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Ford: add live C0 distance toggle on comma four

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Isaac Barham
2026-09-14 08:12:49 -04:00
parent 7750121675
commit de23ac008e
12 changed files with 283 additions and 26 deletions
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docs/ford_model_action_drive_test.md
+40 -5
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@@ -1,16 +1,16 @@
# Ford selected-action drive-test branch
This v11 controller restores [curvature-derived C0](ford_curvature_c0_v8.md) and retains direct C0/C1 requests
This v12 controller restores [curvature-derived C0](ford_curvature_c0_v8.md) and retains direct C0/C1 requests
and [continuous C1 PI feedback](ford_c1_minimal_pi.md)
with **P=0.50 and I=0.25**.
Only integrated tracking error accumulates correction; C0/C1 reflect the current bounded request. C0 is now a 7 m circular arc from selected desired curvature.
Only integrated tracking error accumulates correction; C0/C1 reflect the current bounded request. C0 defaults to a 7 m circular arc from selected desired curvature. An on-device toggle can instead use max(7 m, speed × 1 second).
[Base C1 overflow allocation to C0](ford_c1_overflow.md) remains.
It is selectable on **any Ford CAN FD vehicle**
through the existing persistent, default-off Sunnylink
toggle. Offline checks establish software behavior; physical tracking,
turn-exit behavior and closed-loop stability remain unvalidated.
V11 restores the v9 command law after the model-path C0 trial in `5db3e3c9a`.
V12 retains the v11/v9 command law by default after the model-path C0 trial in `5db3e3c9a`.
Both base commands use selected, upstream-limited desired curvature. The gains remain
P=0.50 and I=0.25, and PSCM `LimitReached` handling is unchanged. The separate
offline experiment that ignores the reached-limit integration block is not included.
@@ -27,7 +27,7 @@ offline experiment that ignores the reached-limit integration block is not inclu
The startup event `Ford path controller selected` should report
`FordModelActionController`. Periodic `Ford C2-free path tracking` events
identify **`hypothesis=model-action-curvature-c0-direct-pi-v11`**. They report desired and measured
identify **`hypothesis=model-action-curvature-c0-distance-pi-v12`**. They report desired and measured
curvature, base heading, proportional and accumulated correction, applied heading,
feedback timing and driver/PSCM gating. `proportional_gain=0.5` and
`integral_gain=0.25` identify the trial. `offset_overflow` reports the extra C0
@@ -42,6 +42,41 @@ a custom controller. The observer toggle is no longer exposed. The experiment
only runs on Ford CAN FD vehicles; legacy Ford uses upstream control as well.
See [toggle-off validation](ford_upstream_fallback.md).
## C0 distance toggle on comma four
With the experimental Ford controller enabled, open **Settings → toggles → C0: 1 second**.
The toggle is visible for Ford CAN FD vehicles and can be changed while disengaged.
- **Off (default):** C0 uses a fixed 7 m arc.
- **On:** C0 uses a distance of max(7 m, speed × 1 second), matching the base C1 distance.
Disengage assistance, change the toggle, and remain disengaged for at least three seconds
before reengaging. This setting uses the existing three-second runtime parameter refresh;
**no ignition cycle or controlsd restart is required**. Engaged or paused MADS and stale
engagement messages prevent applying a change. A mode change resets the PI correction and
adapter timestamps. Reapplying the same value does not reset anything.
The persistent parameter is `FordC0TimeBased`. It cannot enable the experimental controller
by itself. The existing Sunnylink controller-selection toggle still requires an onroad cycle.
C1, the gains, the 7 m heading-overflow allocation, the upstream reference limits and the CAN
field bounds are unchanged. Below 7 m/s (about 15.7 mph), both distance modes are identical.
At 20/30/60 mph the enabled distance is approximately 8.9/13.4/26.8 m, respectively; C0 can
therefore be substantially larger, especially at higher speeds. Its release still follows the
current selected curvature immediately, with no additional slew.
The `Ford C0 distance changed` event records an applied switch. Periodic tracking events
include `c0_time_based` and the actual `offset_distance` in meters, including the default mode.
Offline checks verify selection, runtime switching, resets, unchanged C1 and CAN encoding;
they do not establish which distance the PSCM follows better.
Validation on 2026-09-14: 410 tests and 25 subtests passed, plus Ruff and the local comma four
UI construction/write/refresh/visibility/render check. The 54,146-cycle maneuver-route replay
(`84865544361f55cb/0000011c--99f4537696`) matched `775012167` exactly with the new toggle off.
With it on, C0 changed in 35,668 cycles (maximum difference 0.74 m), while C1 and accumulated
correction remained identical on the same recorded motion. The two comparisons completed
216,584 controller updates and CAN round trips. No vehicle build, installation or road test
was performed for this change.
## Wiring and validation
`controlsd` supplies the selected, upstream-limited desired curvature and the
@@ -57,7 +92,7 @@ combined feedforward/P/I amplitude envelope. There is no C0 confirmation
threshold or remembered turn direction. Zero error removes P and holds I; it
does not trigger a release. Final command limits still apply.
C0 starts with the 7 m circular arc of selected desired curvature. It does not
C0 starts with the selected-distance circular arc of selected desired curvature. It does not
add independent live model-path position or heading. Valid model geometry is
still required as a health gate. When the raw base heading
exceeds ±0.5 rad, C0 additionally receives 7 m times the clipped-away heading.