d0d3d22b83
fix(long): frame based staleness for jumpguard and lead-smoother
2026-07-14 15:42:50 -07:00
449ae8a984
fix(long): frame-based staleness check for radar lead hold
...
_LeadHold counted its own step() calls to gauge staleness, but
smooth_radarstate() stops calling step() below LOW_SPEED_PASSTHROUGH_V —
so the counter froze indefinitely during any low-speed period (measured
60-80s freezes on real routes) and read as "just a few frames old" on
resume no matter how much real time passed, letting a long-dead hold
resurrect as a phantom lead. Compare against the caller's live frame
counter instead.
2026-07-12 14:55:32 -07:00
93520b7e99
fix(long): jump-guard self-heal onto farther-than-held value on a closing lead
...
A spurious closer misread can poison the guard's anchor, making the lead's own real,
continuing (farther) trajectory read as a false farther jump and get held to the cap.
Self-heal then jumped straight onto whatever farther transitional reading showed up
next, which _LeadHold could seed a dropout extrapolation from -- reporting a lead
opening up right before a real catch-up brake (confirmed on route 000004c6, t~1338,
-3.94 m/s^2). Add one bounded grace cycle before self-heal on a closing lead so the
handoff into a dropout hold stays close to the real trajectory instead.
2026-07-11 12:52:02 -07:00
7006814ced
ref
2026-07-10 00:34:07 -07:00
4a7cd03efc
fix(long): ceiling rise-rate
2026-07-09 12:47:37 -07:00
24af9ca14b
fix(long): stop-gap/smoother double-bias
2026-07-09 12:47:30 -07:00
499ed0e59d
feat(long): closed-loop regression suite; fix jerk_scale sustained-pin oscillation
2026-07-08 14:24:52 -07:00
6a9550d54b
fix(long): leadrule bypass
2026-07-08 14:06:29 -07:00
65812911fb
fix(long): revert leadunstale
2026-07-08 14:06:18 -07:00
878e560c60
fix(long): stop-gap creep
2026-07-08 14:06:07 -07:00
7b2cb04e97
fix(long): lower SWITCH_DREL 8.0->4.0
2026-07-07 22:05:59 -07:00
432b253f48
fix(long): gate accel relax on radar noise, wire up SLA dead code, continuous DEC e2e jerk-shaping
2026-07-07 22:05:49 -07:00
6131a64f0d
feat(long): proactive closing jerk
2026-07-06 16:40:15 -07:00
f5087f238a
fix(long): stop-gap bias could suppress a real gap during slow lead creep
2026-07-05 11:07:49 -07:00
59e9e828e5
fix(long): lol
2026-07-05 11:07:49 -07:00
a2fbe20532
fix(long): SPORT's jerk_scale
2026-07-04 18:29:24 -07:00
75416274ab
feat(long): generalize jerk-cost relax to onset
2026-07-04 14:56:52 -07:00
c1c1440707
fix(long): smooth DEC blended
2026-07-04 12:55:54 -07:00
1d8538f14e
feat(long): relax launch jerk cost
2026-07-04 12:55:39 -07:00
d044951bdc
fix(long): reject radar fusion
2026-07-04 12:55:28 -07:00
e65a39e749
fix(long): decouple accel
2026-07-03 11:03:21 -07:00
eea9dbcf28
feat(long): stop farther from a stopped lead + gentler eco onset
2026-07-02 12:45:36 -07:00
cb0bc5746d
fix(long): bugs
2026-07-02 08:29:28 -07:00
15ddcc2026
refactor(long): tfollow + lead denoiser and output shaping
2026-07-01 12:39:22 -07:00
5cfa627b1e
feat(long): hard brake
2026-07-01 12:38:34 -07:00
c241b7f9e5
refactor(long):
2026-06-30 21:10:24 -07:00
1cae2e14b9
feat(long): tfllow
2026-06-30 13:31:24 -07:00
bc498ea6af
refactor(long): cleam up
2026-06-30 10:45:17 -07:00
c0e08181df
feat(long): physics decel cap
2026-06-29 13:44:00 -07:00
bbe7b01adc
Reapply "feat(dec): rework dynamic experimental controller"
...
This reverts commit cc8115141f
2026-06-28 12:19:11 -07:00
9f3fa8ceb7
feat(long): lead jitter smoother for trackId
2026-06-28 12:18:02 -07:00
df54f8e083
feat(long): gas suppression near a lead
2026-06-27 11:23:26 -07:00
4d351bdcad
feat(long): RadarDistance lead instability
2026-06-27 11:08:17 -07:00
bca4be26cd
fix(long): comfort_stop and vLead
2026-06-26 12:22:30 -07:00
cc8115141f
Revert "feat(dec): rework dynamic experimental controller"
...
This reverts commit 83de89e253
2026-06-26 11:54:24 -07:00
d7af8bfc4d
fix(long): RadarDistance drop out
2026-06-26 11:53:44 -07:00
b30e52261e
fix(long): remove RadarDistance vLead
2026-06-24 23:56:41 -07:00
e09bc59ea3
fix(long): comfort stop
2026-06-24 12:44:55 -07:00
f9e7974e02
feat(long): comfort stop
2026-06-24 10:51:55 -07:00
8c902576dc
long stopping
2026-06-23 11:24:06 -07:00
bc96b6a6ce
fix(long): remove onset jerk-cap
2026-06-22 13:21:30 -07:00
0a68face78
long refactor
2026-06-21 13:35:31 -07:00
78307a31f1
feat(long): jerk-limit
2026-06-20 12:19:48 -07:00
d10577dc2c
ref
2026-06-20 11:40:52 -07:00
37f19a35b6
tune
2026-06-19 23:12:18 -07:00
2276e9d47d
tune long
2026-06-19 13:22:51 -07:00
0a167d5024
refactor(long): clean up
2026-06-18 11:43:36 -07:00
21e0583752
Fix RELC road edge detection
2026-06-18 11:14:06 -07:00
88dad50ee1
Enable relc for stock modeld
2026-06-17 13:48:07 -07:00
9f20c56b2f
feat(long): roomier stops + smoother decel
2026-06-17 11:13:05 -07:00
rav4kumar