Reuse the existing model-pose allocator for aligned large maneuvers while encoding remaining selected curvature as C0/C1 and keeping C2/C3 zero. Permit measured heading backoff during release or PSCM limits without turning model-base changes into stored bias.
Validate with 127 tests and 67 subtests, including recorded large-turn retention, release and reversal, repeated-measurement backoff, CAN packing, logging, and Sunnylink schema checks. Replay checks command behavior; enabled vehicle tracking remains unvalidated.
Derive full absolute C1 heading from the same selected curvature as C0, retaining existing bounds and independent slew. Keep the former filtered model heading as a diagnostic comparison and preserve input validity gates.
Add real route80 command regressions and release/reversal checks. All 97 focused tests pass; 43-segment replay preserves C0 and gates exactly and matches the independent C1 candidate. Physical tracking and stability remain unvalidated for this revision.
Encode the selected bounded curvature as C0 with an 8 m minimum preview while retaining full model-heading C1. Limit each channel independently so C1 transitions cannot delay C0 release, and validate the selected action source timestamp.
Add action, release, source-freshness, CAN and route regressions. Document the slow-turn reference disagreement and the limits of frozen-motion replay; physical centering remains unvalidated.
Replace the weak nominal acceleration conversion with C2-free spatial path requests. Align retained model geometry using measured CAN yaw before filtering model innovations, and preserve large-turn demand and straight-path centering.
Validate with seven recorded maneuver episodes, full-route command replay, real CAN packing and focused controller/settings tests. Physical closed-loop behavior remains unvalidated.
Isaac Barham