Allow release recovery only when fresh measured yaw undertracks both aligned current and delayed requests and PSCM limit is below 2. Unwind the opposing bias toward zero using current yaw error and existing antiwindup; preserve C0, base geometry, gains, rates, and safety guards.
Add mirrored unit checks and a sanitized recorded turn-exit regression. Validate with 142 tests and 97 subtests, full-route frozen-input replay, large-turn retention, CAN packing, diagnostics, and generated Sunnylink schema checks. Physical improvement remains unvalidated.
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.
Retain the absolute desired-curvature base and unchanged C0, while adding
measured yaw-error correction to C1 under fresh PSCM status. Preserve command
limits, reset on override or unusable status, and release stored correction
with the base request. Admit reachable partial increments at host slew limits.
Publish PSCM enums with original CAN receipt timestamps through carStateSP.
Add telemetry, status/driver guards, CAN roundtrip tests and recorded fixtures.
Validation: focused suite 116 tests and 38 subtests; Ruff, settings compilation
and diff checks pass. Production replay covers 52,273 route80 cycles; no-status
fallback preserves v4 over 246,961 cycles / 43 segments. Physical stability and
the reported 85-degree plateau remain unvalidated; EPS limits can inhibit the
new correction.
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.
Track the bounded planner reference through C0 and delay-aware PI/rate feedback through C1. Remove the failed Shared Path toggle and add a default-off, Lightning RL38-specific Virtual Angle setting. Reject stale inputs and disable outgoing lateral requests when the path is invalid.
Validation: 85 focused tests plus 22 subtests, native Params, real CAN packing, settings generation and Ruff passed. Frozen route78 replay attenuates the observed command forcing; physical stability and turn authority remain unvalidated.
Isaac Barham