Cache per-field packet conversion and state projections within each allocation instead of recomputing them for every candidate combination. Preserve candidate ordering, scores, limits, and selected commands. Add a deterministic limiter-work regression budget.
Local recorded-input mean controller CPU time falls 56%; 1292 recorded updates and 4000 randomized allocations match the previous outputs exactly. Device timing remains unverified.
Assisted-by: Codex
Use SwagLogger.event for controller selection and periodic diagnostics. Logger.info forwards arbitrary keywords to Logger._log and crashed all Ford startups, regardless of the experiment toggle. Exercise both actual call sites with INFO enabled and the real logger/formatter.
Assisted-by: Codex
Separate holding demand, bounded pose feedback, and nominal coefficient allocation. Add a default-off Sunnylink selector with startup diagnostics and preserve the existing controller when disabled.
Assisted-by: Codex
Remove model-pose residuals and tracking trim from the gentle regime. Blend the model pose into C0/C1 only as maneuver demand rises, while retaining opposing-path C2 unload and the coordinated 100 Hz handoff.
Assisted-by: Codex
Use constrained desired curvature for ordinary C2 while keeping model geometry authoritative in the coordinated C0/C1 residual. This restores normal centering strength without changing large-maneuver or bounded-feedback behavior.
Assisted-by: Codex
Keep the model's remaining path as feedforward while using the delay-aligned measured pose only as a bounded trim. Allocate common gentle model curvature to C2 and carry changing geometry in C0/C1 without allowing the action head to invent a path.
Assisted-by: Codex
Rebase model preview against a gainless 100 ms curvature-trend prediction. Remove direct local-curvature feedback while preserving coordinated C0/C1/C2 authority and geometric C2 unloads.
Assisted-by: Codex
Use the first two meters of model heading for measured-curvature feedback while preserving the existing longer model-pose feedforward. This prevents future geometry from initiating premature correction without weakening turn anticipation.
Assisted-by: Codex
Use measured curvature error against the forward model path to add bounded bidirectional C0/C1 correction. Unload stale C2 when it would oppose an unwind or reversal.
Assisted-by: Codex
Return to the pre-predicted-pose C2-first controller from a1dcec490 after road testing found both later variants weaker or unstable. Preserve the current sunnypilot master merge and 100 Hz LMC2 transport.
Assisted-by: Codex
Remove delay-projected measured-curvature feedback that amplified curve hunting. Keep the model polynomial in the current vehicle frame while preserving the coordinated 100 Hz C0/C1/C2 handoff.
Assisted-by: Codex
Advance the rolling model path by the generic lateral delay, express its remaining seven-meter pose in the predicted vehicle frame, and derive C2 from the same steady geometry. Remove desiredCurvature as a competing Ford path target.
Assisted-by: Codex
Move heading authority lost at the DBC angle limit into available C0 endpoint authority while retaining the coordinated output limiter.
Assisted-by: Codex
Use the model's forward offset and heading for fast path authority while C2 retains ordinary path following. Coordinate all transmitted coefficients through one bounded handoff and add measured-curvature catch-up without overshoot countersteer.\n\nAssisted-by: Codex
Use heading/action hysteresis to keep normal driving entirely on C2 and large maneuvers entirely on model C0/C1. Restore a one-second pose horizon with a 7 m floor.
Assisted-by: Codex
Keep desired curvature in C2 for ordinary driving, then continuously hand off to model offset and heading for large maneuvers. Use one fitted 0.5 second lookahead with a 7 meter floor for both pose fields and keep C3 zero.
Assisted-by: Codex
Remove the one-frame C2 persistence and restore the continuous gentle-centering allocation. Real turn demand now clears C2 immediately and remains in the bounded fast path fields.
Assisted-by: Codex
Delay C2 by one 50 ms model frame and place the new-request difference in C0/C1 alongside measured tracking error. Clear the delay on inactive or invalid control.
Assisted-by: Codex
Keep upstream-style desired curvature active in C2 for steady path following. Use C0/C1 only for demand beyond C2 and measured tracking error, preserving fast turn and unwind authority without replacing C2.
Assisted-by: Codex
Make C0 and C1 a coherent virtual-curvature pair sourced from the constrained action target and measured tracking error. Keep model trend only for supplemental C2 unloading so model geometry cannot inflate fast steering authority across vehicles.
Assisted-by: Codex
Road testing showed the endpoint-constrained C0/C1 pair opposed the requested rotation and delivered less than half the needed authority. Restore the prior same-direction fast-path encoder.
Assisted-by: Codex
Isaac Barham