Add a distance-integrated steering-curvature correction to the restored v1
heading request. Hold the correction at zero error, allow unwind at limits,
and clear it for driver override or inactive PSCM control. Preserve C0,
C2=C3=0, final output limits, the 100 Hz sender and the existing opt-in toggle.
Validate build/hold/unwind, measurement cadence, anti-windup and the actual
controlsd-to-CAN path. The combined suite passes 511 tests and 9,146 subtests;
178 inherited or unsupported safety variants skip. Stress and frozen b8
replay pass 578,569 Float32/CAN round trips. These checks do not establish
physical tracking or stability. Record reproduction steps and source hashes.
Restore the exact tracked tree from 5fc16abc7, identified in the
9b and 9e strong-tracking routes, including opendbc c21a9013 and
the original 100 Hz CAN FD cadence. C0 samples model y at 7 m;
C1 is max(7 m, speed times 1 s) times selected desired curvature.
This removes the later model-orientation, forecast, damping and
cadence experiments. Model selection/bundles and Panda safety are
unchanged. Restoring the prior behavior does not establish the
physical cause of the reported wobble.
Validation: exact original tree and submodule match; 494 tests and
9146 subtests passed, 178 inapplicable safety skips; canonical
Sunnylink schema; 100 real-sender messages in 100 control cycles,
with counters/checksums, C2/C3 zero and unchanged Panda TX checks.
Assisted-by: OpenAI Codex
Revert the C1 early-release experiment in 7ca2df481 after reported
centering degradation. Restore the exact tracked tree from 4bd841ecc;
model selection and model bundles are unchanged. A different driving
model remains a possible confound, so this does not assign a physical
root cause to either model or controller.
Validation: exact baseline tree match, 267 tests and 3 subtests passed,
and Sunnylink generated schema matches its source.
Assisted-by: OpenAI Codex
Bound the model heading request toward zero using terminal spatial
curvature at the existing preview point. Preserve C0, command limits,
slew, 20 Hz cadence, and the existing Sunnylink selection.
This changes requests before some turn peaks as well as during unwind.
Document that authority tradeoff and distinguish command-level evidence
from unverified physical PSCM release.
Validation: Ford controller/sender/safety tests, Sunnylink schema tests,
independent geometry and replay tests, 28,138 stress CAN round trips,
and 35,775 recorded cycles with 71,550 baseline/candidate CAN checks.
Assisted-by: OpenAI Codex
Compare v7 and recorded v6 unwind instructions on a5 using both common request levels and own-peak thresholds. Preserve the later C0 release and earlier C1 release in the report without claiming a physical improvement.
Exercise saturated release through the actual sender for both signs and every send phase. Require original model clocks for current replay extracts and reject current candidates in the historical unchanged-C1 damping replay. Record the complete 585-test suite and refreshed stress evidence.
Assisted-by: OpenAI Codex
Use the model-predicted one-second station with the existing seven-metre minimum and endpoint hold for both C0 and C1. Remove the extra yaw forecast and scalar-curvature heading reconstruction; retain C2/C3 zero, independent limits and slew, the existing toggle, and 20Hz sends. Reject scalar-only maneuver references explicitly.
Validate model clocks, geometry, CAN delivery, Panda TX acceptance, and randomized boundaries offline. Recorded-input replay does not establish improved physical tracking.
Assisted-by: OpenAI Codex
Remove excess-yaw C0 attenuation while retaining full path prediction,
command limits, slew and input-health gates. Valid measured yaw no longer
changes path demand. Update diagnostics and Sunnylink help for v5.
Validate with 356 tests and 26 subtests, 100% controller coverage,
280,636 recorded route cycles and 779,410 Float32/CAN round trips.
These are command checks; physical tracking improvement is not established.
Assisted-by: OpenAI Codex
Remove the hand-chosen 0.15 m / 25% cap on the prediction adjustment.
Retain the available-horizon bound, nonfinite fallback, total field limits,
yaw damping, slew, input gates, two states and zero C2/C3.
Cover full predictions and geometric countersteering in regression tests.
Validate 374 tests plus 26 subtests, four-route replay and 817,346
Float32/CAN round trips. Document command changes without inferring
physical tracking performance from PSCM limits or fixed-input replay.
Assisted-by: OpenAI Codex
Predict nearby C0 from the current model path and selected curvature over
150 ms, bounded to 0.15 m and 25% of the original offset. Retain excess-yaw
damping, two slew states, C1 behavior, input gates, and zero C2/C3 under the
existing default-off Sunnylink toggle.
Validate 372 tests plus 26 subtests, four-route replay, and 817,346
Float32/CAN round trips. Record earlier command-level crossings and the
right-exit damping tradeoff without claiming improved vehicle tracking.
Assisted-by: OpenAI Codex
Select the new controller only on the CAN FD Lightning through a default-off startup toggle. Retire v8 and its setting; disabling restores the original controller or selected observer. Preserve packing, input gates and zero C2/C3.
Fix the existing Params filtered-key buffer lifetime exposed by Sunnylink backup tests. Record 284 tests, 26 subtests and 485238 offline packing round trips; physical calibration remains unapproved.
Assisted-by: OpenAI Codex
Add a two-state C0/C1 core and a separate freshness/timing adapter compatible
with the existing controlsd call. Preserve reviewed endpoint holding, reject
malformed inputs, and keep production selection and safety unchanged.
Validate actual selection/limiting/publication/CAN integration, exact core
replay across 133,550 route cycles, 200,000 randomized and mirrored cycles,
field boundaries, resets and release uncertainty. Record the completed
264-test Ford suite, mutation probes and dependency/source provenance.
Physical tracking remains unvalidated; calibration_approved=false.
Assisted-by: OpenAI Codex
Isaac Barham