     reason = None
     if not active:
       reason = 'inactive'
-    elif reference_source != 'modelV2':
-      reason = 'unsupported_reference'
     elif not valid:
       reason = 'invalid_service'
     elif not _finite(desired_curvature, yaw_rate, speed, now, measurement_time, model_time, reference_time):
@@ -125,15 +124,13 @@ class FordModelActionController:
     ):
       self.reset('timing_reset')
       return FordPath()
-    command = self.core.update(model, desired_curvature, speed=speed, dt=dt, yaw_rate=yaw_rate)
+    command = self.core.update(model, desired_curvature, speed=speed, dt=dt)
     if not command.valid:
       self.reset('invalid_path')
       return command
     self.last_time, self.last_measurement_time, self.last_model_time = now, measurement_time, model_time
-    self.diagnostics = {'status': 'active', 'hypothesis': 'model-pose-one-second-v7',
+    self.diagnostics = {'status': 'active', 'hypothesis': 'model-action-c0-c1-v1',
                         'calibration_approved': CALIBRATION_APPROVED, 'desired_curvature': desired_curvature,
-                        'yaw_rate': yaw_rate, 'pose_source': 'model',
-                        'preview_time_s': PREVIEW_TIME_S, 'minimum_station_m': MIN_STATION_M,
                         'model_age': now - model_time, 'measurement_age': now - measurement_time, 'reference_age': now - reference_time,
                         'dt': dt, 'offset_request': self.core.c0, 'heading_request': self.core.c1,
                         'command': (command.path_offset, command.path_angle, 0., 0.)}
diff --git a/openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py b/openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py
index 63518caeba..1e5fdfbf3c 100644
--- a/openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py
+++ b/openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py
@@ -53,11 +53,7 @@ class TestFordControlsLogging(unittest.TestCase):
       controls = SimpleNamespace(ford_path_controller=controller, desired_curvature=.005, curvature=.0025,
                                  sm=SimpleNamespace(logMonoTime={'modelV2': 123456789, 'carState': 123450000}))
       record = self.emit_controls_event('Ford C2-free path tracking', controls)
-      self.assertEqual(record['hypothesis'], 'model-pose-one-second-v7')
+      self.assertEqual(record['hypothesis'], 'model-action-c0-c1-v1')
       self.assertIs(record['calibration_approved'], False)
       self.assertEqual(record['command'][2:], [0., 0.])
       self.assertEqual(record['status'], controller.diagnostics['status'])
-      if active and valid:
-        self.assertEqual(record['pose_source'], 'model')
-        self.assertEqual(record['preview_time_s'], 1.)
-        self.assertEqual(record['minimum_station_m'], 7.)
diff --git a/openpilot/selfdrive/controls/tests/test_ford_model_action.py b/openpilot/selfdrive/controls/tests/test_ford_model_action.py
index f778541e8c..b5466b542a 100644
--- a/openpilot/selfdrive/controls/tests/test_ford_model_action.py
+++ b/openpilot/selfdrive/controls/tests/test_ford_model_action.py
@@ -12,8 +12,7 @@ from openpilot.selfdrive.controls.lib.ford_model_action import ModelActionContro
 
 
 def make_model(x, y, heading):
-  times = np.linspace(0., 3., len(x))
-  return SimpleNamespace(position=SimpleNamespace(t=times, x=x, y=y), orientation=SimpleNamespace(t=times, z=heading))
+  return SimpleNamespace(position=SimpleNamespace(x=x, y=y), orientation=SimpleNamespace(z=heading))
 
 
 def circle(curvature):
@@ -21,26 +20,26 @@ def circle(curvature):
   return make_model(np.sin(curvature*s)/curvature, (1-np.cos(curvature*s))/curvature, curvature*s)
 
 
-def straight(offset=0., heading=0.):
+def straight(offset=0.):
   x = np.linspace(0., 60., 121)
-  return make_model(x*np.cos(heading), offset+x*np.sin(heading), np.full_like(x, heading))
+  return make_model(x, np.full_like(x, offset), np.zeros_like(x))
 
 
-def test_model_heading_is_used_even_when_scalar_action_differs():
+def test_selected_action_controls_heading_even_when_model_previews_another_turn():
   model = circle(.02)
-  for desired in (0., -.004, .004):
-    target = encode_model_action(model, desired, 20.)
-    assert target.path_angle == pytest.approx(.4)
-    assert target.path_offset == pytest.approx((1-math.cos(.4))/.02)
+  assert encode_model_action(model, 0., 20.).path_angle == 0.
+  assert encode_model_action(model, -.004, 20.).path_angle == pytest.approx(-.08)
+  assert encode_model_action(model, 0., 20.).path_offset > 0.
 
 
-def test_straight_centering_and_matched_model_circles():
+def test_centering_information_is_independent_of_action_and_not_scaled_with_speed():
   for speed in (2., 7., 20., 35.):
-    assert encode_model_action(straight(.4), 0., speed) == FordPath(True, .4, 0., 0., 0.)
+    target = encode_model_action(straight(.4), 0., speed)
+    assert target == FordPath(True, .4, 0., 0., 0.)
   for sign in (-1, 1):
     target = encode_model_action(circle(sign*.01), sign*.01, 20.)
-    assert target.path_offset == pytest.approx(sign*(1-math.cos(.2))/.01)
-    assert target.path_angle == pytest.approx(sign*.2)
+    assert target.path_offset == pytest.approx(sign*(1-math.cos(.07))/.01, abs=1e-6)
+    assert target.path_angle == pytest.approx(sign*.2)  # No 10 m cap at highway speed.
 
 
 def test_two_actuator_positions_are_sufficient_for_every_next_output():
@@ -55,18 +54,18 @@ def test_two_actuator_positions_are_sufficient_for_every_next_output():
     assert controller.update(model, desired, **kwargs) == copied.update(model, desired, **kwargs)
 
 
-def test_held_turn_releases_using_new_model_geometry_without_retained_bias():
+def test_held_turn_releases_without_a_bias_tail_or_sign_reversal():
   for sign in (-1., 1.):
     controller = ModelActionController()
     for _ in range(400):
       out = controller.update(circle(sign*.01), sign*.01, speed=20., dt=.01)
     assert out.path_angle == pytest.approx(sign*.2)
-    previous = np.array([controller.c0, controller.c1])
-    for _ in range(100):
-      out = controller.update(straight(), sign*.01, speed=20., dt=.01)
-      expected = previous+np.clip(-previous, [-.04, -.005], [.04, .005])
-      values = np.array([controller.c0, controller.c1])
-      np.testing.assert_allclose(values, expected, atol=1e-10)
+    previous = np.array([out.path_offset, out.path_angle])
+    for desired in sign*np.linspace(.01, 0., 101):
+      out = controller.update(straight(), desired, speed=20., dt=.01)
+      values = np.array([out.path_offset, out.path_angle])
+      assert (abs(values) <= abs(previous)+1e-8).all()
+      assert (sign*values >= -1e-8).all()
       previous = values
     assert out == FordPath(True, 0., 0., 0., 0.)
 
@@ -74,7 +73,7 @@ def test_held_turn_releases_using_new_model_geometry_without_retained_bias():
 def test_current_model_replacement_leaves_only_independent_actuator_slew():
   controller = ModelActionController()
   for _ in range(150):
-    controller.update(straight(1.-20*math.sin(.4), .4), .04, speed=20., dt=.01)
+    controller.update(straight(1.), .04, speed=20., dt=.01)
   for _ in range(25):
     out = controller.update(straight(), 0., speed=20., dt=.01)
   assert out.path_offset == pytest.approx(0.)
@@ -109,7 +108,7 @@ def test_selected_core_reversal_through_float32_and_wire_keeps_sign_and_zero_c2(
   previous = np.zeros(2)
   for i in range(600):
     sign = 1. if i < 300 else -1.
-    out = controller.update(straight(sign*8., sign*.8), sign*.1, speed=30., dt=.01)
+    out = controller.update(straight(sign*8.), sign*.1, speed=30., dt=.01)
     fields = np.array([out.path_offset, out.path_angle])
     assert (abs(fields) <= [5.1100001, .5000001]).all()
     assert (abs(fields-previous) <= [.0500001, .0055001]).all()
@@ -128,7 +127,7 @@ def test_selected_core_reversal_through_float32_and_wire_keeps_sign_and_zero_c2(
 
 def test_short_path_holds_available_endpoint_without_extrapolation():
   model = make_model([0., 1.], [0., .1], [0., 0.])
-  assert encode_model_action(model, .01, 20.) == FordPath(True, .1, 0., 0., 0.)
+  assert encode_model_action(model, .01, 20.) == FordPath(True, .1, .2, 0., 0.)
 
 
 def test_overflowing_arc_resets_instead_of_publishing_invalid_geometry():
@@ -177,18 +176,18 @@ def test_domain_and_elapsed_time_boundaries(field, value, valid):
   assert ModelActionController().update(straight(.4), **kwargs).valid == valid
 
 
-def test_arc_station_floor_not_forward_x_determines_offset():
+def test_arc_station_not_forward_x_or_model_heading_determines_offset():
   x = np.array([0., 6., 12.])
   y = .4+x*.75
-  target = encode_model_action(make_model(x, y, [.4, .4, .4]), -.01, 20.)
-  # At one second arc station is 5 m; the 7 m minimum gives x=5.6, y=4.6.
+  target = encode_model_action(make_model(x, y, [2., -2., 1.]), -.01, 20.)
+  # Arc length is 1.25*x on this line, so y(arc=7)=.4+.75*(7/1.25).
   assert target.path_offset == pytest.approx(4.6)
-  assert target.path_angle == pytest.approx(.4)
+  assert target.path_angle == pytest.approx(-.2)
 
 
 def test_duplicate_stations_keep_valid_geometry_and_first_cycle_slew():
   model = make_model([0., 0., 10.], [.4, .4, .4], [0., 0., 0.])
-  assert encode_model_action(model, 0., 20.) == FordPath(True, .4, 0., 0., 0.)
+  assert encode_model_action(model, .01, 20.) == FordPath(True, .4, .2, 0., 0.)
   out = ModelActionController().update(model, .01, speed=20., dt=.002)
   assert out.path_offset == pytest.approx(.01)
-  assert out.path_angle == 0.
+  assert out.path_angle == pytest.approx(.001)
diff --git a/openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py b/openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py
index 3a06c1197d..d705fb627c 100644
--- a/openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py
+++ b/openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py
@@ -26,7 +26,7 @@ from openpilot.selfdrive.controls.tests.test_ford_model_action_selection import
 
 
 def update(controller, now=1., **overrides):
-  kwargs = {'model': straight(.4, .1), 'desired_curvature': .01, 'speed': 20., 'yaw_rate': 0., 'now': now,
+  kwargs = {'model': straight(.4), 'desired_curvature': .01, 'speed': 20., 'yaw_rate': 0., 'now': now,
                 'model_time': now, 'measurement_time': now, 'reference_time': now, 'active': True}
   kwargs.update(overrides)
   return controller.update(**kwargs)
@@ -95,7 +95,7 @@ def test_yaw_offset_does_not_change_the_base():
   for i in range(100):
     outputs = [update(c, 1.+i*.01, **kwargs) for c, kwargs in zip(controllers, variants, strict=True)]
     assert all(out == outputs[0] for out in outputs)
-  assert outputs[0].path_angle == pytest.approx(.1)
+  assert outputs[0].path_angle == pytest.approx(.2)
 
 
 def test_reference_source_can_change_to_an_older_but_fresh_publication():
@@ -104,7 +104,7 @@ def test_reference_source_can_change_to_an_older_but_fresh_publication():
   assert update(controller, 1.01, reference_time=.98).valid
 
 
-def test_current_model_geometry_controls_both_fields_independently_of_scalar_action():
+def test_release_keeps_current_geometry_and_may_grow_c0_while_c1_decreases():
   for sign in (-1., 1.):
     controller = FordModelActionController()
     for i in range(100):
@@ -112,10 +112,11 @@ def test_current_model_geometry_controls_both_fields_independently_of_scalar_act
     for i in range(100):
       after = update(controller, 2.+i*.01, model=circle(sign*.02), desired_curvature=sign*.004)
     assert abs(after.path_offset) > abs(before.path_offset)
-    assert abs(after.path_angle) > abs(before.path_angle)
+    assert abs(after.path_angle) < abs(before.path_angle)
     for i in range(100):
       released = update(controller, 3.+i*.01, model=circle(sign*.02), desired_curvature=0.)
-    assert released == after  # A scalar reference change does not fabricate a different model pose.
+    assert released.path_offset == after.path_offset
+    assert released.path_angle == pytest.approx(0.)
 
 
 def _method(filename, class_name, method):
@@ -149,12 +150,9 @@ class Subscriptions:
 
   def __init__(self, maneuver):
     self.valid = {'lateralManeuverPlan': maneuver, 'modelV2': True}
-    self.logMonoTime = {'carState': 995_000_000, 'modelV2': 980_000_000, 'lateralManeuverPlan': 990_000_000,
-                       'deviceMotion': 980_000_000, 'extrinsicsCalibration': 750_000_000}
+    self.logMonoTime = {'carState': 995_000_000, 'modelV2': 980_000_000, 'lateralManeuverPlan': 990_000_000}
     self.failed = set()
-    self.messages = {'carStateSP': custom.CarStateSP.new_message(), 'lateralManeuverPlan': SimpleNamespace(desiredCurvature=-.1),
-                     'deviceMotion': SimpleNamespace(angularVelocityDevice=SimpleNamespace(valid=True), sensorsOK=True, inputsOK=True,
-                                                     timestamp=970_000_000)}
+    self.messages = {'carStateSP': custom.CarStateSP.new_message(), 'lateralManeuverPlan': SimpleNamespace(desiredCurvature=-.1)}
 
   def __getitem__(self, service):
     return self.messages[service]
@@ -164,44 +162,31 @@ class Subscriptions:
 
 
 @pytest.mark.parametrize('maneuver', [False, True])
-@pytest.mark.parametrize('host_yaw', [.0072, .3])
-@pytest.mark.parametrize('initial_curvature', [0., .005])
-def test_actual_controlsd_selection_limiting_publication_and_downstream_can(pipeline, maneuver, host_yaw, initial_curvature):
+def test_actual_controlsd_selection_limiting_publication_and_downstream_can(pipeline, maneuver):
   call, publication = pipeline
   sm = Subscriptions(maneuver)
   controls = startup()
   controller = controls.ford_path_controller
-  initial_curvature *= -1 if maneuver else 1
-  controls.sm, controls.desired_curvature, controls.curvature = sm, initial_curvature, 0.
-  if initial_curvature:
-    # Start at the old target so startup slew cannot hide prediction on the real call path.
-    controller.core.c0, controller.core.c1 = .4, .1
-  model = straight(.4, .1)
+  controls.sm, controls.desired_curvature, controls.curvature = sm, 0., 0.
+  model = straight(.4)
   model.action = SimpleNamespace(desiredCurvature=.1)
   cc = structs.CarControl(latActive=True)
-  cs = SimpleNamespace(vEgo=20., yawRate=-host_yaw, canValid=True, steeringPressed=False, steeringTorque=0.)
-  environment = {'FordModelActionController': FordModelActionController, 'self': controls, 'CS': cs, 'CC': cc,
-                     'actuators': cc.actuators, 'model_v2': model, 'lp': SimpleNamespace(roll=0.),
+  cs = SimpleNamespace(vEgo=20., yawRate=-.0072, canValid=True, steeringPressed=False, steeringTorque=0.)
+  environment = {'self': controls, 'CS': cs, 'CC': cc, 'actuators': cc.actuators, 'model_v2': model, 'lp': SimpleNamespace(roll=0.),
                      'clip_curvature': clip_curvature, 'time': SimpleNamespace(monotonic=lambda: 1.)}
   exec(call, environment)
-  expected_curvature = initial_curvature+(-1 if maneuver else 1)*.000125
+  expected_curvature = (-1 if maneuver else 1)*.000125
   assert controls.desired_curvature == pytest.approx(expected_curvature)
-  if maneuver:
-    assert controls.ford_path == FordPath() and not cc.latActive
-    assert controller.diagnostics['status'] == 'unsupported_reference'
-  else:
-    assert controls.ford_path.path_offset == pytest.approx(.44 if initial_curvature else .04)
-    assert controls.ford_path.path_angle == pytest.approx(.1 if initial_curvature else .005)
-    assert controller.diagnostics['yaw_rate'] == host_yaw
-    assert controller.diagnostics['pose_source'] == 'model'
-    assert cc.latActive and cc.actuators.curvature == 0.
-    assert controller.diagnostics['reference_age'] == pytest.approx(.02)
+  assert controls.ford_path.path_angle == pytest.approx(20.*expected_curvature)
+  assert controls.ford_path.path_offset == pytest.approx(.04)
+  assert cc.latActive and cc.actuators.curvature == 0.
+  assert controller.diagnostics['reference_age'] == pytest.approx(.01 if maneuver else .02)
 
   cp = structs.CarParams(flags=int(FordFlags.CANFD), carFingerprint='FORD_F_150_LIGHTNING_MK1')
-  downstream = CarController({Bus.pt: 'ford_lincoln_base_pt'}, cp, controls.CP_SP)
+  downstream = CarController({Bus.pt: 'ford_lincoln_base_pt'}, cp, structs.CarParamsSP())
   vehicle = SimpleNamespace(out=structs.CarState(vEgo=20., vEgoRaw=20.), acc_tja_status_stock_values=defaultdict(int),
                             lkas_status_stock_values=defaultdict(int), buttons_stock_values=defaultdict(int))
-  parser = CANParser('ford_lincoln_base_pt', [('LateralMotionControl2', 20)], downstream.CAN.main)
+  parser = CANParser('ford_lincoln_base_pt', [('LateralMotionControl2', 100)], downstream.CAN.main)
   for i, fail in enumerate((False, True)):
     if fail:
       sm.failed.add('modelV2')
@@ -209,17 +194,13 @@ def test_actual_controlsd_selection_limiting_publication_and_downstream_can(pipe
       assert not cc.latActive and controls.ford_path == FordPath()
     msg = custom.CarControlSP.new_message()
     exec(publication, {'self': controls, 'CC_SP': msg})
-    for tick in range(5 if fail else 1):
-      now_nanos = (i + tick + 1) * 10_000_000
-      _, packets = downstream.update(cc.as_reader(), convert_carControlSP(msg.as_reader()), vehicle, now_nanos)
-      lateral = [p for p in packets if p[0] == 0x3d6]
-      assert len(lateral) == int(not fail or tick == 4)
-      parser.update([now_nanos, packets])
+    _, packets = downstream.update(cc.as_reader(), convert_carControlSP(msg.as_reader()), vehicle, (i+1)*10_000_000)
+    parser.update([(i+1)*10_000_000, packets])
     wire = parser.vl['LateralMotionControl2']
     assert wire['LatCtlPathOffst_L_Actl'] == pytest.approx(-controls.ford_path.path_offset)
     assert wire['LatCtlPath_An_Actl'] == pytest.approx(-controls.ford_path.path_angle)
     assert wire['LatCtlCurv_No_Actl'] == wire['LatCtlCrv_NoRate2_Actl'] == 0.
-    assert wire['LatCtl_D2_Rq'] == (0 if fail or maneuver else 2)
+    assert wire['LatCtl_D2_Rq'] == (0 if fail else 2)
 
 
 @pytest.mark.parametrize('maneuver', [False, True])
@@ -233,37 +214,6 @@ def test_actual_controlsd_service_gates(pipeline, maneuver, failed):
   cs = SimpleNamespace(vEgo=20., yawRate=0., canValid=True, steeringPressed=False, steeringTorque=0.)
   model = straight()
   model.action = SimpleNamespace(desiredCurvature=.1)
-  exec(pipeline[0], {'FordModelActionController': FordModelActionController, 'self': controls, 'CS': cs, 'CC': cc,
-                     'actuators': cc.actuators, 'model_v2': model, 'lp': SimpleNamespace(roll=0.),
+  exec(pipeline[0], {'self': controls, 'CS': cs, 'CC': cc, 'actuators': cc.actuators, 'model_v2': model, 'lp': SimpleNamespace(roll=0.),
                          'clip_curvature': clip_curvature, 'time': SimpleNamespace(monotonic=lambda: 1.)})
   assert controls.ford_path.valid == cc.latActive == (failed == 'lateralManeuverPlan' and not maneuver)
-
-
-@pytest.mark.parametrize('service', ['deviceMotion', 'extrinsicsCalibration'])
-def test_optional_pose_services_do_not_modify_model_point_requests(pipeline, service):
-  sm = Subscriptions(False)
-  sm.failed.add(service)
-  controls = startup()
-  controls.sm, controls.desired_curvature, controls.curvature = sm, .01, 0.
-  controls.calibrated_pose = None
-  controls.ford_path_controller.core.c0, controls.ford_path_controller.core.c1 = .4, .1
-  cc = structs.CarControl(latActive=True)
-  cs = SimpleNamespace(vEgo=20., yawRate=-.3, canValid=True, steeringPressed=False, steeringTorque=0.)
-  model = straight(.4, .1)
-  model.action = SimpleNamespace(desiredCurvature=.01)
-  exec(pipeline[0], {'FordModelActionController': FordModelActionController, 'self': controls, 'CS': cs, 'CC': cc,
-                    'actuators': cc.actuators, 'model_v2': model, 'lp': SimpleNamespace(roll=0.),
-                    'clip_curvature': clip_curvature, 'time': SimpleNamespace(monotonic=lambda: 1.)})
-  assert cc.latActive and controls.ford_path.valid
-  assert controls.ford_path.path_offset == pytest.approx(.44)
-  assert controls.ford_path.path_angle == pytest.approx(.1)
-  assert controls.ford_path_controller.diagnostics['pose_source'] == 'model'
-
-
-def test_maneuver_reference_clears_existing_model_point_requests():
-  controller = FordModelActionController()
-  update(controller)
-  assert update(controller, 1.01, reference_source='lateralManeuverPlan') == FordPath()
-  assert controller.diagnostics['status'] == 'unsupported_reference'
-  assert (controller.core.c0, controller.core.c1) == (0., 0.)
-  assert update(controller, 1.02).path_angle == pytest.approx(.005)
diff --git a/openpilot/selfdrive/controls/tests/test_ford_model_action_cadence.py b/openpilot/selfdrive/controls/tests/test_ford_model_action_cadence.py
deleted file mode 100644
index 77e57a1397..0000000000
--- a/openpilot/selfdrive/controls/tests/test_ford_model_action_cadence.py
+++ /dev/null
@@ -1,146 +0,0 @@
-"""Exercise 100Hz calculation and 20Hz transmission through the real CAN sender."""
-from collections import defaultdict
-from types import SimpleNamespace
-
-import pytest
-
-from opendbc.can import CANParser
-from opendbc.car import Bus, structs
-from opendbc.car.ford.carcontroller import CarController
-from opendbc.car.ford.fordcan import calculate_lat_ctl2_checksum
-from opendbc.car.ford.values import FordFlags, FordFlagsSP, FordSafetyFlags
-from opendbc.safety.tests.libsafety import libsafety_py
-from openpilot.selfdrive.controls.lib.ford_model_action import ModelActionController
-from openpilot.selfdrive.controls.tests.test_ford_model_action import straight
-
-
-def sender(canfd=True, selected=True):
-  cp = structs.CarParams(flags=int(FordFlags.CANFD) if canfd else 0, carFingerprint='FORD_F_150_LIGHTNING_MK1',
-                         safetyConfigs=[structs.CarParams.SafetyConfig()])
-  cp_sp = structs.CarParamsSP(flags=int(FordFlagsSP.MODEL_ACTION) if selected else 0)
-  controller = CarController({Bus.pt: 'ford_lincoln_base_pt'}, cp, cp_sp)
-  cs = SimpleNamespace(out=structs.CarState(vEgo=20., vEgoRaw=20.), acc_tja_status_stock_values=defaultdict(int),
-                       lkas_status_stock_values=defaultdict(int), buttons_stock_values=defaultdict(int))
-  return controller, cs
-
-
-@pytest.mark.parametrize('canfd,selected,step', [(True, True, 5), (True, False, 1), (False, True, 5), (False, False, 5)])
-def test_send_intervals_latest_sample_counter_and_checksum(canfd, selected, step):
-  controller, cs = sender(canfd, selected)
-  cc, sp = structs.CarControl(latActive=True), structs.CarControlSP()
-  sp.fordLateralPath.valid = True
-  name = 'LateralMotionControl2' if canfd else 'LateralMotionControl'
-  address = 0x3d6 if canfd else 0x3d3
-  parser = CANParser('ford_lincoln_base_pt', [(name, 0)], controller.CAN.main)
-  sent = []
-  for frame in range(1000):
-    sp.fordLateralPath.pathOffset = (frame % 101 - 50) * .01
-    sp.fordLateralPath.pathAngle = (frame % 101 - 50) * .0005
-    _, packets = controller.update(cc.as_reader(), sp, cs, frame * 10_000_000)
-    lateral = [p for p in packets if p[0] == address]
-    assert len(lateral) == int(frame % step == 0)
-    if not lateral:
-      continue
-    sent.append(frame)
-    parser.update([frame * 10_000_000, lateral])
-    wire = parser.vl[name]
-    assert wire['LatCtlPathOffst_L_Actl'] == pytest.approx(-sp.fordLateralPath.pathOffset)
-    assert wire['LatCtlPath_An_Actl'] == pytest.approx(-sp.fordLateralPath.pathAngle)
-    if canfd:
-      counter = (len(sent) - 1) % 16
-      assert wire['LatCtlPath_No_Cnt'] == counter
-      assert wire['LatCtlPath_No_Cs'] == calculate_lat_ctl2_checksum(2, counter, lateral[0][1])
-  assert sent == list(range(0, 1000, step))
-
-
-@pytest.mark.parametrize('failure_frame', range(1, 6))
-@pytest.mark.parametrize('disengage', [False, True])
-def test_next_scheduled_frame_clears_invalid_or_inactive_path(failure_frame, disengage):
-  controller, cs = sender()
-  cc, sp = structs.CarControl(latActive=True), structs.CarControlSP()
-  sp.fordLateralPath.valid = True
-  sp.fordLateralPath.pathOffset, sp.fordLateralPath.pathAngle = .4, .1
-  parser = CANParser('ford_lincoln_base_pt', [('LateralMotionControl2', 0)], controller.CAN.main)
-  for frame in range(11):
-    if frame == failure_frame:
-      if disengage:
-        cc.latActive = False
-      else:
-        sp.fordLateralPath.valid = False
-    _, packets = controller.update(cc.as_reader(), sp, cs, frame * 10_000_000)
-    lateral = [p for p in packets if p[0] == 0x3d6]
-    assert len(lateral) == int(frame % 5 == 0)
-    if lateral and frame >= failure_frame:
-      parser.update([frame * 10_000_000, lateral])
-      wire = parser.vl['LateralMotionControl2']
-      assert wire['LatCtl_D2_Rq'] == (0 if disengage else 2)
-      assert all(wire[k] == 0. for k in ('LatCtlPathOffst_L_Actl', 'LatCtlPath_An_Actl', 'LatCtlCurv_No_Actl', 'LatCtlCrv_NoRate2_Actl'))
-
-
-def test_core_slew_per_second_and_actual_panda_acceptance():
-  controller, cs = sender()
-  core = ModelActionController()
-  cc, sp = structs.CarControl(latActive=True), structs.CarControlSP()
-  parser = CANParser('ford_lincoln_base_pt', [('LateralMotionControl2', 0)], controller.CAN.main)
-  safety = libsafety_py.libsafety
-  assert safety.set_safety_hooks(structs.CarParams.SafetyModel.ford, FordSafetyFlags.CANFD) == 0
-  safety.init_tests()
-  safety.set_controls_allowed(True)
-  frames = []
-  for frame in range(100):
-    command = core.update(straight(10., 1.), .1, speed=20., dt=.01)
-    assert core.c0 == pytest.approx((frame + 1) * .04)
-    assert core.c1 == pytest.approx((frame + 1) * .005)
-    sp.fordLateralPath.valid = command.valid
-    sp.fordLateralPath.pathOffset, sp.fordLateralPath.pathAngle = command.path_offset, command.path_angle
-    _, packets = controller.update(cc.as_reader(), sp, cs, frame * 10_000_000)
-    for address, data, bus in packets:
-      if address != 0x3d6:
-        continue
-      frames.append(frame)
-      safety.set_timer(frame * 10_000)
-      assert safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus, data))
-      parser.update([frame * 10_000_000, [(address, data, bus)]])
-      wire = parser.vl['LateralMotionControl2']
-      assert wire['LatCtlPathOffst_L_Actl'] == pytest.approx(-command.path_offset)
-      assert wire['LatCtlPath_An_Actl'] == pytest.approx(-command.path_angle)
-      assert wire['LatCtlCurv_No_Actl'] == wire['LatCtlCrv_NoRate2_Actl'] == 0.
-  assert frames == list(range(0, 100, 5))
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-@pytest.mark.parametrize('phase', range(5))
-def test_saturated_turn_unwinds_on_first_update_and_next_scheduled_can_frame(sign, phase):
-  controller, cs = sender()
-  core = ModelActionController()
-  cc, sp = structs.CarControl(latActive=True), structs.CarControlSP()
-  parser = CANParser('ford_lincoln_base_pt', [('LateralMotionControl2', 0)], controller.CAN.main)
-  change_frame = 200 + phase
-  first_unwind = first_zero_c0 = first_zero_c1 = None
-  turn, released = straight(sign*10., sign), straight()
-  for frame in range(change_frame+135):
-    command = core.update(turn if frame < change_frame else released, sign*.1, speed=20., dt=.01)
-    if frame >= change_frame:
-      elapsed = (frame-change_frame+1)*.01
-      assert sign*core.c0 == pytest.approx(max(0., 5.11-4.*elapsed), abs=1e-10)
-      assert sign*core.c1 == pytest.approx(max(0., .5-.5*elapsed), abs=1e-10)
-    sp.fordLateralPath.valid = command.valid
-    sp.fordLateralPath.pathOffset, sp.fordLateralPath.pathAngle = command.path_offset, command.path_angle
-    _, packets = controller.update(cc.as_reader(), sp, cs, frame*10_000_000)
-    lateral = [p for p in packets if p[0] == 0x3d6]
-    if not lateral or frame < change_frame:
-      continue
-    parser.update([frame*10_000_000, lateral])
-    wire = parser.vl['LateralMotionControl2']
-    c0, c1 = -sign*wire['LatCtlPathOffst_L_Actl'], -sign*wire['LatCtlPath_An_Actl']
-    assert 0. <= c0 < 5.11 and 0. <= c1 < .5
-    assert wire['LatCtlCurv_No_Actl'] == wire['LatCtlCrv_NoRate2_Actl'] == 0.
-    if first_unwind is None:
-      first_unwind = frame
-    if c0 == 0. and first_zero_c0 is None:
-      first_zero_c0 = frame
-    if c1 == 0. and first_zero_c1 is None:
-      first_zero_c1 = frame
-  assert first_unwind == ((change_frame+4)//5)*5
-  assert first_zero_c0 == ((change_frame+127+4)//5)*5
-  assert first_zero_c1 == ((change_frame+99+4)//5)*5
diff --git a/openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py b/openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py
index 5990993338..2d0f681c48 100644
--- a/openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py
+++ b/openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py
@@ -7,14 +7,10 @@ from types import SimpleNamespace
 
 import pytest
 
-from opendbc.car import structs
-from opendbc.car.ford.values import FordFlags, FordFlagsSP
-from openpilot.cereal import custom
+from opendbc.car.ford.values import FordFlags
 from openpilot.common.params import Params, ParamKeyFlag, ParamKeyType
-from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.ford_model_action import FordModelActionController, select_model_action_controller
 from openpilot.selfdrive.controls.lib.ford_path import FordPath, FordPathController, FordPscmObserverPathController
-from openpilot.sunnypilot.mads.helpers import set_car_specific_params
 
 
 def car_params(**overrides):
@@ -22,7 +18,7 @@ def car_params(**overrides):
                              'carFw': []} | overrides))
 
 
-def startup(cp=None, params=None, cp_sp=None):
+def startup(cp=None, params=None):
   filename = Path(__file__).resolve().parents[1]/'controlsd.py'
   tree = ast.parse(filename.read_text())
   cls = next(n for n in tree.body if isinstance(n, ast.ClassDef) and n.name == 'Controls')
@@ -31,15 +27,8 @@ def startup(cp=None, params=None, cp_sp=None):
   end = next(i for i, n in enumerate(body) if isinstance(n, ast.Assign) and ast.unparse(n.targets[0]) == 'self.ford_path')
   if params is None:
     params = SimpleNamespace(get_bool=lambda key: key == 'FordModelActionController')
-  cp = cp or car_params()
-  # card snapshots the toggle into CarParamsSP before controlsd starts.
-  if cp_sp is None:
-    cp_sp = structs.CarParamsSP()
-    if cp.brand == 'ford':
-      set_car_specific_params(cp, cp_sp, params)
-  controls = SimpleNamespace(CP=cp, CP_SP=cp_sp, params=params, calibrated_pose=None,
-                             pose_calibrator=SimpleNamespace(calib_valid=False))
-  environment = {'self': controls, 'FordFlags': FordFlags, 'FordFlagsSP': FordFlagsSP, 'FordPath': FordPath,
+  controls = SimpleNamespace(CP=cp or car_params(), params=params)
+  environment = {'self': controls, 'FordFlags': FordFlags, 'FordPath': FordPath,
                  'FordPathController': FordPathController, 'FordPscmObserverPathController': FordPscmObserverPathController,
                  'FordModelActionController': FordModelActionController,
                  'select_model_action_controller': select_model_action_controller,
@@ -56,23 +45,9 @@ def test_actual_startup_priority(candidate, observer):
   expected = FordModelActionController if candidate else previous
   assert type(selected.ford_path_controller) is expected
   assert selected.ford_model_action == candidate
-  assert bool(selected.CP_SP.flags & FordFlagsSP.MODEL_ACTION) == candidate
   assert selected.ford_path == FordPath()
 
 
-@pytest.mark.parametrize('selected', [False, True])
-def test_controller_and_sender_share_card_snapshot_when_stored_toggle_changes(selected):
-  cp, cp_sp = car_params(), structs.CarParamsSP(flags=128)
-  set_car_specific_params(cp, cp_sp, SimpleNamespace(get_bool=lambda key: selected))
-  with custom.CarParamsSP.from_bytes(convert_to_capnp(cp_sp).to_bytes()) as snapshot:
-    controls = startup(cp, SimpleNamespace(get_bool=lambda key: not selected), snapshot)
-  assert controls.ford_model_action == selected
-  assert bool(controls.CP_SP.flags & FordFlagsSP.MODEL_ACTION) == selected
-  assert controls.CP_SP.flags & 128
-  set_car_specific_params(cp, cp_sp, SimpleNamespace(get_bool=lambda key: False))
-  assert cp_sp.flags == 128
-
-
 @pytest.mark.parametrize('overrides', [{'brand': 'tesla'}, {'flags': 0}, {'carFingerprint': 'FORD_F_150_MK14'}])
 @pytest.mark.parametrize('observer', [False, True])
 def test_other_vehicles_keep_their_previous_selection(overrides, observer):
diff --git a/openpilot/selfdrive/controls/tests/test_ford_model_action_yaw.py b/openpilot/selfdrive/controls/tests/test_ford_model_action_yaw.py
deleted file mode 100644
index 5c544f1574..0000000000
--- a/openpilot/selfdrive/controls/tests/test_ford_model_action_yaw.py
+++ /dev/null
@@ -1,29 +0,0 @@
-"""Raw Ford yaw gates input health but cannot change path demand."""
-import math
-
-import pytest
-
-from openpilot.selfdrive.controls.lib.ford_model_action import ModelActionController
-from openpilot.selfdrive.controls.lib.ford_path import FordPath
-from openpilot.selfdrive.controls.tests.test_ford_model_action import straight
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-@pytest.mark.parametrize('yaw', [-3., -.2, -.008, 0., .008, .2, 3.])
-def test_valid_yaw_cannot_change_commands_during_entry_release_or_reversal(sign, yaw):
-  reference, measured = ModelActionController(), ModelActionController()
-  for i in range(400):
-    offset, desired = ((.4, .02), (.4, .001), (.12, -.0004078), (-.4, -.02))[i//100]
-    model = straight(sign*offset)
-    expected = reference.update(model, sign*desired, speed=10., dt=.01)
-    actual = measured.update(model, sign*desired, speed=10., dt=.01, yaw_rate=yaw)
-    assert actual == expected
-    assert actual.curvature == actual.curvature_rate == 0.
-
-
-@pytest.mark.parametrize('yaw', [math.nan, math.inf, -math.inf, None, 'bad', 3.001, -3.001])
-def test_invalid_yaw_still_resets_core(yaw):
-  controller = ModelActionController()
-  controller.update(straight(.4), .01, speed=10., dt=.01)
-  assert controller.update(straight(.4), .01, speed=10., dt=.01, yaw_rate=yaw) == FordPath()
-  assert controller.c0 == controller.c1 == 0.
diff --git a/openpilot/selfdrive/controls/tests/test_ford_model_points.py b/openpilot/selfdrive/controls/tests/test_ford_model_points.py
deleted file mode 100644
index ea4a4e7b1e..0000000000
--- a/openpilot/selfdrive/controls/tests/test_ford_model_points.py
+++ /dev/null
@@ -1,54 +0,0 @@
-"""Model geometry contract, independent of any PSCM response model."""
-from types import SimpleNamespace
-
-import numpy as np
-import pytest
-
-from openpilot.selfdrive.controls.lib.ford_model_action import encode_model_action
-
-
-def model_points(t, x, y, heading):
-  return SimpleNamespace(position=SimpleNamespace(t=t, x=x, y=y), orientation=SimpleNamespace(t=t, z=heading))
-
-
-def test_both_fields_sample_the_same_model_time_without_constant_speed_assumption():
-  # Accelerating plan: one second is 12 m along this straight inclined path.
-  s = np.array([0., 4., 12., 30.])
-  heading = .1
-  m = model_points([0., .5, 1., 2.], s*np.cos(heading), .3+s*np.sin(heading), np.full(4, heading))
-  out = encode_model_action(m, -.01, 20.)
-  assert out.path_offset == pytest.approx(.3+12*np.sin(heading))
-  assert out.path_angle == pytest.approx(.1)
-  assert out.curvature == out.curvature_rate == 0.
-  assert encode_model_action(m, .01, 30.) == out
-
-
-def test_low_speed_floor_uses_one_shared_seven_metre_station():
-  m = model_points([0., 1., 2.], [0., 3., 9.], [0., 0., 0.], [0., .03, .09])
-  out = encode_model_action(m, .01, 3.)
-  assert out.path_offset == 0.
-  assert out.path_angle == pytest.approx(.07)
-
-
-def test_short_plan_holds_both_endpoint_values_without_extrapolation():
-  m = model_points([0., .5], [0., 2.], [0., .4], [0., .2])
-  out = encode_model_action(m, -.01, 20.)
-  assert out.path_offset == .4
-  assert out.path_angle == pytest.approx(.2)
-
-
-@pytest.mark.parametrize('times', [[], [0.], [0., 0., 1.], [0., 1., .5], [0., float('nan'), 1.], [.1, .5, 1.]])
-def test_invalid_model_clock_cannot_publish_an_active_path(times):
-  m = model_points(times, [0., 10., 20.], [0., .1, .4], [0., .02, .04])
-  assert not encode_model_action(m, .01, 20.).valid
-
-
-def test_orientation_and_position_must_describe_the_same_times():
-  m = model_points([0., .5, 1.], [0., 10., 20.], [0., .1, .4], [0., .02, .04])
-  m.orientation.t = [0., .6, 1.]
-  assert not encode_model_action(m, .01, 20.).valid
-
-
-def test_model_heading_unwraps_before_interpolation():
-  m = model_points([0., .5, 1.5], [0., 10., 30.], [0., 0., 0.], [3., 3.1, -3.1])
-  assert encode_model_action(m, 0., 20.).path_angle == pytest.approx(np.pi)
diff --git a/openpilot/sunnypilot/mads/helpers.py b/openpilot/sunnypilot/mads/helpers.py
index 46bf1457cf..655d7bc9a2 100644
--- a/openpilot/sunnypilot/mads/helpers.py
+++ b/openpilot/sunnypilot/mads/helpers.py
@@ -7,7 +7,6 @@ See the LICENSE.md file in the root directory for more details.
 
 from openpilot.common.params import Params
 from opendbc.car import structs
-from opendbc.car.ford.values import FordFlags, FordFlagsSP
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
@@ -55,11 +54,6 @@ def set_alternative_experience(CP: structs.CarParams, CP_SP: structs.CarParamsSP
 
 
 def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
-  if CP.brand == "ford":
-    CP_SP.flags &= ~FordFlagsSP.MODEL_ACTION.value
-    if CP.flags & FordFlags.CANFD and CP.carFingerprint == "FORD_F_150_LIGHTNING_MK1" and params.get_bool("FordModelActionController"):
-      CP_SP.flags |= FordFlagsSP.MODEL_ACTION.value
-
   if CP.brand == "hyundai":
     # TODO-SP: This should be separated from MADS module for future implementations
     #          Use "HyundaiLongitudinalMainCruiseToggleable" param
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 0f4c7fbafd..8903610d1b 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -2183,8 +2183,8 @@
           "widget": "toggle",
           "needs_onroad_cycle": true,
           "title": "Selected-Action Path Tracking (Experimental)",
-          "description": "Follow model position and heading from one shared path point on the Ford CAN FD F-150 Lightning.",
-          "details": "Uses the model's lateral position and heading one second ahead, with a seven-metre minimum distance and no extrapolation beyond the available path. Sends requests at 20 Hz with the existing command limits and rate limits. Default off; this model-point experiment is not road-validated. Enable only for controlled testing. Lateral maneuver test mode is unsupported and disengages this controller. On the Ford CAN FD F-150 Lightning this takes priority over PSCM Coefficient Observer; other vehicles retain their existing controller. Turning it off restores PSCM Coefficient Observer if selected, otherwise the original Ford path controller. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.",
+          "description": "Follow the selected steering plan with nearby model-path centering on the Ford CAN FD F-150 Lightning.",
+          "details": "Uses nearby model-path offset and a heading request based directly on selected planned curvature. There is no accumulated measured-turning correction. Default off; physical tracking and turn-exit behavior are not road-validated. Enable only for controlled testing. On the Ford CAN FD F-150 Lightning this takes priority over PSCM Coefficient Observer; other vehicles retain their existing controller. Turning it off restores PSCM Coefficient Observer if selected, otherwise the original Ford path controller. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.",
           "enablement": [
             {
               "type": "offroad_only"
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
index d361a75075..b4c1bf9e7d 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
@@ -14,8 +14,8 @@ sections:
     widget: toggle
     needs_onroad_cycle: true
     title: Selected-Action Path Tracking (Experimental)
-    description: Follow model position and heading from one shared path point on the Ford CAN FD F-150 Lightning.
-    details: Uses the model's lateral position and heading one second ahead, with a seven-metre minimum distance and no extrapolation beyond the available path. Sends requests at 20 Hz with the existing command limits and rate limits. Default off; this model-point experiment is not road-validated. Enable only for controlled testing. Lateral maneuver test mode is unsupported and disengages this controller. On the Ford CAN FD F-150 Lightning this takes priority over PSCM Coefficient Observer; other vehicles retain their existing controller. Turning it off restores PSCM Coefficient Observer if selected, otherwise the original Ford path controller. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.
+    description: Follow the selected steering plan with nearby model-path centering on the Ford CAN FD F-150 Lightning.
+    details: Uses nearby model-path offset and a heading request based directly on selected planned curvature. There is no accumulated measured-turning correction. Default off; physical tracking and turn-exit behavior are not road-validated. Enable only for controlled testing. On the Ford CAN FD F-150 Lightning this takes priority over PSCM Coefficient Observer; other vehicles retain their existing controller. Turning it off restores PSCM Coefficient Observer if selected, otherwise the original Ford path controller. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.
     enablement:
     - $ref: '#/macros/offroad'
   - key: FordPscmObserver
diff --git a/tools/ford_pscm_lab/damping_replay.py b/tools/ford_pscm_lab/damping_replay.py
deleted file mode 100644
index b372bbaf46..0000000000
--- a/tools/ford_pscm_lab/damping_replay.py
+++ /dev/null
@@ -1,173 +0,0 @@
-"""Compare pinned historical selected-action controllers on complete rlogs.
-
-Original controls publication times proxy computation time. Consumed model
-timestamps are exact; carState is causal and carControl is matched within 5 ms.
-This compares commands on a fixed recording, never counterfactual vehicle motion.
-"""
-import argparse
-from collections import Counter
-import hashlib
-import json
-from pathlib import Path
-from types import SimpleNamespace
-
-import numpy as np
-import zstandard
-
-from openpilot.cereal import log
-from openpilot.selfdrive.controls.lib import ford_model_action
-from tools.ford_pscm_lab.model_action_replay import (
-  V1_REVISION, V2_REVISION, V3_REVISION, V4_REVISION, WireCheck, field_checks, load_controller, sample, verify_dependency,
-)
-
-
-DEPLOYMENT_OPENDBC = 'c21a9013700734dd20b09e05aa68329ad8cc20f9'
-
-
-def extract(directory):
-  columns = {'cs': 't valid can_valid speed yaw torque pressed', 'controls': 't valid desired model_ns',
-             'cc': 't valid active', 'params': 't valid', 'path': 't valid active c0 c1', 'model': 't valid ns'}
-  rows = {name: [] for name in columns}
-  models, sources = [], {}
-  t0 = None
-  files = sorted(directory.glob('*--rlog.zst'), key=lambda p: int(p.name.split('--')[-2]))
-  if not files:
-    raise ValueError('No complete rlogs found')
-  for file in files:
-    compressed = file.read_bytes()
-    sources[file.name] = hashlib.sha256(compressed).hexdigest()
-    data = zstandard.ZstdDecompressor().stream_reader(compressed).read()
-    for event in log.Event.read_multiple_bytes(data):
-      kind, t, valid = event.which(), event.logMonoTime*1e-9, event.valid
-      if t0 is None:
-        t0 = t
-      if kind == 'carState':
-        cs = event.carState
-        rows['cs'].append((t, valid, cs.canValid, cs.vEgo, -cs.yawRate, cs.steeringTorque, cs.steeringPressed))
-      elif kind == 'controlsState':
-        cs = event.controlsState
-        rows['controls'].append((t, valid, cs.desiredCurvature, cs.lateralPlanMonoTime))
-      elif kind == 'carControl':
-        rows['cc'].append((t, valid, event.carControl.latActive))
-      elif kind == 'vehicleParameters':
-        rows['params'].append((t, valid))
-      elif kind == 'carControlSP':
-        path = event.carControlSP.fordLateralPath
-        rows['path'].append((t, valid, path.valid, path.pathOffset, path.pathAngle))
-      elif kind == 'modelV2':
-        model = event.modelV2
-        models.append(SimpleNamespace(position=SimpleNamespace(x=list(model.position.x), y=list(model.position.y)),
-                                      orientation=SimpleNamespace(z=list(model.orientation.z))))
-        rows['model'].append((t, valid, event.logMonoTime))
-      elif kind == 'lateralManeuverPlan':
-        raise ValueError('This replay requires routes without a separate maneuver reference')
-  streams = {}
-  for name, fields in columns.items():
-    values = np.array(rows[name])
-    if not len(values) or np.any(np.diff(values[:, 0]) < 0.):
-      raise ValueError(f'Missing or backward {name} stream')
-    streams[name] = dict(zip(fields.split(), values.T, strict=True))
-  return streams, models, sources, t0
-
-
-def run(directory, output, baseline_version='v1', candidate_version='v2', windows=()):
-  directory, output = directory.resolve(), output.resolve()
-  if output == directory or directory in output.parents:
-    raise ValueError('Output must be outside the source route directory')
-  if candidate_version == 'current':
-    raise ValueError('This historical damping replay requires unchanged C1 and does not preserve model clocks; ' +
-                     'select a pinned v2/v3/v4 candidate, or use a model-point replay for current code')
-  verify_dependency(DEPLOYMENT_OPENDBC)
-  revisions = {'v1': V1_REVISION, 'v2': V2_REVISION, 'v3': V3_REVISION, 'v4': V4_REVISION}
-  baseline_source = load_controller(revisions[baseline_version])
-  candidate_source = load_controller(revisions[candidate_version])
-  streams, models, sources, t0 = extract(directory)
-  controls, model = streams['controls'], streams['model']
-  t = controls['t']
-  cs, params = (sample(streams[name], t) for name in ('cs', 'params'))
-  cc, recorded = (sample(streams[name], t, nearest=True) for name in ('cc', 'path'))
-  mi = np.clip(np.searchsorted(model['ns'], controls['model_ns']), 0, len(models)-1)
-  exact = model['ns'][mi] == controls['model_ns']
-  services = ((controls['valid'] == 1) & (cc['valid'] == 1) & (abs(cc['t']-t) < .005) &
-              (cs['valid'] == 1) & (cs['can_valid'] == 1) & (params['valid'] == 1) &
-              (t-params['t'] >= 0.) & (t-params['t'] <= .15) & exact & (model['valid'][mi] == 1))
-  baseline, candidate, wire = baseline_source.FordModelActionController(), candidate_source.FordModelActionController(), WireCheck()
-  before, after = np.zeros((len(t), 4)), np.zeros((len(t), 4))
-  eligible = np.zeros(len(t), bool)
-  reasons = Counter()
-  for i, now in enumerate(t):
-    kwargs = {'speed': cs['speed'][i], 'now': now, 'measurement_time': cs['t'][i], 'model_time': model['t'][mi[i]],
-              'reference_time': model['t'][mi[i]], 'active': bool(cc['active'][i]), 'valid': bool(services[i])}
-    geometry = models[mi[i]] if exact[i] else None
-    a = baseline.update(geometry, controls['desired'][i], yaw_rate=cs['yaw'][i], **kwargs)
-    b = candidate.update(geometry, controls['desired'][i], yaw_rate=cs['yaw'][i], **kwargs)
-    assert a.valid == b.valid and a.path_angle == b.path_angle
-    before[i] = a.path_offset, a.path_angle, a.curvature, a.curvature_rate
-    after[i] = b.path_offset, b.path_angle, b.curvature, b.curvature_rate
-    eligible[i] = b.valid
-    reasons[candidate.diagnostics['status']] += 1
-    wire.check(a)
-    wire.check(b)
-  field_checks(before, eligible, t)
-  field_checks(after, eligible, t)
-  clean = eligible & (cs['pressed'] == 0) & (abs(cs['torque']) <= 1.)
-  # Erode driver eligibility by one second in each direction on original time.
-  bad = np.r_[0, np.cumsum(~clean)]
-  left, right = np.searchsorted(t, t-1.), np.searchsorted(t, t+1., side='right')
-  clean &= (bad[right] == bad[left]) & (t >= t[0]+1.) & (t <= t[-1]-1.)
-  relative = t-t0
-  masks = {'eligible': eligible, 'driver_clean': clean,
-           'driver_clean_low_request_above_8mps': clean & (cs['speed'] >= 8.) & (abs(controls['desired'])*cs['speed']**2 < .15),
-           'turn': clean & (abs(controls['desired'])*cs['speed']**2 >= .5)}
-  for label, start, end in windows:
-    start, end = float(start), float(end)
-    if not np.isfinite([start, end]).all() or start >= end or label in masks:
-      raise ValueError('Focus windows need unique labels and finite increasing bounds')
-    masks[label] = eligible & (relative >= start) & (relative < end)
-  weight = np.minimum(np.diff(t, append=t[-1]+.01), .03)
-  difference = abs(before[:, 0]-after[:, 0])
-  cohorts = {}
-  for name, mask in masks.items():
-    if mask.any():
-      cohorts[name] = {'cycles': int(mask.sum()), 'seconds': float(weight[mask].sum()),
-                       'changed_c0_cycles': int((difference[mask] > 1e-9).sum()),
-                       'mean_absolute_c0_change_m': float(np.average(difference[mask], weights=weight[mask])),
-                       'max_absolute_c0_change_m': float(difference[mask].max()),
-                       'increased_absolute_c0_cycles': int((abs(after[mask, 0])-abs(before[mask, 0]) > 1e-9).sum()),
-                       'decreased_absolute_c0_cycles': int((abs(before[mask, 0])-abs(after[mask, 0]) > 1e-9).sum()),
-                       'driver_input_percent': float(100*np.average((cs['pressed'][mask] == 1) | (abs(cs['torque'][mask]) > 1.), weights=weight[mask])),
-                       'baseline_peak_absolute_c0_m': float(abs(before[mask, 0]).max()),
-                       'candidate_peak_absolute_c0_m': float(abs(after[mask, 0]).max())}
-  paired = eligible & (recorded['valid'] == 1) & (recorded['active'] == 1) & (abs(recorded['t']-t) < .005)
-  actual = np.column_stack((recorded['c0'], recorded['c1']))
-  error = abs(before[:, :2]-actual)
-  report = {'scope': 'Fixed-input command replay only; no physical improvement or stability claim.', 'calibration_approved': False,
-            'cycles': len(t), 'eligible_cycles': int(eligible.sum()), 'status_counts': dict(reasons),
-            'c1_exactly_unchanged': True, 'same_validity': True, 'field_slew_zero_c2_c3_pass': True,
-            'float32_can_round_trips': wire.count, 'cohorts': cohorts,
-            'baseline_commands_vs_recorded_publications': {'paired_cycles': int(paired.sum()),
-              'within_one_quantum_cycles': int(np.all(error[paired] <= [.010001, .0005001], axis=1).sum()),
-              'maximum_absolute_error_c0_c1': np.max(error[paired], axis=0).tolist()},
-            'timing': 'Publication-time proxy, causal carState, exact consumed model; full SubMaster health unavailable.',
-            'baseline_version': baseline_version, 'baseline_revision': revisions[baseline_version],
-            'candidate_version': candidate_version, 'candidate_revision': revisions.get(candidate_version, 'working_tree'),
-            'focus_windows': windows, 'baseline_source_sha256': baseline_source.source_sha256,
-            'candidate_source_sha256': candidate_source.source_sha256,
-            'source_rlog_sha256': sources, 'opendbc_head': DEPLOYMENT_OPENDBC,
-            'source_sha256': {str(p): hashlib.sha256(p.read_bytes()).hexdigest() for p in (Path(__file__), Path(ford_model_action.__file__))}}
-  output.mkdir(parents=True, exist_ok=True)
-  np.savez_compressed(output/'commands.npz', t=relative, before=before, after=after, eligible=eligible,
-                      speed=cs['speed'], yaw=cs['yaw'], desired=controls['desired'], torque=cs['torque'])
-  (output/'report.json').write_text(json.dumps(report, indent=2, allow_nan=False)+'\n')
-  print(json.dumps({k: v for k, v in report.items() if k not in ('source_rlog_sha256', 'source_sha256')}, indent=2))
-
-
-if __name__ == '__main__':
-  parser = argparse.ArgumentParser(description=__doc__)
-  parser.add_argument('rlog_directory', type=Path)
-  parser.add_argument('--output', type=Path, required=True)
-  parser.add_argument('--baseline', choices=['v1', 'v2', 'v3', 'v4'], default='v1')
-  parser.add_argument('--candidate', choices=['v2', 'v3', 'v4', 'current'], default='v2')
-  parser.add_argument('--window', action='append', nargs=3, metavar=('LABEL', 'START_SECONDS', 'END_SECONDS'), default=[])
-  args = parser.parse_args()
-  run(args.rlog_directory, args.output, args.baseline, args.candidate, args.window)
diff --git a/tools/ford_pscm_lab/model_action_replay.py b/tools/ford_pscm_lab/model_action_replay.py
index ccc694f6af..4dca9d6759 100644
--- a/tools/ford_pscm_lab/model_action_replay.py
+++ b/tools/ford_pscm_lab/model_action_replay.py
@@ -1,23 +1,18 @@
 """Replay the selected core and its adapter on route90/95 original-time extracts.
 
-The historical pass uses pinned v1 source and the archived eligibility mask to check
-command compatibility. The separate current adapter pass reconstructs input eligibility
+The historical pass deliberately uses the archived eligibility mask to check
+command compatibility. The separate adapter pass reconstructs input eligibility
 from service records, never from candidate/baseline output validity. Neither
 pass scores counterfactual motion. Source extracts and archived reports are
 read-only; --output selects a separate destination.
-
-Current comparisons require model_position_t and model_orientation_t arrays
-preserved from the rlogs. Older extracts lack these clocks and must be replayed
-using their archived tool revision; do not synthesize timestamps for them.
 """
 import argparse
 from collections import Counter
-from functools import lru_cache
 import hashlib
 import json
 from pathlib import Path
 import subprocess
-from types import ModuleType, SimpleNamespace
+from types import SimpleNamespace
 
 import numpy as np
 import opendbc
@@ -30,24 +25,6 @@ from openpilot.selfdrive.controls.lib.ford_path import _model_path
 
 
 PINNED_OPENDBC = '72a775d35e54c21ff5c5798acef22016eedcc0a7'
-V1_REVISION = '5fc16abc7662020706e29f57d31a6d5e2bc1293a'
-V2_REVISION = '744a97d9bc08d8743b250eceff7c88585b5480de'
-V3_REVISION = '01f8d51c82b3e863f1012d383b5994813ef01b81'
-V4_REVISION = '7e63449749d112f096c56cb848dd289054e5f85b'
-
-
-@lru_cache(maxsize=4)
-def load_controller(commit):
-  """Load exact archived Python source for offline comparisons, never production."""
-  if len(commit) != 40 or any(c not in '0123456789abcdef' for c in commit):
-    raise ValueError('A full immutable commit hash is required')
-  filename = 'openpilot/selfdrive/controls/lib/ford_model_action.py'
-  root = Path(__file__).resolve().parents[2]
-  source = subprocess.check_output(['git', '-C', str(root), 'show', f'{commit}:{filename}'])
-  module = ModuleType(f'ford_model_action_{commit}')
-  exec(compile(source, f'{commit}:{filename}', 'exec'), module.__dict__)
-  module.source_sha256 = hashlib.sha256(source).hexdigest()
-  return module
 
 
 def revision(directory):
@@ -66,20 +43,6 @@ def table(raw, name):
   return dict(zip(raw[name+'_names'], raw[name].T, strict=True))
 
 
-def extract_models(raw):
-  clock_fields = ('model_position_t', 'model_orientation_t')
-  if any(name not in raw for name in clock_fields):
-    raise ValueError('Current replay requires original model_position_t and model_orientation_t; ' +
-                     'use the archived replay revision for older extracts, or re-extract the original rlogs with both clocks')
-  paths = raw['model_paths']
-  if paths.ndim != 3 or paths.shape[1] != 4 or len(paths) == 0:
-    raise ValueError('Expected nonempty model_paths with four arrays per model')
-  if any(raw[name].shape != (len(paths), paths.shape[2]) for name in clock_fields):
-    raise ValueError('Model clocks must match the extracted model and point counts')
-  return [SimpleNamespace(position=SimpleNamespace(x=p[1], y=p[2], t=pt), orientation=SimpleNamespace(z=p[3], t=ht))
-          for p, pt, ht in zip(paths, raw[clock_fields[0]], raw[clock_fields[1]], strict=True)]
-
-
 def sample(stream, query, *, nearest=False):
   if len(stream['t']) == 0 or np.any(np.diff(stream['t']) < 0):
     raise ValueError('Replay requires nonempty streams in original timestamp order')
@@ -140,10 +103,10 @@ def run(directory, output):
     raise ValueError('Output must be outside the source route directory')
   dependency = verify_dependency()
   with np.load(directory/'route.npz', allow_pickle=False) as raw:
-    models = extract_models(raw)
     streams = {name: table(raw, name) for name in ('controls', 'cs', 'cc', 'model', 'params', 'path')}
     if len(raw['maneuver']):
       raise ValueError('This extract cannot identify the selected maneuver service per cycle; use the integration tests for that source')
+    models = [SimpleNamespace(position=SimpleNamespace(x=p[1], y=p[2]), orientation=SimpleNamespace(z=p[3])) for p in raw['model_paths']]
   with np.load(directory/'encoder_comparison.npz', allow_pickle=False) as archive:
     baseline = {key: archive[key] for key in ('t', 'valid', 'action_heading')}
   with np.load(directory/'pose_candidate/pose_replay.npz', allow_pickle=False) as pose:
@@ -161,8 +124,7 @@ def run(directory, output):
                     (cs['valid'] == 1) & (cs['can_valid'] == 1) & (params['valid'] == 1) &
                     (t-params['t'] >= 0.) & (t-params['t'] <= .15) & exact & (model['valid'] == 1))
   dt = np.r_[.01, np.diff(t)]
-  archived = load_controller(V1_REVISION)
-  core, entry_clock_core, adapter, wire = archived.ModelActionController(), ModelActionController(), FordModelActionController(), WireCheck()
+  core, entry_clock_core, adapter, wire = ModelActionController(), ModelActionController(), FordModelActionController(), WireCheck()
   commands = np.zeros((len(t), 4))
   adapted = np.zeros_like(commands)
   valid = np.zeros(len(t), bool)
@@ -181,10 +143,11 @@ def run(directory, output):
     adapter_valid[i] = new_gate.valid
     reasons[adapter.diagnostics['status']] += 1
     wire.check(new_gate)
-    # Current core receives actual yaw and a fresh 10 ms engagement tick.
+    # Isolate the adapter's fresh 10 ms engagement tick from the archived
+    # harness, which used the preceding publication interval even on engage.
     entry_dt = dt[i] if i > 0 and baseline['valid'][i-1] else .01
     expected_adapter = entry_clock_core.update(selected_model, controls['desired'][i], speed=cs['speed'][i], dt=entry_dt,
-                                               yaw_rate=cs['yaw'][i], active=bool(baseline['valid'][i]))
+                                               active=bool(baseline['valid'][i]))
     assert new_gate == expected_adapter, f'Unexplained adapter difference at cycle {i}'
   np.testing.assert_array_equal(valid, baseline['valid'])
   np.testing.assert_array_equal(commands[:, :2], baseline['action_heading'])
@@ -227,7 +190,7 @@ def run(directory, output):
             'calibration_approved': False, 'executes_live_selector': False, 'cycles': len(t),
             'core_active_cycles': int(valid.sum()), 'core_exact_archived_match': True, 'cohorts_reproduced': True,
             'adapter_active_cycles': int(adapter_valid.sum()), 'adapter_status_counts': dict(reasons),
-            'adapter_matches_current_core_with_yaw_and_fresh_engagement_dt': True,
+            'adapter_exact_match_with_fresh_engagement_dt': True,
             'core_active_path_shorter_than_7m_cycles': int(np.sum(valid & (coverage < 7.))),
             'adapter_validity_differs_from_archive_cycles': int(np.sum(adapter_valid != valid)),
             'adapter_command_differs_from_archive_cycles': int(np.any(abs(adapted-commands) > 1e-9, axis=1).sum()),
@@ -236,8 +199,7 @@ def run(directory, output):
             'timing': 'Original controls publication timestamps proxy computation time; repeated frames and gaps retained. No identified delay.',
             'eligibility': 'Adapter checks recorded services independently; full SubMaster health is unavailable. Core uses archived validity.',
             'reference': 'Recorded controlsState.desiredCurvature, already selected/limited. These two routes have no maneuver publications.',
-            'host_yaw': 'Extract cs.yaw equals -carState.yawRate; current adapter uses it for input-health checks and diagnostics only.',
-            'archived_core_revision': V1_REVISION, 'archived_core_source_sha256': archived.source_sha256,
+            'host_yaw': 'Extract cs.yaw already equals -carState.yawRate. Used only for inherited finite/range gate, never feedback.',
             'cohorts': cohorts, 'workspace_head': revision(root), 'opendbc_import_head': revision(dependency),
             'opendbc_import_path': str(dependency),
             'source_sha256': {str(p.resolve()): hashlib.sha256(p.read_bytes()).hexdigest() for p in sources}}
diff --git a/tools/ford_pscm_lab/stress_model_action.py b/tools/ford_pscm_lab/stress_model_action.py
index 06ba92b97f..4cce9cd6f2 100644
--- a/tools/ford_pscm_lab/stress_model_action.py
+++ b/tools/ford_pscm_lab/stress_model_action.py
@@ -1,8 +1,8 @@
 """Deterministic numerical stress and exhaustive field-boundary CAN checks.
 
-Analytic inclined lines check the shared model point; the slew oracle uses
-scalar arithmetic. Packing is checked against direct Float32/CAN packing of the
-continuous state, independently of host _packed.
+Analytic straight/rotated paths supply an independent y(7) oracle. The
+reference slew uses scalar arithmetic. Packing is checked against direct
+Float32/CAN packing of the continuous state, independently of host _packed.
 No synthetic plant is fitted or used to claim vehicle tracking performance.
 """
 import argparse
@@ -21,10 +21,10 @@ from opendbc.car.ford.fordcan import create_lat_ctl2_msg
 from tools.ford_pscm_lab.model_action_replay import PINNED_OPENDBC, WireCheck, verify_dependency, revision
 
 
-def line(offset, heading=0., speed=20.):
+def line(offset, heading=0.):
   s = np.linspace(0., 30., 33)
-  return SimpleNamespace(position=SimpleNamespace(t=s/speed, x=s*math.cos(heading), y=offset+s*math.sin(heading)),
-                         orientation=SimpleNamespace(t=s/speed, z=np.full_like(s, heading)))
+  return SimpleNamespace(position=SimpleNamespace(x=s*math.cos(heading), y=offset+s*math.sin(heading)),
+                         orientation=SimpleNamespace(z=np.full_like(s, heading)))
 
 
 def check_raw_packing(wire, controller, path):
@@ -56,24 +56,21 @@ def run(cycles, seed, output, opendbc_revision=PINNED_OPENDBC):
     offset, heading = float(rng.uniform(-8., 8.)), float(rng.uniform(-1.2, 1.2))
     speed = float(rng.uniform(.3, 55.))
     desired = float(rng.uniform(-.15, .15))
-    yaw = float(rng.uniform(-3., 3.))
     dt = dt_values[i % len(dt_values)]
     active = i % 137 != 0
     valid = i % 211 != 0
     if i % 307 == 0:
       dt = .101
-    model, mirror = line(offset, heading, speed), line(-offset, -heading, speed)
+    model, mirror = line(offset, heading), line(-offset, -heading)
     if i % 401 == 0:
       model.position.y[4] = mirror.position.y[4] = math.nan
-    out = controller.update(model, desired, speed=speed, dt=dt, yaw_rate=yaw, active=active, valid=valid)
-    other = mirrored.update(mirror, -desired, speed=speed, dt=dt, yaw_rate=-yaw, active=active, valid=valid)
+    out = controller.update(model, desired, speed=speed, dt=dt, active=active, valid=valid)
+    other = mirrored.update(mirror, -desired, speed=speed, dt=dt, active=active, valid=valid)
     expected_valid = active and valid and dt <= .1 and i % 401 != 0
     assert out.valid == other.valid == expected_valid
     previous = np.array([c0, c1])
     if expected_valid:
-      station = min(30., max(7., speed))
-      target = (max(-5.11, min(5.11, offset+station*math.sin(heading))), max(-.5, min(.5, heading)))
-      # Independent scalar slew oracle. Valid measured yaw cannot alter demand.
+      target = (max(-5.11, min(5.11, offset+7.*math.sin(heading))), max(-.5, min(.5, max(7., speed)*desired)))
       c0 += max(-4.*dt, min(4.*dt, target[0]-c0))
       c1 += max(-.5*dt, min(.5*dt, target[1]-c1))
       step = abs(np.array([controller.c0, controller.c1])-previous)
@@ -102,14 +99,12 @@ def run(cycles, seed, output, opendbc_revision=PINNED_OPENDBC):
         selected = float(np.clip(scalar, low, high))
         offset, heading = (selected, 0.) if field == 0 else (0., selected)
         controller.c0, controller.c1 = offset, heading
-        out = controller.update(line(offset-20.*math.sin(heading), heading), heading/20., speed=20., dt=.01)
+        out = controller.update(line(offset), heading/20., speed=20., dt=.01)
         check_raw_packing(wire, controller, out)
         boundary_cases += 1
   report = {'seed': seed, 'random_cycles': cycles, 'mirrored_core_updates': cycles,
             'invalid_or_inactive_resets': resets, 'field_boundary_cases': boundary_cases,
             'float32_can_round_trips': wire.count, 'analytic_targets_scalar_slew_and_mirror_checks_pass': True,
-            'valid_yaw_does_not_affect_targets_checked': True,
-            'shared_model_point_checked': True,
             'direct_raw_float32_packing_matches_host_output': True, 'max_continuous_step_c0_c1': max_continuous_step.tolist(),
             'calibration_approved': False, 'scope': 'Numerical construction only; no PSCM response or closed-loop performance claims.',
             'opendbc_import_head': revision(dependency),
diff --git a/tools/ford_pscm_lab/test_model_action_replay.py b/tools/ford_pscm_lab/test_model_action_replay.py
index e44e0167ae..2f3ca47db9 100644
--- a/tools/ford_pscm_lab/test_model_action_replay.py
+++ b/tools/ford_pscm_lab/test_model_action_replay.py
@@ -1,11 +1,8 @@
-import hashlib
-
 import numpy as np
 import pytest
 
 from openpilot.selfdrive.controls.lib.ford_path import FordPath
 from tools.ford_pscm_lab import model_action_replay as replay
-from tools.ford_pscm_lab import damping_replay
 
 
 def test_service_sampling_keeps_original_gaps_and_never_pulls_future_inputs():
@@ -28,35 +25,6 @@ def test_dependency_mismatch_fails_before_replaying(monkeypatch):
     replay.verify_dependency()
 
 
-@pytest.mark.parametrize('revision', ['HEAD', '744a97d9b', '--help', 'z'*40])
-def test_archived_controller_requires_an_immutable_commit(revision):
-  with pytest.raises(ValueError, match='immutable'):
-    replay.load_controller(revision)
-
-
-def test_archived_loader_uses_exact_source_and_records_its_hash(monkeypatch):
-  # Unit tests must also work in shallow checkouts. Full replays verify real archived code.
-  calls = []
-  source = b'archived_value = 42\n'
-
-  def read_source(command):
-    calls.append(command)
-    return source
-
-  monkeypatch.setattr(replay.subprocess, 'check_output', read_source)
-  replay.load_controller.cache_clear()
-  try:
-    for commit in (replay.V1_REVISION, replay.V2_REVISION, replay.V3_REVISION, replay.V4_REVISION):
-      module = replay.load_controller(commit)
-      assert module.archived_value == 42
-      assert module.source_sha256 == hashlib.sha256(source).hexdigest()
-      assert calls[-1][-2:] == ['show', f'{commit}:openpilot/selfdrive/controls/lib/ford_model_action.py']
-      assert replay.load_controller(commit) is module
-    assert len(calls) == 4
-  finally:
-    replay.load_controller.cache_clear()
-
-
 def test_explicit_stress_dependency_still_requires_an_exact_match(monkeypatch):
   monkeypatch.setattr(replay, 'revision', lambda _: 'deployment_commit')
   replay.verify_dependency('deployment_commit')
@@ -71,32 +39,6 @@ def test_source_route_directory_cannot_be_overwritten(tmp_path):
     replay.run(tmp_path, tmp_path/'selected_controller')
 
 
-def test_current_replay_rejects_missing_model_clocks_before_comparing_outputs(tmp_path, monkeypatch):
-  source = tmp_path/'source'
-  source.mkdir()
-  np.savez(source/'route.npz', model_paths=np.zeros((1, 4, 33)))
-  monkeypatch.setattr(replay, 'verify_dependency', lambda: tmp_path)
-  with pytest.raises(ValueError, match='requires original model_position_t and model_orientation_t'):
-    replay.run(source, tmp_path/'output')
-  assert not (tmp_path/'output').exists()
-
-
-def test_extract_models_preserves_both_actual_clocks_and_rejects_count_mismatch():
-  clocks = np.array([[0., .3, 1.7]])
-  raw = {'model_paths': np.zeros((1, 4, 3)), 'model_position_t': clocks, 'model_orientation_t': clocks+.01}
-  model, = replay.extract_models(raw)
-  np.testing.assert_array_equal(model.position.t, clocks[0])
-  np.testing.assert_array_equal(model.orientation.t, clocks[0]+.01)
-  raw['model_orientation_t'] = clocks[:, :2]
-  with pytest.raises(ValueError, match='must match'):
-    replay.extract_models(raw)
-
-
-def test_historical_damping_replay_rejects_current_controller(tmp_path):
-  with pytest.raises(ValueError, match='historical damping replay requires unchanged C1'):
-    damping_replay.run(tmp_path/'source', tmp_path/'output', candidate_version='current')
-
-
 @pytest.mark.parametrize('field,value', [(0, 5.12), (1, .501), (2, .00002), (3, .000001), (0, np.nan)])
 def test_field_validation_catches_range_and_zero_c2_c3_violations(field, value):
   command = np.zeros((2, 4))