Sync: commaai/openpilot:master -> sunnypilot/sunnypilot:master

# Conflicts:
#	.gitmodules
#	.lfsconfig
#	opendbc_repo
#	openpilot/selfdrive/modeld/SConscript
#	openpilot/selfdrive/modeld/modeld.py
#	openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
#	openpilot/system/sentry.py
#	panda
#	scripts/lint/lint.sh
#	tinygrad_repo
#	tools/release/build_stripped.sh
#	tools/release/check-submodules.sh
#	uv.lock

.gitattributes

@@ -1,15 +1,16 @@
-* text=auto
+* text=auto eol=lf
 
 # to move existing files into LFS:
 # git add --renormalize .
 *.onnx filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
+openpilot/sunnypilot/modeld_v2/models/*.pkl filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.ttf filter=lfs diff=lfs merge=lfs -text
 *.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
-openpilot/selfdrive/assets/sounds/milestone.wav -filter -diff -merge -text
 
 openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 openpilot/common/hardware/comma/updater filter=lfs diff=lfs merge=lfs -text

.github/workflows/build-default-models.yaml

@@ -46,7 +46,6 @@ jobs:
 
           if [ "${{ inputs.target }}" = "big" ]; then
             NAME=$(python3 -c "from openpilot.sunnypilot.models.model_name import DEFAULT_BIG_MODEL; print(DEFAULT_BIG_MODEL)")
-            ONNX_PATH="openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"
             HF_DEFAULTS_PATH="models/defaults/big"
           elif [ "${{ inputs.target }}" = "dm" ]; then
             ONNX_PATH="openpilot/selfdrive/modeld/models/dmonitoring_model.onnx"
@@ -57,8 +56,9 @@ jobs:
             ONNX_PATH="openpilot/selfdrive/modeld/models/driving_supercombo.onnx"
             HF_DEFAULTS_PATH="models/defaults/small"
           fi
+          ONNX_REF=""
+          [ -n "$ONNX_PATH" ] && ONNX_REF=$(git log -1 --format='%H' -- "$ONNX_PATH")
 
-          ONNX_REF=$(git log -1 --format='%H' -- "$ONNX_PATH")
           TINYGRAD_REF=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
           if [ -z "$TINYGRAD_REF" ]; then
             echo "::error::Failed to resolve tinygrad ref"
@@ -78,6 +78,8 @@ jobs:
     if: ${{ inputs.target == 'small' }}
     runs-on: [self-hosted, tici]
     env:
+      MODELS_DIR: openpilot/selfdrive/modeld/models
+      COMPILER: tinygrad_repo/examples/openpilot
       SMALL_ONNX: openpilot/selfdrive/modeld/models/driving_supercombo.onnx
       SMALL_PKL: openpilot/selfdrive/modeld/models/driving_tinygrad.pkl
     steps:
@@ -85,9 +87,10 @@ jobs:
         with:
           submodules: recursive
 
-      - name: Pull ONNX via LFS
+      - name: Pull small ONNX via LFS
         run: git lfs pull -I "${{ env.SMALL_ONNX }}"
 
+
       - name: Set environment variables
         run: |
           source /etc/profile
@@ -103,24 +106,15 @@ jobs:
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
-      - name: Compile small model with stock compiler
+      - name: Compile small model from ONNX
         run: |
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
-
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
-
           TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-
-          env ${TG_FLAGS} python3 \
-            ${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
-            --onnx ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
-            --model-size $MODEL_SIZE \
-            --camera-resolutions $CAMERA_RES \
-            --frame-skip $FRAME_SKIP \
-            --output ${{ github.workspace }}/${{ env.SMALL_PKL }}
+          env ${TG_FLAGS} python3 ${{ github.workspace }}/${{ env.COMPILER }}/compile_onnx.py \
+            ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
+            ${{ github.workspace }}/${{ env.SMALL_PKL }} \
+            --device-input "*" --out-of-band --benchmark-runs 1
 
       - name: Chunk small pkl
         run: |
@@ -150,11 +144,14 @@ jobs:
           cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
           cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
 
+          ONNX_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.SMALL_ONNX }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)
+
           python3 "${{ github.workspace }}/release/ci/model_generator.py" \
             --model-dir "$MODELS_DIR" \
             --output-dir "$OUTPUT_DIR" \
             --custom-name "$MODEL_NAME" \
-            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
+            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}" \
+            --onnx-sha256 "$ONNX_SHA256"
 
           echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
 
@@ -181,15 +178,17 @@ jobs:
     if: ${{ inputs.target == 'big' }}
     runs-on: [self-hosted, chestnut]
     env:
-      BIG_ONNX: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+      MODELS_DIR: openpilot/selfdrive/modeld/models
+      COMPILER: tinygrad_repo/examples/openpilot
       BIG_PKL: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
+          lfs: true
 
-      - name: Pull big ONNX via LFS
-        run: git lfs pull -I "${{ env.BIG_ONNX }}"
+      - name: Pull big PKL via LFS
+        run: git lfs pull -I "${{ env.BIG_PKL }}"
 
       - name: Set environment variables
         run: |
@@ -222,25 +221,6 @@ jobs:
               raise RuntimeError('Chestnut PCIe link not ready after 10 attempts')
           "
 
-      - name: Compile big model with stock compiler
-        run: |
-          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
-          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
-
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
-
-          TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
-
-          env ${TG_FLAGS} python3 \
-            ${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
-            --onnx ${{ github.workspace }}/${{ env.BIG_ONNX }} \
-            --model-size $MODEL_SIZE \
-            --camera-resolutions $CAMERA_RES \
-            --frame-skip $FRAME_SKIP \
-            --output ${{ github.workspace }}/${{ env.BIG_PKL }}
-
       - name: Chunk big pkl
         run: |
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
@@ -269,11 +249,14 @@ jobs:
           cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
           cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
 
+          PKL_LFS_SHA256=$(sha256sum "$MODELS_DIR/${PKL_BASE}" | cut -d' ' -f1)
+
           python3 "${{ github.workspace }}/release/ci/model_generator.py" \
             --model-dir "$MODELS_DIR" \
             --output-dir "$OUTPUT_DIR" \
             --custom-name "$MODEL_NAME" \
-            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
+            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}" \
+            --onnx-sha256 "$PKL_LFS_SHA256"
 
           echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
 
@@ -311,7 +294,8 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
-      - name: Pull ONNX via LFS
+      - name: Pull LFS for resolved ONNX files
+        if: ${{ needs.resolve.outputs.onnx_path != '' }}
         run: git lfs pull -I "${{ needs.resolve.outputs.onnx_path }}"
 
       - name: Install huggingface_hub
@@ -351,8 +335,6 @@ jobs:
             --hf-defaults-path "${{ needs.resolve.outputs.hf_defaults_path }}" \
             --artifact-name "$ARTIFACT_NAME" \
             --model-dir output \
-            --onnx-path "${{ needs.resolve.outputs.onnx_path }}" \
-            --onnx-ref "${{ needs.resolve.outputs.onnx_ref }}" \
             --model-name "${{ needs.resolve.outputs.model_name }}" \
             --tinygrad-ref "${{ needs.resolve.outputs.tinygrad_ref }}" \
             --run-number "${{ github.run_number }}"
@@ -490,15 +472,27 @@ jobs:
           export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
 
           TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-          MODEL_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld"
+          COMPILER="${{ github.workspace }}/tinygrad_repo/examples/openpilot"
+          MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
           DM_SIZE=$(python3 -c "from openpilot.common.transformations.model import DM_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
 
           for res in $(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')"); do
-            WARP_PKL="${MODEL_DIR}/models/dm_warp_${res}_tinygrad.pkl"
-            taskset -c 7 env ${TG_FLAGS} python3 ${MODEL_DIR}/compile_dm_warp.py \
-              --camera-resolution ${res} \
+            CAM_W=$(echo $res | cut -d x -f1)
+            CAM_H=$(echo $res | cut -d x -f2)
+            STRIDE_INFO=$(python3 -c "
+          import sys
+          from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+          s,y,u,sz = get_nv12_info(int(sys.argv[1]), int(sys.argv[2]))
+          print(f'{s},{y},{u},{sz}')
+          " $CAM_W $CAM_H)
+            WARP_PKL="${MODELS_DIR}/dm_warp_${res}_tinygrad.pkl"
+            taskset -c 7 env ${TG_FLAGS} python3 "${COMPILER}/compile_warp.py" \
+              --frame ${CAM_W},${CAM_H},${STRIDE_INFO} \
               --warp-to ${DM_SIZE} \
-              --output ${WARP_PKL}
+              --layout luma \
+              --border-fill 16 \
+              --transform-device NPY \
+              --output "${WARP_PKL}"
           done
 
       - name: Prepare DM output

.github/workflows/compile-warp-kernels.yaml

@@ -0,0 +1,73 @@
+name: Compile warp for sunnypilot modeld
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'
+
+jobs:
+  compile_warps:
+    runs-on: [self-hosted, chestnut]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set environment variables
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
+          printenv >> $GITHUB_ENV
+
+      - name: Disable powersave
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Compile Warp Kernels
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+          mkdir -p openpilot/sunnypilot/modeld_v2/models/
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+          echo "Model size: $MODEL_SIZE"
+          echo "Camera resolutions: $CAMERA_RES"
+
+          for res in $CAMERA_RES; do
+            NV12_INFO=$(python3 -c "from openpilot.system.camerad.cameras.nv12_info import get_nv12_info; w, h = map(int, '${res}'.split('x')); print(','.join(map(str, get_nv12_info(w, h))))")
+
+            WARP_PKL="openpilot/sunnypilot/modeld_v2/models/driving_warp_${res}_tinygrad.pkl"
+            echo "Compiling $WARP_PKL on QCOM"
+            taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
+              --frame ${res/x/,},${NV12_INFO} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${WARP_PKL}"
+
+            BIG_WARP_PKL="openpilot/sunnypilot/modeld_v2/models/big_driving_warp_${res}_tinygrad.pkl"
+            echo "Compiling $BIG_WARP_PKL on AMD"
+            taskset -c 7 env DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
+              --frame ${res/x/,},${NV12_INFO} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${BIG_WARP_PKL}"
+          done
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        with:
+          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: "[bot] Update warp pkl for modeld_v2"
+          title: "[bot] Update modeld_v2 Warp"
+          branch: "auto/compile-warp-kernels"
+          base: "master"
+          delete-branch: true
+          labels: bot
+          add-paths: |
+            openpilot/sunnypilot/modeld_v2/models/*.pkl

.github/workflows/docs.yaml

@@ -18,24 +18,25 @@ concurrency:
 env:
   GIT_CONFIG_COUNT: 1
   GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
 
 jobs:
   docs:
     name: build docs
-    runs-on: ubuntu-24.04
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16"]')
+      || fromJSON('["ubuntu-24.04"]') }}
     steps:
     - uses: commaai/timeout@v1
-
     - uses: actions/checkout@v7
-      with:
-        submodules: true
+    - run: ./tools/op.sh setup
 
     # Build
     - name: Build docs
-      run: |
-        git lfs pull
-        python docs/serve.py --build
+      run: ./tools/op.sh docs --build
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v7

.github/workflows/release.yaml

@@ -7,7 +7,7 @@ on:
 env:
   GIT_CONFIG_COUNT: 1
   GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
 
 jobs:
   build___nightly:
@@ -34,3 +34,7 @@ jobs:
     - run: ./tools/op.sh setup
     - name: Push __nightly
       run: BRANCH=__nightly tools/release/build_stripped.sh
+    - name: Push chestnut nightly
+      run: |
+        git lfs pull --exclude=''
+        INCLUDE_BIG_MODEL=1 BRANCH=__nightly-chestnut tools/release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -11,7 +11,7 @@ env:
   PYTHONPATH: ${{ github.workspace }}
   GIT_CONFIG_COUNT: 1
   GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
 
 jobs:
   package_updates:

.github/workflows/sunnypilot-build-model.yaml

@@ -103,21 +103,23 @@ jobs:
       - run: |
           cd ${{ github.workspace }}/openpilot/openpilot
           if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
-            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx"
-            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
+            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx,**/selfdrive/modeld/models/big_*.pkl,**/selfdrive/modeld/models/dmonitoring_*.pkl"
+            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx selfdrive/modeld/models/big_*.pkl selfdrive/modeld/models/dmonitoring_*.pkl
           else
-            git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx" -X ""
-            find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
+            git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/big_*.pkl" -X ""
+            find selfdrive/modeld/models -type f \( -name "*.onnx" -o -name "*.pkl" \) ! -name "big_*.onnx" ! -name "big_*.pkl" -delete
           fi
-          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx; then
-            echo "::error::the ONNX files above are still LFS pointers, not real models"
+          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx selfdrive/modeld/models/*.pkl 2>/dev/null; then
+            echo "::error::the ONNX or PKL files above are still LFS pointers, not real models"
             exit 1
           fi
       - name: 'Upload Artifact'
         uses: actions/upload-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
+          path: |
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.pkl
           if-no-files-found: error
 
   build_model:
@@ -196,64 +198,75 @@ jobs:
             OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
           fi
 
-          # Generate metadata for all ONNX files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
+          NATIVE_PKL=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*.pkl" -print -quit)
 
-          # Detect model type and build compile args
-          VISION_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
-            [ -f "$f" ] && VISION_ONNX="$f" && break
-          done
-
-          POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
-            [ -f "$f" ] && POLICY_ONNX="$f" && break
-          done
-
-          OFF_POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
-            [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
-          done
-
-          ON_POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
-            [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
-          done
-
-          SUPERCOMBO_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
-            [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
-          done
-
-          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
-          if [ -f "$VISION_ONNX" ]; then
-            ONNX_ARGS="--vision-onnx $VISION_ONNX"
-            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
-            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
-            elif [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+          if [ -n "$NATIVE_PKL" ]; then
+            echo "Found native precompiled pkl: $NATIVE_PKL"
+            if [ "$NATIVE_PKL" != "$OUTPUT_PKL" ]; then
+              mv "$NATIVE_PKL" "$OUTPUT_PKL"
             fi
-          elif [ -f "$SUPERCOMBO_ONNX" ]; then
-            MODEL_TYPE=supercombo
-            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
-          fi
+            echo "Chunking pkl"
+            python3 -c "from openpilot.common.file_chunker import chunk_file, get_chunk_targets; import os; p='$OUTPUT_PKL'; chunk_file(p, get_chunk_targets(p, os.path.getsize(p)))"
+          else
+            # Generate metadata for all ONNX files
+            find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
+              echo "Generating metadata: $onnx_file"
+              env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            done
 
-          if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
-            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
-              --model-type $MODEL_TYPE \
-              --model-size $MODEL_SIZE \
-              --camera-resolutions $CAMERA_RES \
-              $ONNX_ARGS \
-              --output "$OUTPUT_PKL"
+            # Detect model type and build compile args
+            VISION_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
+              [ -f "$f" ] && VISION_ONNX="$f" && break
+            done
+
+            POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
+              [ -f "$f" ] && POLICY_ONNX="$f" && break
+            done
+
+            OFF_POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
+              [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
+            done
+
+            ON_POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
+              [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
+            done
+
+            SUPERCOMBO_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
+              [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
+            done
+
+            MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
+            if [ -f "$VISION_ONNX" ]; then
+              ONNX_ARGS="--vision-onnx $VISION_ONNX"
+              if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_multi_policy
+                ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
+              elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_multi_policy
+                ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
+              elif [ -f "$POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_policy
+                ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+              fi
+            elif [ -f "$SUPERCOMBO_ONNX" ]; then
+              MODEL_TYPE=supercombo
+              ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
+            fi
+
+            if [ -n "$MODEL_TYPE" ]; then
+              echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
+              env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
+                --model-type $MODEL_TYPE \
+                --model-size $MODEL_SIZE \
+                --camera-resolutions $CAMERA_RES \
+                $ONNX_ARGS \
+                --output "$OUTPUT_PKL"
+            fi
           fi
 
       - name: Prepare Output

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -170,6 +170,9 @@ jobs:
           scons -j1 cache_dir="$SCONS_CACHE" --minimal \
             openpilot/selfdrive/locationd openpilot/sunnypilot/selfdrive/locationd
           echo "Building rest of sunnypilot"
+          sudo rm -rf /tmp/* || true
+          mkdir -p "$BUILD_DIR/tmp"
+          export TMPDIR="$BUILD_DIR/tmp"
           SKIP_TINYGRAD_COMPILE=1 /usr/bin/time -v scons -j$(nproc) cache_dir="$SCONS_CACHE" --minimal
           touch ${BUILD_DIR}/prebuilt
           if [[ "${{ runner.debug }}" == "1" ]]; then
@@ -226,16 +229,16 @@ jobs:
       HF_REPO: sunnypilot/sunnypilot_models_v1
       HF_DEFAULTS_PATH: models/defaults/big
     steps:
-      - name: Resolve ONNX hash and tinygrad ref via API
+      - name: Resolve tinygrad ref via API
         id: resolve
         run: |
           REF="${{ github.head_ref || github.ref_name }}"
 
-          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx?ref=${REF}" --jq '.sha')
+          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl?ref=${REF}" --jq '.sha')
+          [ -n "$BLOB_SHA" ] || { echo "::error::Failed to resolve big_driving_tinygrad.pkl blob SHA"; exit 1; }
           ONNX_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
-          echo "ONNX hash: $ONNX_HASH"
-          [ -n "$ONNX_HASH" ] || { echo "::error::Failed to extract ONNX hash"; exit 1; }
-          echo "onnx_sha256=$ONNX_HASH" >> $GITHUB_OUTPUT
+          echo "big PKL hash: $ONNX_HASH"
+          [ -n "$ONNX_HASH" ] || { echo "::error::Failed to extract big PKL hash"; exit 1; }
 
           TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
           echo "tinygrad ref: $TINYGRAD_REF"
@@ -251,7 +254,7 @@ jobs:
           }
 
           if check_defaults; then
-            echo "HF defaults match repo ONNX hash and tinygrad ref"
+            echo "HF defaults match repo tinygrad ref"
             exit 0
           fi
 
@@ -309,7 +312,7 @@ jobs:
       HF_REPO: sunnypilot/sunnypilot_models_v1
       HF_DEFAULTS_PATH: models/defaults/small
     steps:
-      - name: Resolve ONNX hash and tinygrad ref via API
+      - name: Resolve tinygrad ref via API
         id: resolve
         run: |
           REF="${{ github.head_ref || github.ref_name }}"
@@ -318,7 +321,7 @@ jobs:
           DRIVING_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
           echo "Driving ONNX hash: $DRIVING_HASH"
           [ -n "$DRIVING_HASH" ] || { echo "::error::Failed to extract driving ONNX hash"; exit 1; }
-          echo "driving_onnx_sha256=$DRIVING_HASH" >> $GITHUB_OUTPUT
+          echo "driving_onnx_sha256=$DRIVING_HASH" >> "$GITHUB_OUTPUT"
 
           TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
           echo "tinygrad ref: $TINYGRAD_REF"
@@ -334,7 +337,7 @@ jobs:
           }
 
           if check_defaults; then
-            echo "HF defaults match repo ONNX hash and tinygrad ref"
+            echo "HF defaults match repo tinygrad ref"
             exit 0
           fi
 
@@ -392,7 +395,7 @@ jobs:
       HF_REPO: sunnypilot/sunnypilot_models_v1
       HF_DEFAULTS_PATH: models/defaults/dm
     steps:
-      - name: Resolve ONNX hash and tinygrad ref via API
+      - name: Resolve tinygrad ref via API
         id: resolve
         run: |
           REF="${{ github.head_ref || github.ref_name }}"
@@ -401,7 +404,7 @@ jobs:
           DM_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
           echo "DM ONNX hash: $DM_HASH"
           [ -n "$DM_HASH" ] || { echo "::error::Failed to extract DM ONNX hash"; exit 1; }
-          echo "dm_onnx_sha256=$DM_HASH" >> $GITHUB_OUTPUT
+          echo "dm_onnx_sha256=$DM_HASH" >> "$GITHUB_OUTPUT"
 
           TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
           echo "tinygrad ref: $TINYGRAD_REF"
@@ -417,7 +420,7 @@ jobs:
           }
 
           if check_defaults; then
-            echo "HF defaults match DM ONNX hash and tinygrad ref"
+            echo "HF defaults match DM tinygrad ref"
             exit 0
           fi
 

.github/workflows/test_models.yml

@@ -48,6 +48,8 @@ jobs:
           submodules: true
 
       - name: Download Model Chunks in Parallel
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
         run: |
           mkdir -p /tmp/model_chunks
           echo '${{ toJson(matrix.artifact.chunks) }}' > chunks.json
@@ -63,12 +65,15 @@ jobs:
           with open(manifest_path, "w") as f:
             f.write(str(len(chunks)))
           base_dir = os.environ["BASE_DIR"]
+          hf_token = os.environ.get("HF_TOKEN", "")
           with open("/tmp/curl_config.txt", "w") as f:
             for c in chunks:
               fn = c["file_name"]
               f.write(f"url = \"{base_dir}/{fn}\"\noutput = \"/tmp/model_chunks/{fn}\"\n")
+              if hf_token:
+                f.write(f"header = \"Authorization: Bearer {hf_token}\"\n")
           '
-          curl -Z --parallel-immediate --parallel-max 16 -s -S -f -L -K /tmp/curl_config.txt
+          curl -Z --parallel-immediate --parallel-max 12 --retry 3 --retry-all-errors -s -S -f -L -K /tmp/curl_config.txt
 
       - name: Run Model Compatibility Test
         env:

.github/workflows/tests.yaml

@@ -22,7 +22,7 @@ env:
   PYTHONPATH: ${{ github.workspace }}
   GIT_CONFIG_COUNT: 1
   GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
 
 jobs:
   build_release:

.gitignore

@@ -50,6 +50,8 @@ st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
 *.stats
 *.pkl
 *.pkl*
+!openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
+!openpilot/sunnypilot/modeld_v2/models/*.pkl
 config.json
 compile_commands.json
 compare_runtime*.html

.gitmodules

@@ -19,3 +19,4 @@
 [submodule "sunnypilot/neural_network_data"]
 	path = openpilot/sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git
+

.lfsconfig

@@ -1,4 +1,5 @@
 [lfs]
 	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
 	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
+
 	locksverify = false

Jenkinsfile

@@ -12,16 +12,17 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ControlMaster=no -o ControlPath=none -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=12 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec setpriv --pdeathsig HUP /usr/bin/bash <<'END'
 
 set -e
 
 export TERM=xterm-256color
 
-shopt -s huponexit # kill all child processes when the shell exits
+trap 'kill 0' HUP # stop this process group on SSH disconnect
 
 export CI=1
 export PYTHONWARNINGS=error
+export PYTHONFAULTHANDLER=1
 export COMMA_CACHE=/data/tmp/comma_download_cache
 #export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
@@ -69,7 +70,8 @@ export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/us
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
-time ${cmd}
+time ( ${cmd} ) &
+wait \$!
 END"""
 
     sh script: ssh_cmd, label: step_label
@@ -169,7 +171,7 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
+  def excludeBranches = ['__nightly', '__nightly-chestnut', 'devel', 'devel-staging',
                          'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
@@ -201,6 +203,12 @@ node {
       )
     }
 
+    if (env.BRANCH_NAME == '__nightly-chestnut') {
+      deviceStage("build nightly-chestnut", "mici-chestnut-ci", [], [
+        step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
+      ])
+    }
+
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
     parallel (
       'onroad tests': {
@@ -252,6 +260,14 @@ node {
           step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
         ])
       },
+      'chestnut': {
+        deviceStage("chestnut", "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
+          step("build", "./openpilot/selfdrive/test/chestnut.sh"),
+          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
+          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
+          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
+        ])
+      },
 
     )
     }

SConstruct

@@ -87,7 +87,6 @@ acados_include_dirs = [
 # vendored in commaai/dependencies.
 allowed_system_libs = {
   "EGL", "GLESv2", "GL",
-  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
   "dl", "drm", "gbm", "m", "pthread",
 }
 
@@ -121,6 +120,7 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
+    "TMPDIR": os.environ.get('TMPDIR', '/tmp'),
     "PYTHONPATH": os.pathsep.join(submodule_python_paths),
     "ACADOS_SOURCE_DIR": acados.DIR,
     "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
@@ -346,6 +346,8 @@ AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
 def check_build_product_size(target, source, env):
   limit = 50 * 1024 * 1024  # GitHub max size
   for t in target:
+    if str(t).endswith('.pkl'):  # chunked during release packaging
+      continue
     if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
       raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
 if not GetOption('extras'):

docs/CARS.md

@@ -34,7 +34,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|CUPRA[<sup>12</sup>](#footnotes)|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
+|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -99,7 +99,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-27|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-27">Buy Here</a></sub></details>|||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
 |Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
 |Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
@@ -268,8 +268,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
 |Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
 |Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -335,8 +335,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
@@ -363,7 +363,7 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
 <sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
 <sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>9</sup>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
 <sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
 <sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />

docs/README.md

@@ -5,10 +5,10 @@ The site is updated on pushes to master by this [workflow](../.github/workflows/
 
 **1. Build the site**
 ``` bash
-python docs/serve.py --build
+op docs --build
 ```
 
 **2. Run the site locally** (rebuilds on change)
 ``` bash
-python docs/serve.py
+op docs
 ```

docs/ford_action_c0_gain_v19.md

@@ -1,69 +0,0 @@
-# Action controller: stronger proportional C0 correction
-
-The model action remains the steering target. Increase action-mode C0 P from
-0.5 to 1.0 so an existing tracking error produces twice the immediate C0
-correction, before command clipping. This is a trial gain, not an identified
-optimum or a claim of twice the wheel response.
-
-C0 base mapping, distances, C1 P=0.75, C1 I=1.0, command bounds, upstream request
-limits, driver arbitration and CAN cadence are unchanged. Direct-path mode
-retains C0 P=0.5. Explicit gain overrides remain available for offline analysis.
-
-The C0 correction has no integral state. It vanishes at zero error and changes
-sign on overshoot; the base command and existing C1 integral still remain. A
-higher P can amplify noise or oscillation through delayed vehicle response.
-Command replay does not establish physical stability, faster tracking or better
-unwinding.
-
-## Selecting the trial
-
-In Sunnylink, while offroad:
-
-- Enable **Selected-Action Path Tracking (Experimental)**.
-- Disable **Model Geometry Reference (Experimental)** to select the original
-  model action. Leaving it enabled keeps the unchanged direct-path controller.
-- Keep **C0 one-second distance** disabled for the fixed 7 m configuration.
-
-Restart the updated software while offroad before testing. The controller and
-reference selection are latched at startup. Disengagement alone does not switch
-the reference. Turning the master controller toggle off restores upstream Ford.
-
-Action-mode diagnostics now identify `model-action-curvature-c0-feedback-v19`
-and record `c0_proportional_gain=1.0`. Direct path remains
-`model-path-direct-feedback-v17`, with its gain at 0.5.
-
-## Verification
-
-Baseline: `0020c0c41940fe1f4b33dd23297def77a0a67e92`.
-
-The Ford controller, startup selection, controlsd publication/CAN, geometry and
-Sunnylink settings suites pass: 648 tests and 2 subtests. Coverage includes
-catch-up, opposite correction on overshoot, zero-reference unwind, unchanged C1
-state, upstream fallback and preservation of the direct-path gain.
-
-Native-time replay over ten older Lightning routes checks every control cycle
-and performs a CAN pack/decode check every tenth cycle. The baseline receives
-the same curvature conversion as the new controller. C1 commands, proportional
-terms, integrals and command validity are identical; C0 proportional correction
-is exactly doubled within numerical tolerance, and commands retain field bounds.
-There is no C0 change when feedback is disabled or the correction is zero.
-
-```sh
-PYTHONPATH=.:opendbc_repo python tools/ford_pscm_lab/c0_feedback_validate.py \
-  --baseline 0020c0c41940fe1f4b33dd23297def77a0a67e92 \
-  --output .cache/ford_action_c0_gain_v19 --workers 4
-```
-
-Three recent routes (157, 15a, 15b) additionally compare original model action
-and direct-path modes against the same baseline, preserving recorded motion.
-Original action is taken from the intake on 157 and timestamp-matched telemetry
-on 15a/15b. All direct-path commands and their accumulated state remain identical.
-The supplementary harness and per-cycle inputs are in the local replay cache.
-Combined validation totals and route results are in
-`ford_action_c0_gain_v19_validation.json`.
-
-On the recorded measurements, a clean route-157 example requesting 174 degrees
-with the wheel at 74 degrees changes C0 magnitude from 2.23 to 3.42 m while C1
-remains at 0.5 rad. A route-15b example requesting 206 degrees with the wheel at
-239 degrees reduces the remaining into-turn C0 magnitude from 0.85 to 0.46 m.
-These are different commands on frozen measurements, not predicted wheel motion.

docs/ford_action_c0_gain_v19_validation.json

@@ -1,621 +0,0 @@
-{
-  "baseline": "0020c0c41940fe1f4b33dd23297def77a0a67e92",
-  "action_c0_gain": 1.0,
-  "direct_path_c0_gain": 0.5,
-  "scope": "Frozen recorded measurements; validates command differences and preserved direct-path behavior, not changed vehicle motion.",
-  "tests_passed": 648,
-  "subtests_passed": 2,
-  "cycles": 1290812,
-  "can_round_trips": 141158,
-  "older_routes": [
-    {
-      "route": "112",
-      "baseline": "0020c0c41940fe1f4b33dd23297def77a0a67e92",
-      "baseline_sha256": "02b64f40a56cadefb181afbf7c3720affa3c7fe4ac18a2902dc9c546fd6b395d",
-      "cycles": 108971,
-      "wire_round_trips": 10898,
-      "c1_identical": true,
-      "c0_gain": 1.0,
-      "metrics": {
-        "all": {
-          "n": 83590,
-          "delta_c0_m_quantiles": [
-            0.009999999999999787,
-            0.28000000000000025,
-            1.7200000000000006
-          ],
-          "c0_old_capped": 0,
-          "c0_new_capped": 0
-        },
-        "straight": {
-          "n": 43982,
-          "delta_c0_m_quantiles": [
-            0.009999999999999787,
-            0.05000000000000071,
-            1.4600000000000009
-          ],
-          "c0_old_capped": 0,
-          "c0_new_capped": 0
-        },
-        "turn": {
-          "n": 9939,
-          "delta_c0_m_quantiles": [
-            0.15999999999999925,
-            1.12,
-            1.7200000000000006
-          ],
-          "c0_old_capped": 0,
-          "c0_new_capped": 0
-        },
-        "large_error": {
-          "n": 3604,
-          "delta_c0_m_quantiles": [
-            0.7299999999999995,
-            1.4299999999999997,
-            1.7200000000000006
-          ],
-          "c0_old_capped": 0,
-          "c0_new_capped": 0
-        }
-      },
-      "sources": {
-        ".cache/ford_route112/route.npz": "2b08a2fb636f7d14556d7df4035eafc1d1b97932237955528562a16db2b31d3e",
-        ".cache/ford_route112/metadata.json": "726d78a7e7aa45307dcfe27cb00775c20ecc9d54538eb7f26a0166fc216226ce",
-        ".cache/ford_route112/model_paths.npz": "9837afe78aab4cad288cad98a595a5777fa8a66bb235986b1272a7f7c54e559a",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/c0_feedback_validate.py": "66eca5715db49a47d30d9f4ed74b1d41b2bdb1d1e513ffdf85be6d94c9c8ac39",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "d5841c1f6a4368de20ff14de89a48d7dce737c6a41d79628ccb4f8b19f28f91b"
-      }
-    },
-    {
-      "route": "113",
-      "baseline": "0020c0c41940fe1f4b33dd23297def77a0a67e92",
-      "baseline_sha256": "02b64f40a56cadefb181afbf7c3720affa3c7fe4ac18a2902dc9c546fd6b395d",
-      "cycles": 49614,
-      "wire_round_trips": 4962,
-      "c1_identical": true,
-      "c0_gain": 1.0,
-      "metrics": {
-        "all": {
-          "n": 24171,
-          "delta_c0_m_quantiles": [
-            0.009999999999999787,
-            0.9499999999999993,
-            2.2299999999999995
-          ],
-          "c0_old_capped": 0,
-          "c0_new_capped": 0
-        },
-        "straight": {
-          "n": 16815,
-          "delta_c0_m_quantiles": [
-            0.009999999999999787,
-            0.0529999999999931,
-            1.0599999999999996
-          ],
-          "c0_old_capped": 0,
-          "c0_new_capped": 0
-        },
-        "turn": {
-          "n": 2920,
-          "delta_c0_m_quantiles": [
-            0.6600000000000001,
-            1.8699999999999997,
-            2.2299999999999995
-          ],
-          "c0_old_capped": 0,
-          "c0_new_capped": 0
-        },
-        "large_error": {
-          "n": 2831,
-          "delta_c0_m_quantiles": [
-            0.8600000000000003,
-            1.9450000000000007,
-            2.2299999999999995
-          ],
-          "c0_old_capped": 0,
-          "c0_new_capped": 0
-        }
-      },
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-      }
-    }
-  ],
-  "recent_routes": [
-    {
-      "route": "157",
-      "cycles": 76554,
-      "wire_checks": 15312,
-      "action_c1_and_integral_identical": true,
-      "action_c0_correction_doubled": true,
-      "direct_path_identical": true,
-      "action_source": "Reconstructed geometry with recorded delay/model smoothing; speed approximated by first consuming control sample"
-    },
-    {
-      "route": "15a",
-      "cycles": 21867,
-      "wire_checks": 4374,
-      "action_c1_and_integral_identical": true,
-      "action_c0_correction_doubled": true,
-      "direct_path_identical": true,
-      "action_source": "Logged original action and selected geometry; exact model timestamp joins"
-    },
-    {
-      "route": "15b",
-      "cycles": 22278,
-      "wire_checks": 4456,
-      "action_c1_and_integral_identical": true,
-      "action_c0_correction_doubled": true,
-      "direct_path_identical": true,
-      "action_source": "Logged original action and selected geometry; exact model timestamp joins"
-    }
-  ],
-  "recent_harness_sha256": "b129b3b5d76a30ca647043a32207031a98a53eeab4620b4ebb7880c1b209a214"
-}

docs/ford_c0_feedback_v15.md

@@ -1,109 +0,0 @@
-# Ford C0 proportional feedback trial
-
-This describes the original P=0.5 trial. The subsequent
-[action-mode gain trial](ford_action_c0_gain_v19.md) raises action C0 P to 1.0;
-direct-path mode retains P=0.5.
-
-The existing controller sends its tracking correction through C1 only. Offline
-identification on the Lightning suggests that stronger C1 requests can stop
-producing faster wheel movement while additional C0 may still help. This trial
-adds proportional correction to C0. It does not change the selected curvature,
-C0 base geometry, C1 PI calculation, transmission rate or existing opt-in selection.
-
-## Command
-
-With host-sign road curvature error `e = reference - measured`:
-
-```
-scale = VM.get_steer_from_curvature(1, speed, 0) / (CP.steerRatio * CP.wheelbase)
-C0_response = 0.010717679293424373 + 0.018122981795212647 / max(speed, 1.34)^2
-C0_P = 0.5 * e * scale / C0_response
-C0 = clip(existing_bounded_C0_base + C0_P, -5.11, 5.11)
-```
-
-The response coefficients are an offline fit to isolated C0 commands on route
-`84865544361f55cb/00000145--5d9f02fee7`. They express **geometric steering curvature
-per metre of C0**, not road curvature or an instantaneous wheel response. The
-existing vehicle model converts the error into those units; its road-roll and
-steering-angle offsets cancel in the error. No plant identification, observer or
-dynamic plant simulation runs on the device.
-
-`0.5` is an explicit trial feedback gain, not a fitted optimum. Before field
-clipping, the extra C0 has a fitted steady effect equal to half the current
-wheel-angle error. This does not mean 50% of the C0 field. The 1.34 m/s term
-holds the fitted conversion below the identification dataset's minimum speed;
-it does not disable steering or add a maneuver state.
-
-C0 correction is recomputed every update, including updates that have no fresh
-integration interval. It has no integrator, request-change state, deadband, or
-additional slew limit. It becomes zero at zero error and changes sign on
-overshoot. Existing driver override and PSCM arbitration disable it together
-with other feedback. PSCM limit-reached continues to inhibit outward C1
-integration; it does not freeze either proportional command. C1 remains
-P=0.75, I=1.0. C2/C3 remain zero.
-
-The existing `FordModelActionController` Sunnylink toggle still selects this
-controller for CAN FD. With the toggle off, startup selects upstream Ford
-control. No new UI or lateral-maneuver changes are included.
-
-## Offline validation
-
-The native-time replay compares the candidate against production commit
-`d425b3260b0785b22096d130702b54a2e0761c36`, with recorded measurements, requests,
-model health, driver input, service timestamps and PSCM arbitration held fixed.
-
-- Ten Lightning routes: a9, b9, 112, 113, 117, 11c, 125, 146, 149 and 151.
-- 1,170,113 cycles; 117,016 in-memory Float32/CAN encode/decode checks.
-- Identical C1 output, C1 integral and command validity on every compared cycle.
-- All outputs finite, inside field bounds, with C2/C3 zero.
-- C0 exactly matches the old command whenever its new correction is zero or
-  feedback is disabled.
-- Across eligible samples with at least 30 degrees of wheel-angle error, the
-  median C0 change is 0.65 m and the 95th percentile is 1.47 m.
-- Across eligible requests below 5 degrees, the median change is 0.01 m and
-  the 95th percentile is 0.05 m. This cohort includes turn exits with a still
-  turned wheel; its largest correction is consequently much larger.
-- At route 151 time 306.89 s, the replay changes C0 from 0.75 to 1.68 m for
-  approximately 76 degrees of tracking error. Both replays send the same C1.
-
-The test suite covers immediate correction, no accumulation, reversal, catch-up,
-invalid inputs, real vehicle-model units across stiffness/speed/roll changes,
-driver/PSCM arbitration, upstream fallback, and actual controlsd publication
-through the 100 Hz CAN sender. The machine-readable route replay summary is
-`ford_c0_feedback_v15_validation.json`.
-
-```
-PYTHONPATH=.:opendbc_repo python -m pytest -q \
-  openpilot/selfdrive/controls/tests/test_ford_model_action*.py \
-  openpilot/selfdrive/controls/tests/test_ford_path.py
-
-PYTHONPATH=.:opendbc_repo python tools/ford_pscm_lab/c0_feedback_validate.py \
-  --output .cache/ford_c0_feedback_v15 --workers 4
-```
-
-The replay requires the existing local rlog extracts. Input hashes are recorded
-in its validation JSON. It does not assume the truck follows modified commands.
-
-## What is still experimental
-
-The earlier fitted plant overpredicted one second of wheel movement by about
-16 degrees in the route 151 example. It also misses the phase of a low-speed
-oscillation in route 125. Independent C0/C1 response contributions are an
-approximation; a shared PSCM limit could prevent the extra movement predicted
-from C0.
-
-An additional four-second fitted-plant simulation, with controller feedback
-recomputed against simulated wheel angle, showed no regression for the tested
-0.5 gain in its turn, unwind and near-straight cohorts. Route 149 had 27 eligible
-turn windows; route 151 had no four-second turn windows surviving the strict
-intervention/status mask. Future reference and speed were frozen, and the model
-does not reproduce the route 125 failure faithfully. These results are a
-sanity check, not validation of road tracking or an optimized gain.
-
-Actual acceptance is better desired-versus-actual wheel tracking on turn entry,
-without added oscillation, overshoot or delayed unwind. The software behavior
-is validated; the physical improvement remains to be measured.
-
-Diagnostics identify `model-action-curvature-c0-feedback-v15` and record
-`offset_proportional`, `c0_proportional_gain`, and `curvature_scale` alongside
-the existing heading/feedforward/integral signals.

docs/ford_c0_feedback_v15_validation.json

@@ -1,856 +0,0 @@
-{
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docs/ford_c0_softening_v22.md

@@ -1,85 +0,0 @@
-# Action-mode C0 feedback softening
-
-Route 166 used v21 and improved normal driving, but the first two user bookmarks
-showed roughly 2 Hz wheel oscillations around a smoother requested angle at
-17–31 mph. The first occurred with uninterrupted feedback, small I and no
-PSCM limitReached. Both C0 P and C1 P followed the error, so these recordings
-do not isolate either channel's contribution to physical oscillation.
-
-This trial changes C0 P only. With the curvature error converted into `x` metres
-of C0 before applying the existing gain, the new correction is:
-
-```text
-C0 P = gain * (x - 0.125 * tanh(x / 0.25))
-```
-
-Near zero, the slope is half the old gain. It increases smoothly toward the old
-gain without exceeding it. The response stays symmetric, monotonic and nonzero
-for nonzero error; it introduces no time filter, deadband, cutoff or additional
-state in the control law. Zero error removes P immediately, and opposite error
-commands opposite P in the same cycle.
-
-Large corrections lose at most 0.125 m times the existing C0 gain. This is a
-bound on the difference from the old correction, **not a C0 command cap**.
-The field bounds remain C0 ±5.11 m and C1 ±0.5 rad. The scale and minimum slope
-are explicit drive-trial choices, not an identified stable PSCM calibration.
-Scales 0.15, 0.25, 0.4 and 0.5 m were compared on route 166; 0.25 m preserves
-about 96% of the good left's peak entry command while reducing the repeated
-C0 command component in both wobbles.
-
-The base action mapping, selected desired curvature, C1 P/I, delayed reference,
-integral cadence and anti-windup, driver/PSCM arbitration, CAN cadence and
-upstream limits are unchanged. The softening applies at all speeds in action
-mode: the bookmarked wobbles were above the proposed 11.2 mph freeze cutoff.
-Direct-path feedback retains its linear law; when it falls back to an action
-reference, the action softening applies. The master toggle still selects
-upstream Ford control when disabled. No new toggle is added.
-
-Diagnostics identify v22 and include `offset_proportional_linear` alongside
-the actual `offset_proportional`, so a new log can show exactly what softening
-removed. The extra stored scalar is diagnostic only and resets with P.
-
-## Validation
-
-Five native-time route replays cover 646,178 cycles and 64,620 CAN encode/decode
-checks: routes 149, 151, 157, 162 and 166. The v21 baseline matches its archived
-commands and integral exactly. C1 commands, C1 P/I, reference, validity,
-arbitration and base mapping remain identical on every cycle. C2/C3 remain
-zero. The largest raw C0 P change is 0.125 m; after CAN quantization the
-command difference is at most 0.13 m.
-
-| Route-166 event | Repeating total C0 component, before → after | Reduction |
-| --- | --- | --- |
-| First wobble | 0.146 → 0.076 m peak-to-peak | 48% |
-| Second wobble | 0.222 → 0.150 m peak-to-peak | 32% |
-| Second wobble exit | 0.335 → 0.199 m peak-to-peak | 41% |
-
-These use a same-frequency sine fit with quadratic trend removal. They measure
-the **command**, not a predicted reduction in wheel oscillation. The good left's
-peak entry C0 changes from -2.93 to -2.81 m; its mid-turn unwind peak changes
-from +1.44 to +1.31 m. C1 is identical. Entry and unwind are both softened;
-neither physical response is proven better by a frozen-motion replay.
-
-Regression tests first failed against v21, then passed with v22. They exercise
-small nonzero corrections, preserved large-error authority, monotonic bounded
-incremental gain, immediate reversal/release, unaffected C1 and base mapping,
-and the direct-path exception. Existing controls-to-CAN integration, model
-selection, driver override, request-history timing and default-upstream tests
-also pass. Exact counts and provenance are in
-`ford_c0_softening_v22_validation.json`.
-
-Reproduce a route comparison with the built Python dependencies:
-
-```sh
-PYTHONPATH=.:opendbc_repo:.cache/ford_geometry_deps python \
-  tools/ford_pscm_lab/c0_softening_replay.py \
-  --source .cache/ford_route166/full \
-  --delay-intake .cache/ford_route166/intake.npz \
-  --archive .cache/ford_feedback_delay_v21/166/commands.npz \
-  --output .cache/ford_c0_softening_v22/166
-```
-
-For the next drive, the discriminating observations are whether small
-left-right corrections settle sooner, whether centering becomes too loose,
-and whether strong entry and prompt release remain. Do not interpret this
-offline validation as a demonstrated physical stability fix.

docs/ford_c0_softening_v22_validation.json

@@ -1,415 +0,0 @@
-{
-  "baseline_commit": "ed9c44f57584b5f033f79db6331e21b9b3e0ad55",
-  "method": "Native-time production-controller replay using recorded wheel motion. Tests command behavior, not changed physical tracking.",
-  "cycles": 646178,
-  "wire_checks": 64620,
-  "tests": {
-    "ford_controller_and_integration": 708,
-    "subtests": 2,
-    "ford_can": 11,
-    "ruff": "passed",
-    "diff_check": "passed",
-    "ford_can_subtests": 23
-  },
-  "selection": {
-    "0.15": {
-      "wobble1": {
-        "P_periodic_reduction_pct": 43.471957098342315,
-        "P_before": 0.1502831327602382,
-        "P_after": 0.08495211376066261
-      },
-      "wobble2": {
-        "P_periodic_reduction_pct": 20.901758921591217,
-        "P_before": 0.22856483271408398,
-        "P_after": 0.1807907624006479
-      },
-      "wobble2_exit": {
-        "P_periodic_reduction_pct": 31.59900962734852,
-        "P_before": 0.3407619177930598,
-        "P_after": 0.2330845265832934
-      },
-      "left_entry_peak": {
-        "t": 557.084304569,
-        "before": -2.9300000000000006,
-        "after_unpacked": -2.8568021983086886,
-        "retained_percent": 97.50178151224192
-      }
-    },
-    "0.25": {
-      "wobble1": {
-        "P_periodic_reduction_pct": 47.14718986588794,
-        "P_before": 0.1502831327602382,
-        "P_after": 0.07942885882136426
-      },
-      "wobble2": {
-        "P_periodic_reduction_pct": 31.648695347911747,
-        "P_before": 0.22856483271408398,
-        "P_after": 0.1562270451359394
-      },
-      "wobble2_exit": {
-        "P_periodic_reduction_pct": 40.10137585312036,
-        "P_before": 0.3407619177930598,
-        "P_after": 0.2041117003745639
-      },
-      "left_entry_peak": {
-        "t": 557.084304569,
-        "before": -2.9300000000000006,
-        "after_unpacked": -2.8068022480277577,
-        "retained_percent": 95.79529856750024
-      }
-    },
-    "0.4": {
-      "wobble1": {
-        "P_periodic_reduction_pct": 48.78814118850091,
-        "P_before": 0.1502831327602382,
-        "P_after": 0.07696278576667091
-      },
-      "wobble2": {
-        "P_periodic_reduction_pct": 40.16673505205207,
-        "P_before": 0.22856483271408398,
-        "P_after": 0.13675780193565182
-      },
-      "wobble2_exit": {
-        "P_periodic_reduction_pct": 45.26729702228269,
-        "P_before": 0.3407619177930598,
-        "P_after": 0.18650820832684864
-      },
-      "left_entry_peak": {
-        "t": 557.084304569,
-        "before": -2.9300000000000006,
-        "after_unpacked": -2.7318281193111016,
-        "retained_percent": 93.23645458399662
-      }
-    },
-    "0.5": {
-      "wobble1": {
-        "P_periodic_reduction_pct": 49.20782335256252,
-        "P_before": 0.1502831327602382,
-        "P_after": 0.07633207426288317
-      },
-      "wobble2": {
-        "P_periodic_reduction_pct": 43.09149572817541,
-        "P_before": 0.22856483271408398,
-        "P_after": 0.1300728275889832
-      },
-      "wobble2_exit": {
-        "P_periodic_reduction_pct": 46.79902581397264,
-        "P_before": 0.3407619177930598,
-        "P_after": 0.18128865992089754
-      },
-      "left_entry_peak": {
-        "t": 557.084304569,
-        "before": -2.9300000000000006,
-        "after_unpacked": -2.682025078944252,
-        "retained_percent": 91.53669211413828
-      }
-    }
-  },
-  "bookmarks": {
-    "wobble1": {
-      "window": [
-        420.8,
-        424.0
-      ],
-      "p": {
-        "old_peak_to_peak": 0.1502831327602382,
-        "new_peak_to_peak": 0.07942885882136426,
-        "reduction_percent": 47.14718986588794
-      },
-      "c0": {
-        "old_peak_to_peak": 0.1463643509329174,
-        "new_peak_to_peak": 0.07619232987207852,
-        "reduction_percent": 47.943382807061084
-      }
-    },
-    "wobble2": {
-      "window": [
-        514.3,
-        521.4
-      ],
-      "p": {
-        "old_peak_to_peak": 0.22856483271408398,
-        "new_peak_to_peak": 0.15622704513593932,
-        "reduction_percent": 31.648695347911794
-      },
-      "c0": {
-        "old_peak_to_peak": 0.22189262078364064,
-        "new_peak_to_peak": 0.15013115100291197,
-        "reduction_percent": 32.3406292319656
-      }
-    },
-    "wobble2_exit": {
-      "window": [
-        523.7,
-        526.8
-      ],
-      "p": {
-        "old_peak_to_peak": 0.3407619177930598,
-        "new_peak_to_peak": 0.2041117003745639,
-        "reduction_percent": 40.10137585312036
-      },
-      "c0": {
-        "old_peak_to_peak": 0.3347422828817533,
-        "new_peak_to_peak": 0.19869356211391034,
-        "reduction_percent": 40.642825159886286
-      }
-    }
-  },
-  "good_left_points": [
-    {
-      "meaning": "entry",
-      "t": 557.084304569,
-      "target_angle": 167.83670043945312,
-      "actual_angle": 76.5999984741211,
-      "old_c0": -2.9300000000000006,
-      "new_c0": -2.8100000000000005,
-      "old_p": -1.9288202876424623,
-      "new_p": -1.8038203373625472,
-      "c1": -0.4565,
-      "i": -0.058477505092137665
-    },
-    {
-      "meaning": "midturn_unwind",
-      "t": 558.284113233,
-      "target_angle": 109.08927154541016,
-      "actual_angle": 183.6999969482422,
-      "old_c0": 1.44,
-      "new_c0": 1.31,
-      "old_p": 2.0905105735349747,
-      "new_p": 1.9655105871733405,
-      "c1": -0.11499999999999999,
-      "i": -0.05363273646512535
-    }
-  ],
-  "routes": {
-    "166": {
-      "cycles": 62579,
-      "wire_checks": 6258,
-      "baseline_matches_archived_v21_exactly": true,
-      "c1_integral_reference_arbitration_equal_every_cycle": true,
-      "P_reduction_p50_p95_p99_max_m": [
-        0.003636227080371235,
-        0.10752626130792256,
-        0.12490297403763004,
-        0.12499999961974328
-      ],
-      "C0_change_p50_p95_p99_max_m": [
-        0.0,
-        0.10999999999999943,
-        0.1299999999999999,
-        0.13000000000000078
-      ],
-      "variants": {
-        "old": {
-          "c0_step_p95_p99_max": [
-            0.020000000000000018,
-            0.050000000000000266,
-            1.8900000000000006
-          ],
-          "c0_bound_seconds": 0.0
-        },
-        "new": {
-          "c0_step_p95_p99_max": [
-            0.010000000000000675,
-            0.040000000000000036,
-            1.7700000000000005
-          ],
-          "c0_bound_seconds": 0.0
-        }
-      },
-      "baseline_commit": "ed9c44f57584b5f033f79db6331e21b9b3e0ad55",
-      "method": "Replay C0 softening against v21 on frozen recorded motion, not a PSCM model.",
-      "controller_sha256": "b0aff6d70ad8ae7693c69068dbe646767e4d9fc20a23af70cbddcf6ebf849f48",
-      "source_sha256": {
-        ".cache/ford_route166/full/route.npz": "0ce273e4a12725c4481b11dab38b304950d364455b89f216b929a9c61b7feb1c",
-        ".cache/ford_route166/full/model_paths.npz": "720fe9ba9865a05937989449b0b0bd3304baf5f1730042da6b61adc2941c0f5a",
-        ".cache/ford_route166/intake.npz": "660b5e7f6789d931660ad71b10f7d8ce2b63436e7573b615ccc8e5da1f2a14d0",
-        ".cache/ford_feedback_delay_v21/166/commands.npz": "bfe51abd9e914edea505efc4fb42fe66950cfa5835e4f929d922992e90c88b5b"
-      }
-    },
-    "162": {
-      "cycles": 49003,
-      "wire_checks": 4901,
-      "baseline_matches_archived_v21_exactly": true,
-      "c1_integral_reference_arbitration_equal_every_cycle": true,
-      "P_reduction_p50_p95_p99_max_m": [
-        0.01864462197101791,
-        0.12428797325001033,
-        0.12499916992638829,
-        0.12499999992682431
-      ],
-      "C0_change_p50_p95_p99_max_m": [
-        0.019999999999999574,
-        0.1200000000000001,
-        0.1299999999999999,
-        0.13000000000000078
-      ],
-      "variants": {
-        "old": {
-          "c0_step_p95_p99_max": [
-            0.03000000000000025,
-            0.09999999999999964,
-            2.7299999999999995
-          ],
-          "c0_bound_seconds": 0.0
-        },
-        "new": {
-          "c0_step_p95_p99_max": [
-            0.03000000000000025,
-            0.08999999999999986,
-            2.5999999999999996
-          ],
-          "c0_bound_seconds": 0.0
-        }
-      },
-      "baseline_commit": "ed9c44f57584b5f033f79db6331e21b9b3e0ad55",
-      "method": "Replay C0 softening against v21 on frozen recorded motion, not a PSCM model.",
-      "controller_sha256": "b0aff6d70ad8ae7693c69068dbe646767e4d9fc20a23af70cbddcf6ebf849f48",
-      "source_sha256": {
-        ".cache/ford_route162/full/route.npz": "a725f9ca309b90a2d750d51a9b9d5b459d99119a54ab048631bc0fce07348af8",
-        ".cache/ford_route162/full/model_paths.npz": "cffe310b122d9ae26a53ee504608156b4242a6bba5f681898d5b661951ac5ce5",
-        ".cache/ford_route162/intake.npz": "9455b01e1d1d3dcba08276b382a8c6cd54ff6fb19cb417b72d0ac89cf193034b",
-        ".cache/ford_feedback_delay_v21/162/commands.npz": "6c70518fb9b7232b689740662c4bd5c0c24cabee4e743a2b4f3b2313bcce1912"
-      }
-    },
-    "157": {
-      "cycles": 76554,
-      "wire_checks": 7656,
-      "baseline_matches_archived_v21_exactly": true,
-      "c1_integral_reference_arbitration_equal_every_cycle": true,
-      "P_reduction_p50_p95_p99_max_m": [
-        0.00530841320802854,
-        0.12371750128642126,
-        0.12499999318487974,
-        0.125
-      ],
-      "C0_change_p50_p95_p99_max_m": [
-        0.009999999999999787,
-        0.1200000000000001,
-        0.1299999999999999,
-        0.13000000000000078
-      ],
-      "variants": {
-        "old": {
-          "c0_step_p95_p99_max": [
-            0.03000000000000025,
-            0.09000000000000014,
-            5.6000000000000005
-          ],
-          "c0_bound_seconds": 0.2999506119999751
-        },
-        "new": {
-          "c0_step_p95_p99_max": [
-            0.02999999999999936,
-            0.08000000000000007,
-            5.6000000000000005
-          ],
-          "c0_bound_seconds": 0.15561390599987135
-        }
-      },
-      "baseline_commit": "ed9c44f57584b5f033f79db6331e21b9b3e0ad55",
-      "method": "Replay C0 softening against v21 on frozen recorded motion, not a PSCM model.",
-      "controller_sha256": "b0aff6d70ad8ae7693c69068dbe646767e4d9fc20a23af70cbddcf6ebf849f48",
-      "source_sha256": {
-        ".cache/ford_route157/full/route.npz": "e2e2573f904aa11ee9e10450e7f5b965d475657b61127e827a67eadcd6b857fb",
-        ".cache/ford_route157/full/model_paths.npz": "25fc2526e092fde5ceb5aab63a5aa4f73a2c989a3263cedb0a26faf8da61c47b",
-        ".cache/ford_route157/intake.npz": "5dffd86fde68197727d6c6b9c5eae82320a456fa1206c4cf18e5e9c69419dde4",
-        ".cache/ford_feedback_delay_v21/157/commands.npz": "7d7659c54662e7f56015313e634b959be29dae524522b425f4c2adccc391fc9d"
-      }
-    },
-    "151": {
-      "cycles": 325708,
-      "wire_checks": 32571,
-      "baseline_matches_archived_v21_exactly": true,
-      "c1_integral_reference_arbitration_equal_every_cycle": true,
-      "P_reduction_p50_p95_p99_max_m": [
-        0.004569097471431923,
-        0.07115894622455567,
-        0.12458615764509068,
-        0.12499999999990274
-      ],
-      "C0_change_p50_p95_p99_max_m": [
-        0.009999999999999787,
-        0.07000000000000028,
-        0.1200000000000001,
-        0.13000000000000078
-      ],
-      "variants": {
-        "old": {
-          "c0_step_p95_p99_max": [
-            0.010000000000000675,
-            0.040000000000000036,
-            3.45
-          ],
-          "c0_bound_seconds": 0.0
-        },
-        "new": {
-          "c0_step_p95_p99_max": [
-            0.010000000000000231,
-            0.03000000000000025,
-            3.33
-          ],
-          "c0_bound_seconds": 0.0
-        }
-      },
-      "baseline_commit": "ed9c44f57584b5f033f79db6331e21b9b3e0ad55",
-      "method": "Replay C0 softening against v21 on frozen recorded motion, not a PSCM model.",
-      "controller_sha256": "b0aff6d70ad8ae7693c69068dbe646767e4d9fc20a23af70cbddcf6ebf849f48",
-      "source_sha256": {
-        ".cache/ford_route151/full/route.npz": "41a5b8bd388cf5a3d553f784542376ac9355fcdc5be4f427053d0504537babe1",
-        ".cache/ford_route151/full/model_paths.npz": "980b3843cec04254280d744a5801cee1bf0f8ef371052398327ff245f9eee01b",
-        ".cache/ford_route151/intake.npz": "18bbefb7738cebd0071dc987e90f74469a0c8ed456f9412324030592cafd68c9",
-        ".cache/ford_feedback_delay_v21/151/commands.npz": "4ab25e4c31fcddf08184c396efc3db78953d5ce60da7c653964bc2fa7e3184c9"
-      }
-    },
-    "149": {
-      "cycles": 132334,
-      "wire_checks": 13234,
-      "baseline_matches_archived_v21_exactly": true,
-      "c1_integral_reference_arbitration_equal_every_cycle": true,
-      "P_reduction_p50_p95_p99_max_m": [
-        0.010345416404636773,
-        0.12405821661525897,
-        0.12499991437968122,
-        0.12499999999999556
-      ],
-      "C0_change_p50_p95_p99_max_m": [
-        0.009999999999999787,
-        0.1200000000000001,
-        0.1299999999999999,
-        0.13000000000000078
-      ],
-      "variants": {
-        "old": {
-          "c0_step_p95_p99_max": [
-            0.03000000000000025,
-            0.08999999999999986,
-            3.87
-          ],
-          "c0_bound_seconds": 0.0
-        },
-        "new": {
-          "c0_step_p95_p99_max": [
-            0.020000000000000462,
-            0.08000000000000007,
-            3.750000000000001
-          ],
-          "c0_bound_seconds": 0.0
-        }
-      },
-      "baseline_commit": "ed9c44f57584b5f033f79db6331e21b9b3e0ad55",
-      "method": "Replay C0 softening against v21 on frozen recorded motion, not a PSCM model.",
-      "controller_sha256": "b0aff6d70ad8ae7693c69068dbe646767e4d9fc20a23af70cbddcf6ebf849f48",
-      "source_sha256": {
-        ".cache/ford_route149/full/route.npz": "aa5902877343cd033ee286b3668d91a85336ffbf740861849fb0b76b0ca24ade",
-        ".cache/ford_route149/full/model_paths.npz": "19827800b8fb5983f3d6b72fcfaf36e35a40170bb17cd7c1e49374744fb449fb",
-        ".cache/ford_route149/intake.npz": "503919c4f1566ef850007c59f16ce074697ba57732f21beb7b158c1ca7be3a9d",
-        ".cache/ford_feedback_delay_v21/149/commands.npz": "15c4ad68338a921cd6b2cd22d0b3d6b5b8637614dacbe61f954a3a6d7cb8d8d9"
-      }
-    }
-  },
-  "code_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "b0aff6d70ad8ae7693c69068dbe646767e4d9fc20a23af70cbddcf6ebf849f48",
-    "tools/ford_pscm_lab/c0_softening_replay.py": "43e185871e5b9875cee5288160d344fe4d606c4bdf63dd719fb6a6cd9404307e"
-  }
-}

docs/ford_c1_carryover.md

@@ -1,102 +0,0 @@
-# Ford C1 correction carryover experiment
-
-The feedback controller at `5fbb583e5` can retain a correction from an earlier
-turn that outweighs the new base C1. The measured curvature can already be
-opposite the desired curvature, yet total C1 continues to request the old
-direction while the integral works back toward zero.
-
-This experiment keeps the existing 1:1 feedback strength and adds a conditional
-reset of that correction. It is a command-policy experiment, not a demonstrated
-improvement in physical steering response.
-
-## Release rule
-
-All of the following must be true on a valid, active cycle:
-
-- Feedback is enabled and a fresh steering publication advances measurement time.
-- Base C1 is nonzero by at least one DBC step (0.0005 rad).
-- Both target C0 and the slewed C0 request agree with base C1's direction,
-  by at least one DBC step (0.01 m).
-- Measured steering-derived curvature points opposite the desired curvature.
-- The accumulated correction prevents total C1 from requesting the base direction:
-  the sum of base C1 and correction is zero or opposite base C1.
-
-The stored correction is then set to zero before the usual feedback increment.
-The final C1 command still passes through its existing ±0.5 rad amplitude and
-0.5 rad/s slew limits. The reset cannot directly jump the transmitted command.
-The DBC steps reject requests smaller than one representable step; they are
-not new strength multipliers. This reset policy is itself an engineering choice.
-
-There is no reset simply because steering error crosses zero, or because C1
-and its correction have opposite signs. Matched curvature, neutral/conflicting
-C0, a correction that does not outweigh base C1, and repeated measurements all
-preserve normal integration. The condition can apply to small steering
-corrections as well as large turns; it has no turn-size or speed threshold.
-
-No previous-turn direction or timer is stored. Agreement between current path
-requests and disagreement with measured curvature are the confirmation. This
-does not establish which part of the combined C0/C1 request a PSCM physically
-needs. In particular, when C0 still points into the previous turn, this rule
-deliberately leaves the integral alone.
-
-## Preserved behavior and diagnostics
-
-C0's 7 m mapping, its limits, the base C1 mapping, upstream curvature limiting,
-the original integral strength, driver/PSCM arbitration, C2=C3=0 and the 100 Hz
-sender are unchanged. No fitted PSCM model, proportional term or gain schedule
-is added. There are still three values used by the command law: C0, C1 and
-the correction. A diagnostic-only `carryover_release_count` is added and resets
-with the controller. It is included in the existing periodic diagnostic event.
-
-The same default-off Sunnylink toggle selects this version. Its diagnostic
-identity is `model-action-c1-feedback-v2`. See the [drive-test instructions](ford_model_action_drive_test.md).
-
-## Offline evidence
-
-The two mirrored command-regression tests failed before the change. After
-building correction through actual feedback, the old controller still requested
-the old C1 direction 0.4 s into a reversal. Both tests now pass with the original
-output slew. Additional tests cover holding a steady curve, small error
-crossings, neutral and conflicting C0, representable command boundaries,
-freshness, driver override and PSCM limits. Integration tests execute the actual
-controlsd selection and upstream limiter, Float32 publication and Ford CAN
-builder, using both model and maneuver-plan requests and both turn directions.
-
-The combined suite passes **567 tests and 9,146 subtests**, with the same 178
-inherited/unsupported safety-test skips as the original feedback validation.
-The randomized checks include mirrored inputs, zero-error compatibility, and
-comparison against the exact previous controller from cloned pre-update states.
-
-Frozen b8 replay triggers 11 releases; b9 triggers 14. Activation and C0 match
-the previous controller exactly on every reconstructed cycle. In b9, most
-releases concern small corrections; one follows the large turn around 13:28.
-The C0/C1 disagreement at 14:36 is preserved. Numerical details and source
-hashes are in `ford_c1_carryover_validation.json`.
-
-At the release around 13:28, the candidate C1 crosses into the requested
-direction 0.255 s earlier than the previous controller on identical frozen
-inputs. This is a command zero-crossing comparison, not a measured improvement
-in the truck's steering response. The lab checks total 669,343 Float32/CAN
-round trips, in addition to the integration tests.
-
-Replay preserves recorded model requests and measured motion. A difference
-between candidate and baseline commands can persist because the recorded
-steering does not respond to the changed command. Replay cannot predict wheel
-angles, centering, oscillation, or how much earlier the vehicle would unwind.
-No device build, boot, installation or physical validation was performed.
-
-## Reproduction
-
-Use the branch's native dependencies and pinned opendbc revision
-`c21a9013700734dd20b09e05aa68329ad8cc20f9`. The route commands require the existing
-full-rlog b8/b9 extracts and the baseline Git revision. Run:
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:opendbc_repo
-python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
-python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_carryover/stress.json
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_carryover/zero_error_stress.json
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb8 --baseline 5fbb583e592d30de266f8160a5d6b9c620c97f56 --output .cache/ford_c1_carryover/routeb8
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb9 --baseline 5fbb583e592d30de266f8160a5d6b9c620c97f56 --output .cache/ford_c1_carryover/routeb9
-```

docs/ford_c1_carryover_validation.json

@@ -1,177 +0,0 @@
-{
-  "created_at_utc": "2026-09-10T14:00:37.853762+00:00",
-  "scope": "Conditional release of accumulated C1 correction; offline command behavior only, no predicted vehicle response.",
-  "baseline_commit": "5fbb583e592d30de266f8160a5d6b9c620c97f56",
-  "baseline_source_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev"
-  },
-  "hypothesis": "model-action-c1-feedback-v2",
-  "calibration_approved": false,
-  "toggle": {
-    "key": "FordModelActionController",
-    "default_enabled": false,
-    "activation": "Existing controlsd startup selection"
-  },
-  "release_rule": "Fresh enabled feedback; target and slewed C0 agree with base C1 by >= one DBC step; measured curvature is opposite; stored correction makes total C1 zero or opposite base. Clear correction, then apply original integration and output slew.",
-  "engineering_choices": "Conditional reset policy, using existing DBC steps (0.01 m, 0.0005 rad) to confirm nonzero commands. Original 1:1 integral strength is unchanged.",
-  "preserved": [
-    "C0 mapping and limits",
-    "Base C1 mapping",
-    "Original integral strength",
-    "Final C1 amplitude and slew limits",
-    "Driver and PSCM arbitration",
-    "Upstream selection and limiting",
-    "100 Hz sender",
-    "C2=C3=0"
-  ],
-  "panda_safety_changed": false,
-  "opendbc_submodule_changed": false,
-  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-  "controller_size": {
-    "total_lines": 194,
-    "code_lines_excluding_blanks_comments_docstrings": 131,
-    "core_command_state_values": 3,
-    "core_diagnostic_counters": 1
-  },
-  "tests": {
-    "combined_suite": "567 passed, 178 skipped, 9146 subtests passed in 6.45s",
-    "safety_skips": "Same 178 inherited or unsupported variants recorded in ford_c1_feedback_validation.json.",
-    "regression": "Two mirrored carryover command tests fail on the exact baseline class and pass in the candidate suite.",
-    "ruff_changed_python": "pass",
-    "ty_controller": "pass",
-    "settings_compiler_check": "pass",
-    "carryover_controlsd_to_can_frames": 1120,
-    "existing_feedback_controlsd_to_can_frames": 1010,
-    "integration_scope": "Actual source selection, upstream limiting, controller, Float32 publication, Ford sender, both plan sources and signs, all counters and checksums."
-  },
-  "routes": {
-    "b8": {
-      "cycles": 160431,
-      "active_cycles": 68217,
-      "validity_and_c0_match_baseline_exactly": true,
-      "c1_changed_cycles": 6065,
-      "max_abs_c1_change_rad": 0.09250000000000003,
-      "can_round_trips": 160431,
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; b8 and b9 have no maneuver-plan messages.",
-      "carryover_release_count": 11,
-      "input_sha256": {
-        "route.npz": "6f5dd369b70eaed4b95b28c8b25c9f2e9b830fa07a334881a185505481667c8b",
-        "model_paths.npz": "939af6cf7e74251d8842581cc078d26d9fbfd22a0d7817cb0e368697d419b615",
-        "metadata.json": "73b439132d1de37ec187b544c04d2b05c80965065515a4b7dec29ba57ae37e7c"
-      }
-    },
-    "b9": {
-      "cycles": 90774,
-      "active_cycles": 86474,
-      "validity_and_c0_match_baseline_exactly": true,
-      "c1_changed_cycles": 15208,
-      "max_abs_c1_change_rad": 0.10400000000000004,
-      "can_round_trips": 90774,
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; b8 and b9 have no maneuver-plan messages.",
-      "carryover_release_count": 14,
-      "input_sha256": {
-        "route.npz": "b07c789d8155335f5d120d0262fced6e4d5803fe767b0ff49b6413dce4140b5c",
-        "model_paths.npz": "6b1f87897c050273fdc05af051307a049b6fc3a93072e7cda1721195ce7c3861",
-        "metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee"
-      }
-    }
-  },
-  "command_timing_example": {
-    "event": {
-      "time_s": 808.286646083,
-      "correction_before_rad": -0.13089810321135922,
-      "correction_after_rad": 0.0,
-      "base_c1_rad": 0.06412824021622576,
-      "desired_angle_deg": -24.17155647277832,
-      "actual_angle_deg": -0.30000001192092896,
-      "speed_m_s": 11.804088592529297,
-      "baseline_c0_c1": [
-        0.15000000000000036,
-        -0.06600000000000006
-      ],
-      "candidate_c0_c1": [
-        0.15000000000000036,
-        -0.062000000000000055
-      ]
-    },
-    "scope": "Command zero crossing on identical frozen recorded inputs; not wheel response.",
-    "baseline_c1_rightward_at_s": 808.67241324,
-    "candidate_c1_rightward_at_s": 808.4169884780001,
-    "command_crossing_advance_s": 0.25542476199984776
-  },
-  "feedback_stress": {
-    "cycles": 200000,
-    "mirrored_updates": 200000,
-    "can_round_trips": 200000,
-    "carryover_release_count": 946,
-    "baseline_revision": "5fbb583e592d30de266f8160a5d6b9c620c97f56",
-    "baseline_source_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
-    "exact_unchanged_state_and_commands_without_release": 199054,
-    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, carryover direction/confirmation, integration, PSCM limits, CAN.",
-    "scope": "Numerical software invariants only; no model of vehicle motion.",
-    "calibration_approved": false,
-    "controller_sha256": "6f40a05977253987a2c96e74c8c18d912367ed1e55630558ed7b28d52576e552"
-  },
-  "zero_error_stress": {
-    "seed": 20260907,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.40000000000000147,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
-    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
-  },
-  "total_lab_float32_can_round_trips": 669343,
-  "source_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "6f40a05977253987a2c96e74c8c18d912367ed1e55630558ed7b28d52576e552",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_feedback.py": "04935fb941a795cb243870a4c03f7073c68147b01da3cedf2872476aa5fb798e",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "e2e98d3a0a531235abd032fc4d3564796613ad51ff6ba22a230c48e36f6f6848",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "90fb42ce580f0085e349467086a2eef28c2512c671755d0771f6331d30b19035",
-    "tools/ford_pscm_lab/feedback_replay.py": "9bf145fbff6ed685aec2c0e5d0584e2dc7ff831021f15110f939e8a94c93280b",
-    "tools/ford_pscm_lab/stress_model_action.py": "0b25188edf2b248ebe741173ce02ce75bd59f1f39fd5bd909d41a3dca2294aa8",
-    "tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f",
-    "docs/ford_c1_carryover.md": "e8d08375963efc6d1ae6ce503bb580ba00cfa90adb71c941d56fe6e3701d5cbb",
-    "docs/ford_c1_feedback.md": "1b440a03082e5cec264a1d6693833ed0a7e07b6c6e2122f8e4455c5971121b57",
-    "docs/ford_model_action_drive_test.md": "7ac5ca0faf9690a23e7058d09b55f23e21e2ba74666001cacb56b67e8d8b4376",
-    "openpilot/selfdrive/controls/controlsd.py": "2b7e246f00bccce3a2bb9f6f44009ca77690cadb8527cd2bdfe855e9ad72ad1e",
-    "opendbc_repo/opendbc/car/ford/carcontroller.py": "b2d327a1833fb1f0d09ee17f54c9c8d45517fa29beb04a4543cfbf1b43f1a65e",
-    "opendbc_repo/opendbc/safety/modes/ford.h": "1d9d996292d6697ab4f02d55fae348d6aca1df94a07f7bdae48b68971b91afe7",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "7d38f315a7c5ce6d46d01a06f7eaddd4933f85639e5325ff71fdce22866ef401"
-  },
-  "artifact_sha256": {
-    ".cache/ford_c1_carryover/tests.txt": "cd65146df93632e4a2c1e086781e1da4673db7d038c7e673124f227efefbb567",
-    ".cache/ford_c1_carryover/baseline_regression.txt": "4469873f95ccf45a376a27fed05be3bdad5f808af7ceca472c6e2cb9d973eb7f",
-    ".cache/ford_c1_carryover/stress.json": "7a8d20d7abd7cf444f55b7316e8bedbed0fbe8e9587e09f90d5b1946c3c2e98c",
-    ".cache/ford_c1_carryover/zero_error_stress.json": "09e64eaac35df4ec324b41fabdc8baf91931106ac98b89c1ca71f4c8bf8796a4",
-    ".cache/ford_c1_carryover/timing.json": "0d18ed4164803adedbbd660fe024f4c28de8eb7921caa60659346ff386d3847f",
-    ".cache/ford_c1_carryover/routeb8/report.json": "d2c6f767cef29a74e292b6a16263d2da13b8c302e4653e419b0e232e1aaf762e",
-    ".cache/ford_c1_carryover/routeb8/commands.npz": "89b5c3474940b61afce060111c27fd9bad9e24d703c59fca61adf4ce10473df3",
-    ".cache/ford_c1_carryover/routeb9/report.json": "e3ff7bfa70e770eca763b125c283fd8a1d509ef1b6e7f26a81c398aca89a87da",
-    ".cache/ford_c1_carryover/routeb9/commands.npz": "e4f5f341146e2897a479baf222d678fd16352c8da931876a2471c3719faf9edf"
-  },
-  "test_environment": {
-    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
-    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
-    "PYTHONDONTWRITEBYTECODE": "1",
-    "LOG_ROOT": "/private/tmp/ford-carryover-logs",
-    "PARAMS_ROOT": "/private/tmp/ford-carryover-params"
-  },
-  "limitations": [
-    "Frozen replay preserves recorded requests and measured motion; changed commands do not establish changed wheel angles, centering or stability.",
-    "C0/C1 agreement is a reset-policy choice, not an identified relationship between PSCM input and wheel angle.",
-    "The rule can release small corrections and does not promise unchanged centering during transients.",
-    "No device build, boot, installation or physical validation was performed."
-  ]
-}

docs/ford_c1_feedback.md

@@ -1,129 +0,0 @@
-# Ford C1 feedback experiment
-
-This document records the original feedback change at `5fbb583e5`. The current
-version retains its feedback law and adds [conditional carryover release](ford_c1_carryover.md).
-The validation counts below describe the original change; current results are
-recorded in `ford_c1_carryover_validation.json`.
-
-The restored original v1 can leave a steering error while C0 and C1 still have
-room. Its command law does not directly correct measured steering error. This
-experiment keeps that mapping and adds one accumulated C1 correction:
-
-```text
-error = selected_limited_desired_curvature - measured_curvature
-correction += error * speed * elapsed_measurement_time
-C1_target = original_model_C1 + correction
-```
-
-Curvature (1/m) multiplied by traveled distance (m) gives heading mismatch in
-radians. Applying that mismatch to C1 at **1:1 is an explicit feedback-strength
-choice**. Dimensional consistency does not prove that every PSCM responds
-correctly to that strength. There is no fitted PSCM response model or new
-tunable multiplier.
-
-For example, at 20 m/s, a constant curvature shortfall of 0.001/m adds 0.02 rad
-to C1 over one second when the output can accept it. When measured curvature
-matches the request, the correction holds. If the vehicle turns more than
-requested, the correction moves in the unwind direction. Changing the model
-request still changes the base immediately, subject to the existing slew.
-
-## Preserved mapping and limits
-
-- C0 is the current model path's lateral offset at 7 m of arc distance, holding
-  the available endpoint for shorter paths; its limits remain ±5.11 m and 4 m/s.
-- Base C1 is `max(7 m, speed × 1 s) × selected_limited_desired_curvature`, clipped
-  to ±0.5 rad. Final C1 uses the same ±0.5 rad and 0.5 rad/s limits as v1.
-- C2 and C3 are zero. Sign conversion, Float32/CAN rounding, upstream curvature
-  limiting and the 100 Hz sender retain their existing behavior.
-
-The core holds three values: unquantized C0, unquantized C1 and the correction.
-Zero error from a reset leaves the correction at zero and preserves the old
-command arithmetic exactly. There is no separate percentage or distance cap
-on the correction.
-
-## Feedback measurement, timing and limits
-
-The measurement is `controlsd.curvature`, computed from measured steering
-angle with the existing live vehicle parameters. It matches the curvature
-used for the desired-versus-actual steering comparison. It is not an independent
-measurement of tire slip or the vehicle's actual ground path. CAN yaw remains
-an input-health gate and does not drive this feedback.
-
-The adapter integrates only elapsed time between fresh `carState` publications.
-The first publication after reset integrates zero time. Duplicate timestamps
-integrate zero; a fresh timestamp accounts for the elapsed measurement interval.
-Output slew continues on valid control cycles. Existing service-age, speed,
-model-geometry and clock-order gates remain, with the same finite/range check
-also applied to measured curvature. Disengagement or invalid input clears all
-three core states.
-
-The correction cannot accumulate farther into an unavailable C1 amplitude or
-slew request. Increments that move back toward the available output remain
-allowed. Moving the base request does not itself rewrite the correction.
-
-Fresh PSCM status means a valid message whose original CAN receipt timestamp
-is within the existing −5 to +150 ms age allowance. Reached-limit status (2)
-prevents extra accumulation in the measured turn direction. An old correction
-opposing that direction can return to zero; it cannot be trapped below the
-base request by the limit flag. Unwind and base model changes remain available.
-Close-to-limit status (1) does not block feedback. Missing or stale status
-does not gate it; local amplitude and slew anti-windup still apply.
-
-Driver steering-pressed, torque above the existing 1 Nm allowance, nonfinite
-torque, or fresh driver-limit status (3) clears the correction. Fresh denied
-or inactive PSCM status also clears it. The base model request continues
-through existing engagement and driver arbitration; clearing the correction
-does not bypass the final output slew.
-
-## Offline evidence and reproduction
-
-`ford_c1_feedback_validation.json` records the source hashes and completed
-checks. Tests exercise build, hold, unwind, saturation, limit flags, immediate
-driver input, stale and repeated measurements, invalid inputs and both signs.
-Integration tests execute actual controlsd selection and limiting, Float32
-publication, CarControlSP conversion and the Ford CarController CAN builder.
-Randomized runs check feedback invariants separately from zero-error
-compatibility with the original independent scalar oracle.
-
-The combined suite passes **511 tests and 9,146 subtests**. Its 178 skips are
-in inherited safety base classes or unsupported safety-test variants. Ruff,
-the controller's Ty check and settings compilation pass. Feedback stress,
-zero-error stress and the b8 replay total **578,569 Float32/CAN round trips**;
-the integration test separately verifies 1,010 transmitted packet constructions,
-including every counter and checksum. No packets are sent to hardware.
-
-The b8 replay retains recorded desired/measured curvature, model publications,
-driver input and PSCM flags. It compares candidate commands with the restored
-v1 at `a7d70e2b0890184636827351e4789d866f2a7c97`. All 160,431 reconstructed
-activation decisions and C0 commands match. C1 changes on 58,106 cycles.
-At 4:12.493, for example, reconstructed host C1 changes from −0.1625 to
-−0.2035 rad; at 3:56.250 it changes from −0.1280 to −0.1080 rad. These are
-changes to commands on frozen measurements, not predicted wheel angles.
-
-Controls publication time proxies the unlogged computation clock, and the
-full SubMaster health state cannot be reconstructed. This route uses the
-consumed model publication as its reference and has no maneuver-plan messages.
-Replay cannot show whether this feedback fixes weak turns, hanging turns or
-oscillation. A new drive is needed to measure those outcomes.
-
-Use the branch's native dependencies and pinned opendbc revision
-`c21a9013700734dd20b09e05aa68329ad8cc20f9`:
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:opendbc_repo
-python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
-python openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py --check
-python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_feedback/feedback_stress.json
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_feedback/zero_error_stress.json
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb8 --output .cache/ford_c1_feedback/routeb8
-```
-
-The last command requires the existing full-rlog b8 extract (`route.npz`,
-`model_paths.npz`, `metadata.json`), identified by hashes in the validation
-record. The historical route90/95 replay deliberately sets measured curvature
-equal to requested curvature to check zero-error compatibility; it does not
-exercise recorded steering feedback.
-
-Enable using the [existing Sunnylink toggle](ford_model_action_drive_test.md).
-The diagnostic identity is `model-action-c1-feedback-v1`.

docs/ford_c1_feedback_validation.json

@@ -1,258 +0,0 @@
-{
-  "created_at_utc": "2026-09-09T14:45:33.853345+00:00",
-  "baseline_commit": "a7d70e2b0890184636827351e4789d866f2a7c97",
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev"
-  },
-  "scope": "C1 measured-curvature feedback on restored original v1. Offline software validation only; no predicted or measured physical improvement.",
-  "calibration_approved": false,
-  "toggle": {
-    "key": "FordModelActionController",
-    "default_enabled": false,
-    "activation": "Existing startup selection after offroad-to-onroad cycle"
-  },
-  "feedback_law": "correction += (desired_curvature - measured_curvature) * speed * elapsed_measurement_time, subject to output and PSCM anti-windup",
-  "feedback_strength": "Explicit 1:1 heading-error-to-C1 choice; no fitted PSCM plant or new tunable multiplier",
-  "preserved": [
-    "C0 mapping and limits",
-    "C2=C3=0",
-    "C1 final amplitude and slew limits",
-    "100 Hz sender",
-    "upstream selection and limiting"
-  ],
-  "panda_safety_changed": false,
-  "opendbc_submodule_changed": false,
-  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-  "controller_size": {
-    "total_lines": 181,
-    "code_lines_excluding_blanks_comments_docstrings": 123,
-    "core_persistent_values": 3,
-    "adapter_timestamps": 3
-  },
-  "tests": {
-    "combined_suite": "511 passed, 178 skipped, 9146 subtests passed in 5.14s",
-    "suite_log_sha256": "001ef6633b22513317593dd8debc160a0ca8aaf78ea53418c5f7a50c370cc818",
-    "ruff_changed_python": "pass",
-    "ty_controller": "pass",
-    "settings_compiler_check": "pass",
-    "safety_skip_reasons": [
-      "SKIPPED [145] ../../../../dev/sunnypilot/.venv/lib/python3.12/site-packages/_pytest/unittest.py:523: Skipped",
-      "SKIPPED [9] opendbc_repo/opendbc/safety/tests/common.py:64: Safety mode implements no _user_regen_msg",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:51: Skipping test because MADS button is not supported",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:254: Skipping test because MADS button is not supported",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:67: Skipping test because _acc_state_msg is not implemented for this car",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:165: Skipping test because MADS button is not supported",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:165: Skipping test because ACC main is not supported",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:411: MADS button not supported",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:378: CAN FD only",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:361: CAN FD only",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:351: CAN FD only",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:327: CAN FD only",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:341: CAN FD only",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:320: CAN FD only"
-    ],
-    "safety_native_build": "Pinned safety C source is compiled locally by libsafety_py before testing.",
-    "controlsd_to_can_feedback_integration_frames": 1010,
-    "integration_checks": "Both signs: build, hold, unwind, rebuild, immediate driver override; actual 100 Hz sender, counter, checksum, fields and publication. Separate integration tests validate PSCM service forwarding.",
-    "regression_test_evidence": [
-      "Nonzero-error integration failed with zero correction before implementing feedback.",
-      "Both sign tests failed when a reached limit trapped an old opposing correction; they pass after allowing return to zero."
-    ]
-  },
-  "route_b8": {
-    "baseline_revision": "a7d70e2b0890184636827351e4789d866f2a7c97",
-    "baseline_source_sha256": "8f3bc5d68e0051776f614a2ccffae84a88f7898dc95bdc12c23dcfe10dfe676a",
-    "cycles": 160431,
-    "active_cycles": 68217,
-    "validity_and_c0_match_original_v1_exactly": true,
-    "status_counts": {
-      "inactive": 92214,
-      "active": 68217
-    },
-    "feedback_enabled_seconds": 598.256888772994,
-    "pscm_limit_2_seconds": 12.139079590997426,
-    "c1_changed_cycles": 58106,
-    "max_abs_c1_change_rad": 0.29800000000000004,
-    "max_abs_correction_rad": 0.29816844327770786,
-    "can_round_trips": 160431,
-    "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-    "reference_limit": "Uses exact consumed model publication as reference; the b8 route has no maneuver-plan messages.",
-    "example_points": [
-      {
-        "time_s": 130.9368894940053,
-        "old_c0_c1": [
-          -0.7400000000000002,
-          -0.18700000000000006
-        ],
-        "candidate_c0_c1": [
-          -0.7400000000000002,
-          -0.22899999999999998
-        ],
-        "correction_rad": -0.042171663052515254,
-        "feedback_enabled": true,
-        "pscm_limited": false
-      },
-      {
-        "time_s": 235.3960996990063,
-        "old_c0_c1": [
-          -2.04,
-          -0.40449999999999997
-        ],
-        "candidate_c0_c1": [
-          -2.04,
-          -0.4145
-        ],
-        "correction_rad": -0.00989648519895422,
-        "feedback_enabled": true,
-        "pscm_limited": true
-      },
-      {
-        "time_s": 236.25034470800165,
-        "old_c0_c1": [
-          -1.46,
-          -0.128
-        ],
-        "candidate_c0_c1": [
-          -1.46,
-          -0.10799999999999998
-        ],
-        "correction_rad": 0.01990758350705991,
-        "feedback_enabled": true,
-        "pscm_limited": false
-      },
-      {
-        "time_s": 252.49320156300382,
-        "old_c0_c1": [
-          -0.6699999999999999,
-          -0.16249999999999998
-        ],
-        "candidate_c0_c1": [
-          -0.6699999999999999,
-          -0.20350000000000001
-        ],
-        "correction_rad": -0.040907632902654506,
-        "feedback_enabled": true,
-        "pscm_limited": false
-      },
-      {
-        "time_s": 674.430371745002,
-        "old_c0_c1": [
-          0.4299999999999997,
-          0.128
-        ],
-        "candidate_c0_c1": [
-          0.4299999999999997,
-          0.1345
-        ],
-        "correction_rad": 0.00639271291315417,
-        "feedback_enabled": true,
-        "pscm_limited": false
-      },
-      {
-        "time_s": 1534.5190040400048,
-        "old_c0_c1": [
-          2.62,
-          0.5
-        ],
-        "candidate_c0_c1": [
-          2.62,
-          0.5
-        ],
-        "correction_rad": 0.0,
-        "feedback_enabled": true,
-        "pscm_limited": true
-      },
-      {
-        "time_s": 1562.5074677500015,
-        "old_c0_c1": [
-          -0.1200000000000001,
-          -0.051000000000000045
-        ],
-        "candidate_c0_c1": [
-          -0.1200000000000001,
-          -0.046499999999999986
-        ],
-        "correction_rad": 0.004453988923883501,
-        "feedback_enabled": true,
-        "pscm_limited": false
-      }
-    ]
-  },
-  "route_input_sha256": {
-    "route.npz": "6f5dd369b70eaed4b95b28c8b25c9f2e9b830fa07a334881a185505481667c8b",
-    "model_paths.npz": "939af6cf7e74251d8842581cc078d26d9fbfd22a0d7817cb0e368697d419b615",
-    "metadata.json": "73b439132d1de37ec187b544c04d2b05c80965065515a4b7dec29ba57ae37e7c"
-  },
-  "feedback_stress": {
-    "cycles": 200000,
-    "mirrored_updates": 200000,
-    "can_round_trips": 200000,
-    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, integration direction/size, PSCM anti-windup, CAN fields.",
-    "scope": "Numerical software invariants only; no model of vehicle motion.",
-    "calibration_approved": false,
-    "controller_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34"
-  },
-  "zero_error_stress": {
-    "seed": 20260907,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.40000000000000147,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
-    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
-  },
-  "total_lab_float32_can_round_trips": 578569,
-  "artifact_sha256": {
-    ".cache/ford_c1_feedback/routeb8/report.json": "648887eebb76260a60f7c0f0d9aaac83d0f1c06b443e28bc6fdf296bad4526c0",
-    ".cache/ford_c1_feedback/routeb8/commands.npz": "1aef98365572b3fb3cb8ba2a93cf30041ff3be133718d469145b710f2c94dc32",
-    ".cache/ford_c1_feedback/feedback_stress.json": "abf4e7bccc1e460008cc7450fcd92e9b2a6108bd71e53a01bdc24e31e5b5ad32",
-    ".cache/ford_c1_feedback/zero_error_stress.json": "2a3f284e10e5054205a788cce59bcf57bd837e13afff327457244141ba5522f0",
-    ".cache/ford_c1_feedback/safety_skip_reasons.txt": "5384c82b07b7cc20c6b22b8e94246cb104d53f8866af02b28fda7d4138cf377f"
-  },
-  "native_params": {
-    "library_sha256": "270bf43241cf7c02cc432cf78ec9411a62d7653ca445695efe785ae82241aa09",
-    "sources_match_original_rebuild_record": true,
-    "provenance": "Same locally rebuilt native library and source hashes recorded in ford_model_action_drive_test_validation.json; verified for this run."
-  },
-  "test_environment": {
-    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
-    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
-    "LOG_ROOT": "/private/tmp/ford-feedback-logs",
-    "PARAMS_ROOT": "/private/tmp/ford-feedback-params",
-    "PYTHONDONTWRITEBYTECODE": "1"
-  },
-  "source_sha256": {
-    "docs/ford_c1_feedback.md": "c1bc7f24c5ebe28679b4a04d09085d7b937926e63a38d43a3abfac93dfcfa0f9",
-    "docs/ford_model_action_candidate.md": "20cd8d10008cd796cc8719f5795ee80f50d8133d6e7684fb057a78fb05323fbe",
-    "docs/ford_model_action_drive_test.md": "7860ae26a61682aff86743ba302eb23c8f271d5700a2e616da1b6b38d438b57d",
-    "opendbc_repo/opendbc/car/vehicle_model.py": "ddc2a93d9c2b2ef6c9a913a5aef4c51e2bc387db1f7640473657e5ade4e50fac",
-    "openpilot/selfdrive/controls/controlsd.py": "2b7e246f00bccce3a2bb9f6f44009ca77690cadb8527cd2bdfe855e9ad72ad1e",
-    "openpilot/selfdrive/controls/lib/drive_helpers.py": "916bcd83c2a909a89795da58c7c43d7b168c9b82e1a6d281484bae45c667c01e",
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
-    "openpilot/selfdrive/controls/lib/ford_path.py": "383538fc7cdae3bc28dffb71fe12ac5f3f9866ffbe6adfb7457f3593e9fc903a",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "84113b1b7800c868117af0034278f53a1a6153c7bb5fadc1ea45958e62c4f0d0",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "cbe1b2aa1961deba3a42e1d82f5f75ae0c3d7a219428dea5f50cb70e1b27fd11",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "c7f5ffd650e804e6e02fa12d435e0867b56b13a49c3d9fa511993188d5cb625a",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_feedback.py": "f7a956c082a246d9506e21adbf348cbdc7f94d5342d832841058c71f7e264eeb",
-    "openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py": "7a13dc5ce49b40e27e05e62cdb9ef1bb764de8ed8167f7e982d54a4dffe97ed4",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "7d38f315a7c5ce6d46d01a06f7eaddd4933f85639e5325ff71fdce22866ef401",
-    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "410e306958ece12e49fc114707741c57a2dd927c6ba3410e160834e52a759ea9",
-    "tools/ford_pscm_lab/feedback_replay.py": "ca552217953f3cce35da0b1666252fd43b6f8ab6c067e5c9102da8ea8d97c2f3",
-    "tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f",
-    "tools/ford_pscm_lab/stress_model_action.py": "0b25188edf2b248ebe741173ce02ce75bd59f1f39fd5bd909d41a3dca2294aa8"
-  },
-  "limitations": [
-    "Frozen route replay changes commands only; it cannot establish tracking, unwind response or closed-loop stability.",
-    "Measured curvature uses the existing steering-angle vehicle model; it is not an independent ground-path measurement.",
-    "No full device build, device boot, installation or road validation was performed."
-  ]
-}

docs/ford_c1_i1_trial.md

@@ -1,102 +0,0 @@
-# Ford C1 integral trial: I=1.0
-
-Route 151 had large entry shortfalls before driver input while C1 still had
-command range available. At the segment-5 right-turn shortfall, the selected
-request was 125 degrees right and the wheel was at 49 degrees right. The stored
-correction was only 0.015 rad and was growing at about 0.0245 rad/s. Neither the
-C1 field bound nor the PSCM reached-limit flag explained that point.
-
-This trial raises I from 0.25 to **1.0**, keeping P at **0.75**. The fresh-error
-increment is four times larger for the same curvature error, speed and elapsed
-measurement time. This also retires existing correction four times faster for
-the same opposing error, before the existing accumulation/headroom rules apply.
-It does not introduce a new state, rate limit, threshold or release heuristic.
-Runtime changes are one gain constant and the diagnostic identifier
-`model-action-curvature-c0-distance-pi-v14`.
-
-C0's desired-curvature formula and distance toggle, base C1, +0.40 s low-speed
-model preview, feedback measurement, driver override, PSCM arbitration, field
-bounds and 100 Hz sender remain unchanged. Zero error holds I. Driver override
-clears P and I. Fresh limitReached blocks outward accumulation while allowing
-retirement. Accumulation cannot charge beyond the combined command's available
-range. C2/C3 stay zero, and toggle-off still selects upstream Ford control.
-
-## Why this coefficient
-
-Compared I=0.25, 0.50, 1.0 and 2.0 with P=0.75 on routes 149 and 151, using
-the production adapter and Float32/CAN path for every sample. I=1.0 gives a
-substantial increase in retained correction. I=2.0 adds considerably more
-opposite-direction correction on reviewed exits and approaches the C1 bound
-in the route-151 right turn. I=1.0 is a fourfold experimental step, not an
-offline-fitted optimum or a validated physical calibration.
-
-Paired fixed-motion examples with I=0.25 / I=1.0:
-
-| Route / time | Recorded situation | C1 before | C1 candidate |
-| --- | --- | ---: | ---: |
-| 151 / 306.891 s | 125-degree right request, 49-degree wheel | +0.3270 | +0.3725 |
-| 151 / 307.999 s | Wheel remains behind on the same right turn | +0.2675 | +0.3625 |
-| 151 / 2363.807 s | 137-degree left request, 64-degree wheel | -0.3410 | -0.3785 |
-| 149 / 319.549 s | Right-turn entry shortfall | +0.4190 | +0.4840 |
-| 149 / 850.497 s | Right-turn release | +0.0670 | +0.0010 |
-| 149 / 851.331 s | Near center on that release | +0.0105 | -0.0460 |
-
-These are same-cycle controller requests, not necessarily the preceding CAN
-message at that timestamp. Positive C1 requests right steering; positive logged
-wheel angle means left. Both replays use P=0.75; route 149 originally drove
-P=0.50, so the old-I replay is not its historical command trace.
-
-The exit examples show why faster retirement does not guarantee a smoother
-unwind: the candidate can accumulate more correction in the opposite direction
-and retain it when error reaches zero. Higher I also affects centering. On
-route 151's clean requests under 10 degrees, mean absolute C1 rises from about
-0.0083 to 0.0122 rad on the fixed recording; route 149 rises from 0.0077 to
-0.0154 rad. The vehicle would generate different errors under the candidate.
-These are command observations, not predictions of wheel motion, stability,
-overshoot, or future tracking accuracy.
-
-## Broader validation
-
-The paired production replay covers 22 extracts: 112–117, 119, 11a, 120, 124,
-125, 146, 149, 151, a0, a2, a5, a9, b8, b9, ca and Raptor 02. It processes
-2,600,956 source cycles and 5,201,912 Float32/CAN round trips. Both settings have
-identical eligibility, C0, P, base heading, overflow, and driver/PSCM feedback
-gates on every cycle. Output remains finite and bounded; inactive commands and
-C2/C3 are zero. The decoder checks fields, mode and counter on every command.
-
-Scoring excludes driver override, inactive/invalid control, disabled feedback,
-the following second, and speeds below 3 mph. There are 12,213.62 scored seconds.
-C1-bound time rises from 22.67 to 25.13 seconds. Route 151 has no C1-bound samples
-in that cohort under either setting. Its I=0.25 baseline matches the recorded
-path output to Float32 precision: maximum C0 error 5.8e-8 m, C1 error 1.5e-8 rad.
-Older routes intentionally retain their original model requests and physical
-measurements, including any historical tracking errors. Their baseline command
-traces need not match older controller implementations.
-
-The existing controlsd-to-publication-to-CAN feedback test was updated before
-the gain change. It failed on the old default (0.005 rad accumulated versus
-0.020 rad required over its one-second error interval), then passed with the
-new default. **468 tests and 25 subtests pass**, covering selection, current
-references, accumulation/hold/retirement, reversals, duplicate measurements,
-PSCM limits, driver overrides, downstream checksums and upstream fallback.
-Ruff and `git diff --check` pass. No device build or physical evaluation is
-claimed by these offline checks.
-
-Evidence: [ford_c1_i1_validation.json](ford_c1_i1_validation.json). Local arrays
-are in `.cache/ford_i1_trial`, with the four-setting comparison in
-`.cache/ford_i_trial_sweep`. Reproduce a comparison:
-
-```sh
-PYTHONPATH=.:opendbc_repo PYTHONDONTWRITEBYTECODE=1 python \
-  tools/ford_pscm_lab/proportional_replay.py \
-  --routes 151=.cache/ford_route151/full 149=.cache/ford_route149/full \
-  --settings .75:.25 .75:1.0 \
-  --output .cache/ford_i1_recheck --workers 2
-```
-
-The replay tool's default P=0.50 / P=0.75 comparison with I=0.25 is preserved.
-Explicit `--settings` accepts P:I pairs; the first is the baseline. Publication
-timestamps approximate execution time because full process scheduling and
-SubMaster state are not logged. The trial still needs physical measurement;
-route 151 also changed the big model from CTMV2 to Tee Time, so its comparison
-with route 149 cannot isolate the controller's physical effect.

docs/ford_c1_minimal_pi.md

@@ -1,82 +0,0 @@
-# Ford continuous PI drive trial (v7)
-
-The selected controller follows the current, upstream-limited desired curvature
-with P=0.50 and I=0.25. It replaces v6's request-change, C0-confirmation and
-unwind-catchup release rules. C0 mapping, heading overflow allocation, input
-health gates, driver/PSCM arbitration and final output limits remain unchanged.
-Only C0, C1 and I carry control history. C2/C3 stay zero.
-
-```text
-D = max(7 m, speed × 1 s)
-error = selected desired curvature − measured steering-derived curvature
-base = clip(D × desired curvature, −0.5, +0.5)
-P = 0.50 × D × error
-increment = 0.25 × speed × error × fresh steering measurement interval
-C1 target = clip(base + P + I, −0.5, +0.5)
-```
-
-After PSCM outward-accumulation arbitration, the increment first cancels up to
-its own magnitude of opposing I. It cannot cross zero in that step. Any remainder
-is bounded by the combined command's amplitude/slew headroom. C1 output still
-slews at 0.5 rad/s. This allows old I to unwind even when the output is already
-slewing. It adds no timer, request history, turn detection or position threshold.
-
-P doubles relative to v6, and I builds at one quarter the previous rate for an
-identical error and fresh measurement interval. Lower I also unwinds more slowly
-for an identical existing state and error; its replay benefit comes mainly from
-storing less correction. Zero error removes P and holds I. Persistent tracking
-bias may need that holding correction. There is no claim that all I is unwanted.
-
-## Evidence and limitations
-
-Six offline settings were compared across fourteen routes and 1,578,250 source
-cycles before selecting this candidate. The production selector and adapter now
-exactly reproduce the selected P=0.50/I=0.25 archived commands, validity, P, I,
-feedforward, C0 overflow and feedback/PSCM gates on every cycle of all fourteen
-routes. These comprise Lightning 112–117, a0, a2, a5, a9, b8, b9, ca and Raptor 02.
-The integration replay performs 1,578,250 actual Float32/CAN round trips.
-
-A further 20,000 randomized cycles with mirrored and independent C0 paths perform
-60,000 CAN checks on production, checking independent scalar arithmetic,
-C0-independent feedback, symmetry, reset, amplitude and slew behavior.
-The Ford, Sunnylink, params, sender and safety suite passes 679 tests and
-9,145 subtests; 178 are skipped by the platform test suite. Removed maneuver
-heuristic tests are replaced with continuous-error, cancellation, freshness,
-three-state reproduction and actual controlsd-to-CAN entry/exit checks.
-Historical untracked offline experiment tests are outside this deployment suite.
-
-At a previously reviewed route-115 exit (133.595 s), the original small PI
-controller requested +0.1090 rad C1; this trial requests +0.0175. That sample
-includes driver context. Reviewed large entries remain similar, but commands
-are not identical everywhere. In a previously well-tracked route-116 bend
-(112 s), C1 falls from +0.1530 to +0.1355 rad. Lower I could weaken a persistent
-bend, while higher P can increase response to measurement fluctuations.
-
-Recorded wheel motion remains fixed in replay. These checks establish software
-behavior and exact integration of the candidate; they do not establish improved
-physical tracking or stability. Gains remain experimental, not an identified
-universal PSCM calibration. No device build, boot or new drive is claimed.
-
-## Selection and reproduction
-
-Use the existing default-off Sunnylink **Selected-Action Path Tracking
-(Experimental)** toggle on any Ford CAN FD, followed by a real offroad-to-onroad
-cycle. Logs identify `model-action-c1-pi-v7`, `proportional_gain=0.5`,
-`integral_gain=0.25`. Toggle-off selects upstream Ford control. See the
-[drive instructions](ford_model_action_drive_test.md).
-
-With the built cereal/opendbc environment and archived local extracts:
-
-```sh
-export PYTHONPATH=.:opendbc_repo:.cache/ford_v6/test_deps
-export PYTHONDONTWRITEBYTECODE=1
-export PARAMS_ROOT=/tmp/ford-v7-params
-export LOG_ROOT=/tmp/ford-v7-logs
-python -m tools.ford_pscm_lab.minimal_pi_validate --output .cache/ford_minimal_tuning/production --workers 4
-python -m tools.ford_pscm_lab.minimal_pi_production_stress --cycles 20000 --output .cache/ford_minimal_tuning/production_stress.json
-```
-
-The validation JSON records route and source hashes. The archived six-setting
-sweep is local evidence, not a checked-in dataset. Historical v5/v6 lab tools
-load their pinned controller revisions so their baseline comparisons retain
-their original meaning after production changes.

docs/ford_c1_minimal_pi_validation.json

@@ -1,332 +0,0 @@
-{
-  "scope": "Production integration of the selected continuous PI drive trial; fixed recorded motion, not a physical tracking prediction.",
-  "parent_revision": "5e6993aab",
-  "previous_controller_revision": "bf00bc691def830e1beb15363d05416714c1dc42",
-  "hypothesis": "model-action-c1-pi-v7",
-  "kp": 0.5,
-  "ki": 0.25,
-  "control_history": [
-    "c0",
-    "c1",
-    "correction"
-  ],
-  "physical_lines": {
-    "module": 201,
-    "core_class": 58,
-    "core_update": 42
-  },
-  "production_source_sha256": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8",
-  "route_cycles": 1578250,
-  "production_can_round_trips": 1638250,
-  "tests": {
-    "passed": 679,
-    "skipped": 178,
-    "subtests_passed": 9145,
-    "log_sha256": "2bc3dfd7ba08d4985d3dea98f235eb1fc99b23e5bbb3927e823a2439c8e9a481",
-    "scope": "Ford controls, tracked PSCM lab tests, PSCM status, Sunnylink, params, Ford car and safety suites; historical untracked experiments excluded."
-  },
-  "ruff": "pass",
-  "ty_production": "pass",
-  "routes": [
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "112",
-      "cycles": 108971,
-      "can_round_trips": 108971,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-      "hypothesis": "model-action-c1-pi-v7",
-      "kp": 0.5,
-      "ki": 0.25,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route112/route.npz": "2b08a2fb636f7d14556d7df4035eafc1d1b97932237955528562a16db2b31d3e",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route112/model_paths.npz": "9837afe78aab4cad288cad98a595a5777fa8a66bb235986b1272a7f7c54e559a",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route112/metadata.json": "726d78a7e7aa45307dcfe27cb00775c20ecc9d54538eb7f26a0166fc216226ce",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/112/report.json": "d8cbcf8b676a67a90310390611da31783b4e025a0a965239ef4672caa47aae56",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/112/commands.npz": "8d91f449c7f8741ce465ec4326949a9d9527ed6b5de7a526ad7d30212f16c469",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "113",
-      "cycles": 49614,
-      "can_round_trips": 49614,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-      "hypothesis": "model-action-c1-pi-v7",
-      "kp": 0.5,
-      "ki": 0.25,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route113/route.npz": "774ca4a21b7113c2706d6130bc180c3216ea4833155300ab01e75b3486e36327",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route113/model_paths.npz": "93c41761eb85263f534f5371b905482cf7c948582eb1e9149966594be1d3768f",
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-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/113/report.json": "e2dfeba5d3fe8a1147f82bce9ddf2ad3f14271bda35fac1639d383f2a0189228",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/113/commands.npz": "3890c802072dd2d38b4cded5f9f80310d1f86eb8a8f3598138235a0e2cc16460",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "114",
-      "cycles": 61027,
-      "can_round_trips": 61027,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-      "hypothesis": "model-action-c1-pi-v7",
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-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route114/model_paths.npz": "14d14362d1a3e46398edd8e22b7cc4e36277a7596a73f546192d0e14c6642b07",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route114/metadata.json": "ec677b9275c1707e477ebd0ffa235d49b5ec63a1ee717b16040c3acdbcd3bdc0",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/114/report.json": "eb630bb5f35a43c8902e15a97b53d83db3dc3cfa843a14d09cb8a1e6dab89289",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/114/commands.npz": "899033d0c9eeffe7929aa1289bfbc0e7da5608833b03989ce10a87d975344d3d",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "115",
-      "cycles": 40037,
-      "can_round_trips": 40037,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-      "hypothesis": "model-action-c1-pi-v7",
-      "kp": 0.5,
-      "ki": 0.25,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route115/route.npz": "e0df32d9e80f1c6b7d56327b37cf07af60070ffc212b8d111e343306148bff23",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route115/model_paths.npz": "52f3ed9e188e4947618a57a3ed872fd1966a887fe1014999df741553b6c13bc0",
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-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/115/report.json": "58cee499da3191808aedbd79a9497d9c1553f49007f24543c44bc2b58ff971fa",
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-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "116",
-      "cycles": 68793,
-      "can_round_trips": 68793,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
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-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route116/route.npz": "13df1d49edd0c92bd4a4236c766ee76baa6dad477824b9de4b79927c98410394",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route116/model_paths.npz": "85d1112b5e89340e8a955b7fe4040b3135cf1c91a54ff756826c6119cc9cc01d",
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-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/116/report.json": "01d2e608a53f9fd805baee853d18acc63b5506319e0f0ceeeb3e59a92bae0385",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/116/commands.npz": "2186a1a1fea2ea98390fb90c9df1288d321cd165f70e3aef0c268cbbd2fd8c95",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "117",
-      "cycles": 27301,
-      "can_round_trips": 27301,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
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-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "a0",
-      "cycles": 114582,
-      "can_round_trips": 114582,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-      "hypothesis": "model-action-c1-pi-v7",
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-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "a2",
-      "cycles": 71111,
-      "can_round_trips": 71111,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
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-      "ki": 0.25,
-      "source_sha256": {
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-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "a5",
-      "cycles": 38961,
-      "can_round_trips": 38961,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
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-      "kp": 0.5,
-      "ki": 0.25,
-      "source_sha256": {
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-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "a9",
-      "cycles": 286319,
-      "can_round_trips": 286319,
-      "production_matches_archived_trial_exactly": true,
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-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routea9/route.npz": "3fa8cabfb729dd42d689de38618d1d21c8965c9d60f914546f4d7cc58db8c975",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routea9/model_paths.npz": "7f3646ad24aa52de5982c65600813de5bbc5f7664d92a2516bbba35da6e7b240",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routea9/metadata.json": "403d35504bf596144845ac2060ce067d571f49a2955d16223af28a79a7a66e93",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/a9/report.json": "17c41415b9fb9fcd8d72835347a205113c32d32d955c0de68850a9764968b3e9",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/a9/commands.npz": "27af5f6fb8f6e08f31d54e24c90430d30c72d31b1448bc1fbcb31f35804afe8a",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "b8",
-      "cycles": 160431,
-      "can_round_trips": 160431,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-      "hypothesis": "model-action-c1-pi-v7",
-      "kp": 0.5,
-      "ki": 0.25,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb8/route.npz": "6f5dd369b70eaed4b95b28c8b25c9f2e9b830fa07a334881a185505481667c8b",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb8/model_paths.npz": "939af6cf7e74251d8842581cc078d26d9fbfd22a0d7817cb0e368697d419b615",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb8/metadata.json": "73b439132d1de37ec187b544c04d2b05c80965065515a4b7dec29ba57ae37e7c",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/b8/report.json": "5c6b52222abbb95147dc756a34e62ada97c42aa550b952fd6ae7b26d8d9639fa",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/b8/commands.npz": "9c158eff98009bcb039a4e7c29b97b0d3a9c67d61160a4e4766a176174de52d7",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "b9",
-      "cycles": 90774,
-      "can_round_trips": 90774,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-      "hypothesis": "model-action-c1-pi-v7",
-      "kp": 0.5,
-      "ki": 0.25,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/route.npz": "b07c789d8155335f5d120d0262fced6e4d5803fe767b0ff49b6413dce4140b5c",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/model_paths.npz": "6b1f87897c050273fdc05af051307a049b6fc3a93072e7cda1721195ce7c3861",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/b9/report.json": "9eeda0c24ede7a55ef8a924e0ebe0bcb0dea7a9612457af0c5aff898a828c195",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/b9/commands.npz": "2dcc0865591c988d8a08671311a9631f3c4aa3ded4e90ee6f76d28b1654809ad",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "ca",
-      "cycles": 327448,
-      "can_round_trips": 327448,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-      "hypothesis": "model-action-c1-pi-v7",
-      "kp": 0.5,
-      "ki": 0.25,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeca/route.npz": "ae9d46770eaf0dbbac6af86aebc926320eed0cf114eb43d5f78b0676e8e0dbf9",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeca/model_paths.npz": "bf17deb442383aaa79432566cd382df24a1bbbbd0521d0cafab956618f5bdd96",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeca/metadata.json": "a759d5cdf878df8b05d91db637b1935b6b4bdd87af96f0f256b67e7d809b3525",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/ca/report.json": "025f2f49f68ec2164a10474a4c6ec0eb1b6022990e135fc38134a052a8710dff",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/ca/commands.npz": "cbe9f63955a409495f57466dc5811d3eed65af2cf096ee060d924437488c3f76",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-      }
-    },
-    {
-      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "raptor02",
-      "cycles": 132881,
-      "can_round_trips": 132881,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-      "hypothesis": "model-action-c1-pi-v7",
-      "kp": 0.5,
-      "ki": 0.25,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_raptor_route02/route.npz": "8a4cfe53994988d053b47d9caadf21ebd064fd20e598fa05ddc2da245bd0e980",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_raptor_route02/model_paths.npz": "d5dc6f72d91472b8f2fb1add1680cdaea1e122774ddd6d8519fd7673daf71bb5",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_raptor_route02/metadata.json": "9602e08efc2bd784133837c4156c075bb89bad3bedd6b309f15e884ed20e338a",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/raptor02/report.json": "2c2dda2a5e4e8a764a10852cca3e5caf319b62e3d1d841ef9e1b8c11be77ebf6",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/raptor02/commands.npz": "e0440d0a4035b975a9c4a47d85335b5b0f0903fcd00dd7e7c858856deffd1249",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-      }
-    }
-  ],
-  "production_stress": {
-    "cycles": 20000,
-    "kp": 0.5,
-    "ki": 0.25,
-    "controller_updates": 60000,
-    "can_round_trips": 60000,
-    "seed": 20260913,
-    "independent_c0_comparisons": 20000,
-    "checks": "Independent scalar PI/unwind-first/anti-windup arithmetic, mirror symmetry, exact C0 independence, limits, slew, resets, CAN.",
-    "source_sha256": {
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_production_stress.py": "fa9058826512498be1938797efba25666df832080fb7ad6ff18788ee4bda333d",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
-    }
-  },
-  "limits": [
-    "No hardware build, device boot or new physical drive performed.",
-    "Matched offline commands do not establish improved tracking or closed-loop stability.",
-    "Higher P can amplify measurement fluctuations; lower I can take longer to correct persistent error.",
-    "Toggle defaults off and off selects upstream Ford control; on applies to any Ford CAN FD."
-  ]
-}

docs/ford_c1_overflow.md

@@ -1,131 +0,0 @@
-# Ford base-heading overflow experiment
-
-This records the overflow implementation and validation at `b81c00f5b`.
-The later [toggle-off restoration](ford_upstream_fallback.md) updates selection
-and the opendbc sender while preserving the enabled experiment's command law.
-
-The Lightning ca route recorded controller `959ae3d6e`. Its large turns included
-flat C1 requests at ±0.5 rad while C0 still had available range. Those were
-nonzero, active commands, but increasing base heading above the C1 limit was
-discarded. Other apparent pauses followed reductions in the selected model
-request; this change continues to follow those reductions.
-
-The new experiment allocates clipped-away **base heading** to C0 using the
-existing 7 m reference. It does not allocate the accumulated feedback correction.
-This is a hypothesis about command allocation, not a measured improvement in
-PSCM response or a claim that C0 and C1 are physically interchangeable.
-
-## Command rule
-
-Using the selected, upstream-limited desired curvature:
-
-```text
-raw_base_c1 = max(7 m, speed × 1 s) × desired_curvature
-base_c1 = clip(raw_base_c1, -0.5 rad, +0.5 rad)
-extra_c0 = 7 m × (raw_base_c1 - base_c1)
-c0_target = clip(model_y_at_7m + extra_c0, -5.11 m, +5.11 m)
-```
-
-The combined C0 target still passes through the existing 4 m/s slew limit.
-C1 retains its existing feedback, ±0.5 rad amplitude and 0.5 rad/s slew limits.
-C2 and C3 remain zero. Short model paths retain their existing endpoint hold.
-
-Before amplitude/slew limits, the allocation preserves the linear reference
-`C0 + 7*C1` for the base request. This is a single-reference identity; it does
-not preserve the entire path or predict steering torque. The 7 m reference is
-an existing engineering choice. No fitted plant, new tunable strength multiplier,
-timer or stored overflow is added. The existing 1:1 feedback strength remains.
-
-Extra C0 falls with raw base heading and its target becomes zero at the C1 cap.
-The output can take longer to return because of its existing slew state. There
-is no guarantee that increasing C0 makes every PSCM turn better or release sooner.
-
-## Preserved integration
-
-The conditional correction release still requires **original model C0** and
-applied C0 to confirm base C1's direction. Added overflow cannot itself substitute
-for model confirmation. Changed applied C0 can nevertheless affect release
-timing in some histories. Driver/PSCM arbitration, service freshness, resets,
-upstream curvature limiting, Float32 publication and the 100 Hz sender remain.
-No opendbc dependency or Panda safety change is made.
-
-The existing default-off Sunnylink toggle selects this version on any Ford
-CAN FD vehicle. Diagnostic identity is `model-action-c1-feedback-v3`.
-`offset_overflow` records extra target meters before C0 amplitude and slew;
-`offset_request` continues to record the actual continuous C0 state.
-See the [drive-test instructions](ford_model_action_drive_test.md).
-
-## Offline evidence
-
-The focused overflow regressions initially produced 28 failures and 18 passes
-against the prior controller. They now pass. They cover both signs, several
-speeds, the heading threshold, combined C0 clipping, short paths, release,
-feedback-only saturation, driver/PSCM feedback gates and independent model
-confirmation. Twelve integration cases send 4,800 frames through actual
-controlsd selection/limiting, Float32 publication and Ford CAN packing on all
-six listed Ford CAN FD platforms, checking counters and checksums.
-
-The combined suite passes **670 tests and 9,146 subtests**, with 178 inherited
-or unsupported safety-test skips. Both 200,000-cycle randomized runs pass,
-including mirrored inputs, independent scalar target/slew checks, feedback
-invariants, comparison with the exact prior controller from cloned states,
-and 18,138 exhaustive field/Float32 boundary cases. These checks and the ca
-replay total **745,586 Float32/CAN round trips**, in addition to integration tests.
-
-Frozen ca replay covers 327,448 control cycles across all 55 extracted segments.
-Activation is identical; C1, C2 and C3 are identical on every cycle. C0 differs
-for 855 cycles (8.607 s), concentrated in the large turns and their slew tails.
-The extra target is present for 7.359 s. Before the first overflow, every command
-matches the prior controller. All disabled cycles have zero commands.
-
-At the same recorded peak-request timestamps, absolute packed C0 changes as follows:
-
-| Segment | Previous C0 | Candidate C0 | C1 magnitude, both |
-| --- | ---: | ---: | ---: |
-| 10 | 3.90 m | 5.11 m | 0.50 rad |
-| 31 | 2.85 m | 3.08 m | 0.50 rad |
-| 35 | 3.67 m | 5.11 m | 0.50 rad |
-| 52 | 3.11 m | 3.42 m | 0.50 rad |
-
-The candidate reaches the existing C0 cap for 2.054 s. These are reconstructed
-commands on original inputs, not newly transmitted commands or predicted wheel
-angles. Segment 52's output is still slewing at the selected timestamp.
-
-Every overflow episode returns to the previous C0 output without a reset or
-another overflow interrupting the comparison. After overflow first becomes
-zero, the longest output tails are **0.475 s in segment 10** and **0.712 s in
-segment 35**. This is the added slew tail relative to the prior command, not
-the truck's physical release delay. It is a material behavior to inspect during
-controlled evaluation: more pull through capped turns may also add hanging
-on exit. Ordinary requests below the cap retain the original target mapping.
-
-The recorded model, vehicle motion, driver input and PSCM flags remain fixed.
-Replay cannot establish resulting tracking, centering, torque or stability.
-The route has no maneuver-plan messages; the replay uses the consumed model
-reference and recorded selected curvature. Computation time is approximated
-by control publication time, and full SubMaster health checks are unavailable.
-No device build, boot or installation is performed offline.
-
-## Reproduction
-
-Numeric results and source hashes are in `ford_c1_overflow_validation.json`.
-Use native project dependencies and pinned opendbc
-`c21a9013700734dd20b09e05aa68329ad8cc20f9`. The ca replay requires the existing
-full-rlog extract (`route.npz`, `model_paths.npz`, `metadata.json`).
-The following commands apply to this version; earlier validation documents
-record their named historical controllers.
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:opendbc_repo
-python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
-python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_overflow/stress.json
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260910 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_overflow/zero_error_stress.json
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeca --baseline 959ae3d6e76c479f48e081c060b0f3569a6f15f4 --output .cache/ford_c1_overflow/routeca
-python openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py --check
-```
-
-For slew-tail analysis, in the replay's `commands.npz` find each nonzero run of
-`offset_overflow`. From its first zero sample, measure until packed candidate
-and baseline C0 agree within 1e-8 m, stopping separately at another overflow or
-inactive cycle. Sum sample durations capped at 30 ms for weighted time totals.

docs/ford_c1_overflow_validation.json

@@ -1,307 +0,0 @@
-{
-  "created_at_utc": "2026-09-10T22:04:22.589047+00:00",
-  "scope": "Base heading overflow allocated to C0; frozen-input command verification only, no vehicle response prediction.",
-  "baseline_commit": "959ae3d6e76c479f48e081c060b0f3569a6f15f4",
-  "baseline_source_sha256": "47fff1fd1bd7e65ca6d6b437fa9d2e8a864d421622d9efdfe0fe04b927c6d972",
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev"
-  },
-  "hypothesis": "model-action-c1-feedback-v3",
-  "calibration_approved": false,
-  "toggle": {
-    "key": "FordModelActionController",
-    "default_enabled": false,
-    "eligibility": "Any Ford CAN FD",
-    "activation": "Existing controlsd startup selection"
-  },
-  "command_rule": "extra C0 = 7 m * (raw base C1 - clip(raw base C1, -0.5, 0.5)); add to original model C0, then existing C0 amplitude/slew limits.",
-  "engineering_choices": "Single-reference linear allocation at existing 7 m. No new tuning parameter or stored overflow. Does not establish physical C0/C1 interchangeability. Existing 1:1 integral feedback strength remains.",
-  "output_limits": {
-    "c0_m": [
-      -5.11,
-      5.11
-    ],
-    "c1_rad": [
-      -0.5,
-      0.5
-    ],
-    "c0_slew_m_s": 4.0,
-    "c1_slew_rad_s": 0.5,
-    "c2": 0.0,
-    "c3": 0.0
-  },
-  "preserved": [
-    "Upstream reference selection/limiting",
-    "Driver and PSCM arbitration",
-    "Freshness/reset gates",
-    "C1 feedback law",
-    "Original model C0 required for carryover confirmation",
-    "100 Hz CAN sender",
-    "Float32 publication"
-  ],
-  "controller_command_state_values": 3,
-  "controller_diagnostic_counters": 1,
-  "controller_total_lines": 200,
-  "opendbc_submodule_changed": false,
-  "panda_safety_changed": false,
-  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-  "tests": {
-    "combined_suite": "670 passed, 178 skipped, 9146 subtests passed in 5.77s",
-    "safety_skips": "Inherited or unsupported variants; unchanged from prior feedback validations.",
-    "new_core_regressions": "Before implementation: 28 failed, 18 passed; after: all 46 pass.",
-    "overflow_controlsd_to_can_cases": 12,
-    "overflow_controlsd_to_can_frames": 4800,
-    "integration_scope": "All six listed CAN FD platforms; both signs; selected upstream-limited request, release, limits, Float32 publication, decoded commands, zero C2/C3, active mode, counters, checksums.",
-    "ruff_changed_python": "pass",
-    "ty_controller": "pass",
-    "git_diff_check": "pass",
-    "settings_compiler_check": "pass"
-  },
-  "stress": {
-    "cycles": 200000,
-    "mirrored_updates": 200000,
-    "can_round_trips": 200000,
-    "carryover_release_count": 864,
-    "baseline_revision": "959ae3d6e76c479f48e081c060b0f3569a6f15f4",
-    "baseline_source_sha256": "47fff1fd1bd7e65ca6d6b437fa9d2e8a864d421622d9efdfe0fe04b927c6d972",
-    "exact_unchanged_state_and_commands_without_overflow": 56061,
-    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, carryover direction/confirmation, integration, PSCM limits, CAN.",
-    "scope": "Numerical software invariants only; no model of vehicle motion.",
-    "calibration_approved": false
-  },
-  "zero_error_stress": {
-    "seed": 20260910,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.4000000000000019,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
-    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
-  },
-  "route_ca": {
-    "baseline_revision": "959ae3d6e76c479f48e081c060b0f3569a6f15f4",
-    "baseline_source_sha256": "47fff1fd1bd7e65ca6d6b437fa9d2e8a864d421622d9efdfe0fe04b927c6d972",
-    "calibration_approved": false,
-    "cycles": 327448,
-    "active_cycles": 118756,
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-  "route_ca_input_sha256": {
-    "route.npz": "ae9d46770eaf0dbbac6af86aebc926320eed0cf114eb43d5f78b0676e8e0dbf9",
-    "model_paths.npz": "bf17deb442383aaa79432566cd382df24a1bbbbd0521d0cafab956618f5bdd96",
-    "metadata.json": "a759d5cdf878df8b05d91db637b1935b6b4bdd87af96f0f256b67e7d809b3525"
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-  "lab_can_round_trips_excluding_integration": 745586,
-  "validation_environment": {
-    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
-    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
-    "PYTHONDONTWRITEBYTECODE": "1",
-    "LOG_ROOT": "/private/tmp/ford-overflow-logs",
-    "PARAMS_ROOT": "/private/tmp/ford-overflow-params"
-  },
-  "source_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "90269d748d55558bf2495d3b4afcfd7429f373108df1f9259e154d1b92184262",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_overflow.py": "9086434d2b76ab51f69ef08c4f0033c4eaa1950083cc9cce4b34279eb17c5b1b",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "dc552f3088b7e437a928f349989b74c4e7772d2a88b14a93e933ea8b8344d23b",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "4e82101463c5d83f6b1f72ba4918c2b37731bc2db6ec7e29e6b402ea67276db2",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "6b73e70b120527275a9e4e3dff07dd7d19648da517402187d57a90ba09b017eb",
-    "tools/ford_pscm_lab/feedback_replay.py": "7c65515d37aac900eaaef8451a7d643b72c566a2366651f843de2ffca5f24b8d",
-    "tools/ford_pscm_lab/stress_model_action.py": "cec2619285dd41274562ac035ee8ea0a389269a0c4ef1b62efa6252ad1a714aa",
-    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "3ae6b16a8c267ab181e00f4b59be8b65134480bec26c8c039bcbae88cb745feb",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "ba803819751b304e82936a95902afae63ff88e16e64988622715a7b713f3b982"
-  },
-  "limitations": [
-    "Recorded vehicle motion does not react to changed commands.",
-    "Computation time proxies and service-check reconstruction limits apply.",
-    "C0 slew can leave extra command after overflow stops; maximum observed tail 0.712 s.",
-    "No device build, boot, installation, road tracking or physical stability validation."
-  ]
-}

docs/ford_c1_p75_trial.md

@@ -1,98 +0,0 @@
-# Ford C1 proportional trial: P=0.75
-
-Route 149 contains large steering shortfalls before driver intervention while
-the selected curvature matches the model and neither C1's bound nor the PSCM
-reached-limit flag explains the shortfall. This trial raises the immediate C1
-error correction from P=0.50 to P=0.75. I remains 0.25. Runtime changes are the
-gain constant and the diagnostic version, `model-action-curvature-c0-distance-pi-v13`.
-
-The intended effect is more correction while behind and more release correction
-when measured steering exceeds the request. Increasing P does not establish a
-faster physical response: it can also amplify measurement fluctuations and
-produce oscillation. This is a trial coefficient, not a learned calibration.
-
-The selected model action, +0.40 s low-speed preview, C0 distance setting and
-formula, integral arithmetic, PSCM arbitration, field bounds, and 100 Hz sender
-remain unchanged. C2/C3 stay zero. The existing default-off Sunnylink toggle
-still selects the experiment on Ford CAN FD; toggle-off selects upstream Ford.
-
-## Paired production replay
-
-Compared explicit P=0.50 and P=0.75 production adapters with I=0.25 and fixed-7 m
-C0 across 21 route extracts: 112–117, 119, 11a, 120, 124, 125, 146, 149, a0, a2,
-a5, a9, b8, b9, ca, and Raptor 02. The passes cover 2,275,248 source cycles and
-4,550,496 real Float32-to-CAN encode/decode round trips.
-
-Both passes use the same recorded selected curvature, measured motion, model
-geometry, input timestamps, and driver/PSCM flags. Older routes retain their
-original model requests; their neural inference is not rerun with the new delay.
-This compares commands, not predicted wheel motion or tracking accuracy.
-
-Checks passed on every cycle: identical C0, eligibility, feedforward, overflow,
-and feedback/driver/PSCM gates; finite and bounded output; inactive zero output;
-zero C2/C3; exact decoded fields, mode and counter; and the expected 1.5 ratio
-between proportional terms. Integration tests separately check the selected
-defaults, downstream checksums, reference selection, reversals, driver override,
-reached-limit behavior, duplicate measurements, and toggle-off upstream behavior.
-
-On route 149, the P=0.50 replay agrees with the recorded path commands over the
-clean scoring cohort to Float32 precision: maximum C0 difference 5.8e-8 m and C1
-difference 1.5e-8 rad. Full SubMaster health and exact control execution clocks
-are not in the extract; publication timestamps approximate them. Historical
-versions used different command laws, so their recorded commands are not
-expected to match this baseline.
-
-Clean scoring excludes driver steering, unavailable feedback, inactive/invalid
-control, the following second, and speed below 3 mph. It contains 11,128.80 s.
-Durations use original timestamps, clipping gaps to 30 ms. Percentiles are
-sample-based. Request-angle categories do not identify road geometry.
-
-| Recorded request magnitude | Scored seconds | Mean absolute C1 change | P95 C1 change |
-| --- | ---: | ---: | ---: |
-| Under 10 degrees | 9,051.37 | 0.00088 rad | 0.00250 rad |
-| 10–45 degrees | 1,631.68 | 0.00250 rad | 0.00900 rad |
-| At least 45 degrees | 445.75 | 0.00829 rad | 0.03100 rad |
-
-C1 bound exposure increases from 21.30 to 22.67 s over the clean cohort. Mean
-absolute stored I changes from 0.005987 to 0.005984 rad; a larger P term changes
-the remaining accumulation headroom even though I's gain is unchanged.
-
-The largest small-request C1 difference is 0.093 rad on route 117, where the
-recorded request is +4.6 degrees and the wheel is still at -210 degrees. This is
-a large release error, not ordinary centering. Restricting both requested and
-actual wheel angle to within 10 degrees leaves 8,788.38 s: mean absolute C1
-change 0.00073 rad, P95 0.00200 rad, maximum 0.01250 rad. These measurements do not
-establish preserved centering or closed-loop stability.
-
-In route 149, the candidate increases the C1 request at the reviewed entry
-misses and reduces the remaining turn command during the clean segment-14
-release. Its clean C1 bound exposure rises from 0.23 to 0.61 s. The paired I
-traces remain nearly identical. The local report includes five entry, reversal,
-and exit comparisons with the recorded wheel trace clearly distinguished from
-replayed command traces.
-
-## Validation and reproduction
-
-455 tests and 25 subtests pass, including Ford controller/adapter/selection,
-C0 distance settings, diagnostic logging, delay helpers, and Ford CAN tests.
-The actual controlsd-to-CAN integration test failed at the old proportional
-output before changing the default, then passed at the new setting. Ruff and
-`git diff --check` pass. A device build, installation, and physical evaluation
-are not part of these offline checks.
-
-The compact evidence record is [ford_c1_p75_validation.json](ford_c1_p75_validation.json).
-Full command arrays and per-route reports are in `.cache/ford_p75_trial` locally.
-Reproduce one route using the built cereal/opendbc environment:
-
-```sh
-PYTHONPATH=.:opendbc_repo PYTHONDONTWRITEBYTECODE=1 python \
-  tools/ford_pscm_lab/proportional_replay.py \
-  --routes 149=.cache/ford_route149/full \
-  --output .cache/ford_p75_recheck --workers 1
-```
-
-Additional `label=extract-directory` pairs replay independently. Each directory
-must contain `route.npz`, `model_paths.npz`, and `metadata.json`; injection routes
-are rejected. The input hashes are recorded in each result. The new test is
-worth evaluating as a bounded change, but improved entry and preserved smooth
-release still require measured vehicle response.

docs/ford_c1_p75_validation.json

@@ -1,707 +0,0 @@
-{
-  "routes": 21,
-  "cycles": 2275248,
-  "can_round_trips": 4550496,
-  "scope": "Fixed-motion production controller and CAN replay. No predicted wheel motion or stability claim.",
-  "cohorts": {
-    "all": {
-      "seconds": 11128.798286258982,
-      "mean_abs_c1_change": 0.0014142689534451223,
-      "p95_abs_c1_change": 0.004500000000000004,
-      "max_abs_c1_change": 0.09299999999999997,
-      "c1_bound_seconds": [
-        21.296853938993763,
-        22.66821589999995
-      ],
-      "mean_abs_integral": [
-        0.00598675347437431,
-        0.005984439210041702
-      ]
-    },
-    "small": {
-      "seconds": 9051.37332302302,
-      "mean_abs_c1_change": 0.0008801267467942443,
-      "p95_abs_c1_change": 0.0025000000000000022,
-      "max_abs_c1_change": 0.09299999999999997,
-      "c1_bound_seconds": [
-        0.0,
-        0.0
-      ],
-      "mean_abs_integral": [
-        0.005708567029833155,
-        0.005708567029833155
-      ]
-    },
-    "bend": {
-      "seconds": 1631.677856559975,
-      "mean_abs_c1_change": 0.0024991973101179256,
-      "p95_abs_c1_change": 0.008999999999999897,
-      "max_abs_c1_change": 0.08899999999999997,
-      "c1_bound_seconds": [
-        0.0,
-        0.0
-      ],
-      "mean_abs_integral": [
-        0.006396022651557497,
-        0.006396128425459091
-      ]
-    },
-    "turn": {
-      "seconds": 445.74710667598833,
-      "mean_abs_c1_change": 0.008289169314090508,
-      "p95_abs_c1_change": 0.031000000000000028,
-      "max_abs_c1_change": 0.08000000000000002,
-      "c1_bound_seconds": [
-        21.296853938993763,
-        22.66821589999995
-      ],
-      "mean_abs_integral": [
-        0.01013747903479613,
-        0.010079312488152544
-      ]
-    },
-    "releasing": {
-      "seconds": 106.96494071107061,
-      "mean_abs_c1_change": 0.005058356779798081,
-      "p95_abs_c1_change": 0.025500000000000023,
-      "max_abs_c1_change": 0.08899999999999997,
-      "c1_bound_seconds": [
-        0.009879735000026812,
-        0.0
-      ],
-      "mean_abs_integral": [
-        0.006354435594257913,
-        0.006350676023352573
-      ]
-    }
-  },
-  "baseline_commit": "b720e9f1bb805c69e5560f13dd86034d4bf50260",
-  "gains": [
-    0.5,
-    0.75
-  ],
-  "integral_gain": 0.25,
-  "c0_time_based": false,
-  "hypothesis": "model-action-curvature-c0-distance-pi-v13",
-  "tests": {
-    "passed": 455,
-    "subtests_passed": 25,
-    "ruff": "passed",
-    "diff_check": "passed"
-  },
-  "replay_command_invariants_passed": true,
-  "physical_tracking_or_stability_validated": false,
-  "route_results": [
-    {
-      "route": "112",
-      "cycles": 108971,
-      "can_round_trips": 217942,
-      "baseline_difference_from_recorded_path": {
-        "c0": {
-          "mean": 0.0679107408662434,
-          "p95": 0.26000000476837126,
-          "max": 3.119999904632568
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-        "c1": {
-          "mean": 0.005686226432883118,
-          "p95": 0.014999999850988377,
-          "max": 0.18949999547004703
-        }
-      },
-      "clean_seconds": 732.0411244650002,
-      "c1_bound_seconds": [
-        0.0,
-        0.021201738000058867
-      ],
-      "source_sha256": {
-        ".cache/ford_route112/route.npz": "2b08a2fb636f7d14556d7df4035eafc1d1b97932237955528562a16db2b31d3e",
-        ".cache/ford_route112/model_paths.npz": "9837afe78aab4cad288cad98a595a5777fa8a66bb235986b1272a7f7c54e559a",
-        ".cache/ford_route112/metadata.json": "726d78a7e7aa45307dcfe27cb00775c20ecc9d54538eb7f26a0166fc216226ce",
-        "tools/ford_pscm_lab/proportional_replay.py": "0296fedbc134c3e11022c51e0b94cc16e1135b620fd278bf381ce040e953a7ed",
-        "openpilot/selfdrive/controls/lib/ford_model_action.py": "0c07b85db9c5cb0f42433116aea5d270fb244d8840119b4d7e8a526ec5b090d1"
-      }
-    },
-    {
-      "route": "113",
-      "cycles": 49614,
-      "can_round_trips": 99228,
-      "baseline_difference_from_recorded_path": {
-        "c0": {
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-          "p95": 0.897999979019158,
-          "max": 3.260000095367432
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-        "c1": {
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-          "p95": 0.033500000965595265,
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-      "clean_seconds": 212.64164745499875,
-      "c1_bound_seconds": [
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-        1.2653679959998954
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-      "source_sha256": {
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-      }
-    },
-    {
-      "route": "114",
-      "cycles": 61027,
-      "can_round_trips": 122054,
-      "baseline_difference_from_recorded_path": {
-        "c0": {
-          "mean": 0.11075714097529091,
-          "p95": 0.3999999904632565,
-          "max": 3.500000133514404
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-        "c1": {
-          "mean": 0.006464089004288734,
-          "p95": 0.01899999927878381,
-          "max": 0.17200000238418578
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docs/ford_c1_pi.md

@@ -1,151 +0,0 @@
-# Ford C1 proportional feedback trial
-
-V6 adds **P = 0.25** to the selected-action controller. It responds to a steering
-shortfall immediately and subtracts demand immediately when the wheel exceeds
-the selected request. V5 accumulated correction over traveled distance. P has
-no stored correction to release when its error disappears.
-
-This is an initial drive-trial gain, not an identified PSCM calibration or a
-claim of improved physical tracking. Six Lightning routes establish command
-behavior across recorded scenarios. They cannot identify the best stable gain
-without observing the vehicle responding to the changed commands.
-
-## Command law
-
-With curvature in inverse meters, speed in meters per second and heading in radians:
-
-```text
-D = max(7 m, speed × 1 s)
-error = selected_limited_curvature - measured_steering_curvature
-base_C1 = clip(D × selected_limited_curvature, -0.5, +0.5)
-P = 0.25 × D × error
-I_increment = speed × error × fresh_measurement_elapsed_time
-C1 = amplitude_and_slew_limit(base_C1 + P + I)
-```
-
-P is 25% of the heading-equivalent tracking error, not a 25% multiplier on the
-model request. At matched curvature it is zero. It is stateless and can change
-with a new request even if a steering publication repeats; repeated steering
-publications still cannot integrate I twice. Driver override and fresh PSCM
-denied/inactive states clear both feedback terms. Fresh `limit=2` inhibits
-outward I accumulation while permitting unwind; P remains available inside the
-existing combined output envelope.
-
-The existing C1 amplitude limit (±0.5 rad) and slew (0.5 rad/s) apply to the sum.
-Anti-windup includes P when calculating I's available headroom. P can consume
-a slew interval that previously allowed I accumulation. The conditional I
-release rules, including [completed-unwind release](ford_unwind_catchup.md),
-remain. C0 retains the same 7 m mapping, base-heading overflow, cap and slew;
-neither P nor I spills into C0. C2/C3 stay zero. No plant, gain schedule or
-automatic gain learning is introduced.
-
-Onroad selection explicitly supplies `C1_PROPORTIONAL_GAIN = 0.25`. Direct
-`FordModelActionController()` and `ModelActionController()` construction defaults
-to zero P for v5 reference/replay compatibility. The existing default-off
-Sunnylink toggle selects v6 on any Ford CAN FD. Toggle off still selects
-upstream Ford control. See [installation and selection](ford_model_action_drive_test.md).
-
-## Lightning replay findings
-
-Routes `112`, `113`, `114`, `115`, `b9` and `ca` supplied 677,871 control cycles.
-Each was replayed with P gains 0, 0.1, 0.25 and 0.5, paired with diagnostic
-feedback delays 0, 0.2 and 0.4 s: 12 combinations and 8,134,452 candidate updates.
-Recorded model, driver, steering and PSCM inputs stayed fixed.
-
-Both command columns are replayed C1 in radians with left positive. The angle
-pair is the single recorded desired/actual wheel measurement, not a predicted
-outcome for either candidate.
-
-| Example | Desired / actual angle | V5 C1 | P=0.25 C1 |
-| --- | ---: | ---: | ---: |
-| 115, 207.908 s: late left entry | 94.2° / 51.2° | +0.1685 | +0.1825 |
-| 115, 208.099 s: entry continues | 111.0° / 72.8° | +0.2105 | +0.2245 |
-| 114, 473.086 s: well-tracked bend | 57.3° / 56.3° | +0.1855 | +0.1850 |
-| 113, 481.567 s: hanging right exit | −7.6° / −94.4° | +0.0645 | +0.0875 |
-| 115, 133.595 s: completed unwind | 6.0° / 29.9° | +0.0105 | 0.0000 |
-
-The completed-unwind example is excluded by the original quality/driver clean
-mask. It is useful for checking command release, not autonomous tracking
-attribution. Large-turn windows often contain interventions and require review
-of driver input before assigning a tracking result to the controller.
-
-Across 2,740.44 seconds of valid, feedback-enabled, clean samples with desired
-wheel angle below 30°, the duration-weighted mean absolute C1 change is
-0.001001 rad at P=0.25, versus 0.001961 at P=0.5. Per-route 95th-percentile
-changes at P=0.25 are 0.0025–0.0070 rad; the largest ordinary-cohort change is
-0.0350 rad. Small average command changes do not establish unchanged centering
-or stability.
-
-P=0.25 is an engineering choice between the tested smaller and larger responses,
-not an optimization result. At the late-entry example, adding a fixed 0.4 s
-feedback delay instead gives C1 +0.1420 rad. Across the ordinary cohort, that
-delayed P=0.25 variant changes C1 by 0.011255 rad on average. V6 therefore
-retains v5's feedback timing to isolate P. This does not identify or disprove
-the vehicle's physical delay. The diagnostic delay variants change only P and
-I integration targets; request-release decisions still use the current request.
-
-## Tuning and next-drive evidence
-
-Comma's [torque controller](https://github.com/commaai/openpilot/blob/master/openpilot/selfdrive/controls/lib/latcontrol_torque.py)
-separates feedforward, P and I and aligns its torque feedback reference with
-steering delay. Its [angle PID controller](https://github.com/commaai/openpilot/blob/master/openpilot/selfdrive/controls/lib/latcontrol_pid.py)
-uses desired-minus-measured steering angle directly. These different paths do
-not imply one delay setting should be copied into Ford C1.
-
-Use the same discipline: explicit parameters, separate term logging, fixed
-request conditions and measured response. Comma's
-[lateral maneuver report](https://blog.comma.ai/0111release/#lateral-maneuver-report)
-uses repeatable step/sine maneuvers to assess response. C1 is a path-heading
-request to another controller, not normalized steering torque; numerical torque
-gains and torque calibration cannot be copied across.
-
-For the next controlled evaluation, compare similar speeds and model requests:
-entry delay/shortfall, overshoot as the request relaxes, correction after catch-up,
-ordinary-bend centering and oscillation. Keep desired/actual tracking on original
-timestamps. Check C0/C1 caps, slew, driver input and fresh PSCM flags separately.
-More gain cannot remove hardware limits and can introduce oscillation. These
-logs all come from a Lightning; the gain is not yet validated across other
-PSCMs. No scripted maneuver mode is enabled by this change.
-
-Periodic `Ford C2-free path tracking` events identify
-`hypothesis=model-action-c1-pi-v6` and expose `heading_proportional`,
-`proportional_gain`, `feedback_curvature` and `feedback_error` alongside
-`heading_feedforward`, `heading_correction`, command and release diagnostics.
-`calibration_approved=false` remains.
-
-## Validation and reproduction
-
-The final selected path exactly matches the sweep's P=0.25, zero-delay variant
-on all six routes, including C0/C1, P, I and activation. Zero-P/zero-delay matches
-v5 exactly on every cycle. All variants preserve C0 and activation. Another
-200,000 seeded stress cycles check PI arithmetic, anti-windup, mirror symmetry,
-driver/PSCM arbitration, resets, amplitude/slew and zero-P parity. Sweep,
-selected replay and stress total **9,012,323 Float32/CAN round trips**.
-Encoding checks do not test vehicle motion.
-
-**776 tests and 9,145 subtests passed; 178 were skipped.** Coverage includes
-actual startup selection, controlsd request source/limiting, Float32 publication,
-100 Hz CAN encoding, checksums, both turn signs, integral release, Sunnylink
-persistence, toggle-off upstream behavior and Ford safety tests. Ruff,
-controller Ty and settings compilation passed. A hardware build/device boot
-and physical response tests have not been performed.
-
-Use the project's Python environment and built cereal/opendbc dependencies:
-
-```sh
-export PYTHONPATH=.:opendbc_repo:.cache/ford_v6/test_deps
-export PYTHONDONTWRITEBYTECODE=1
-export PARAMS_ROOT=/tmp/ford-pi-test-params
-export LOG_ROOT=/tmp/ford-pi-test-logs
-python -m tools.ford_pscm_lab.pi_replay .cache/ford_route115 --output .cache/ford_pi_sweep/route115
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_route115 --baseline 22d188776cb557acea459a1fca70812bdb2df46c --output .cache/ford_pi_sweep/selected115
-python -m tools.ford_pscm_lab.pi_stress --cycles 200000 --gain .25 --output .cache/ford_pi_sweep/stress.json
-python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
-```
-
-Repeat both replay commands for the other five extracts. The machine-readable
-[validation record](ford_c1_pi_validation.json) records counts, source hashes,
-cohort definitions and sampled command changes. Publication time proxies the
-computation clock; full SubMaster state and selected maneuver-plan publications
-are not reconstructed. Real maneuver source selection is exercised in integration
-tests. Historical controller reports retain their original version scope.

docs/ford_c1_pi_validation.json

@@ -1,373 +0,0 @@
-{
-  "hypothesis": "model-action-c1-pi-v6",
-  "baseline_revision": "22d188776cb557acea459a1fca70812bdb2df46c",
-  "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-  "selected_gain": 0.25,
-  "selected_feedback_delay_s": 0.0,
-  "calibration_approved": false,
-  "scope": "Frozen recorded steering, model, driver and PSCM inputs. Command checks only; no predicted wheel response or physical tracking improvement score.",
-  "controller_sha256": "8eaf242a8627c398b732e9c185527640b2ae39b4726cbb138c0a10490a4b890f",
-  "routes": {
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-      "zero_gain_zero_delay_matches_v5_exactly": true,
-      "all_c0_and_activation_match_exactly": true,
-      "ordinary_clean_seconds": 655.2228206790003,
-      "ordinary_mean_abs_c1_change_rad": 0.0008885702173989647,
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-      "ordinary_max_abs_c1_change_rad": 0.02400000000000002,
-      "all_valid_max_abs_c1_change_rad": 0.054500000000000104,
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-      "time_s": 207.908066963,
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-      "description": "Entry continues",
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-      "p_rad_left_positive": 0.016087211202830076,
-      "i_rad_left_positive": 0.02176835685651445
-    },
-    {
-      "description": "Completed right-turn unwind",
-      "route": "115",
-      "time_s": 133.59461515599992,
-      "desired_angle_deg": 5.989600658416748,
-      "actual_angle_deg": 29.899999618530273,
-      "speed_mph": 5.890273288393662,
-      "strict_clean": false,
-      "c0_m_left_positive": 0.1900000000000004,
-      "c1_rad_left_positive": {
-        "v5": 0.010500000000000065,
-        "p_025": 0.0,
-        "p_025_delay_04": -0.0030000000000000027
-      },
-      "p_rad_left_positive": -0.010158478980883956,
-      "i_rad_left_positive": -0.0015653052344988395
-    },
-    {
-      "description": "Large left overshoot; nearby driver input",
-      "route": "114",
-      "time_s": 168.957705716,
-      "desired_angle_deg": 278.3920593261719,
-      "actual_angle_deg": 450.20001220703125,
-      "speed_mph": 7.027778014508665,
-      "strict_clean": true,
-      "c0_m_left_positive": 5.11,
-      "c1_rad_left_positive": {
-        "v5": 0.34099999999999997,
-        "p_025": 0.2875,
-        "p_025_delay_04": 0.3125
-      },
-      "p_rad_left_positive": -0.07201755233108997,
-      "i_rad_left_positive": -0.13527950258838367
-    },
-    {
-      "description": "Well-tracked left bend",
-      "route": "114",
-      "time_s": 473.085523785,
-      "desired_angle_deg": 57.32655334472656,
-      "actual_angle_deg": 56.29999923706055,
-      "speed_mph": 27.33261651794824,
-      "strict_clean": true,
-      "c0_m_left_positive": 0.6699999999999999,
-      "c1_rad_left_positive": {
-        "v5": 0.1855,
-        "p_025": 0.18500000000000005,
-        "p_025_delay_04": 0.15900000000000003
-      },
-      "p_rad_left_positive": 0.0007143015310955292,
-      "i_rad_left_positive": 0.022011912629614844
-    },
-    {
-      "description": "Hanging right exit",
-      "route": "113",
-      "time_s": 481.56693996600006,
-      "desired_angle_deg": -7.566320896148682,
-      "actual_angle_deg": -94.4000015258789,
-      "speed_mph": 11.959057581279636,
-      "strict_clean": true,
-      "c0_m_left_positive": -0.5800000000000001,
-      "c1_rad_left_positive": {
-        "v5": 0.0645,
-        "p_025": 0.08750000000000002,
-        "p_025_delay_04": 0.034499999999999975
-      },
-      "p_rad_left_positive": 0.03597008844371885,
-      "i_rad_left_positive": 0.06765882642510383
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-  ],
-  "ordinary_cohort": "Existing interval-clean angle mask, valid replay and feedback enabled, absolute desired wheel angle <30 degrees.",
-  "weighting": "Extracted interval duration weights for seconds and mean absolute command changes; percentiles are cycle-weighted.",
-  "ordinary_clean_seconds": 2740.4427841649945,
-  "ordinary_mean_abs_c1_change_by_setting_rad": [
-    {
-      "kp": 0.0,
-      "delay_s": 0.0,
-      "mean_abs_delta_rad": 0.0
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-    {
-      "kp": 0.1,
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-      "kp": 0.25,
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-    "cycles": 200000,
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-    "can_round_trips": 200000,
-    "baseline_revision": "22d188776cb557acea459a1fca70812bdb2df46c",
-    "baseline_source_sha256": "2ceb4cd8717bb3325f9b22189c78605ad5d42a1061dec9ca2e4dbb90fd256d1e",
-    "release_cycles": 91,
-    "calibration_approved": false,
-    "checks": "Independent scalar PI arithmetic, combined anti-windup, mirror symmetry, slew/amplitude, driver/PSCM gates, resets, zero-P v5 parity and CAN.",
-    "scope": "Check PI arithmetic and CAN invariants without a model of vehicle response.",
-    "source_sha256": {
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-    "formatting_only_final_source_ast_identical": true,
-    "final_script_sha256": "cff014beda81b0bfbaabd7219b8e2848464c5c45ac779669f80084d5be347a06"
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-  "tests": {
-    "passed": 776,
-    "skipped": 178,
-    "subtests_passed": 9145,
-    "log_sha256": "5b9274e2557f41b630ad285b0426c916835c2997fc7f5c4fcad91aa4c6f64243",
-    "ruff": "passed",
-    "controller_ty": "passed",
-    "settings_compiler": "passed"
-  }
-}

docs/ford_c1_request_release.md

@@ -1,128 +0,0 @@
-# Ford changed-request correction release
-
-The Chestnut/Tee Time routes 112 and 113 ran `17a86842f` (C1 feedback v3).
-In route 113, an increasing turn request remained below its base C1 because
-negative correction from an earlier oversteer episode took time to return to
-zero. The existing reversal release did not apply: requested and measured
-curvature were already in the same turn direction.
-
-Version `model-action-c1-feedback-v4` retires a bounded amount of correction
-when a changed request and measured error both oppose that correction. This
-addresses software command delay. It does not establish improved wheel tracking
-or fix all the recorded hanging exits.
-
-## Rule
-
-On a fresh steering measurement, evaluate the previous selected curvature and
-the current selected curvature using today's existing heading reference:
-
-```text
-distance = max(7 m, speed * 1 s)
-change = clip(distance * desired, -0.5, 0.5)
-       - clip(distance * previous_desired, -0.5, 0.5)
-error = desired - measured
-```
-
-Retirement requires all of:
-
-- Feedback enabled and a previous feedback request available.
-- Heading change at least one existing C1 DBC step (0.0005 rad).
-- Change and current error agree in direction.
-- Stored correction opposes that direction.
-- The magnitude of `distance * error` is at least the correction magnitude.
-
-Move the correction toward zero by at most the heading change, without crossing
-zero. Then run the existing reversal release, elapsed-distance integration,
-PSCM arbitration and final output slew. The mismatch requirement is an
-engineering guard using the existing reference distance; it is not a fitted
-PSCM response threshold or proof of stability. It protects a larger learned
-correction from small target/measurement noise. There is no new tunable strength
-multiplier, and the existing 1:1 feedback-strength choice remains.
-
-The last selected curvature adds one control state. Duplicate steering samples
-do not advance this history or retire correction; the next fresh sample uses
-the net request change. A speed change alone cannot cause retirement because
-both requests are evaluated at the same current speed. Invalid input and
-disengagement reset the history. Driver override clears correction and prevents
-a pending request change from being applied later.
-
-C0 mapping and overflow, C2/C3 zeroing, amplitude/slew limits, sender cadence and
-all input/driver/PSCM gates remain unchanged. Toggle off still selects upstream
-Ford control on every platform. The existing default-off toggle selects v4 on
-Ford CAN FD vehicles. `request_release` logs signed radians retired on that
-cycle; periodic diagnostics do not capture every individual retirement.
-
-## Evidence and limits
-
-The regression command `python -m pytest -q -p no:cacheprovider
-openpilot/selfdrive/controls/tests/test_ford_model_action_request_release.py`
-initially returned **4 failed** on v3. It checks that an obsolete correction no
-longer delays a changed same-direction turn or unwind after the output slew
-has time to respond. Expanded cases cover small noise, matched tracking,
-insufficient error, speed-only changes, clipped base requests, duplicate
-measurements, override and reset. Integration tests exercise actual controlsd
-selection/limiting, both model and maneuver references, Float32 publication
-and Ford CAN packing.
-
-Frozen replay compares v4 with the deployed v3 on the same recorded model,
-measurement, driver and PSCM inputs:
-
-| Route | Control cycles | Retirement cycles | Largest C1 difference |
-| --- | ---: | ---: | ---: |
-| 112 | 108,971 | 414 | 0.0235 rad |
-| 113 | 49,614 | 119 | 0.0275 rad |
-| Historical b9 | 90,774 | 440 | 0.0350 rad |
-
-Activation and C0 are identical on every replay cycle. C2/C3 remain zero.
-Retirement changes subsequent correction history, so command differences can
-persist after a retirement cycle. In frozen measurements the vehicle cannot
-react to those differences. Command differences occur in ordinary bends too;
-these tests do not establish unchanged real-world centering or stability.
-
-In route 113, segment 3, old opposing correction reaches zero at **3:18.630**
-instead of **3:19.253**: **0.623 s earlier**. At 3:18.649, C1 magnitude is
-0.319 rad instead of 0.2925 rad. The PSCM limit flag still inhibits additional
-outward integration; retiring opposing correction cannot create new stored
-outward demand through that gate.
-
-The route 113 exit at 8:01.567 has **identical C1** in this replay. Route 112's
-11:40.555 overshoot changes C1 by only 0.0015 rad, slightly later in the unwind
-direction on the frozen history. These are material limits: the change does
-not solve those exits. C0's contribution and physical PSCM response remain
-unresolved. No counterfactual wheel-angle or tracking-error score is reported.
-
-The combined suite passes **717 tests and 9,145 subtests**, with 178 inherited
-or unsupported safety-test skips. Feedback stress and zero-error stress cover
-200,000 cycles each; the latter also covers 18,138 field-boundary cases.
-Together with the three route replays, these verify **667,497 Float32/CAN round
-trips**, separately from the integration suite. Stress compares each step to
-v3 after only the declared retirement and checks sign symmetry, bounds, slew,
-resets, arbitration and correction direction. Ruff, the controller Ty check
-and settings compilation pass. Numerical records are in
-`ford_c1_request_release_validation.json`.
-
-## Reproduction
-
-Use the project's native Python dependencies and unchanged opendbc revision
-`64aa61b9b3fd26e70a7caa915acab207ff3cd64a`. Route commands require the full-rlog
-extracts (`route.npz`, `model_paths.npz`, `metadata.json`) identified by the
-validation hashes. No original logs are modified.
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:opendbc_repo
-# Optional writable roots for the tests' temporary parameter stores and logs:
-export PARAMS_ROOT=/tmp/ford-v4-test-params
-export LOG_ROOT=/tmp/ford-v4-test-logs
-python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
-python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_v4/stress.json
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260912 --opendbc-revision 64aa61b9b3fd26e70a7caa915acab207ff3cd64a --output .cache/ford_v4/zero_error.json
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_route112 --baseline 17a86842f --output .cache/ford_v4/route112
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_route113 --baseline 17a86842f --output .cache/ford_v4/route113
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb9 --baseline 17a86842f --output .cache/ford_v4/routeb9
-```
-
-Publication time approximates the computation clock; full SubMaster health is
-not reconstructable. These routes have no selected maneuver-plan publications;
-that source is covered by integration tests. No device build, boot, installation
-or physical steering test is performed offline.

docs/ford_c1_request_release_validation.json

@@ -1,214 +0,0 @@
-{
-  "hypothesis": "model-action-c1-feedback-v4",
-  "baseline_revision": "17a86842f97f65216443a5d89648c8ace8518758",
-  "scope": "Software command delay and invariants only; no counterfactual wheel motion or proven physical tracking improvement. Hanging exits remain unresolved.",
-  "calibration_approved": false,
-  "tests": {
-    "passed": 717,
-    "subtests_passed": 9145,
-    "skipped": 178,
-    "log_sha256": "1864f8618b9d788f67e57766cf7b9ab9eda8e98a2ad0caf1c668bb9936b6eb7d",
-    "initial_regression": "4 failures on v3; same-turn command delay tests pass on v4",
-    "environment": "PARAMS_ROOT and LOG_ROOT point to dedicated temporary directories; initial sandbox path failures resolved without changing tests."
-  },
-  "feedback_stress": {
-    "cycles": 200000,
-    "mirrored_updates": 200000,
-    "can_round_trips": 200000,
-    "carryover_release_count": 165,
-    "baseline_revision": "17a86842f97f65216443a5d89648c8ace8518758",
-    "baseline_source_sha256": "167ae5a01fdd7ea014e6ad3fe9d0b6e31c67de8ba057ec5ecf18ab38fc16353f",
-    "request_release_cycles": 20454,
-    "exact_unchanged_state_and_commands_without_request_release": 179546,
-    "exact_v3_match_after_only_declared_retirement": 200000,
-    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, bounded request retirement, carryover direction/confirmation, integration, PSCM limits, CAN.",
-    "scope": "Numerical software invariants only; no model of vehicle motion.",
-    "calibration_approved": false,
-    "controller_sha256": "5673630d31910fcfa5a3cc9a8d533b6b8fe9a76e2627bf1f67b52b3550ec7442"
-  },
-  "zero_error_stress": {
-    "seed": 20260912,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.4000000000000019,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
-    "opendbc_import_head": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-    "source_sha256": {
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/stress_model_action.py": "cec2619285dd41274562ac035ee8ea0a389269a0c4ef1b62efa6252ad1a714aa",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f"
-    }
-  },
-  "replays": {
-    "112": {
-      "baseline_revision": "17a86842f",
-      "baseline_source_sha256": "167ae5a01fdd7ea014e6ad3fe9d0b6e31c67de8ba057ec5ecf18ab38fc16353f",
-      "calibration_approved": false,
-      "cycles": 108971,
-      "active_cycles": 91414,
-      "validity_matches_baseline_exactly": true,
-      "status_counts": {
-        "inactive": 17557,
-        "active": 91414
-      },
-      "c0_matches_baseline_exactly": true,
-      "c0_changed_cycles": 0,
-      "max_abs_c0_change_m": 0.0,
-      "offset_overflow_seconds": 1.43945091800002,
-      "max_abs_offset_overflow_target_m": 0.5727187991142273,
-      "request_release_cycles": 414,
-      "request_release_seconds": 4.192443282002046,
-      "max_abs_request_release_rad": 0.008723706007003784,
-      "feedback_enabled_seconds": 840.7664582650004,
-      "pscm_limit_2_seconds": 14.441855805999936,
-      "c1_changed_cycles": 58152,
-      "max_abs_c1_change_rad": 0.023500000000000076,
-      "max_abs_correction_rad": 0.205313389369823,
-      "can_round_trips": 108971,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route112/route.npz": "2b08a2fb636f7d14556d7df4035eafc1d1b97932237955528562a16db2b31d3e",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route112/model_paths.npz": "9837afe78aab4cad288cad98a595a5777fa8a66bb235986b1272a7f7c54e559a",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route112/metadata.json": "726d78a7e7aa45307dcfe27cb00775c20ecc9d54538eb7f26a0166fc216226ce",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "2e9ea03d4947c7bb3a02c864e0dbc7c9bf031af51dba5e44a8aaa137c3aac6b2",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "5673630d31910fcfa5a3cc9a8d533b6b8fe9a76e2627bf1f67b52b3550ec7442"
-      },
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
-      "targeted_points": [
-        {
-          "time_s": 700.5553145380001,
-          "baseline_c0_c1": [
-            -0.34999999999999964,
-            0.010000000000000009
-          ],
-          "candidate_c0_c1": [
-            -0.34999999999999964,
-            0.008500000000000008
-          ]
-        }
-      ]
-    },
-    "113": {
-      "baseline_revision": "17a86842f",
-      "baseline_source_sha256": "167ae5a01fdd7ea014e6ad3fe9d0b6e31c67de8ba057ec5ecf18ab38fc16353f",
-      "calibration_approved": false,
-      "cycles": 49614,
-      "active_cycles": 27207,
-      "validity_matches_baseline_exactly": true,
-      "status_counts": {
-        "inactive": 22407,
-        "active": 27207
-      },
-      "c0_matches_baseline_exactly": true,
-      "c0_changed_cycles": 0,
-      "max_abs_c0_change_m": 0.0,
-      "offset_overflow_seconds": 2.7607263189997866,
-      "max_abs_offset_overflow_target_m": 0.6065444126725197,
-      "request_release_cycles": 119,
-      "request_release_seconds": 1.235422420998475,
-      "max_abs_request_release_rad": 0.009946223348379135,
-      "feedback_enabled_seconds": 243.3033761190004,
-      "pscm_limit_2_seconds": 14.003248144999816,
-      "c1_changed_cycles": 17825,
-      "max_abs_c1_change_rad": 0.027500000000000024,
-      "max_abs_correction_rad": 0.16966817302181283,
-      "can_round_trips": 49614,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route113/route.npz": "774ca4a21b7113c2706d6130bc180c3216ea4833155300ab01e75b3486e36327",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route113/model_paths.npz": "93c41761eb85263f534f5371b905482cf7c948582eb1e9149966594be1d3768f",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route113/metadata.json": "1c0ca74dd48b90ab9d5444c5ca7f8aa9361700bbdf98bd5e853be50ad2895d7f",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "2e9ea03d4947c7bb3a02c864e0dbc7c9bf031af51dba5e44a8aaa137c3aac6b2",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "5673630d31910fcfa5a3cc9a8d533b6b8fe9a76e2627bf1f67b52b3550ec7442"
-      },
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
-      "old_correction_zero_s": 199.2531750590001,
-      "new_correction_zero_s": 198.62974550599984,
-      "earlier_correction_zero_s": 0.6234295530002782,
-      "targeted_points": [
-        {
-          "time_s": 198.64943081699994,
-          "baseline_c0_c1": [
-            2.16,
-            0.2925
-          ],
-          "candidate_c0_c1": [
-            2.16,
-            0.319
-          ]
-        },
-        {
-          "time_s": 481.56693996600006,
-          "baseline_c0_c1": [
-            0.5800000000000001,
-            -0.0645
-          ],
-          "candidate_c0_c1": [
-            0.5800000000000001,
-            -0.0645
-          ]
-        }
-      ]
-    },
-    "b9": {
-      "baseline_revision": "17a86842f",
-      "baseline_source_sha256": "167ae5a01fdd7ea014e6ad3fe9d0b6e31c67de8ba057ec5ecf18ab38fc16353f",
-      "calibration_approved": false,
-      "cycles": 90774,
-      "active_cycles": 86474,
-      "validity_matches_baseline_exactly": true,
-      "status_counts": {
-        "inactive": 4300,
-        "active": 86474
-      },
-      "c0_matches_baseline_exactly": true,
-      "c0_changed_cycles": 0,
-      "max_abs_c0_change_m": 0.0,
-      "offset_overflow_seconds": 5.703841178999909,
-      "max_abs_offset_overflow_target_m": 4.280821338295937,
-      "request_release_cycles": 440,
-      "request_release_seconds": 4.520361682000512,
-      "max_abs_request_release_rad": 0.017186015844345093,
-      "feedback_enabled_seconds": 816.0284774219999,
-      "pscm_limit_2_seconds": 9.308613716000167,
-      "c1_changed_cycles": 48629,
-      "max_abs_c1_change_rad": 0.03500000000000003,
-      "max_abs_correction_rad": 0.18457476562660308,
-      "can_round_trips": 90774,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/route.npz": "b07c789d8155335f5d120d0262fced6e4d5803fe767b0ff49b6413dce4140b5c",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/model_paths.npz": "6b1f87897c050273fdc05af051307a049b6fc3a93072e7cda1721195ce7c3861",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "cd76c6106b2e41e905b752f1638d5b3e0feaa10ec21e038268df33183a91c640",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f"
-      },
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed."
-    }
-  },
-  "float32_can_round_trips_excluding_integration_tests": 667497,
-  "checks": {
-    "ruff": true,
-    "controller_ty": true,
-    "settings_compilation": true,
-    "toggle_off_upstream_integration": true
-  },
-  "final_source_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_request_release.py": "4b4a69d67eba0ff9d5db0a50a4f868c5eb5f7c8c79d70832500554febc7d28fe",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "7b2429a5c40e5067b8edea4c11e9cdd4c6271d09f7982e30126eb42b93425a50",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "5943a37f6e3865297ac543fb922a3c8b6e016c5af3eff589f518bd9615bbdb4f",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "df883702a847465815feb6c4fbf88130c27e69d7e3e256c9962d99a9738ee353",
-    "tools/ford_pscm_lab/feedback_replay.py": "cd76c6106b2e41e905b752f1638d5b3e0feaa10ec21e038268df33183a91c640"
-  },
-  "source_note": "Controller comment/docstring cleanup followed feedback stress and routes 112/113. The recorded tested hashes are retained; b9 and zero-error stress record the final controller source. No executable controller change followed those runs."
-}

docs/ford_curvature_c0_v8.md

@@ -1,99 +0,0 @@
-# Desired-curvature C0 on continuous PI
-
-This local candidate changes C0's reference from the live model path's lateral
-position at 7 m to a circular arc of the selected, upstream-limited desired
-curvature. It is based on v7 (`08b3a14ad`), with the same P=0.50/I=0.25 controller.
-No new gain, state, release condition, reference delay or output limit is added.
-The candidate is on `codex/ford-curvature-c0-trial`; this evaluation does not
-publish it over the v7 onroad branch.
-
-For selected curvature k and the existing 7 m reference distance:
-
-```text
-arc C0 = (1 − cos(7 × k)) / k, or 0 when k = 0
-       ≈ 24.5 × k for small curvature
-C0 target = clip(arc C0 + 7 × clipped-away base C1, −5.11, +5.11)
-```
-
-The implementation uses the equivalent squared-sinc expression to avoid
-subtracting nearly equal floating-point numbers near zero. C0 keeps its 4 m/s
-output slew and Float32/CAN quantization. C1 keeps the existing mapping and PI
-law, ±0.5 rad bound and 0.5 rad/s slew. C2 and C3 stay zero.
-
-This is a geometric reference choice, not a model of the PSCM. The arc starts
-at zero lateral position and heading. Independent live model-path position and
-heading are omitted, while selected curvature can still include the model's
-centering decision. Valid live model geometry remains a health gate. Short valid
-paths do not shorten the synthetic 7 m arc. Both C0 and C1 use the selected
-request, including the maneuver source when selected by controlsd.
-
-## What the recorded routes show
-
-All fourteen previous routes were replayed with v7 and this C0 replacement:
-Lightning 112–117, a0, a2, a5, a9, b8, b9, ca and Raptor 02. On all 1,578,250
-control cycles, C1, P, I, activation, feedforward, overflow and feedback/PSCM
-gates match exactly. The v7 baseline also reproduces its archived commands
-exactly. C0 matches the earlier isolated geometry experiment, but C1 no longer
-has the release rules that coupled it to C0 in that experiment.
-
-Duration-weighted clean samples, grouped by requested steering-wheel angle:
-
-| Absolute requested wheel angle | v7 mean absolute C0 | Curvature C0 | Reduction |
-| --- | ---: | ---: | ---: |
-| Under 5° | 0.0136 m | 0.0072 m | 46.7% |
-| 5–30° | 0.0965 m | 0.0608 m | 37.0% |
-| 30–90° | 0.5064 m | 0.2916 m | 42.4% |
-| At least 90° | 2.6314 m | 1.5282 m | 41.9% |
-
-The clean cohort is 6,654.52 s with the existing quality/driver mask and margins,
-speed at least 2 m/s and replay feedback enabled. Only 36.20 s have a requested
-wheel angle of at least 90°. These are command magnitudes, not torque or tracking
-scores, and do not classify driver interventions as controller failures.
-
-At route 117, 128.272 s (right entry), C0 changes from −2.51 m to −1.35 m while
-C1 remains −0.427 rad. At 142.670 s (request relaxing/reversing), C0 changes from
-+0.18 m to −0.02 m while C1 remains −0.0425 rad. Both comparisons are replayed
-on the same recorded vehicle motion. The new C0 follows the selected request
-more directly, but it supplies less C0 during the entry as well as the exit.
-
-## Validation and interpretation
-
-- 694 Ford/controlsd, tracked PSCM lab, Sunnylink, params, sender and safety
-  tests pass; 9,145 subtests pass and 178 platform tests skip. Historical
-  untracked offline experiment tests are outside this deployment suite.
-- The isolated two-controller replay performs 3,156,500 Float32/CAN checks.
-- Production selection/adapter replay exactly reproduces the isolated candidate
-  on every route cycle, adding 1,578,250 Float32/CAN checks.
-- A 20,000-cycle scalar geometry/PI stress with mirrored and unrelated model
-  paths adds 60,000 checks. Total: 4,794,750 CAN round trips.
-- Tests cover zero/tiny curvature, signs, circular geometry, short/malformed
-  paths, selected maneuver requests, overflow, unwind, duplicate measurements,
-  model/driver/PSCM gates, caps/slew and toggle-off upstream Ford fallback.
-- Ruff, production Ty and diff whitespace checks pass.
-
-Software C1 parity does not guarantee identical physical unwind: changing C0
-changes the PSCM's input and therefore the vehicle response and future feedback.
-Smaller C0 is not established as better or worse tracking. No device build,
-boot or drive of this candidate is claimed. Collecting the promising v7 drive's
-logs before replacing it would preserve a useful comparison.
-
-## Reproduction
-
-Use the built cereal/opendbc environment and the same local route extracts:
-
-```sh
-export PYTHONPATH=.:opendbc_repo:.cache/ford_v6/test_deps
-export PYTHONDONTWRITEBYTECODE=1
-export PARAMS_ROOT=/tmp/ford-c0-params
-export LOG_ROOT=/tmp/ford-c0-logs
-python -m tools.ford_pscm_lab.curvature_c0_v7_replay .cache/ford_route117 --output .cache/ford_curvature_c0_v7/117
-python -m tools.ford_pscm_lab.curvature_c0_validate --output .cache/ford_curvature_c0_v7/production --workers 4
-python -m tools.ford_pscm_lab.curvature_c0_production_stress --cycles 20000 --output .cache/ford_curvature_c0_v7/production_stress.json
-```
-
-Repeat the first command for each label before validating all routes. Raptor
-uses input `.cache/ford_raptor_route02` and output label `raptor02`. The first
-replay loads isolated copies of pinned v7; the second tests this checkout's
-actual selector and adapter. The validation JSON records source and extract
-hashes, settings, example points and both sets of route reports. Older v7-only
-production validation commands should run from the v7 commit.

docs/ford_curvature_c0_v8_validation.json

@@ -1,890 +0,0 @@
-{
-  "scope": "Curvature-derived C0 candidate on the continuous PI controller; fixed recorded motion, no physical tracking prediction.",
-  "baseline_revision": "08b3a14ad46260fda0f8d3a1c2cee2d272504153",
-  "branch": "codex/ford-curvature-c0-trial",
-  "deployment_at_evaluation": "local candidate; hiimisaac-dev remains v7",
-  "hypothesis": "model-action-curvature-c0-pi-v8",
-  "source_sha256": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc",
-  "kp": 0.5,
-  "ki": 0.25,
-  "station_m": 7.0,
-  "cycles": 1578250,
-  "route_count": 14,
-  "same_c1_and_integral_on_every_recorded_cycle": true,
-  "baseline_exactly_matches_archived_v7": true,
-  "c0_commands_match_prior_geometry_experiment": true,
-  "can_round_trips": 4794750,
-  "tests": {
-    "passed": 694,
-    "skipped": 178,
-    "subtests_passed": 9145,
-    "scope": "Same Ford controls, tracked PSCM lab, car status, Sunnylink, params, Ford car and safety suite as v7; historical untracked experiments excluded."
-  },
-  "ruff": "pass",
-  "ty_production": "pass",
-  "bins": [
-    {
-      "requested_wheel_angle_degrees": "0-5",
-      "seconds": 4863.242382185041,
-      "mean_abs_c0_m": [
-        0.013572257514406704,
-        0.007239040142159917
-      ],
-      "reduction_pct": 46.662962042417725
-    },
-    {
-      "requested_wheel_angle_degrees": "5-30",
-      "seconds": 1576.952442509967,
-      "mean_abs_c0_m": [
-        0.09652124113032315,
-        0.06077627429873566
-      ],
-      "reduction_pct": 37.03326481610879
-    },
-    {
-      "requested_wheel_angle_degrees": "30-90",
-      "seconds": 178.12595563801986,
-      "mean_abs_c0_m": [
-        0.5064290157685561,
-        0.2916269430470148
-      ],
-      "reduction_pct": 42.4150406144399
-    },
-    {
-      "requested_wheel_angle_degrees": "90-inf",
-      "seconds": 36.19569558700505,
-      "mean_abs_c0_m": [
-        2.6314148997254545,
-        1.528200796263899
-      ],
-      "reduction_pct": 41.92474944094366
-    }
-  ],
-  "examples": [
-    {
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-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_curvature_c0_v7/ca/report.json": "753760c726ef1b85daf83b7108f758f9304dab408b49018f303616b99c96b81f",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_curvature_c0_v7/ca/commands.npz": "3fa932ac86e14440d325a6cc4677b47cd75c5c6019b929d3a5d078a62c5590df",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/curvature_c0_validate.py": "c91ead82b0320725276141b1bc9b84b132cd6345a144ea826ba2b7f069870932",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc"
-      }
-    },
-    {
-      "scope": "Verify production commands against the archived curvature-C0 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
-      "route": "raptor02",
-      "cycles": 132881,
-      "can_round_trips": 132881,
-      "production_matches_archived_trial_exactly": true,
-      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-      "hypothesis": "model-action-curvature-c0-pi-v8",
-      "kp": 0.5,
-      "ki": 0.25,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_raptor_route02/route.npz": "8a4cfe53994988d053b47d9caadf21ebd064fd20e598fa05ddc2da245bd0e980",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_raptor_route02/model_paths.npz": "d5dc6f72d91472b8f2fb1add1680cdaea1e122774ddd6d8519fd7673daf71bb5",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_raptor_route02/metadata.json": "9602e08efc2bd784133837c4156c075bb89bad3bedd6b309f15e884ed20e338a",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_curvature_c0_v7/raptor02/report.json": "af6b8fa4e4bfe3d5543794cdde4fbe4fd7560addf02717c2b6144c3987effafa",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_curvature_c0_v7/raptor02/commands.npz": "99ee65b866eda85e5c5d54f8896a7f952504826753eca31a01a29c7cf36c6482",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/curvature_c0_validate.py": "c91ead82b0320725276141b1bc9b84b132cd6345a144ea826ba2b7f069870932",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc"
-      }
-    }
-  ],
-  "production_stress": {
-    "cycles": 20000,
-    "kp": 0.5,
-    "ki": 0.25,
-    "controller_updates": 60000,
-    "can_round_trips": 60000,
-    "seed": 20260913,
-    "independent_c0_comparisons": 20000,
-    "checks": "Independent scalar PI/unwind-first/anti-windup arithmetic, mirror symmetry, exact C0 independence, limits, slew, resets, CAN.",
-    "source_sha256": {
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/curvature_c0_production_stress.py": "4bf031a793efe9ebc066e5b6db6897ca8e844d5e34c6faecd4701a4d8f04132a",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc"
-    }
-  },
-  "limitations": [
-    "C1 parity applies only to fixed recorded inputs; changing C0 changes physical response and subsequent feedback.",
-    "Curvature arc omits independent live model position/heading; seven meters remains an engineering reference choice.",
-    "Smaller C0 is not proof of better or worse tracking; no candidate hardware drive has been performed."
-  ]
-}

docs/ford_direct_path.md

@@ -1,95 +0,0 @@
-# Direct model-path C0/C1 trial
-
-This trial takes priority over the untested filtered-driver change. Driver
-arbitration is restored to the last driven baseline, `18ded0380`: a raw torque
-crossing above 1 Nm, filtered driver input, or fresh PSCM driver override still
-clears feedback. The filtered-driver experiment remains available in history at
-`4f7d2b8d2` and is not included in this trial.
-
-Keep **Selected-Action Path Tracking** and **Model Geometry Reference** enabled
-in Sunnylink. The existing geometry toggle now selects direct-path mapping at
-controlsd startup. Keep **C0 one-second distance** off for fixed 7 m C0. Apply an
-offroad-to-onroad cycle after updating. Geometry off restores the original
-model-action controller; the master controller toggle off restores upstream
-Ford control. Joystick and lateral-maneuver overrides retain their priority.
-
-## Mapping
-
-The path is parameterized by accumulated arc length in the model frame. C0
-samples model lateral position at 7 m, or max(7 m, speed × 1 s) when the existing
-C0 distance setting is enabled. C1 samples model orientation at max(7 m,
-speed × 1 s). A shorter path holds its endpoint; invalid paths disable the
-experimental command. Both distances are 7 m below about 15.7 mph. These are
-engineering choices, not identified Ford reference points.
-
-C0 and C1 are independent base requests. C0 is no longer reconstructed as a
-circular arc from the curvature used for C1. C2/C3 remain zero, so this still
-does not transmit the model's entire curved path to the PSCM.
-
-For the existing request limits and feedback, heading is divided by its sample
-distance to form a heading-equivalent curvature. controlsd applies its normal
-curvature limits to that value, logs it, and uses it for desired steering angle
-and feedback. Multiplication by the same distance recovers the model heading
-when unconstrained. C0 independently uses 2 × offset / distance² to apply the
-same request-limit function, then reverses that normalization. This does not
-infer C0 from C1. These envelopes constrain base requests; they are not proof of
-physical lateral acceleration or jerk under the unknown PSCM response.
-
-P/I gains, measured-steering feedback, C1 anti-windup, C1-overflow allocation to
-C0, field bounds, driver arbitration, and CAN cadence retain the driven
-baseline behavior. There is no new C0/C1 actuator slew limiter. The independent
-C0 envelope adds one previous-reference state, reset with the controller.
-
-This changes preview semantics: direct commands use the distance stations
-above, rather than the prior modeld curvature preview (about 0.744 s at low
-speed on these drives). The raw model points do not pass through the old
-curvature reference's 0.1 s smoother. Existing request limits still apply.
-
-## Logging
-
-Controller diagnostics identify `model-path-direct-feedback-v17`, with
-`direct_path=true` only when the model path is in control. A valid maneuver
-reference uses the original curvature-to-arc mapping and logs
-`direct_path=false`. `offset_reference` records the independently limited C0
-normalization. Desired curvature and desired steering angle describe the C1
-feedback target, not an independent measure of lateral path position.
-
-modeld's geometry-reference telemetry is retained for comparison. Its
-`selectedCurvature` and published model action are not the direct controller's
-selected reference; use controlsState and the Ford controller diagnostics.
-
-## Offline results
-
-The replay compares the driven baseline against the direct-path candidate on
-identical recorded model frames and frozen vehicle measurements from full
-rlogs 15a and 15b. It covers 44,145 control cycles and 4,415 candidate CAN
-serialization checks. All commands remain finite and within field bounds;
-C2/C3 remain zero and driver/PSCM override behavior matches the baseline.
-The baseline reproduces recorded C1 to Float32 precision; C0 differs by at
-most one 0.01 m command quantum on 15b.
-
-| Metric | 15a baseline → direct | 15b baseline → direct |
-|---|---:|---:|
-| C1 field-bound time | 2.57 → 6.77 s | 6.70 → 7.54 s |
-| Low-speed C0 steps > 0.25 m | 52 → 52 | 85 → 129 |
-| Low-speed C1 steps > 0.05 rad | 36 → 46 | 32 → 57 |
-
-Low-speed counts use valid consecutive commands below 15 mph, normally 10 ms
-apart. They are descriptive command changes, not physical wheel jerk. The
-direct mapping changes requests substantially and does **not** establish a
-smoothness improvement: abrupt command changes and C1 field-bound time can
-increase. Fixed recorded measurements cannot predict the resulting wheel
-response, centering, or unwind. No on-road improvement is claimed.
-
-**593 tests pass** (547 controller/path/geometry tests and 46 settings tests).
-The tests cover independent position/heading commands, distances, endpoint
-handling, invalid input resets, request limits through reversals, feedback,
-baseline driver overrides, toggle selection, maneuver priority, publication,
-and CAN encoding. Reproduce replay with:
-
-```sh
-PYTHONPATH=.:opendbc_repo python tools/ford_pscm_lab/direct_model_path_replay.py \
-  --source .cache/ford_route15a/rlog_full --output .cache/ford_direct_path/15a
-```
-
-Detailed measurements and source hashes: `ford_direct_path_validation.json`.

docs/ford_direct_path_v9.md

@@ -1,70 +0,0 @@
-# Ford direct C0/C1 requests — v9
-
-The v8 maneuver route `84865544361f55cb/0000011c--99f4537696` showed
-commands being delayed by our extra 4 m/s C0 and 0.5 rad/s C1 slews.
-Those values were controller choices, not measurements of the PSCM's limits.
-For example, a C1 target reversal from +0.10 to -0.10 rad required at least
-0.4 seconds in our output stage alone.
-
-V9 sends the current bounded C0 and C1 requests on each update. There is no
-additional actuator ramp, zero hold, reversal mode, or initial engagement ramp.
-C0 remains the selected-curvature arc at 7 m plus base-C1 overflow. C1 remains
-base heading plus proportional and integral feedback, with P=0.50 and I=0.25.
-These are calculated commands, not a known inverse of the PSCM's response.
-
-Integral cancellation happens first. New integral accumulation fits the
-combined command's magnitude headroom, rather than the old slew headroom.
-This removes a second dependence on the old ramp. Fresh-measurement cadence,
-driver override, PSCM arbitration, stale/invalid input reset, and C2/C3=0 remain.
-
-The default-off Sunnylink `FordModelActionController` selector still applies
-to any Ford CAN FD vehicle. Toggle off restores upstream Ford control.
-Logs identify `model-action-direct-c0-c1-pi-v9`.
-
-## Remaining bounds
-
-- Selected desired curvature still passes through upstream `clip_curvature`:
-  3 m/s² lateral acceleration adjusted for roll, 5 m/s³ lateral jerk, and
-  absolute curvature 0.2 m⁻¹. These bound the reference; they are not proof of
-  a physical acceleration or jerk bound under custom C0/C1 feedback.
-- C0 remains within ±5.11 m and C1 within ±0.50 rad. The downstream packer
-  retains the actual wire ranges, preventing out-of-range values wrapping.
-- Driver, CAN, timing, service health, and fault gates remain intact.
-- Panda safety, the 100 Hz sender, and ramp-type selection are unchanged.
-
-No assumption is made that extended path mode independently enforces ISO
-limits. The absence of `LimitReached` is not evidence of unrestricted authority.
-
-## Offline validation
-
-The same-cycle reversal regression failed on v8 in both directions at 2, 10,
-and 100 ms timesteps, then passed after the change. Zero-error release reaches
-zero immediately. Full controlsd/publication/CAN tests check current-request
-output, upstream reference selection, field packing, driver and PSCM gates,
-integral cancellation and anti-windup, invalid input, and toggle-off fallback.
-
-- 358 tests and 23 subtests passed across controller and Ford sender suites.
-- 20,000 seeded randomized cases produced 60,000 controller updates and CAN
-  round trips, checking independent arithmetic, symmetry, bounds and resets.
-- Routes 11c, 119 and 11a supplied 461,340 input cycles: 922,680 baseline/v9
-  controller updates and CAN round trips. V8 and v9 activation, feedforward,
-  proportional feedback and feedback gates matched. Every active v9 output
-  matched its current bounded request within wire quantization.
-- Ruff passed for changed production/tests and the new replay/stress tools.
-
-| Route | Input cycles | Maximum C0 difference | Maximum C1 difference |
-|---|---:|---:|---:|
-| 11c maneuver suite | 54,146 | 0.09 m | 0.1605 rad |
-| 119 | 171,423 | 2.42 m | 0.4950 rad |
-| 11a | 235,771 | 3.36 m | 0.3710 rad |
-
-The maximum differences include engagement and other transitions. Removing
-slews permits abrupt changes; these are not predictions of wheel motion.
-Recorded motion, driver input and PSCM feedback stay fixed in replay.
-Publication timestamps approximate computation time; replay is not a claim of
-exact onroad command parity. Synthetic reference freshness is approximated
-from valid maneuver publications. Physical tracking and stability are unvalidated.
-
-The reproducible tools are `tools/ford_pscm_lab/direct_path_replay.py` and
-`tools/ford_pscm_lab/direct_path_production_stress.py`. Machine-readable checks
-are collected in `ford_direct_path_v9_validation.json`.

docs/ford_direct_path_v9_validation.json

@@ -1,125 +0,0 @@
-{
-  "version": "model-action-direct-c0-c1-pi-v9",
-  "baseline": "57ae29f257498f58170e2beec140c0f8103c1b43",
-  "tests": {
-    "passed": 358,
-    "subtests_passed": 23
-  },
-  "stress": {
-    "cycles": 20000,
-    "kp": 0.5,
-    "ki": 0.25,
-    "controller_updates": 60000,
-    "can_round_trips": 60000,
-    "seed": 20260913,
-    "independent_c0_comparisons": 20000,
-    "checks": "Independent scalar PI/unwind-first/anti-windup arithmetic, mirror symmetry, exact C0 independence, amplitude bounds, current commands, resets, CAN.",
-    "source_sha256": {
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/direct_path_production_stress.py": "ae0d0e3a32cddefc4072a58664f5afca84019067c8c5d9fa24e89dd1cbef2b99",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "fbc2309c15289db184aa54bda697feb7cfc26a218998b5b21f063381f47aad45"
-    }
-  },
-  "routes": {
-    "11c": {
-      "scope": "Compare v8 and direct C0/C1 on fixed logged inputs, without predicting motion.",
-      "baseline": "57ae29f257498f58170e2beec140c0f8103c1b43",
-      "baseline_source_sha256": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc",
-      "cycles": 54146,
-      "controller_updates": 108292,
-      "can_round_trips": 108292,
-      "status_counts": {
-        "inactive": 5066,
-        "active": 49080
-      },
-      "identical_validity_feedforward_p_and_feedback_gates": true,
-      "all_candidate_outputs_match_current_bounded_request": true,
-      "changed_c0_cycles": 73,
-      "changed_c1_cycles": 17133,
-      "max_abs_c0_change_m": 0.08999999999999986,
-      "max_abs_c1_change_rad": 0.16049999999999998,
-      "max_abs_integral_rad": 0.02639216769448115,
-      "limitations": [
-        "Recorded motion remains fixed; this cannot establish improved tracking or stability.",
-        "Publication time proxies computation time; reconstructed baseline is not exact onroad parity.",
-        "Synthetic reference freshness is approximated from valid publications; upstream selection itself is unchanged."
-      ],
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_maneuver_11c/analysis/route.npz": "1f3c37a7c7ae85ba69e9958435a9568f8244fa862f43ad1ee2a0192d1df13966",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_maneuver_11c/analysis/model_paths.npz": "0ff433da3dde1d4d7f10596cd53558ec5de9d56fbc49aec3e8afb4c9872377d5",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/direct_path_replay.py": "2a1baff08152230929d56b23b8f7fb03e1ae9c2b30c5e152a2be431188fc20e7",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "fbc2309c15289db184aa54bda697feb7cfc26a218998b5b21f063381f47aad45"
-      }
-    },
-    "119": {
-      "scope": "Compare v8 and direct C0/C1 on fixed logged inputs, without predicting motion.",
-      "baseline": "57ae29f257498f58170e2beec140c0f8103c1b43",
-      "baseline_source_sha256": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc",
-      "cycles": 171423,
-      "controller_updates": 342846,
-      "can_round_trips": 342846,
-      "status_counts": {
-        "inactive": 87482,
-        "active": 83941
-      },
-      "identical_validity_feedforward_p_and_feedback_gates": true,
-      "all_candidate_outputs_match_current_bounded_request": true,
-      "changed_c0_cycles": 199,
-      "changed_c1_cycles": 16426,
-      "max_abs_c0_change_m": 2.42,
-      "max_abs_c1_change_rad": 0.495,
-      "max_abs_integral_rad": 0.05010140673563736,
-      "limitations": [
-        "Recorded motion remains fixed; this cannot establish improved tracking or stability.",
-        "Publication time proxies computation time; reconstructed baseline is not exact onroad parity.",
-        "Synthetic reference freshness is approximated from valid publications; upstream selection itself is unchanged."
-      ],
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route119/route.npz": "415a099935fef152123b7422870442d6cfe6302bab9b8983ce3b3ffc71a7702b",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route119/model_paths.npz": "dfd41383bea486ccd0a476e94e612921a44a099a0c1213ff132ab81df3aa94d7",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/direct_path_replay.py": "2a1baff08152230929d56b23b8f7fb03e1ae9c2b30c5e152a2be431188fc20e7",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "fbc2309c15289db184aa54bda697feb7cfc26a218998b5b21f063381f47aad45"
-      }
-    },
-    "11a": {
-      "scope": "Compare v8 and direct C0/C1 on fixed logged inputs, without predicting motion.",
-      "baseline": "57ae29f257498f58170e2beec140c0f8103c1b43",
-      "baseline_source_sha256": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc",
-      "cycles": 235771,
-      "controller_updates": 471542,
-      "can_round_trips": 471542,
-      "status_counts": {
-        "inactive": 103039,
-        "active": 132732
-      },
-      "identical_validity_feedforward_p_and_feedback_gates": true,
-      "all_candidate_outputs_match_current_bounded_request": true,
-      "changed_c0_cycles": 689,
-      "changed_c1_cycles": 16106,
-      "max_abs_c0_change_m": 3.3600000000000003,
-      "max_abs_c1_change_rad": 0.371,
-      "max_abs_integral_rad": 0.05163860736233724,
-      "limitations": [
-        "Recorded motion remains fixed; this cannot establish improved tracking or stability.",
-        "Publication time proxies computation time; reconstructed baseline is not exact onroad parity.",
-        "Synthetic reference freshness is approximated from valid publications; upstream selection itself is unchanged."
-      ],
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route11a/route.npz": "428c203d090731386f06bf9fdeefe608f1999c43c52ff39cab7ee86ec0ac804f",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route11a/model_paths.npz": "e2b827fd7c3dfbf66d7872a56b57eaec13c600a9a48e12dae59be81c31b0978f",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/direct_path_replay.py": "2a1baff08152230929d56b23b8f7fb03e1ae9c2b30c5e152a2be431188fc20e7",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "fbc2309c15289db184aa54bda697feb7cfc26a218998b5b21f063381f47aad45"
-      }
-    }
-  },
-  "limits_removed": [
-    "C0 4 m/s extra slew",
-    "C1 0.5 rad/s extra slew and associated integral slew headroom"
-  ],
-  "limits_preserved": [
-    "upstream selected-curvature acceleration/jerk/curvature bounds",
-    "C0/C1 magnitude and wire packing bounds",
-    "driver/fault/validity/freshness/PSCM feedback gates"
-  ],
-  "physical_tracking_validated": false,
-  "note": "Replay/stress script hashes identify their execution versions before formatting-only lint cleanup; production controller is unchanged after validation."
-}

docs/ford_direct_path_validation.json

@@ -1,154 +0,0 @@
-{
-  "15a": {
-    "cycles": 21867,
-    "wire_checks": 2187,
-    "baseline_recorded_error_p50_p95_p99_max": {
-      "c0": [
-        4.172324707951702e-09,
-        5.2452087118126656e-08,
-        8.583068833445395e-08,
-        1.1444091807533141e-07
-      ],
-      "c1": [
-        8.791685157660822e-10,
-        1.1682510403510094e-08,
-        1.4305114759416426e-08,
-        1.478195188475695e-08
-      ]
-    },
-    "latched_angle_match_fraction": 1.0,
-    "command_changes": {
-      "c0": [
-        0.2799999999999998,
-        1.3800000000000003,
-        1.8000000000000007,
-        2.51
-      ],
-      "c1": [
-        0.01749999999999996,
-        0.124,
-        0.2940450000000001,
-        0.45200000000000007
-      ]
-    },
-    "reference_change_p50_p95_max": [
-      0.0015834828704371431,
-      0.012526763883651669,
-      0.03905121179470369
-    ],
-    "variants": {
-      "old": {
-        "feedback_switches_active": 112,
-        "feedback_switches_low_speed": 61,
-        "low_speed_c0_steps_over_025m": 52,
-        "low_speed_c1_steps_over_005rad": 36,
-        "low_speed_step_p99": {
-          "c0": 0.4996000000000004,
-          "c1": 0.05668000000000003
-        },
-        "c0_bound_active_s": 0.0,
-        "c1_bound_active_s": 2.5702606670000137
-      },
-      "new": {
-        "feedback_switches_active": 112,
-        "feedback_switches_low_speed": 61,
-        "low_speed_c0_steps_over_025m": 52,
-        "low_speed_c1_steps_over_005rad": 46,
-        "low_speed_step_p99": {
-          "c0": 0.8499999999999996,
-          "c1": 0.08540000000000011
-        },
-        "c0_bound_active_s": 0.0,
-        "c1_bound_active_s": 6.774772933000349
-      }
-    },
-    "method": "Compare direct model-path commands against the driven geometry-curvature controller.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\nreference selection, command continuity and overrides; it does not predict a changed wheel response.\n",
-    "provenance": {
-      "baseline_commit": "18ded0380045c29520cf1f690688e48ebad043d8",
-      "baseline_controller_sha256": "8bc8554ed6743c5faf433deaa6de3f07fae27d183f62b04f49f9c3b9f1e8dcca",
-      "candidate_controller_sha256": "02b64f40a56cadefb181afbf7c3720affa3c7fe4ac18a2902dc9c546fd6b395d",
-      "fixed_c0_distance_m": 7.0
-    },
-    "sources_sha256": {
-      ".cache/ford_route15a/rlog_full/route.npz": "057ce69ce028b2c9c1b42ab8110f35c888a6c398ddcc4156e74afc98c83d119d",
-      ".cache/ford_route15a/rlog_full/model_paths.npz": "ef820d9df14afa308bf46f95463b636a599ff24fd08bffaff1ae671b3932c24a",
-      ".cache/ford_route15a/rlog_full/metadata.json": "bea47c7f0c0b583964ced3484fe814ec9a7a24abbfe6272e70f9dde12580a756"
-    }
-  },
-  "15b": {
-    "cycles": 22278,
-    "wire_checks": 2228,
-    "baseline_recorded_error_p50_p95_p99_max": {
-      "c0": [
-        6.70552502413102e-10,
-        3.814697269177714e-08,
-        1.0490417512443173e-07,
-        0.009999947547912669
-      ],
-      "c1": [
-        1.9371515502797365e-10,
-        5.4836273299940785e-09,
-        1.2159347528850617e-08,
-        1.478195188475695e-08
-      ]
-    },
-    "latched_angle_match_fraction": 0.9999321895978843,
-    "command_changes": {
-      "c0": [
-        0.040000000000000036,
-        1.08,
-        1.7699999999999996,
-        2.46
-      ],
-      "c1": [
-        0.003500000000000003,
-        0.12449999999999994,
-        0.22634999999999764,
-        0.406
-      ]
-    },
-    "reference_change_p50_p95_max": [
-      0.00021085212911765025,
-      0.013382994089416386,
-      0.03945627628640698
-    ],
-    "variants": {
-      "old": {
-        "feedback_switches_active": 238,
-        "feedback_switches_low_speed": 107,
-        "low_speed_c0_steps_over_025m": 85,
-        "low_speed_c1_steps_over_005rad": 32,
-        "low_speed_step_p99": {
-          "c0": 0.36999999999999944,
-          "c1": 0.03771999999999984
-        },
-        "c0_bound_active_s": 0.0,
-        "c1_bound_active_s": 6.701652654999748
-      },
-      "new": {
-        "feedback_switches_active": 238,
-        "feedback_switches_low_speed": 107,
-        "low_speed_c0_steps_over_025m": 129,
-        "low_speed_c1_steps_over_005rad": 57,
-        "low_speed_step_p99": {
-          "c0": 0.6187999999999921,
-          "c1": 0.05121999999999982
-        },
-        "c0_bound_active_s": 0.0,
-        "c1_bound_active_s": 7.542629173000023
-      }
-    },
-    "method": "Compare direct model-path commands against the driven geometry-curvature controller.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\nreference selection, command continuity and overrides; it does not predict a changed wheel response.\n",
-    "provenance": {
-      "baseline_commit": "18ded0380045c29520cf1f690688e48ebad043d8",
-      "baseline_controller_sha256": "8bc8554ed6743c5faf433deaa6de3f07fae27d183f62b04f49f9c3b9f1e8dcca",
-      "candidate_controller_sha256": "02b64f40a56cadefb181afbf7c3720affa3c7fe4ac18a2902dc9c546fd6b395d",
-      "fixed_c0_distance_m": 7.0
-    },
-    "sources_sha256": {
-      ".cache/ford_route15b/rlog_full/route.npz": "f95e1c16a4677fee0ab57002d714e22716bf11873c308280553312fa9d18aab0",
-      ".cache/ford_route15b/rlog_full/model_paths.npz": "a90be55943ce0009afbf38ef2035b3fff4de8ab00ea266636247bcc5a5012eae",
-      ".cache/ford_route15b/rlog_full/metadata.json": "545ef8d6740e57237f35b2ca684111fc2d774e83aa1d6c8a5a0fff1b71270e85"
-    }
-  }
-}

docs/ford_feedback_delay_v21.md

@@ -1,98 +0,0 @@
-# Ford feedback timing follows comma's request-history pattern
-
-The base C0/C1 mapping continues to use the latest selected curvature. C0 P,
-C1 P and C1 I now calculate error from an earlier selected curvature, using
-the same one-second request buffer and frame-index expression as comma's torque
-controller. The buffer advances at the 100 Hz controls rate, including while
-disengaged. The outgoing base request is never buffered for later transmission.
-
-`controlsd` passes the same `lat_delay` value it passes to the upstream lateral
-controller: `lateralDelay.lateralDelay + LAT_SMOOTH_SECONDS`. The existing extra
-Ford model preview remains model-side; this change does not add it to feedback
-delay or infer hardware delay from a turn's angle crossing. In the four replayed
-routes the published delay was 0.1689463705 s and `LAT_SMOOTH_SECONDS` was zero.
-Upstream's integer indexing selects the request 16 control cycles earlier,
-nominally 0.16 s. The maximum lookback is 99 cycles, nominally 0.99 s.
-
-The history is in curvature units because that is this controller's feedback
-quantity. This adopts upstream's timing pattern, not its torque conversion,
-acceleration gain schedule, friction/jerk feedforward or low-speed integral
-freeze. Ford gains, formulas, anti-windup, integration cadence, field bounds,
-upstream curvature limiting and driver/PSCM arbitration remain unchanged.
-Action C0 P remains 1.0; direct-path C0 P remains 0.5; C1 P=0.75 and I=1.0.
-Both Ford reference modes use the new timing.
-
-The history starts at zero, like upstream. Ordinary disengagement clears P/I
-while continuing to record requests. Existing invalid-input, timing and path
-resets also clear request history, preventing invalid retained references from
-surviving recovery. A nonfinite delay rejects the active command; finite delay
-values use upstream's bounded frame selection. An explicit zero delay recovers
-the previous command law exactly. Existing offline feedback-reference overrides
-remain available; production supplies delay rather than an override.
-
-Diagnostics identify `v21-delayed-feedback` and report the requested delay,
-nominal frame delay, delayed feedback curvature/error and latest requested
-curvature separately. The reported frame delay is not a measured physical delay.
-
-## Verification and limitations
-
-The delay-tracking regression failed against the old feedback behavior: a wheel
-following a request with the configured delay still received correction. It
-passes with delayed feedback through entry, reversal and release, in both turn
-directions and both reference modes. A separate test executes the actual
-upstream torque controller's buffer-selection expressions as an oracle.
-
-Integration tests execute controlsd's actual delay wiring, source selection,
-limiter, adapter and Float32 publication through the Ford CAN sender. A
-delay-matched wheel trace generates zero P/I while the current base commands
-reach CAN immediately. Persistent error still integrates; repeated measurements
-do not integrate twice; driver and fresh PSCM override still clear correction
-immediately. Exact suite counts are in the validation JSON.
-
-Four native-time route replays cover 583,599 control cycles and 58,362 CAN
-pack/decode checks. The baseline is the filtered-driver controller at
-`baeabfaa807c7a07baf183968e570f2c1d3fd665`. Baseline commands match the archived
-v20 replay exactly on all four routes. A third controller with zero delay
-matches that baseline's commands and integral on every cycle. With delay,
-command validity, base heading/overflow and feedback arbitration remain equal.
-All commands remain bounded with C2=C3=0.
-
-| Route | Low-speed C0 changes >0.25 m, v20 → v21 | Low-speed C1 changes >0.05 rad, v20 → v21 | C1 at field bound, v20 → v21 |
-| --- | --- | --- | --- |
-| 162 | 70 → 68 | 50 → 44 | 1.06 → 0.92 s |
-| 157 | 137 → 110 | 59 → 51 | 6.52 → 5.94 s |
-| 151 | 77 → 65 | 42 → 36 | 4.04 → 3.89 s |
-| 149 | 197 → 159 | 111 → 95 | 16.08 → 13.23 s |
-
-Low speed means below 15 mph; these counts include valid driver-interaction
-periods and are command-continuity measurements, not autonomous tracking scores.
-Neither baseline nor candidate was driven in these recordings; both command
-streams use the same recorded requests and vehicle motion.
-
-The change reduces transient correction. At route-162 time 302.649 s, requesting
-141.4 degrees with the wheel at 87.3 degrees, replay C0 changes from -2.19 to
--1.73 m and C1 from -0.3695 to -0.3135 rad. At 307.502 s, after driver input,
-opposite-direction release C0 falls from +1.52 to +1.04 m and C1 from +0.0655
-to +0.0355 rad. The base request is unchanged in each example.
-
-This can mean less correction during both entry and unwind. Fewer large command
-steps do not prove reduced physical oscillation, maintained turn authority or
-better release. These are frozen-motion replays, not a validated PSCM simulator.
-The supplied delay has not been identified specifically for the combined C0/C1
-response. The next physical evaluation must distinguish these effects; this is
-not a demonstrated death-wobble fix.
-
-Reproduce with the project's Python environment and built dependencies:
-
-```sh
-PYTHONPATH=.:opendbc_repo:.cache/ford_geometry_deps python \
-  tools/ford_pscm_lab/filtered_driver_replay.py \
-  --source .cache/ford_route162/full \
-  --delay-intake .cache/ford_route162/intake.npz \
-  --baseline baeabfaa807c7a07baf183968e570f2c1d3fd665 \
-  --output .cache/ford_feedback_delay_v21/162
-```
-
-Pull and restart the software while offroad. The existing master toggle still
-selects upstream Ford control when disabled. For the current action trial,
-leave Model Geometry Reference and C0 one-second distance disabled.

docs/ford_feedback_delay_v21_validation.json

@@ -1,391 +0,0 @@
-{
-  "baseline_commit": "baeabfaa807c7a07baf183968e570f2c1d3fd665",
-  "tests": {
-    "passed": 722,
-    "subtests_passed": 2
-  },
-  "total_cycles": 583599,
-  "total_wire_checks": 58362,
-  "code_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "d1730a79307297b32b44ba18e9792df216a1961a3f32927c5e6acf28014d288d",
-    "openpilot/selfdrive/controls/controlsd.py": "3427212538fcb1cf4d8a44f6be62c54b31ab5ba1a3eb16d958bb58f9c52abecf",
-    "openpilot/selfdrive/controls/lib/latcontrol_torque.py": "83ea33d37c349b10eca994150dae2a5841ec56b7038402432205a74054c917ee",
-    "tools/ford_pscm_lab/filtered_driver_replay.py": "9c210b31df62cb6f41e6cf10d76e2e7ba15eefbbfcb30a8ea0244e095365543a"
-  },
-  "method": "Same frozen recorded inputs for v20, v21 using logged lateralDelay, and v21 with zero delay. The latter must exactly match v20 at every cycle. No counterfactual wheel response is predicted.",
-  "limitations": "Supplied delay is not an identified C0/C1-specific response model. Lower command steps do not establish physical stability. Feedback demand is lower on rising and falling requests; entry and unwind can weaken.",
-  "points": [
-    {
-      "meaning": "Clean entry shortfall",
-      "t": 302.64934647200005,
-      "desired_angle": 141.37510681152344,
-      "old_c0": -2.1900000000000004,
-      "new_c0": -1.7300000000000004,
-      "old_c1": -0.36950000000000005,
-      "new_c1": -0.3135,
-      "old_i": -0.05458394920016066,
-      "new_i": -0.02249363859059498,
-      "old_reference": -0.03498964384198189,
-      "new_reference": -0.030434442684054375
-    },
-    {
-      "meaning": "Release following driver input; command comparison only",
-      "t": 307.502298498,
-      "desired_angle": 22.443912506103516,
-      "old_c0": 1.52,
-      "new_c0": 1.04,
-      "old_c1": 0.0655,
-      "new_c1": 0.035499999999999976,
-      "old_i": 0.018708751669361232,
-      "new_i": 0.01363232660438634,
-      "old_reference": -0.005546241067349911,
-      "new_reference": -0.010331000201404095
-    }
-  ],
-  "routes": {
-    "162": {
-      "cycles": 49003,
-      "wire_checks": 4901,
-      "zero_delay_matches_baseline": true,
-      "feedback_delay_requested_min_median_max": [
-        0.16894637048244476,
-        0.16894637048244476,
-        0.16894637048244476
-      ],
-      "feedback_delay_used_min_median_max": [
-        0.16,
-        0.16,
-        0.16
-      ],
-      "baseline_recorded_error_p50_p95_p99_max": {
-        "c0": [
-          2.3841861818141297e-09,
-          5.2452087118126656e-08,
-          0.39000000458657785,
-          2.5800000023841863
-        ],
-        "c1": [
-          0.001499999597668611,
-          0.07550000331401825,
-          0.11149999844551088,
-          0.24500000381469733
-        ]
-      },
-      "latched_angle_match_fraction": 1.0,
-      "command_changes": {
-        "c0": [
-          0.019999999999999574,
-          0.22000000000000064,
-          0.4300000000000006,
-          0.839999999999999
-        ],
-        "c1": [
-          0.003500000000000003,
-          0.02899999999999997,
-          0.04049999999999998,
-          0.0635
-        ]
-      },
-      "variants": {
-        "old": {
-          "feedback_switches_active": 218,
-          "feedback_switches_low_speed": 95,
-          "low_speed_c0_steps_over_025m": 70,
-          "low_speed_c1_steps_over_005rad": 50,
-          "low_speed_step_p99": {
-            "c0": 0.16000000000000014,
-            "c1": 0.019949999999999843
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.0,
-          "c1_bound_active_s": 1.0580744659999937
-        },
-        "new": {
-          "feedback_switches_active": 218,
-          "feedback_switches_low_speed": 95,
-          "low_speed_c0_steps_over_025m": 68,
-          "low_speed_c1_steps_over_005rad": 44,
-          "low_speed_step_p99": {
-            "c0": 0.13999999999999968,
-            "c1": 0.018449999999999786
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.0,
-          "c1_bound_active_s": 0.9192208439999945
-        }
-      },
-      "method": "Compare Ford feedback variants on recorded references and frozen vehicle motion.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\ncommand continuity and overrides; it does not predict a changed wheel response.\nBoth controllers receive the logged selected curvature. Recorded-command agreement\nis expected only for routes driven with the selected baseline and fixed 7 m C0.\n",
-      "provenance": {
-        "baseline_commit": "baeabfaa807c7a07baf183968e570f2c1d3fd665",
-        "baseline_controller_sha256": "b34a55f84fdbf6c432ce89cdc378aaaf9bbd765ca4e6934845059f586e6f0773",
-        "candidate_controller_sha256": "d1730a79307297b32b44ba18e9792df216a1961a3f32927c5e6acf28014d288d",
-        "fixed_c0_distance_m": 7.0
-      },
-      "sources_sha256": {
-        ".cache/ford_route162/full/route.npz": "a725f9ca309b90a2d750d51a9b9d5b459d99119a54ab048631bc0fce07348af8",
-        ".cache/ford_route162/full/model_paths.npz": "cffe310b122d9ae26a53ee504608156b4242a6bba5f681898d5b661951ac5ce5",
-        ".cache/ford_route162/full/metadata.json": "ef3ac1caca0eaec31f7140a0743bd3b98885ce143cb0f97a8eee615b33943d7f",
-        ".cache/ford_route162/intake.npz": "9455b01e1d1d3dcba08276b382a8c6cd54ff6fb19cb417b72d0ac89cf193034b"
-      },
-      "baseline_matches_archived_v20_commands_and_integral": true
-    },
-    "157": {
-      "cycles": 76554,
-      "wire_checks": 7656,
-      "zero_delay_matches_baseline": true,
-      "feedback_delay_requested_min_median_max": [
-        0.0,
-        0.16894637048244476,
-        0.16894637048244476
-      ],
-      "feedback_delay_used_min_median_max": [
-        0.16,
-        0.16,
-        0.16
-      ],
-      "baseline_recorded_error_p50_p95_p99_max": {
-        "c0": [
-          0.009999999999999787,
-          0.41999999010562905,
-          1.3956999619007082,
-          5.39999999165535
-        ],
-        "c1": [
-          4.291534405620467e-09,
-          0.03549999962002037,
-          0.06600000168576836,
-          0.4085000002384186
-        ]
-      },
-      "latched_angle_match_fraction": 1.0,
-      "command_changes": {
-        "c0": [
-          0.009999999999999787,
-          0.21999999999999975,
-          0.4900000000000002,
-          1.5100000000000007
-        ],
-        "c1": [
-          0.0030000000000000027,
-          0.028999999999999915,
-          0.039000000000000035,
-          0.09049999999999997
-        ]
-      },
-      "variants": {
-        "old": {
-          "feedback_switches_active": 224,
-          "feedback_switches_low_speed": 148,
-          "low_speed_c0_steps_over_025m": 137,
-          "low_speed_c1_steps_over_005rad": 59,
-          "low_speed_step_p99": {
-            "c0": 0.20000000000000018,
-            "c1": 0.022499999999999964
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.2999506119999751,
-          "c1_bound_active_s": 6.521285587999955
-        },
-        "new": {
-          "feedback_switches_active": 224,
-          "feedback_switches_low_speed": 148,
-          "low_speed_c0_steps_over_025m": 110,
-          "low_speed_c1_steps_over_005rad": 51,
-          "low_speed_step_p99": {
-            "c0": 0.16000000000000014,
-            "c1": 0.01750000000000007
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.2999506119999751,
-          "c1_bound_active_s": 5.943273473999852
-        }
-      },
-      "method": "Compare Ford feedback variants on recorded references and frozen vehicle motion.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\ncommand continuity and overrides; it does not predict a changed wheel response.\nBoth controllers receive the logged selected curvature. Recorded-command agreement\nis expected only for routes driven with the selected baseline and fixed 7 m C0.\n",
-      "provenance": {
-        "baseline_commit": "baeabfaa807c7a07baf183968e570f2c1d3fd665",
-        "baseline_controller_sha256": "b34a55f84fdbf6c432ce89cdc378aaaf9bbd765ca4e6934845059f586e6f0773",
-        "candidate_controller_sha256": "d1730a79307297b32b44ba18e9792df216a1961a3f32927c5e6acf28014d288d",
-        "fixed_c0_distance_m": 7.0
-      },
-      "sources_sha256": {
-        ".cache/ford_route157/full/route.npz": "e2e2573f904aa11ee9e10450e7f5b965d475657b61127e827a67eadcd6b857fb",
-        ".cache/ford_route157/full/model_paths.npz": "25fc2526e092fde5ceb5aab63a5aa4f73a2c989a3263cedb0a26faf8da61c47b",
-        ".cache/ford_route157/full/metadata.json": "f2d72c9a877ed6694e4da6831841113dc0c05987e2c76cca51f358d12411b235",
-        ".cache/ford_route157/intake.npz": "5dffd86fde68197727d6c6b9c5eae82320a456fa1206c4cf18e5e9c69419dde4"
-      },
-      "baseline_matches_archived_v20_commands_and_integral": true
-    },
-    "151": {
-      "cycles": 325708,
-      "wire_checks": 32571,
-      "zero_delay_matches_baseline": true,
-      "feedback_delay_requested_min_median_max": [
-        0.16894637048244476,
-        0.16894637048244476,
-        0.16894637048244476
-      ],
-      "feedback_delay_used_min_median_max": [
-        0.16,
-        0.16,
-        0.16
-      ],
-      "baseline_recorded_error_p50_p95_p99_max": {
-        "c0": [
-          0.010000000223516992,
-          0.2000000013411043,
-          1.010000009727478,
-          4.550000023841858
-        ],
-        "c1": [
-          0.004999999240040742,
-          0.02900000113248826,
-          0.07250000010803342,
-          0.28449999523162844
-        ]
-      },
-      "latched_angle_match_fraction": 1.0,
-      "command_changes": {
-        "c0": [
-          0.009999999999999787,
-          0.07999999999999999,
-          0.2900000000000002,
-          1.2599999999999998
-        ],
-        "c1": [
-          0.0025000000000000022,
-          0.02250000000000002,
-          0.038500000000000034,
-          0.07650000000000001
-        ]
-      },
-      "variants": {
-        "old": {
-          "feedback_switches_active": 259,
-          "feedback_switches_low_speed": 101,
-          "low_speed_c0_steps_over_025m": 77,
-          "low_speed_c1_steps_over_005rad": 42,
-          "low_speed_step_p99": {
-            "c0": 0.13999999999999968,
-            "c1": 0.014499999999999957
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.029249633000290487,
-          "c1_bound_active_s": 4.042117826999856
-        },
-        "new": {
-          "feedback_switches_active": 259,
-          "feedback_switches_low_speed": 101,
-          "low_speed_c0_steps_over_025m": 65,
-          "low_speed_c1_steps_over_005rad": 36,
-          "low_speed_step_p99": {
-            "c0": 0.10000000000000053,
-            "c1": 0.01050000000000001
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.0,
-          "c1_bound_active_s": 3.8897953380001127
-        }
-      },
-      "method": "Compare Ford feedback variants on recorded references and frozen vehicle motion.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\ncommand continuity and overrides; it does not predict a changed wheel response.\nBoth controllers receive the logged selected curvature. Recorded-command agreement\nis expected only for routes driven with the selected baseline and fixed 7 m C0.\n",
-      "provenance": {
-        "baseline_commit": "baeabfaa807c7a07baf183968e570f2c1d3fd665",
-        "baseline_controller_sha256": "b34a55f84fdbf6c432ce89cdc378aaaf9bbd765ca4e6934845059f586e6f0773",
-        "candidate_controller_sha256": "d1730a79307297b32b44ba18e9792df216a1961a3f32927c5e6acf28014d288d",
-        "fixed_c0_distance_m": 7.0
-      },
-      "sources_sha256": {
-        ".cache/ford_route151/full/route.npz": "41a5b8bd388cf5a3d553f784542376ac9355fcdc5be4f427053d0504537babe1",
-        ".cache/ford_route151/full/model_paths.npz": "980b3843cec04254280d744a5801cee1bf0f8ef371052398327ff245f9eee01b",
-        ".cache/ford_route151/full/metadata.json": "937825317a0edd470c54647240b922be8f79dda5b3365ffdd61281f0aca877a1",
-        ".cache/ford_route151/intake.npz": "18bbefb7738cebd0071dc987e90f74469a0c8ed456f9412324030592cafd68c9"
-      },
-      "baseline_matches_archived_v20_commands_and_integral": true
-    },
-    "149": {
-      "cycles": 132334,
-      "wire_checks": 13234,
-      "zero_delay_matches_baseline": true,
-      "feedback_delay_requested_min_median_max": [
-        0.16894637048244476,
-        0.16894637048244476,
-        0.16894637048244476
-      ],
-      "feedback_delay_used_min_median_max": [
-        0.16,
-        0.16,
-        0.16
-      ],
-      "baseline_recorded_error_p50_p95_p99_max": {
-        "c0": [
-          0.02999999910593054,
-          0.8400000008046626,
-          2.1400000276565554,
-          4.560000002980233
-        ],
-        "c1": [
-          0.015500000141560999,
-          0.10499999982118613,
-          0.32499999746203423,
-          0.43149999833107
-        ]
-      },
-      "latched_angle_match_fraction": 1.0,
-      "command_changes": {
-        "c0": [
-          0.009999999999999787,
-          0.1999999999999993,
-          0.4900000000000002,
-          1.3100000000000005
-        ],
-        "c1": [
-          0.0040000000000000036,
-          0.03200000000000003,
-          0.04999999999999999,
-          0.08850000000000002
-        ]
-      },
-      "variants": {
-        "old": {
-          "feedback_switches_active": 354,
-          "feedback_switches_low_speed": 171,
-          "low_speed_c0_steps_over_025m": 197,
-          "low_speed_c1_steps_over_005rad": 111,
-          "low_speed_step_p99": {
-            "c0": 0.1999999999999993,
-            "c1": 0.02150000000000002
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.0,
-          "c1_bound_active_s": 16.08094779300012
-        },
-        "new": {
-          "feedback_switches_active": 354,
-          "feedback_switches_low_speed": 171,
-          "low_speed_c0_steps_over_025m": 159,
-          "low_speed_c1_steps_over_005rad": 95,
-          "low_speed_step_p99": {
-            "c0": 0.16000000000000014,
-            "c1": 0.017500000000000016
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.0,
-          "c1_bound_active_s": 13.22902962499984
-        }
-      },
-      "method": "Compare Ford feedback variants on recorded references and frozen vehicle motion.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\ncommand continuity and overrides; it does not predict a changed wheel response.\nBoth controllers receive the logged selected curvature. Recorded-command agreement\nis expected only for routes driven with the selected baseline and fixed 7 m C0.\n",
-      "provenance": {
-        "baseline_commit": "baeabfaa807c7a07baf183968e570f2c1d3fd665",
-        "baseline_controller_sha256": "b34a55f84fdbf6c432ce89cdc378aaaf9bbd765ca4e6934845059f586e6f0773",
-        "candidate_controller_sha256": "d1730a79307297b32b44ba18e9792df216a1961a3f32927c5e6acf28014d288d",
-        "fixed_c0_distance_m": 7.0
-      },
-      "sources_sha256": {
-        ".cache/ford_route149/full/route.npz": "aa5902877343cd033ee286b3668d91a85336ffbf740861849fb0b76b0ca24ade",
-        ".cache/ford_route149/full/model_paths.npz": "19827800b8fb5983f3d6b72fcfaf36e35a40170bb17cd7c1e49374744fb449fb",
-        ".cache/ford_route149/full/metadata.json": "624fff03c25eb298661cb7b25f3dbe6d214d863f799d93635c0f4f05fc0d2b32",
-        ".cache/ford_route149/intake.npz": "503919c4f1566ef850007c59f16ce074697ba57732f21beb7b158c1ca7be3a9d"
-      },
-      "baseline_matches_archived_v20_commands_and_integral": true
-    }
-  }
-}

docs/ford_filtered_driver_v20.md

@@ -1,75 +0,0 @@
-# Ford feedback: use filtered driver input
-
-Route 162 ran action mode at C0 P=1.0. Raw torque crossings above 1 Nm
-repeatedly removed C0/C1 feedback even while Ford's `steeringPressed` remained
-false. The controller duplicated the torque threshold without Ford's existing
-filter, so short crossings discarded the integral and abruptly removed P.
-
-The adapter now uses `steeringPressed` for this decision. The existing Ford
-threshold and filter are unchanged. From a zero counter, sustained torque
-crosses that filter on the sixth sample. Fresh PSCM driver override (limit=3)
-and invalid torque still clear feedback immediately. PSCM denial/inactive
-status, freshness checks and input validity retain their previous behavior.
-Clearing feedback removes correction; the base path request remains.
-
-This applies to action and direct-path modes. Gains, reference selection,
-distances, bounds, integration/unwind math, upstream request limits and CAN
-cadence are unchanged. Action C0 P remains 1.0; direct-path C0 P remains 0.5.
-Diagnostic names end in `v20-filtered-driver` so the next drive can confirm the
-new arbitration actually ran.
-
-## Validation
-
-The short-torque-pulse regression failed against the old adapter before the
-change. Afterward, the Ford controller, integration/CAN, geometry and Sunnylink
-suites passed: 658 tests and 2 subtests. Tests exercise the actual shared Ford
-filter, both torque signs, both reference modes, immediate PSCM override and
-invalid torque. Ruff and `git diff --check` passed.
-
-Native-time replay compares the new adapter with
-`4900c0a40c87c72000b7168a6cf4fe6dd98ea6d0`, supplying identical recorded selected
-curvature, vehicle measurements, driver flags and PSCM status. Four routes
-cover 583,599 control cycles and 58,362 CAN pack/decode checks. Every command
-stays in its field bounds with C2=C3=0, and filtered driver input or fresh PSCM
-override clears all feedback.
-
-Route 162's baseline reproduces recorded C0/C1 to Float32 precision (maximum
-errors 1.15e-7 m and 1.48e-8 rad). Older routes were driven with earlier gains;
-their comparisons below are two counterfactual command streams on the same
-recorded motion, not a reproduction of those older deployed controllers.
-
-| Route | C0 changes >0.25 m below 15 mph, old → new | C1 changes >0.05 rad below 15 mph, old → new | C1 at field bound, old → new |
-| --- | --- | --- | --- |
-| 162 | 152 → 70 | 83 → 50 | 0.97 → 1.06 s |
-| 157 | 229 → 137 | 105 → 59 | 5.83 → 6.52 s |
-| 151 | 142 → 77 | 86 → 42 | 3.39 → 4.04 s |
-| 149 | 375 → 197 | 226 → 111 | 10.44 → 16.08 s |
-
-For route 162, feedback on/off transitions fall from 538 to 218. At raw-torque
-threshold crossings with unchanged model frame, nearly unchanged target and
-no filtered driver/PSCM override, large C0 changes fall from 99 to zero.
-Remaining transitions include legitimate driver input and PSCM status changes.
-
-Retained correction changes C1 after a brief torque crossing has ended. This
-can increase holding and time at the field limit, especially on route 149.
-Replay proves command continuity and override behavior on frozen measurements;
-it cannot establish improved physical tracking, stability or unwinding. Route
-162 also had lag without any torque-triggered reset, which this change alone
-does not explain.
-
-Detailed metrics, source hashes and controller provenance are in
-`ford_filtered_driver_v20_validation.json`. Reproduce a route with:
-
-```sh
-PYTHONPATH=.:opendbc_repo:.cache/ford_geometry_deps \
-  /Users/ibpersonal/dev/sunnypilot/.venv/bin/python \
-  tools/ford_pscm_lab/filtered_driver_replay.py \
-  --source .cache/ford_route162/full --output .cache/ford_filtered_driver_v20/162
-```
-
-## Deployment
-
-Pull and restart the updated software while offroad. Keep Selected-Action Path
-Tracking enabled, Model Geometry Reference disabled and C0 one-second distance
-disabled for the current action/fixed-7-m trial. Turning the master controller
-toggle off continues to select upstream Ford control.

docs/ford_filtered_driver_v20_validation.json

@@ -1,308 +0,0 @@
-{
-  "baseline_commit": "4900c0a40c87c72000b7168a6cf4fe6dd98ea6d0",
-  "tests": {
-    "passed": 658,
-    "subtests_passed": 2
-  },
-  "total_cycles": 583599,
-  "total_wire_checks": 58362,
-  "limitations": "Frozen recorded motion; no predicted wheel response. Only route 162 ran the baseline gain/version. Older-route baseline differences from recorded commands are expected.",
-  "routes": {
-    "162": {
-      "cycles": 49003,
-      "wire_checks": 4901,
-      "baseline_recorded_error_p50_p95_p99_max": {
-        "c0": [
-          2.3841861818141297e-09,
-          3.33786012163273e-08,
-          5.7220459037665705e-08,
-          1.1444091807533141e-07
-        ],
-        "c1": [
-          4.6193593394860955e-10,
-          7.152557435219364e-09,
-          1.2874603272372553e-08,
-          1.478195188475695e-08
-        ]
-      },
-      "latched_angle_match_fraction": 1.0,
-      "command_changes": {
-        "c0": [
-          0.0,
-          0.0,
-          0.3899999999999997,
-          2.58
-        ],
-        "c1": [
-          0.0014999999999999458,
-          0.07550000000000001,
-          0.11149999999999999,
-          0.2450000000000001
-        ]
-      },
-      "variants": {
-        "old": {
-          "feedback_switches_active": 538,
-          "feedback_switches_low_speed": 219,
-          "low_speed_c0_steps_over_025m": 152,
-          "low_speed_c1_steps_over_005rad": 83,
-          "low_speed_step_p99": {
-            "c0": 0.5400000000000005,
-            "c1": 0.033499999999999974
-          },
-          "raw_crossing_c0_steps_over_025m": 99,
-          "c0_bound_active_s": 0.0,
-          "c1_bound_active_s": 0.9656279909999625
-        },
-        "new": {
-          "feedback_switches_active": 218,
-          "feedback_switches_low_speed": 95,
-          "low_speed_c0_steps_over_025m": 70,
-          "low_speed_c1_steps_over_005rad": 50,
-          "low_speed_step_p99": {
-            "c0": 0.16000000000000014,
-            "c1": 0.019949999999999843
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.0,
-          "c1_bound_active_s": 1.0580744659999937
-        }
-      },
-      "method": "Compare driver-input arbitration on recorded references and frozen vehicle motion.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\ncommand continuity and overrides; it does not predict a changed wheel response.\nBoth controllers receive the logged selected curvature. Recorded-command agreement\nis expected only for routes driven with the selected baseline and fixed 7 m C0.\n",
-      "provenance": {
-        "baseline_commit": "4900c0a40c87c72000b7168a6cf4fe6dd98ea6d0",
-        "baseline_controller_sha256": "d5841c1f6a4368de20ff14de89a48d7dce737c6a41d79628ccb4f8b19f28f91b",
-        "candidate_controller_sha256": "b34a55f84fdbf6c432ce89cdc378aaaf9bbd765ca4e6934845059f586e6f0773",
-        "fixed_c0_distance_m": 7.0
-      },
-      "sources_sha256": {
-        ".cache/ford_route162/full/route.npz": "a725f9ca309b90a2d750d51a9b9d5b459d99119a54ab048631bc0fce07348af8",
-        ".cache/ford_route162/full/model_paths.npz": "cffe310b122d9ae26a53ee504608156b4242a6bba5f681898d5b661951ac5ce5",
-        ".cache/ford_route162/full/metadata.json": "ef3ac1caca0eaec31f7140a0743bd3b98885ce143cb0f97a8eee615b33943d7f"
-      },
-      "valid_active_seconds": 319.0762965260001
-    },
-    "157": {
-      "cycles": 76554,
-      "wire_checks": 7656,
-      "baseline_recorded_error_p50_p95_p99_max": {
-        "c0": [
-          0.009999999999999787,
-          0.3699999867081644,
-          1.1900000762939458,
-          2.7099999666213987
-        ],
-        "c1": [
-          2.5331975406217566e-10,
-          7.152557379708213e-09,
-          1.3113021890553966e-08,
-          1.478195188475695e-08
-        ]
-      },
-      "latched_angle_match_fraction": 1.0,
-      "command_changes": {
-        "c0": [
-          0.0,
-          0.0,
-          0.18569999999999706,
-          5.4
-        ],
-        "c1": [
-          0.0,
-          0.035499999999999976,
-          0.066,
-          0.40850000000000003
-        ]
-      },
-      "variants": {
-        "old": {
-          "feedback_switches_active": 484,
-          "feedback_switches_low_speed": 312,
-          "low_speed_c0_steps_over_025m": 229,
-          "low_speed_c1_steps_over_005rad": 105,
-          "low_speed_step_p99": {
-            "c0": 0.3100000000000005,
-            "c1": 0.028000000000000025
-          },
-          "raw_crossing_c0_steps_over_025m": 99,
-          "c0_bound_active_s": 0.25064877399995567,
-          "c1_bound_active_s": 5.832844185000681
-        },
-        "new": {
-          "feedback_switches_active": 224,
-          "feedback_switches_low_speed": 148,
-          "low_speed_c0_steps_over_025m": 137,
-          "low_speed_c1_steps_over_005rad": 59,
-          "low_speed_step_p99": {
-            "c0": 0.20000000000000018,
-            "c1": 0.022499999999999964
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.2999506119999751,
-          "c1_bound_active_s": 6.521285587999955
-        }
-      },
-      "method": "Compare driver-input arbitration on recorded references and frozen vehicle motion.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\ncommand continuity and overrides; it does not predict a changed wheel response.\nBoth controllers receive the logged selected curvature. Recorded-command agreement\nis expected only for routes driven with the selected baseline and fixed 7 m C0.\n",
-      "provenance": {
-        "baseline_commit": "4900c0a40c87c72000b7168a6cf4fe6dd98ea6d0",
-        "baseline_controller_sha256": "d5841c1f6a4368de20ff14de89a48d7dce737c6a41d79628ccb4f8b19f28f91b",
-        "candidate_controller_sha256": "b34a55f84fdbf6c432ce89cdc378aaaf9bbd765ca4e6934845059f586e6f0773",
-        "fixed_c0_distance_m": 7.0
-      },
-      "sources_sha256": {
-        ".cache/ford_route157/full/route.npz": "e2e2573f904aa11ee9e10450e7f5b965d475657b61127e827a67eadcd6b857fb",
-        ".cache/ford_route157/full/model_paths.npz": "25fc2526e092fde5ceb5aab63a5aa4f73a2c989a3263cedb0a26faf8da61c47b",
-        ".cache/ford_route157/full/metadata.json": "f2d72c9a877ed6694e4da6831841113dc0c05987e2c76cca51f358d12411b235"
-      },
-      "valid_active_seconds": 527.940320743
-    },
-    "151": {
-      "cycles": 325708,
-      "wire_checks": 32571,
-      "baseline_recorded_error_p50_p95_p99_max": {
-        "c0": [
-          0.010000000223516992,
-          0.18000000834465002,
-          0.9099999795913697,
-          4.419999957084657
-        ],
-        "c1": [
-          0.002999999523162822,
-          0.016500000025611382,
-          0.04399999969661239,
-          0.09699999737739562
-        ]
-      },
-      "latched_angle_match_fraction": 1.0,
-      "command_changes": {
-        "c0": [
-          0.0,
-          0.0,
-          0.0,
-          4.55
-        ],
-        "c1": [
-          0.0,
-          0.020500000000000018,
-          0.050000000000000044,
-          0.28450000000000003
-        ]
-      },
-      "variants": {
-        "old": {
-          "feedback_switches_active": 727,
-          "feedback_switches_low_speed": 225,
-          "low_speed_c0_steps_over_025m": 142,
-          "low_speed_c1_steps_over_005rad": 86,
-          "low_speed_step_p99": {
-            "c0": 0.17999999999999972,
-            "c1": 0.016500000000000015
-          },
-          "raw_crossing_c0_steps_over_025m": 80,
-          "c0_bound_active_s": 0.0,
-          "c1_bound_active_s": 3.3938434989995585
-        },
-        "new": {
-          "feedback_switches_active": 259,
-          "feedback_switches_low_speed": 101,
-          "low_speed_c0_steps_over_025m": 77,
-          "low_speed_c1_steps_over_005rad": 42,
-          "low_speed_step_p99": {
-            "c0": 0.13999999999999968,
-            "c1": 0.014499999999999957
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.029249633000290487,
-          "c1_bound_active_s": 4.042117826999856
-        }
-      },
-      "method": "Compare driver-input arbitration on recorded references and frozen vehicle motion.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\ncommand continuity and overrides; it does not predict a changed wheel response.\nBoth controllers receive the logged selected curvature. Recorded-command agreement\nis expected only for routes driven with the selected baseline and fixed 7 m C0.\n",
-      "provenance": {
-        "baseline_commit": "4900c0a40c87c72000b7168a6cf4fe6dd98ea6d0",
-        "baseline_controller_sha256": "d5841c1f6a4368de20ff14de89a48d7dce737c6a41d79628ccb4f8b19f28f91b",
-        "candidate_controller_sha256": "b34a55f84fdbf6c432ce89cdc378aaaf9bbd765ca4e6934845059f586e6f0773",
-        "fixed_c0_distance_m": 7.0
-      },
-      "sources_sha256": {
-        ".cache/ford_route151/full/route.npz": "41a5b8bd388cf5a3d553f784542376ac9355fcdc5be4f427053d0504537babe1",
-        ".cache/ford_route151/full/model_paths.npz": "980b3843cec04254280d744a5801cee1bf0f8ef371052398327ff245f9eee01b",
-        ".cache/ford_route151/full/metadata.json": "937825317a0edd470c54647240b922be8f79dda5b3365ffdd61281f0aca877a1"
-      },
-      "valid_active_seconds": 1355.493226190003
-    },
-    "149": {
-      "cycles": 132334,
-      "wire_checks": 13234,
-      "baseline_recorded_error_p50_p95_p99_max": {
-        "c0": [
-          0.020000001788138988,
-          0.7800000047683717,
-          2.070000008535385,
-          4.560000002980233
-        ],
-        "c1": [
-          0.005500000000000005,
-          0.048999999627471036,
-          0.09199999963641169,
-          0.1995000131130219
-        ]
-      },
-      "latched_angle_match_fraction": 1.0,
-      "command_changes": {
-        "c0": [
-          0.0,
-          0.0,
-          0.10000000000000053,
-          4.499999999999999
-        ],
-        "c1": [
-          0.0,
-          0.07950000000000002,
-          0.3125,
-          0.4315
-        ]
-      },
-      "variants": {
-        "old": {
-          "feedback_switches_active": 1024,
-          "feedback_switches_low_speed": 393,
-          "low_speed_c0_steps_over_025m": 375,
-          "low_speed_c1_steps_over_005rad": 226,
-          "low_speed_step_p99": {
-            "c0": 0.44079999999998143,
-            "c1": 0.031500000000000035
-          },
-          "raw_crossing_c0_steps_over_025m": 217,
-          "c0_bound_active_s": 0.0,
-          "c1_bound_active_s": 10.436320454000196
-        },
-        "new": {
-          "feedback_switches_active": 354,
-          "feedback_switches_low_speed": 171,
-          "low_speed_c0_steps_over_025m": 197,
-          "low_speed_c1_steps_over_005rad": 111,
-          "low_speed_step_p99": {
-            "c0": 0.1999999999999993,
-            "c1": 0.02150000000000002
-          },
-          "raw_crossing_c0_steps_over_025m": 0,
-          "c0_bound_active_s": 0.0,
-          "c1_bound_active_s": 16.08094779300012
-        }
-      },
-      "method": "Compare driver-input arbitration on recorded references and frozen vehicle motion.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\ncommand continuity and overrides; it does not predict a changed wheel response.\nBoth controllers receive the logged selected curvature. Recorded-command agreement\nis expected only for routes driven with the selected baseline and fixed 7 m C0.\n",
-      "provenance": {
-        "baseline_commit": "4900c0a40c87c72000b7168a6cf4fe6dd98ea6d0",
-        "baseline_controller_sha256": "d5841c1f6a4368de20ff14de89a48d7dce737c6a41d79628ccb4f8b19f28f91b",
-        "candidate_controller_sha256": "b34a55f84fdbf6c432ce89cdc378aaaf9bbd765ca4e6934845059f586e6f0773",
-        "fixed_c0_distance_m": 7.0
-      },
-      "sources_sha256": {
-        ".cache/ford_route149/full/route.npz": "aa5902877343cd033ee286b3668d91a85336ffbf740861849fb0b76b0ca24ade",
-        ".cache/ford_route149/full/model_paths.npz": "19827800b8fb5983f3d6b72fcfaf36e35a40170bb17cd7c1e49374744fb449fb",
-        ".cache/ford_route149/full/metadata.json": "624fff03c25eb298661cb7b25f3dbe6d214d863f799d93635c0f4f05fc0d2b32"
-      },
-      "valid_active_seconds": 1247.577060015
-    }
-  }
-}

docs/ford_geometry_reference.md

@@ -1,87 +0,0 @@
-# Ford model geometry reference trial
-
-This documents the initial curvature-reference trial at `18ded0380`. The
-subsequent [direct model-path trial](ford_direct_path.md) reuses the geometry
-toggle and changes controlsd's reference and C0/C1 mapping. modeld telemetry
-described here remains available for comparison.
-
-`FordGeometryReference` changes the steering reference used by the existing
-Ford C0/C1 feedback controller. It is default off and requires
-`FordModelActionController` and a Ford CAN FD vehicle.
-
-In Sunnylink's Ford settings, enable **Model Geometry Reference (Experimental)**
-while offroad, then cycle offroad to onroad. Keep **Selected-Action Path Tracking**
-enabled. Disable only the geometry toggle to compare with the previous model
-action. Disable the controller toggle to restore upstream Ford control.
-
-## Reference calculation
-
-After modeld publishes the plan into the message builder, use its orientation
-and orientation rate with the existing `get_curvature_from_plan` function:
-
-```
-curvature = 2 * heading_at_preview / (max(speed, 1) * preview)
-            - initial_heading_rate / max(speed, 1)
-```
-
-The existing function stabilizes previews shorter than 0.3 seconds using the
-0.3-second heading. The experiment uses the exact `lat_action_t` already supplied
-to inference, including learned/fixed delay, model-specific smoothing allowance,
-the Ford speed-dependent 0.4-second preview addition, and 75 ms frame/action
-timing compensation. CTMV2 on the recent route has roughly 0.744 seconds of
-preview below 15 mph. This is a time preview, not direct sampling at seven metres.
-
-Apply the same model-specific lateral smoothing and standstill hold as the
-original action, once per published model frame. Use the published plan itself,
-without a separate Planplus multiplier. Both `modelV2.action` and
-`drivingModelData.action` receive the selected curvature. Preserve the original
-action's independent smoothing history and its acceleration/stop fields.
-
-controlsd still applies its existing curvature/acceleration/jerk limits and
-lateral maneuver override. Its desired curvature and desired steering angle now
-describe the selected reference. The unchanged controller converts that same
-reference into C0/C1 and closes the loop on measured steering. C0 distance,
-C1 distance, P/I gains, driver arbitration, PSCM limit behavior, CAN cadence,
-and field bounds are unchanged; C2/C3 stay zero.
-
-Malformed/nonfinite/incomplete orientation data retains the original action
-for that frame and resets geometry smoothing history. Existing model validity
-and freshness gates still apply. There is no runtime mode swap during engagement;
-the toggle is read at modeld startup.
-
-## Logging
-
-`modelDataV2SP.fordGeometryReference` records enabled/valid, associated model
-publication time, original action curvature, raw geometric curvature, selected
-curvature, preview, and smoothing time. `valid=false` while enabled identifies
-fallback. A startup log also identifies action or geometry mode. The existing
-Ford diagnostics continue to identify the unchanged v15 feedback controller.
-
-## Offline validation
-
-The tests cover signs/units across speed and preview, smoothing, release and
-reversal, standstill, invalid geometry, message serialization, preservation of
-the original action/longitudinal control, selection through actual controlsd
-code, desired-angle logging, maneuver priority, and upstream fallback.
-
-Three Lightning routes (149, 151, 157; CTMV2 and Tee Time) were replayed through
-the current reference selection, upstream limiter, and controller using frozen
-recorded steering/driver/PSCM measurements. Native controller cadence is retained;
-every tenth command gets a CAN pack/decode check. Reference timing uses recorded
-delay and the speed of the first control sample consuming each model. That speed
-can differ slightly from modeld's original inference input. This is not a neural
-replay or a prediction of wheel motion under modified commands.
-
-Results and input hashes: `ford_geometry_reference_validation.json`.
-
-```
-PYTHONPATH=.:opendbc_repo python tools/ford_pscm_lab/geometry_reference_validate.py \
-  --output .cache/ford_geometry
-```
-
-Geometry is not uniformly earlier or stronger. The route 157 right-turn example
-requests a large angle earlier; the problematic segment 9 left initially asks
-for less and later asks for more. It hits command field bounds more often in
-the frozen-measurement replay. Straight cohorts are defined by the original
-action, so they also include disagreements about turn entry/exit. No claim of
-improved physical tracking or stability follows from these offline results.

docs/ford_geometry_reference_validation.json

@@ -1,212 +0,0 @@
-{
-  "scope": "Replay the geometry reference and current C0/C1 controller on frozen route measurements.\n\nRequires cached full/route.npz, full/metadata.json, intake.npz and intake.json.\nThis is command validation, not a simulation of the truck following new requests.\n",
-  "routes": [
-    {
-      "route": "157",
-      "model": "CTMV2",
-      "cycles": 76554,
-      "model_frames": 14892,
-      "fallback_frames": 0,
-      "wire_round_trips": 15312,
-      "metrics": {
-        "all": {
-          "samples": 44971,
-          "angle_reference_difference_deg_p50_p95_max": [
-            0.7096582083526739,
-            37.323791775018584,
-            473.2113566966026
-          ],
-          "action_c0_bound_samples": 0,
-          "geometry_c0_bound_samples": 26,
-          "action_c1_bound_samples": 433,
-          "geometry_c1_bound_samples": 1393
-        },
-        "straight": {
-          "samples": 29296,
-          "angle_reference_difference_deg_p50_p95_max": [
-            0.3907433332260141,
-            10.800464754067871,
-            172.34883032860316
-          ],
-          "action_c0_bound_samples": 0,
-          "geometry_c0_bound_samples": 0,
-          "action_c1_bound_samples": 0,
-          "geometry_c1_bound_samples": 0
-        },
-        "turn": {
-          "samples": 5773,
-          "angle_reference_difference_deg_p50_p95_max": [
-            18.222567807080637,
-            104.0235491521133,
-            473.2113566966026
-          ],
-          "action_c0_bound_samples": 0,
-          "geometry_c0_bound_samples": 26,
-          "action_c1_bound_samples": 433,
-          "geometry_c1_bound_samples": 1393
-        }
-      },
-      "sources_sha256": {
-        ".cache/ford_route157/full/route.npz": "e2e2573f904aa11ee9e10450e7f5b965d475657b61127e827a67eadcd6b857fb",
-        ".cache/ford_route157/full/metadata.json": "f2d72c9a877ed6694e4da6831841113dc0c05987e2c76cca51f358d12411b235",
-        ".cache/ford_route157/intake.npz": "5dffd86fde68197727d6c6b9c5eae82320a456fa1206c4cf18e5e9c69419dde4",
-        ".cache/ford_route157/intake.json": "1d82c7f87d42229b96771bce3dd43c6b1651aa4fb8bb0ca3b1886d5a1a1c1a3c",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/geometry_reference_validate.py": "84dae09c158f5aaa3b88b5141545cd16829022437027d3d86c60a0acf7d78f56",
-        "openpilot/sunnypilot/modeld_v2/ford_geometry.py": "9a51519533b7e4a6b5aa5ff58ad5b646afb2267c943d5a790e86d8b20324d84b",
-        "openpilot/selfdrive/controls/lib/ford_model_action.py": "8bc8554ed6743c5faf433deaa6de3f07fae27d183f62b04f49f9c3b9f1e8dcca"
-      }
-    },
-    {
-      "route": "149",
-      "model": "CTMV2",
-      "cycles": 132334,
-      "model_frames": 26104,
-      "fallback_frames": 0,
-      "wire_round_trips": 26468,
-      "metrics": {
-        "all": {
-          "samples": 109224,
-          "angle_reference_difference_deg_p50_p95_max": [
-            1.0809205342304384,
-            21.80654129599715,
-            180.71838950537807
-          ],
-          "action_c0_bound_samples": 0,
-          "geometry_c0_bound_samples": 142,
-          "action_c1_bound_samples": 845,
-          "geometry_c1_bound_samples": 2430
-        },
-        "straight": {
-          "samples": 67435,
-          "angle_reference_difference_deg_p50_p95_max": [
-            0.6422363701463203,
-            6.246569735165232,
-            62.050131143674285
-          ],
-          "action_c0_bound_samples": 0,
-          "geometry_c0_bound_samples": 0,
-          "action_c1_bound_samples": 0,
-          "geometry_c1_bound_samples": 0
-        },
-        "turn": {
-          "samples": 15161,
-          "angle_reference_difference_deg_p50_p95_max": [
-            6.8859610951543,
-            87.51133149734092,
-            180.71838950537807
-          ],
-          "action_c0_bound_samples": 0,
-          "geometry_c0_bound_samples": 142,
-          "action_c1_bound_samples": 845,
-          "geometry_c1_bound_samples": 2430
-        }
-      },
-      "sources_sha256": {
-        ".cache/ford_route149/full/route.npz": "aa5902877343cd033ee286b3668d91a85336ffbf740861849fb0b76b0ca24ade",
-        ".cache/ford_route149/full/metadata.json": "624fff03c25eb298661cb7b25f3dbe6d214d863f799d93635c0f4f05fc0d2b32",
-        ".cache/ford_route149/intake.npz": "503919c4f1566ef850007c59f16ce074697ba57732f21beb7b158c1ca7be3a9d",
-        ".cache/ford_route149/intake.json": "80f8c4ba69b4259ed308e0db110123063c6917357d26b49c9b6585695c9b24ae",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/geometry_reference_validate.py": "84dae09c158f5aaa3b88b5141545cd16829022437027d3d86c60a0acf7d78f56",
-        "openpilot/sunnypilot/modeld_v2/ford_geometry.py": "9a51519533b7e4a6b5aa5ff58ad5b646afb2267c943d5a790e86d8b20324d84b",
-        "openpilot/selfdrive/controls/lib/ford_model_action.py": "8bc8554ed6743c5faf433deaa6de3f07fae27d183f62b04f49f9c3b9f1e8dcca"
-      }
-    },
-    {
-      "route": "151",
-      "model": "TT",
-      "cycles": 325708,
-      "model_frames": 64837,
-      "fallback_frames": 0,
-      "wire_round_trips": 65142,
-      "metrics": {
-        "all": {
-          "samples": 124806,
-          "angle_reference_difference_deg_p50_p95_max": [
-            0.6014079626170221,
-            8.687564671100564,
-            233.5485828527104
-          ],
-          "action_c0_bound_samples": 0,
-          "geometry_c0_bound_samples": 6,
-          "action_c1_bound_samples": 162,
-          "geometry_c1_bound_samples": 588
-        },
-        "straight": {
-          "samples": 105881,
-          "angle_reference_difference_deg_p50_p95_max": [
-            0.5210065989727145,
-            4.103656620119354,
-            143.66919002099516
-          ],
-          "action_c0_bound_samples": 0,
-          "geometry_c0_bound_samples": 0,
-          "action_c1_bound_samples": 0,
-          "geometry_c1_bound_samples": 0
-        },
-        "turn": {
-          "samples": 3715,
-          "angle_reference_difference_deg_p50_p95_max": [
-            9.423421334227854,
-            66.85200116463068,
-            233.5485828527104
-          ],
-          "action_c0_bound_samples": 0,
-          "geometry_c0_bound_samples": 6,
-          "action_c1_bound_samples": 162,
-          "geometry_c1_bound_samples": 588
-        }
-      },
-      "sources_sha256": {
-        ".cache/ford_route151/full/route.npz": "41a5b8bd388cf5a3d553f784542376ac9355fcdc5be4f427053d0504537babe1",
-        ".cache/ford_route151/full/metadata.json": "937825317a0edd470c54647240b922be8f79dda5b3365ffdd61281f0aca877a1",
-        ".cache/ford_route151/intake.npz": "18bbefb7738cebd0071dc987e90f74469a0c8ed456f9412324030592cafd68c9",
-        ".cache/ford_route151/intake.json": "0cfe327b5889f2603d902d2a01e915bf9a27b7a312137111d892a5e8540e03aa",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/geometry_reference_validate.py": "84dae09c158f5aaa3b88b5141545cd16829022437027d3d86c60a0acf7d78f56",
-        "openpilot/sunnypilot/modeld_v2/ford_geometry.py": "9a51519533b7e4a6b5aa5ff58ad5b646afb2267c943d5a790e86d8b20324d84b",
-        "openpilot/selfdrive/controls/lib/ford_model_action.py": "8bc8554ed6743c5faf433deaa6de3f07fae27d183f62b04f49f9c3b9f1e8dcca"
-      }
-    }
-  ],
-  "tests_passed": 605,
-  "route157_timing": [
-    {
-      "event": 9,
-      "action": {
-        "entry_75deg": 509.71654137700006,
-        "release_below_25deg": 515.628442615
-      },
-      "geometry": {
-        "entry_75deg": 509.26702728900005,
-        "release_below_25deg": 515.7717539590001
-      }
-    },
-    {
-      "event": 11,
-      "action": {
-        "entry_75deg": 595.0217840170001,
-        "release_below_25deg": 601.3182963449999
-      },
-      "geometry": {
-        "entry_75deg": 595.2721063070001,
-        "release_below_25deg": 601.874657156
-      }
-    },
-    {
-      "event": 16,
-      "action": {
-        "entry_75deg": 700.319324972,
-        "release_below_25deg": 708.5712472329999
-      },
-      "geometry": {
-        "entry_75deg": 700.2793086730001,
-        "release_below_25deg": 709.1140404539999
-      }
-    }
-  ],
-  "totals": {
-    "cycles": 534596,
-    "model_frames": 105833,
-    "fallback_frames": 0,
-    "wire_round_trips": 106922
-  }
-}

docs/ford_model_action_candidate.md

@@ -1,155 +0,0 @@
-# Offline Ford selected-action candidate
-
-This document and `ford_model_action_validation.json` record the offline
-stage committed as `7ca3c6e3b`. The candidate is now available behind a
-separate default-off Sunnylink toggle; see
-[drive-test setup and validation](ford_model_action_drive_test.md).
-The counts, source hashes and selector status below describe that earlier
-stage. The current experiment adds [measured-curvature C1 feedback](ford_c1_feedback.md)
-to this original mapping; the historical no-feedback description below is
-not the current controller specification.
-
-The decision is `C0 = current model y(7 m)`,
-`C1 = max(7 m, speed × 1 s) × selected upstream-limited desiredCurvature`,
-with C2=C3=0. The 7 m station and one-second scale are engineering choices,
-not identified PSCM gains. `calibration_approved=false`.
-
-`openpilot/selfdrive/controls/lib/ford_model_action.py` contains the core
-and a separate adapter compatible with the existing controlsd call.
-At that stage, the production selector, v8 implementation, settings, opendbc
-submodule and Panda safety remained unchanged. Tests injected the adapter
-offline; there was no production setting. No hardware or CAN transmission
-occurs in the lab tools.
-
-## Construction and integration
-
-Only the unquantized C0 and C1 slew positions persist in the core.
-Each field is clipped independently (±5.11 m / ±0.5 rad), slewed independently
-(4 m/s / 0.5 rad/s), then packed using the existing Float32/sign-negation
-rounding contract (0.01 m / 0.0005 rad). Heading overflow is not transferred
-to C0. No yaw integral, blend, additional curvature contribution, reference
-filter, turn modes, or 10 m C1 cap is introduced.
-
-The selected standalone implementation from worktree 3548 is the provenance
-for this law. Its two-state packer has been moved into the library core so
-the controller does not depend on experimental lab code. Invalid numeric
-types, overflowing arc geometry and malformed paths reset the core instead
-of throwing or retaining a command.
-
-Arc stations use cumulative model x/y distance, not forward x. As in the
-reviewed standalone core, a path ending before 7 m holds its available
-endpoint instead of extrapolating. This matters: route95 contains 44 active
-cycles with 5.45–6.94 m of path at 2.78–3.46 m/s. A tested strict 7 m
-coverage gate would have introduced disengagements and was removed. There
-is no speed-dependent C0 horizon beyond this existing endpoint behavior.
-
-The adapter retains the existing input age allowance (−5 to +150 ms),
-speed domain (0.3–55 m/s), yaw sanity bound (±3 rad/s), selected curvature
-sanity bound (±1/m), and control interval (2–100 ms). It rejects backward
-model/measurement timestamps and invalid services. Repeated timestamps may
-continue slew, but geometry is validated again on each tick. Disengagement,
-invalid inputs and timing faults clear all command and adapter timing state.
-The first valid tick after reset uses 10 ms, as v8 does.
-
-controlsd still owns reference selection, upstream curvature limiting,
-service health and engagement. Tests execute its actual source-selection
-and limiter code, its Ford call, Float32 publication in ControlsExt, conversion
-to CarControlSP, and the pinned Ford CarController's in-memory CAN builder.
-Both model-action and maneuver-planner selection are covered, including
-disabling latActive after invalid output. Only the test chooses the adapter.
-
-Yaw is not an input to the control law. The adapter checks it solely for the
-inherited invalid-input policy. Driver override and optional PSCM status
-do not modify the candidate base; existing engagement and downstream driver
-arbitration remain responsible for authorization, as with v8's base request.
-
-## Offline evidence
-
-The checked-in `ford_model_action_validation.json` records the completed
-checks and source hashes. Full arrays and detailed reports are generated
-locally under `.cache/ford_model_action/`; original route files are read-only.
-
-Completed validation: **264 Ford tests and 150 subtests pass**, including
-120 new core/adapter/replay-validator cases. The candidate module has 100%
-statement and branch coverage (78 statements, 24 branches). Ruff and Ty pass.
-The 200,000-cycle numerical stress test also checks 200,000 mirrored core
-updates and 18,138 field-boundary cases. Across route and stress runs,
-485,238 Float32/CAN round trips pass. Eight deliberately injected faults
-(heading gain/cap, erased C0, wrong C0 slew, retained invalid state, stale
-model acceptance, model clock rollback and reversed C0 sign) are all caught
-by the tests. Mutation runs replace code only inside isolated Python
-processes; production source files are never modified by those probes.
-
-Independent Standards and Spec reviews reported zero findings. The full
-suite's Params setting test uses an existing local native library from
-worktree 3548 after checking relevant source files are byte-identical;
-its hash and provenance are in the manifest. That library is an ignored
-test dependency, not part of this change. This is the full relevant Ford
-suite, not the hardware-dependent test suite for every openpilot subsystem.
-
-The replay has two separate passes:
-
-* Core compatibility uses the archived eligibility mask and requires exact
-  equality with the independently implemented `action_heading` commands.
-* Adapter reconstruction derives eligibility from recorded service streams
-  independently of the archived output mask. It retains original timestamps,
-  gaps and consumed model frames. Controls publication time proxies the
-  unlogged computation clock, and complete SubMaster health is unavailable.
-
-All 54,738 route95 and 78,812 route90 core cycles match exactly, including
-37,614 and 73,055 active cycles. The adapter preserves those active counts.
-Its 59 / 19 changed commands arise solely from the fresh 10 ms engagement
-tick instead of the archived harness's preceding publication interval;
-the replay checks that attribution on every cycle. Maximum differences are
-0.01 m / 0.001 rad (95) and 0.02 m / 0.002 rad (90).
-
-Every core and adapter replay output is round-tripped through Float32 and
-the real CAN packer/parser, including zero C2/C3, signs, mode and counter.
-Continuous field slew and quantization allowance are checked separately
-from immediate invalid-command resets. The original driver-clean cohorts,
-speed strata and command RMS are reproduced without redoing the encoder search.
-
-The numerical stress harness uses analytic rotated paths, scalar slew
-arithmetic, mirrored requests, irregular intervals and invalid-input resets.
-It also sweeps every representable host field value and the Float32 values
-immediately below, at and above every half-quantum boundary. Direct CAN
-packing of the continuous state must agree with the host's quantized output.
-The unit tests cover releases, reversals, clipping, service freshness,
-clock resets, malformed inputs, endpoint fallback and actual integration.
-
-## Limits of the result
-
-On turns at ≥15 m/s, candidate C0 RMS is 79%/81% below v8 on routes95/90,
-while C1 is 33%/41% higher. Those are command changes, not evidence of
-equivalent steering authority. The PSCM's independent C0/C1 response remains
-unknown. Replay cannot establish physical model following, strong turns,
-centering, overshoot, oscillation or closed-loop stability.
-
-The release probe is intentionally explicit: a model bend can increase
-while selected curvature decreases. At 20 m/s, one synthetic probe changes
-C0/C1 from 0.24 m / 0.10 rad to 0.49 m / 0.08 rad. Zero selected curvature
-sets the C1 target to zero but does not erase a nonzero current model C0.
-Removing a yaw-integral tail does not prove that physical overshoot is solved.
-No additional release policy or unsupported plant model is added to hide
-that uncertainty.
-
-## Reproduce
-
-From this worktree, use the logged construction dependency explicitly:
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:/Users/ibpersonal/.codex/worktrees/b926/sunnypilot/opendbc_repo
-PY=/Users/ibpersonal/dev/sunnypilot/.venv/bin/python
-EVIDENCE=/Users/ibpersonal/.codex/worktrees/3548/sunnypilot/analysis/controller_search_20260904
-$PY -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py
-$PY -m tools.ford_pscm_lab.model_action_replay "$EVIDENCE/route95" --output .cache/ford_model_action/route95
-$PY -m tools.ford_pscm_lab.model_action_replay "$EVIDENCE/route90" --output .cache/ford_model_action/route90
-$PY -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --output .cache/ford_model_action/stress.json
-```
-
-The route replay refuses an opendbc revision other than
-`72a775d35e54c21ff5c5798acef22016eedcc0a7`. Stress defaults to this pin and
-also accepts an explicitly required commit with `--opendbc-revision` for
-deployment checks. A mismatch still fails. This historical pin reproduces
-logged construction; it does not change the merge's submodule pointer.

docs/ford_model_action_drive_test.md

@@ -1,125 +0,0 @@
-# Ford selected-action drive-test branch
-
-This v14 trial increases C1's integral gain from 0.25 to **1.0**, retaining
-P=0.75, [curvature-derived C0](ford_curvature_c0_v8.md), direct C0/C1 requests,
-and [continuous C1 PI feedback](ford_c1_minimal_pi.md).
-Only integrated tracking error accumulates correction; C0/C1 reflect the current bounded request. C0 defaults to a 7 m circular arc from selected desired curvature. An on-device toggle can instead use max(7 m, speed × 1 second).
-[Base C1 overflow allocation to C0](ford_c1_overflow.md) remains.
-It is selectable on **any Ford CAN FD vehicle**
-through the existing persistent, default-off Sunnylink
-toggle. Offline checks establish software behavior; physical tracking,
-turn-exit behavior and closed-loop stability remain unvalidated.
-
-Both base commands use selected, upstream-limited desired curvature. The +0.40 s
-low-speed model preview from `b720e9f1b` remains: full offset at 15 mph and below,
-tapering to zero at 30 mph. The trial multiplies each fresh integral error increment
-by four, for both accumulation and retirement. P, PSCM `LimitReached` handling,
-integral arithmetic, field bounds, and selection are retained.
-See [I=1.0 replay results](ford_c1_i1_trial.md) for scope, tradeoffs, and reproduction.
-
-## Select and restore
-
-1. Install branch `hiimisaac-dev` from `sunnypilot/sunnypilot` using the device's
-   normal branch-switch process and allow its build to finish.
-2. While offroad, open Sunnylink device settings → Vehicle → Ford and enable
-   **Selected-Action Path Tracking (Experimental)** (`FordModelActionController`).
-3. Complete a real offroad-to-onroad cycle. Selection occurs when `controlsd`
-   starts; a stored toggle change or disengagement alone cannot swap an active
-   controller. Initial physical evaluation remains controlled testing.
-
-The startup event `Ford path controller selected` should report
-`FordModelActionController`. Periodic `Ford C2-free path tracking` events
-identify **`hypothesis=model-action-curvature-c0-distance-pi-v14`**. They report desired and measured
-curvature, base heading, proportional and accumulated correction, applied heading,
-feedback timing and driver/PSCM gating. `proportional_gain=0.75` and
-`integral_gain=1.0` identify the trial. `offset_overflow` reports the extra C0
-target in meters before C0 amplitude limits. `calibration_approved=false`
-remains. The retired request/unwind/reversal diagnostic fields are removed.
-
-Turning the toggle off and completing another offroad-to-onroad cycle restores
-**upstream Ford curvature control**: 20 Hz steering messages, limited mode on
-CAN FD, zero C0/C1/C3, and upstream curvature limiting and platform-specific
-overshoot handling. Stored observer or retired controller settings cannot select
-a custom controller. The observer toggle is no longer exposed. The experiment
-only runs on Ford CAN FD vehicles; legacy Ford uses upstream control as well.
-See [toggle-off validation](ford_upstream_fallback.md).
-
-## C0 distance toggle on comma four
-
-With the experimental Ford controller enabled, open **Settings → toggles → C0: 1 second**.
-The toggle is visible for Ford CAN FD vehicles and can be changed while disengaged.
-
-- **Off (default):** C0 uses a fixed 7 m arc.
-- **On:** C0 uses a distance of max(7 m, speed × 1 second), matching the base C1 distance.
-
-Disengage assistance, change the toggle, and remain disengaged for at least three seconds
-before reengaging. This setting uses the existing three-second runtime parameter refresh;
-**no ignition cycle or controlsd restart is required**. Engaged or paused MADS and stale
-engagement messages prevent applying a change. A mode change resets the PI correction and
-adapter timestamps. Reapplying the same value does not reset anything.
-
-The persistent parameter is `FordC0TimeBased`. It cannot enable the experimental controller
-by itself. The existing Sunnylink controller-selection toggle still requires an onroad cycle.
-C1, the gains, the 7 m heading-overflow allocation, the upstream reference limits and the CAN
-field bounds are unchanged. Below 7 m/s (about 15.7 mph), both distance modes are identical.
-At 20/30/60 mph the enabled distance is approximately 8.9/13.4/26.8 m, respectively; C0 can
-therefore be substantially larger, especially at higher speeds. Its release still follows the
-current selected curvature immediately, with no additional slew.
-
-The `Ford C0 distance changed` event records an applied switch. Periodic tracking events
-include `c0_time_based` and the actual `offset_distance` in meters, including the default mode.
-Offline checks verify selection, runtime switching, resets, unchanged C1 and CAN encoding;
-they do not establish which distance the PSCM follows better.
-
-Validation on 2026-09-14: 410 tests and 25 subtests passed, plus Ruff and the local comma four
-UI construction/write/refresh/visibility/render check. The 54,146-cycle maneuver-route replay
-(`84865544361f55cb/0000011c--99f4537696`) matched `775012167` exactly with the new toggle off.
-With it on, C0 changed in 35,668 cycles (maximum difference 0.74 m), while C1 and accumulated
-correction remained identical on the same recorded motion. The two comparisons completed
-216,584 controller updates and CAN round trips. No vehicle build, installation or road test
-was performed for this change.
-
-## Wiring and validation
-
-`controlsd` supplies the selected, upstream-limited desired curvature and the
-measured steering-derived curvature already used in its tracking diagnostics.
-Fresh steering publications advance C1 integration. P responds to the current
-error without accumulating. Repeated publications use current feedforward and P
-but cannot integrate the same elapsed interval twice.
-Driver override clears P and I. A fresh PSCM reached-limit flag stops
-extra outward accumulation while preserving unwind and base model changes.
-With fresh feedback, the part of the error increment that cancels existing I
-is applied before the ordinary accumulation clamp. Any remainder must fit the
-combined feedforward/P/I amplitude envelope. There is no C0 confirmation
-threshold or remembered turn direction. Zero error removes P and holds I; it
-does not trigger a release. Final command limits still apply.
-
-C0 starts with the selected-distance circular arc of selected desired curvature. It does not
-add independent live model-path position or heading. Valid model geometry is
-still required as a health gate. When the raw base heading
-exceeds ±0.5 rad, C0 additionally receives 7 m times the clipped-away heading.
-Accumulated C1 feedback does not spill into C0. The extra target returns to zero
-as the base heading falls below the cap. Applied C0 changes in that same update.
-C2 and C3 remain zero. The
-existing field bounds, 100 Hz custom sender and Float32 publication remain in
-place. An explicit selection flag distinguishes upstream mode from an invalid
-experimental command; invalid experimental input cannot switch to upstream.
-The opendbc sender restores upstream behavior when that flag is false.
-
-[Direct-command validation](ford_direct_path_v9.md) records the same command law introduced in v9.
-[Curvature-C0](ford_curvature_c0_v8.md) and its validation JSON record v8.
-[Continuous PI](ford_c1_minimal_pi.md) and its validation JSON record v7.
-[Proportional feedback](ford_c1_pi.md) and its validation JSON record v6.
-[Completed-unwind release](ford_unwind_catchup.md) and
-`ford_unwind_catchup_validation.json` record v5. [Changed-request release](ford_c1_request_release.md) and its
-validation JSON record v4. The [overflow specification](ford_c1_overflow.md) and
-`ford_c1_overflow_validation.json` record v3. The carryover specification and `ford_c1_carryover_validation.json`
-record the previous experiment. `ford_c1_feedback_validation.json` records the initial feedback
-version at `5fbb583e5`. `ford_model_action_validation.json` and
-`ford_model_action_drive_test_validation.json` are historical records for the
-original offline candidate and its first wiring, respectively; their counts
-and coverage are not claims about the current version.
-
-The full hardware build and device boot are not performed by these offline
-checks. Pushing the branch does not install it on the device or change its
-stored toggle.

docs/ford_model_action_drive_test_validation.json

@@ -1,145 +0,0 @@
-{
-  "date": "2026-09-07",
-  "baseline_commit": "7ca3c6e3b3e659c6f446039501c5826bbd14092e",
-  "branch": "codex/ford-model-action-drive-test",
-  "scope": "Default-off Sunnylink selection and v8 retirement; offline validation only. No device installation or physical performance validation.",
-  "calibration_approved": false,
-  "production_selector_changed": true,
-  "toggle": "FordModelActionController",
-  "default_enabled": false,
-  "v8_removed": true,
-  "panda_safety_changed": false,
-  "opendbc_submodule_changed": false,
-  "deployment_opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-  "controller_size": {
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-    "code_lines_excluding_blanks_comments_docstrings": 95,
-    "core_persistent_values": 2,
-    "adapter_timestamps": 3,
-    "removed_v8_module_lines": 469
-  },
-  "tests": {
-    "combined_ford_params_sunnylink_suite": "284 passed, 26 subtests passed in 2.63s",
-    "suite_log_sha256": "2e223a507f0630481cf6f83b9f8893d226f3f4273a79a09fc35905aa875b1d2c",
-    "coverage": {
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-      "num_statements": 87,
-      "percent_covered": 100.0,
-      "percent_covered_display": "100",
-      "missing_lines": 0,
-      "excluded_lines": 0,
-      "percent_statements_covered": 100.0,
-      "percent_statements_covered_display": "100",
-      "num_branches": 26,
-      "num_partial_branches": 0,
-      "covered_branches": 26,
-      "missing_branches": 0,
-      "percent_branches_covered": 100.0,
-      "percent_branches_covered_display": "100"
-    },
-    "ruff": "pass",
-    "ty_controller_and_lab": "pass",
-    "settings_compiler_check": "pass",
-    "standards_review_remaining_findings": 0,
-    "spec_review_remaining_findings": 0,
-    "resolved_review_finding": "Updated YAML authoring source and regenerated settings JSON before final compiler/schema suite."
-  },
-  "routes": {
-    "route95": {
-      "cycles": 54738,
-      "core_active_cycles": 37614,
-      "core_exact_archived_match": true,
-      "cohorts_reproduced": true,
-      "adapter_active_cycles": 37614,
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-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 59,
-      "adapter_max_absolute_command_difference_c0_c1": [
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-        0.0010000000000000009
-      ],
-      "field_slew_zero_c2_c3_pass": true,
-      "float32_can_round_trips": 109476,
-      "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
-      "report_sha256": "72fab710dc81c8c7d9b75d371b97fec32402d3b01fa05517dfa814d8daff3134"
-    },
-    "route90": {
-      "cycles": 78812,
-      "core_active_cycles": 73055,
-      "core_exact_archived_match": true,
-      "cohorts_reproduced": true,
-      "adapter_active_cycles": 73055,
-      "adapter_exact_match_with_fresh_engagement_dt": true,
-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 19,
-      "adapter_max_absolute_command_difference_c0_c1": [
-        0.020000000000000462,
-        0.0020000000000000018
-      ],
-      "field_slew_zero_c2_c3_pass": true,
-      "float32_can_round_trips": 157624,
-      "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
-      "report_sha256": "cc2224bae597a341697a7681560a077cb209d77e4d060c0850997691c57d32fb"
-    }
-  },
-  "stress": {
-    "seed": 20260907,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
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-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Numerical construction only; no PSCM response or closed-loop performance claims.",
-    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
-  },
-  "total_float32_can_round_trips": 485238,
-  "native_params": {
-    "source": "Rebuilt locally from this branch with clang++ and generated Capnp headers; ignored test dependency, not committed binary.",
-    "library_sha256": "270bf43241cf7c02cc432cf78ec9411a62d7653ca445695efe785ae82241aa09",
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-      "openpilot/common/util.cc": "4479ecf72465e8f453d8af78447f7715f02d9397c58a49048f2bbc87a96d6b8a",
-      "openpilot/common/swaglog.cc": "9c2f88a2f1c3c4253b73defb264cc367a13ade23e02928e1d469b5c5833df176"
-    }
-  },
-  "test_dependency_notes": {
-    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
-    "pyyaml": "6.0.3 from local uv cache",
-    "jsonschema": "Local cached package appended after venv to run schema validator without skips",
-    "hardware_build_and_device_boot": "not performed"
-  },
-  "source_sha256": {
-    "docs/ford_model_action_candidate.md": "c968132348d20891a9396f6e69db1315d570505796e19e09ffbb2da748e6e687",
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-    "openpilot/selfdrive/controls/controlsd.py": "102b383e5beff43b8dd7c219178bef62e8a4b54443ebe682694606862bcd4e7f",
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "8f3bc5d68e0051776f614a2ccffae84a88f7898dc95bdc12c23dcfe10dfe676a",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "1c9448d88d8021e5d34a5dccd14a17c6c1bc64b5531342bfc6d15574d9d3e710",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "2c5b14f814e84e59d749f61a43ef1dcfe06253f6e185443fa123c37525ac8466",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "9974df3ac4cc58ae78d47848cd18ef4aca1bcbb00edb257f28b4220d92890528",
-    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "7a3fa18e562d5a03a5b85c72ee3f3ebeb836c497285dcd9aaad24f8fb4dd6942",
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-    "openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py": "f826c6328f0abac2a61f1a0a6f8d119fdbab858e363cb466d84ba9a7783059cd",
-    "docs/ford_model_action_drive_test.md": "d825b177cd099efd797fe89b7041695d6d41e4b9e8bba6bcaeb32aece164262b"
-  },
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev",
-    "validated_code_commit": "ea1ed70c718d32539ef6b9a89b89c0e297c92e06"
-  }
-}

docs/ford_model_action_validation.json

@@ -1,220 +0,0 @@
-{
-  "date": "2026-09-07",
-  "baseline_commit": "c4b3c55c826fca1ce09618e418e95f0a24478d96",
-  "calibration_approved": false,
-  "production_selector_changed": false,
-  "vehicle_settings_changed": false,
-  "panda_safety_changed": false,
-  "scope": "Offline command construction, adapter integration, numerical fault probes and Ford regression tests. Physical response remains unvalidated.",
-  "controller_size": {
-    "total_lines": 131,
-    "code_lines_excluding_blanks_comments_docstrings": 86,
-    "core_persistent_values": 2,
-    "adapter_timestamps": 3
-  },
-  "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
-  "tests": {
-    "ford_suite": "264 passed, 150 subtests passed in 14.29s",
-    "new_core_adapter_tests": 107,
-    "new_replay_validator_tests": 13,
-    "controller_coverage": {
-      "statements": 78,
-      "missing_statements": 0,
-      "branches": 24,
-      "partial_branches": 0,
-      "percent": 100
-    },
-    "ruff": "pass",
-    "ty_controller_and_lab": "pass"
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-        "adapter_c0_c1_rms": [
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-    "all_detected": true
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-  "native_test_dependency": {
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-      "openpilot/common/params.py",
-      "openpilot/common/params_keys.h",
-      "openpilot/common/queue.h",
-      "openpilot/common/util.cc",
-      "openpilot/common/util.h",
-      "openpilot/common/hardware/hw.h"
-    ]
-  },
-  "review": {
-    "standards_findings": 0,
-    "spec_findings": 0,
-    "method": "Independent parallel read-only reviews; 120 focused tests independently passed."
-  },
-  "source_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "cb6353f00f2f5c84df4e606c6b7e20650f8c1e908b9fd71890f72aa4a5e42592",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "c3b971622cc4041575aeec1826d45b76cebab9a2f77b2b9525c85d4184961295",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "5aaa29c1f11080b7df0165fd0202a29b065053809e5f9c4b9ed8abfcce47e41b",
-    "tools/ford_pscm_lab/__init__.py": "db4b8b7d2e317ed34ca0ec220bf9d53e7b80a23e766f4e1cb2c8224dada45f2e",
-    "tools/ford_pscm_lab/model_action_replay.py": "c114c479bd22e4fc61a3e8d3ee7fae5d71d1d80ec4b952faad8f8f3692fb1508",
-    "tools/ford_pscm_lab/stress_model_action.py": "a78a50eed1f801f3b096d694ab8c2fd70804b6c250465b4152f38d83770a982b",
-    "tools/ford_pscm_lab/test_model_action_replay.py": "09d024c59d44b83ec081d6416d0f946a7719a73f22213af1f4ddc03dc4e6f4ac"
-  },
-  "artifacts": {
-    "directory": ".cache/ford_model_action",
-    "route_reports": [
-      "route95/report.json",
-      "route90/report.json"
-    ],
-    "stress_report": "stress.json",
-    "mutation_report": "mutations/report.json",
-    "test_log": "ford_suite.txt"
-  }
-}

docs/ford_unwind_catchup.md

@@ -1,122 +0,0 @@
-# Ford completed-unwind correction release
-
-Version `model-action-c1-feedback-v5` releases dominant C1 correction after a
-confirmed unwind reaches the selected curvature. This fixes stored correction
-continuing to request a new turn after its original unwind is complete.
-
-Route 115 (`codex-last2`) ran v4, `6df5eabb7`. Near 2:13.2, desired and actual
-steering were both near zero after a right turn, but C1 still requested about
-0.1165 rad left. About 0.114 rad was accumulated unwind correction. V4's
-changed-request release did not apply: the small new left request was increasing
-while the measured error called for less left steering. The earlier reversal
-release also did not apply because measured and requested curvature were
-already on the same side.
-
-## Rule
-
-On a fresh steering measurement, remember an unwind direction when the selected
-curvature relaxes toward zero (or crosses it), measured curvature remains on
-the previous side, and measured error calls for leaving that old turn.
-
-When measured error reaches or passes zero in that unwind direction, release
-the stored correction only if all of these agree:
-
-- The selected curvature has reached zero or crossed into the unwind direction.
-- Correction points in that direction and exceeds the magnitude of base C1.
-- Original model C0 and applied C0 both confirm that direction by at least the
-  existing 0.01 m DBC step.
-
-Consume the unwind marker at this first catch-up, even if the other conditions
-prevent release. A steady old-side bend, neutral/conflicting C0, or a correction
-smaller than base C1 retains its correction. Steady requests cannot arm the
-marker. Duplicate steering publications cannot arm or consume it. Driver/PSCM
-feedback inhibition and controller resets clear it; correction reversing
-direction also clears it.
-
-After retirement, the v4 command law still runs: bounded changed-request
-release, reversal release, measured-error integration, PSCM arbitration, and
-final C1 slew. Removing stored correction therefore does not jump the output.
-There is one additional control state, `unwind_direction`; `unwind_release`
-only reports the signed correction retired on the current cycle. Periodic
-diagnostics may miss individual release cycles.
-
-This is a conditional correction-reset policy, not a PSCM plant model. It adds
-no strength multiplier. The existing 1:1 feedback choice, C0 mapping/overflow,
-C2/C3 zeroing, amplitude/slew limits, sender cadence and input gates remain.
-Toggle off still selects upstream Ford control; toggle on selects the experiment
-on Ford CAN FD platforms. See [selection and restore](ford_model_action_drive_test.md).
-
-## Exact exit replay
-
-Frozen route 115 measurements trigger one release at **2:13.203501**. The
-selected steering angle is 0.469 degrees left and measured angle is 0.500 degrees
-left. The controller retires 0.114026 rad of left unwind correction. Its first
-C1 output moves from 0.1165 to 0.1110 rad left, respecting the original slew.
-
-At **2:13.594615**, old C1 is **0.1240 rad left**, versus **0.0105 rad left** in
-v5. C0 is identical. The earlier unwind (2:09 through 2:13.2), comparison turn
-(3:20 through 3:34), and comparison bend (5:33 through 5:45) have identical
-commands throughout their windows.
-
-The recorded wheel motion stays fixed in this replay. It does not predict a
-new steering angle, prove stability, or establish that the full overshoot is
-fixed. This maneuver also includes driver input and a changing C0 request;
-neither its whole swing nor every hanging exit can be attributed to stored I.
-
-## Validation
-
-Four targeted regressions failed on v4 because correction persisted after
-catch-up; all now pass. Expanded tests cover both directions, fresh/duplicate
-feedback, catch-up confirmation, steady tracking/noise, old-side bends, C0
-agreement, dominant correction, reset/override, limit-reached behavior and slew.
-Integration exercises actual controlsd request selection/limiting for model
-and maneuver sources, Float32 publication, and Ford CAN packing/checksums.
-
-The combined suite passes **753 tests and 9,145 subtests**, with **178 inherited
-or unsupported safety-test skips**. Random feedback stress covers 200,000 cycles
-and their mirrors. Each cycle exactly matches v4 after only the declared new
-retirement; 59 cycles retire correction. Independent zero-error checks cover
-200,000 cycles and 18,138 field-boundary cases. Ruff, controller Ty and settings
-compilation checks pass.
-
-| Frozen route | Cycles | New releases | Changed C1 cycles | Largest C1 difference |
-| --- | ---: | ---: | ---: | ---: |
-| 114 | 61,027 | 4 | 2,849 | 0.0150 rad |
-| 115 | 40,037 | 1 | 384 | 0.1140 rad |
-| 112 | 108,971 | 14 | 30,036 | 0.0720 rad |
-| 113 | 49,614 | 1 | 951 | 0.0050 rad |
-| Historical b9 | 90,774 | 16 | 7,013 | 0.1435 rad |
-
-All routes compare v5 against v4 with the same recorded inputs. Activation and
-C0 match exactly on all 350,423 cycles. Releases also occur at smaller exits;
-changed history can affect subsequent ordinary bends. These results do not
-establish unchanged physical centering. Route 114's large segment-2 overshoot
-does not trigger this new release, so it remains a separate unresolved case.
-
-The five replays and two stress runs verify **768,561 Float32/CAN round trips**,
-separately from the integration suite. Exact source hashes and numerical
-results are in `ford_unwind_catchup_validation.json`.
-
-## Reproduction
-
-Use the native project Python dependencies and unchanged opendbc revision
-`64aa61b9b3fd26e70a7caa915acab207ff3cd64a`. Route replay requires the full-rlog
-extracts identified by validation hashes; the original logs are not modified.
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:opendbc_repo
-export PARAMS_ROOT=/tmp/ford-v5-test-params
-export LOG_ROOT=/tmp/ford-v5-test-logs
-python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
-python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_unwind_catchup/stress.json
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260913 --opendbc-revision 64aa61b9b3fd26e70a7caa915acab207ff3cd64a --output .cache/ford_unwind_catchup/zero_error.json
-for route in 114 115 112 113 b9; do
-  python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_route${route} --baseline 6df5eabb7e7f6bc4e206644d5ca9069df820124e --output .cache/ford_unwind_catchup/route${route}
-done
-```
-
-Publication time approximates the computation clock; full SubMaster health is
-not reconstructable. These route replays do not reconstruct selected maneuver
-messages; integration tests cover that source. No device build, boot,
-installation or physical steering test is performed offline.

docs/ford_unwind_catchup_validation.json

@@ -1,346 +0,0 @@
-{
-  "hypothesis": "model-action-c1-feedback-v5",
-  "baseline_revision": "6df5eabb7e7f6bc4e206644d5ca9069df820124e",
-  "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-  "scope": "Software command release and numerical invariants only; no counterfactual steering motion, physical stability or improved tracking claim.",
-  "calibration_approved": false,
-  "tests": {
-    "passed": 753,
-    "subtests_passed": 9145,
-    "skipped": 178,
-    "log_sha256": "64c683622cc91125e32cb0d78f4a5340b8d58fa149d90b06361629394489731d",
-    "initial_regression": "4 failed on v4: stored unwind correction remains after catch-up; all pass on v5",
-    "regression_log_sha256": "0ced2a0686cccba3c321c58749a679843a3179fa57078a6b030d20f0f9ae33e2"
-  },
-  "feedback_stress": {
-    "cycles": 200000,
-    "mirrored_updates": 200000,
-    "can_round_trips": 200000,
-    "carryover_release_count": 181,
-    "baseline_revision": "6df5eabb7e7f6bc4e206644d5ca9069df820124e",
-    "baseline_source_sha256": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f",
-    "seed": 20260913,
-    "request_release_cycles": 20214,
-    "unwind_release_cycles": 59,
-    "exact_unchanged_state_and_commands_without_unwind_release": 199941,
-    "exact_v4_match_after_only_declared_retirement": 200000,
-    "checks": "Symmetry, resets, amplitude/slew, bounded retirement, carryover confirmation, integration, PSCM limits, CAN.",
-    "scope": "Numerical software invariants only; no model of vehicle motion.",
-    "calibration_approved": false,
-    "controller_sha256": "2ceb4cd8717bb3325f9b22189c78605ad5d42a1061dec9ca2e4dbb90fd256d1e"
-  },
-  "zero_error_stress": {
-    "seed": 20260913,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.4000000000000019,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
-    "opendbc_import_head": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-    "source_sha256": {
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/stress_model_action.py": "cec2619285dd41274562ac035ee8ea0a389269a0c4ef1b62efa6252ad1a714aa",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "2ceb4cd8717bb3325f9b22189c78605ad5d42a1061dec9ca2e4dbb90fd256d1e",
-      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f"
-    }
-  },
-  "replays": {
-    "114": {
-      "baseline_revision": "6df5eabb7e7f6bc4e206644d5ca9069df820124e",
-      "baseline_source_sha256": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f",
-      "calibration_approved": false,
-      "cycles": 61027,
-      "active_cycles": 48419,
-      "validity_matches_baseline_exactly": true,
-      "status_counts": {
-        "inactive": 12608,
-        "active": 48419
-      },
-      "c0_matches_baseline_exactly": true,
-      "c0_changed_cycles": 0,
-      "max_abs_c0_change_m": 0.0,
-      "offset_overflow_seconds": 6.548916987999917,
-      "max_abs_offset_overflow_target_m": 1.233181856572628,
-      "request_release_cycles": 288,
-      "request_release_seconds": 2.98796386799998,
-      "max_abs_request_release_rad": 0.006280367394214892,
-      "unwind_release_cycles": 4,
-      "max_abs_unwind_release_rad": 0.01457856219656457,
-      "feedback_enabled_seconds": 438.3550780740002,
-      "pscm_limit_2_seconds": 8.604224759000118,
-      "c1_changed_cycles": 2849,
-      "max_abs_c1_change_rad": 0.015000000000000013,
-      "max_abs_correction_rad": 0.2921633626620207,
-      "can_round_trips": 61027,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route114/route.npz": "83524f07d61104b84b004ddc46bb751ca7f61da67798aa47db56d307765f5b3e",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route114/model_paths.npz": "14d14362d1a3e46398edd8e22b7cc4e36277a7596a73f546192d0e14c6642b07",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route114/metadata.json": "ec677b9275c1707e477ebd0ffa235d49b5ec63a1ee717b16040c3acdbcd3bdc0",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "e869520839aef948ccbf20b44e3efb6ec854a539ec0d66c07779825bcd8037a7",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "2ceb4cd8717bb3325f9b22189c78605ad5d42a1061dec9ca2e4dbb90fd256d1e"
-      },
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
-      "report_sha256": "9a9d7a6c92ec2cc1e19dc6b6e628e402cbe3f6344e09ccbee1c5c76deedebc7e",
-      "commands_sha256": "fc1a5249cc9a15e3369f177a88781377c327e27b681e1028ad26063cb70167a5"
-    },
-    "115": {
-      "baseline_revision": "6df5eabb7e7f6bc4e206644d5ca9069df820124e",
-      "baseline_source_sha256": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f",
-      "calibration_approved": false,
-      "cycles": 40037,
-      "active_cycles": 33976,
-      "validity_matches_baseline_exactly": true,
-      "status_counts": {
-        "inactive": 6061,
-        "active": 33976
-      },
-      "c0_matches_baseline_exactly": true,
-      "c0_changed_cycles": 0,
-      "max_abs_c0_change_m": 0.0,
-      "offset_overflow_seconds": 2.095635206999873,
-      "max_abs_offset_overflow_target_m": 0.6360401958227158,
-      "request_release_cycles": 181,
-      "request_release_seconds": 1.7931359259980582,
-      "max_abs_request_release_rad": 0.005393094571379859,
-      "unwind_release_cycles": 1,
-      "max_abs_unwind_release_rad": 0.11402585053291069,
-      "unwind_releases": [
-        {
-          "time_s": 133.203500567,
-          "retired_rad": -0.11402585053291069,
-          "correction_after_rad": 0.0,
-          "base_c1_rad": -0.0025691102200653404,
-          "desired_angle_deg": 0.46853354573249817,
-          "actual_angle_deg": 0.5,
-          "baseline_c0_c1": [
-            -0.04999999999999982,
-            -0.11650000000000005
-          ],
-          "candidate_c0_c1": [
-            -0.04999999999999982,
-            -0.11099999999999999
-          ]
-        }
-      ],
-      "feedback_enabled_seconds": 306.2414766659987,
-      "pscm_limit_2_seconds": 6.4724571650002645,
-      "c1_changed_cycles": 384,
-      "max_abs_c1_change_rad": 0.1140000000000001,
-      "max_abs_correction_rad": 0.13572457044904282,
-      "can_round_trips": 40037,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route115/route.npz": "e0df32d9e80f1c6b7d56327b37cf07af60070ffc212b8d111e343306148bff23",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route115/model_paths.npz": "52f3ed9e188e4947618a57a3ed872fd1966a887fe1014999df741553b6c13bc0",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route115/metadata.json": "d3c73035bad8eb5059e07962fd274c19cb70c8952b6f1514835d312d08b87a16",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "e869520839aef948ccbf20b44e3efb6ec854a539ec0d66c07779825bcd8037a7",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "2ceb4cd8717bb3325f9b22189c78605ad5d42a1061dec9ca2e4dbb90fd256d1e"
-      },
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
-      "report_sha256": "e3e4183e14ce20b2d3b0938028a5a4ab3200f72dd46e898174751aa94912ad84",
-      "commands_sha256": "ba9b6411a432430bb1380f63fe011ba91235b393f3785c17d2904657c95d27d9"
-    },
-    "112": {
-      "baseline_revision": "6df5eabb7e7f6bc4e206644d5ca9069df820124e",
-      "baseline_source_sha256": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f",
-      "calibration_approved": false,
-      "cycles": 108971,
-      "active_cycles": 91414,
-      "validity_matches_baseline_exactly": true,
-      "status_counts": {
-        "inactive": 17557,
-        "active": 91414
-      },
-      "c0_matches_baseline_exactly": true,
-      "c0_changed_cycles": 0,
-      "max_abs_c0_change_m": 0.0,
-      "offset_overflow_seconds": 1.43945091800002,
-      "max_abs_offset_overflow_target_m": 0.5727187991142273,
-      "request_release_cycles": 381,
-      "request_release_seconds": 3.8611647240012985,
-      "max_abs_request_release_rad": 0.008723706007003784,
-      "unwind_release_cycles": 14,
-      "max_abs_unwind_release_rad": 0.07267236868778636,
-      "feedback_enabled_seconds": 840.7664582650004,
-      "pscm_limit_2_seconds": 14.441855805999936,
-      "c1_changed_cycles": 30036,
-      "max_abs_c1_change_rad": 0.07200000000000006,
-      "max_abs_correction_rad": 0.205313389369823,
-      "can_round_trips": 108971,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route112/route.npz": "2b08a2fb636f7d14556d7df4035eafc1d1b97932237955528562a16db2b31d3e",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route112/model_paths.npz": "9837afe78aab4cad288cad98a595a5777fa8a66bb235986b1272a7f7c54e559a",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route112/metadata.json": "726d78a7e7aa45307dcfe27cb00775c20ecc9d54538eb7f26a0166fc216226ce",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "e869520839aef948ccbf20b44e3efb6ec854a539ec0d66c07779825bcd8037a7",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "2ceb4cd8717bb3325f9b22189c78605ad5d42a1061dec9ca2e4dbb90fd256d1e"
-      },
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
-      "report_sha256": "aaa1d819cf344de668ea92eb58714a6ae537054a0feadc05a0fa15097a57c553",
-      "commands_sha256": "9f191699d19af8f123e9245a77827a2eca27d4b3191f9acddf9389edbda0ef24"
-    },
-    "113": {
-      "baseline_revision": "6df5eabb7e7f6bc4e206644d5ca9069df820124e",
-      "baseline_source_sha256": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f",
-      "calibration_approved": false,
-      "cycles": 49614,
-      "active_cycles": 27207,
-      "validity_matches_baseline_exactly": true,
-      "status_counts": {
-        "inactive": 22407,
-        "active": 27207
-      },
-      "c0_matches_baseline_exactly": true,
-      "c0_changed_cycles": 0,
-      "max_abs_c0_change_m": 0.0,
-      "offset_overflow_seconds": 2.7607263189997866,
-      "max_abs_offset_overflow_target_m": 0.6065444126725197,
-      "request_release_cycles": 119,
-      "request_release_seconds": 1.2281319819985583,
-      "max_abs_request_release_rad": 0.009946223348379135,
-      "unwind_release_cycles": 1,
-      "max_abs_unwind_release_rad": 0.005007614799767142,
-      "feedback_enabled_seconds": 243.3033761190004,
-      "pscm_limit_2_seconds": 14.003248144999816,
-      "c1_changed_cycles": 951,
-      "max_abs_c1_change_rad": 0.00500000000000006,
-      "max_abs_correction_rad": 0.16966817302181283,
-      "can_round_trips": 49614,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route113/route.npz": "774ca4a21b7113c2706d6130bc180c3216ea4833155300ab01e75b3486e36327",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route113/model_paths.npz": "93c41761eb85263f534f5371b905482cf7c948582eb1e9149966594be1d3768f",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route113/metadata.json": "1c0ca74dd48b90ab9d5444c5ca7f8aa9361700bbdf98bd5e853be50ad2895d7f",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "e869520839aef948ccbf20b44e3efb6ec854a539ec0d66c07779825bcd8037a7",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "2ceb4cd8717bb3325f9b22189c78605ad5d42a1061dec9ca2e4dbb90fd256d1e"
-      },
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
-      "report_sha256": "032aaf4b2dd3a54264330c9c6367ad4a63f49d779ce9acd4c3c1d355d731d545",
-      "commands_sha256": "c1d4e59718400d21d724d502e2befa315db56802a7622d3d68e8b3af7daea319"
-    },
-    "b9": {
-      "baseline_revision": "6df5eabb7e7f6bc4e206644d5ca9069df820124e",
-      "baseline_source_sha256": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f",
-      "calibration_approved": false,
-      "cycles": 90774,
-      "active_cycles": 86474,
-      "validity_matches_baseline_exactly": true,
-      "status_counts": {
-        "inactive": 4300,
-        "active": 86474
-      },
-      "c0_matches_baseline_exactly": true,
-      "c0_changed_cycles": 0,
-      "max_abs_c0_change_m": 0.0,
-      "offset_overflow_seconds": 5.703841178999909,
-      "max_abs_offset_overflow_target_m": 4.280821338295937,
-      "request_release_cycles": 416,
-      "request_release_seconds": 4.241454379000558,
-      "max_abs_request_release_rad": 0.017186015844345093,
-      "unwind_release_cycles": 16,
-      "max_abs_unwind_release_rad": 0.15648483206475247,
-      "feedback_enabled_seconds": 816.0284774219999,
-      "pscm_limit_2_seconds": 9.308613716000167,
-      "c1_changed_cycles": 7013,
-      "max_abs_c1_change_rad": 0.14349999999999996,
-      "max_abs_correction_rad": 0.18457476562660308,
-      "can_round_trips": 90774,
-      "source_sha256": {
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/route.npz": "b07c789d8155335f5d120d0262fced6e4d5803fe767b0ff49b6413dce4140b5c",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/model_paths.npz": "6b1f87897c050273fdc05af051307a049b6fc3a93072e7cda1721195ce7c3861",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "e869520839aef948ccbf20b44e3efb6ec854a539ec0d66c07779825bcd8037a7",
-        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "2ceb4cd8717bb3325f9b22189c78605ad5d42a1061dec9ca2e4dbb90fd256d1e"
-      },
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
-      "report_sha256": "d66308cefae9956d2b67b8d9ceb83804054e838c70e84999ba758ab1cbf21d5d",
-      "commands_sha256": "406275e9c230a2975fd8c9d0824d3a902283d3a5cb597328026578db66c2cb6b"
-    }
-  },
-  "checks": {
-    "ruff": true,
-    "controller_ty": true,
-    "settings_compilation": true
-  },
-  "limitations": [
-    "Recorded driver input and PSCM response remain fixed during replay.",
-    "No device build, boot or physical test performed.",
-    "Releases occur at smaller exits too; unchanged real-world centering is not established.",
-    "Route 114 segment-2 overshoot does not trigger this release."
-  ],
-  "float32_can_round_trips_excluding_integration_tests": 768561,
-  "exit_points_left_positive": [
-    {
-      "time_s": 131.19208205699988,
-      "baseline_c1_rad": -0.10949999999999999,
-      "candidate_c1_rad": -0.10949999999999999,
-      "baseline_correction_rad": 0.04102452737994574,
-      "candidate_correction_rad": 0.04102452737994574
-    },
-    {
-      "time_s": 133.19194825599993,
-      "baseline_c1_rad": 0.11650000000000005,
-      "candidate_c1_rad": 0.11650000000000005,
-      "baseline_correction_rad": 0.11402585053291069,
-      "candidate_correction_rad": 0.11402585053291069
-    },
-    {
-      "time_s": 133.203500567,
-      "baseline_c1_rad": 0.11650000000000005,
-      "candidate_c1_rad": 0.11099999999999999,
-      "baseline_correction_rad": 0.1140256728569634,
-      "candidate_correction_rad": -0.0
-    },
-    {
-      "time_s": 133.40571050699987,
-      "baseline_c1_rad": 0.118,
-      "candidate_c1_rad": 0.009500000000000064,
-      "baseline_correction_rad": 0.11367557589137142,
-      "candidate_correction_rad": -0.0
-    },
-    {
-      "time_s": 133.59461515599992,
-      "baseline_c1_rad": 0.124,
-      "candidate_c1_rad": 0.010500000000000065,
-      "baseline_correction_rad": 0.1120761218192909,
-      "candidate_correction_rad": -0.0015653052344988395
-    },
-    {
-      "time_s": 207.90007524899988,
-      "baseline_c1_rad": 0.16449999999999998,
-      "candidate_c1_rad": 0.16449999999999998,
-      "baseline_correction_rad": 0.016763380618580685,
-      "candidate_correction_rad": 0.016763380618580685
-    },
-    {
-      "time_s": 338.168560822,
-      "baseline_c1_rad": -0.173,
-      "candidate_c1_rad": -0.173,
-      "baseline_correction_rad": -0.024831306563109386,
-      "candidate_correction_rad": -0.024831306563109386
-    }
-  ],
-  "identical_route115_command_windows_s": [
-    [
-      129.0,
-      133.2
-    ],
-    [
-      200.0,
-      214.0
-    ],
-    [
-      333.0,
-      345.0
-    ]
-  ]
-}

docs/ford_upstream_fallback.md

@@ -1,89 +0,0 @@
-# Ford toggle-off upstream restoration
-
-`FordModelActionController` is the only setting that can select custom Ford
-steering. It defaults false. With it false or absent, no custom path controller
-is created and normal lateral-control curvature passes unchanged to the Ford
-sender. A stored `FordPscmObserver` or retired virtual-angle setting cannot
-override that choice. The observer toggle is removed from Sunnylink; its stored
-parameter remains readable for compatibility but has no selection effect.
-
-Selection remains fixed for the lifetime of controlsd. Sunnylink changes require
-a real offroad-to-onroad cycle, as before. The startup diagnostic reports
-`controller=upstream` when the experiment is not selected.
-
-## Sender behavior
-
-The new `fordLateralPath.enabled` field conveys startup selection independently
-of `valid`. Its default is false. The sender uses custom mode only when this
-field is true on a Ford CAN FD vehicle. This prevents invalid model geometry
-or disengagement in the selected experiment from choosing a different controller.
-
-Toggle-off restores the upstream Ford sender:
-
-- 20 Hz steering messages on both CAN FD and legacy Ford.
-- CAN FD limited mode 1 while active, mode 0 while inactive, with upstream ramp
-  type 0, counters and checksums.
-- C0, C1 and C3 zero; C2 follows upstream actuator curvature.
-- Upstream curvature amplitude/rate limits and the measured-curvature error
-  clamp above 9 m/s.
-- Upstream anti-overshoot handling for Bronco Sport and F-150 MK14.
-
-The reference is the upstream implementation already merged into this branch,
-opendbc `f95f996f5917dcbbf2e32fe51b606a24cf836af6`. Its Ford sender differs from
-the locally available comma opendbc `3e92d112129507debe45364891954db70238997a`
-only in sunnypilot's additional `CP_SP`/`CC_SP` interface arguments. This change
-restores that implementation; it does not upgrade unrelated upstream code.
-
-Toggle-on retains the previous custom 100 Hz sender, mode 2, ramp type 3 and
-existing path limits. The model-action controller's command law and diagnostic
-identity `model-action-c1-feedback-v3` are unchanged. Legacy Ford always uses
-upstream control. The opendbc dependency is now
-`64aa61b9b3fd26e70a7caa915acab207ff3cd64a`. No Panda safety code is changed;
-its existing limited-mode checks already use 20 Hz curvature limits.
-
-## Validation
-
-- Combined Ford, Sunnylink, parameter, logging, replay-tool and Ford safety
-  suite: **683 passed, 178 existing skips, 9,145 subtests passed**.
-- Real startup → controlsd → Float32 publication → conversion → Ford sender:
-  14 new toggle-off cases, covering all six CAN FD platforms plus legacy
-  Escape, with both stored observer settings. They preserve the upstream
-  actuator output, including when custom model geometry is missing, and verify
-  20 Hz cadence, engage/disengage/reengage, zero path terms, mode, ramp,
-  counters and checksums across 4,200 control cycles / 840 steering messages.
-- The existing toggle-on, stale-input, invalid-input and 100 Hz integration
-  regressions continue to pass.
-- Additional Ford interface fuzz checks: **11 passed**, 60 generated examples
-  each, with real Cap'n Proto conversion and car-interface application. The
-  initially missing neural-network-data dependency was initialized at the
-  repository's existing pin `03cac2d30e111e0689c0429cb8c1fe6cb5a905af`.
-- Packet equivalence: **55,000 toggle-off cycles across all 11 Ford platforms**
-  match the pinned upstream sender exactly. **30,000 toggle-on cycles across
-  six CAN FD platforms** match the previous custom sender exactly. All 90,305
-  outgoing packets and returned actuator values match, including invalid paths,
-  inactive periods, both turn directions and speed boundaries. Disabled
-  selection also ignores deliberately nonzero, valid custom path fields.
-- Ruff, controller type check, generated Sunnylink schema check and diff
-  whitespace checks pass.
-
-The packet comparison loads the exact old controller **and its old CAN builder**
-from trusted local Git sources. It does not compare two aliases of the modified
-code. Results and source hashes are in `ford_upstream_fallback_validation.json`.
-No device build, boot or physical steering validation is claimed.
-
-## Reproduction
-
-Use the pinned opendbc dependency and native project dependencies:
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:opendbc_repo
-python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
-FUZZ_SEED=20260911 python -m pytest -q -p no:cacheprovider openpilot/selfdrive/car/tests/test_car_interfaces.py -k FORD
-python -m tools.ford_pscm_lab.upstream_fallback_check --cycles 5000 --output .cache/ford_upstream_fallback/equivalence.json
-python openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py --check
-```
-
-The comparison requires both pinned baseline commits in the local opendbc Git
-object store. The previous overflow/replay records describe their historical
-source hashes; the comparison here establishes unchanged toggle-on sender output.

docs/ford_upstream_fallback_validation.json

@@ -1,190 +0,0 @@
-{
-  "created_at_utc": "2026-09-11T16:11:23.341760+00:00",
-  "scope": "Default-off upstream Ford control, including CAN sender; exact software comparison only.",
-  "parent_commit": "b81c00f5b9c3658d72675ec3ee0ac07e0ef14807",
-  "opendbc_commit": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
-  "target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev"
-  },
-  "selection": {
-    "param": "FordModelActionController",
-    "default": false,
-    "off": "upstream",
-    "on": "Ford CAN FD model-action v3",
-    "activation": "Existing controlsd startup; real offroad-to-onroad cycle",
-    "observer_setting": "Ignored for control selection; no longer exposed in Sunnylink",
-    "sender_field": "fordLateralPath.enabled defaults false, independent of valid"
-  },
-  "custom_command_law_ast_matches_parent": [
-    "_packed",
-    "_finite",
-    "encode_model_action",
-    "ModelActionController",
-    "FordModelActionController"
-  ],
-  "tests": {
-    "combined": "683 passed, 178 skipped, 9145 subtests passed in 9.61s",
-    "additional_ford_interface_fuzz": "11 passed, 258 non-Ford deselected in 8.15s; 60 examples per Ford platform",
-    "fuzz_seed": 20260911,
-    "dependency_setup": "Initialized existing neural-network-data pin 03cac2d30e111e0689c0429cb8c1fe6cb5a905af after missing-model-data failure.",
-    "new_toggle_off_integration_cases": 14,
-    "new_integration_cycles": 4200,
-    "new_steering_frames": 840,
-    "ruff_changed_python": "pass",
-    "ty_controller": "pass",
-    "settings_compiler_check": "pass",
-    "diff_check": "pass"
-  },
-  "packet_equivalence": {
-    "scope": "Compare all outgoing Ford packets with pinned upstream and custom senders.\n\nUses trusted local Git sources, identical synthetic inputs, and the actual CAN\npackers. Establishes software equivalence, not physical steering performance.\n",
-    "seed": 20260911,
-    "upstream_revision": "f95f996f5917dcbbf2e32fe51b606a24cf836af6",
-    "previous_custom_revision": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-    "upstream_source_sha256": {
-      "opendbc/car/ford/fordcan.py": "8b3c74bff68146cf9f97d17203b7deebb9254561d9591a4a92d978bf01808a75",
-      "opendbc/car/ford/carcontroller.py": "c7e590c13cfe2434d77d6224359d659bb5092a3fdd65b12c7d8d9eddfb3deada"
-    },
-    "previous_custom_source_sha256": {
-      "opendbc/car/ford/fordcan.py": "5b73c568149bde299f71f92f034f3032a94ecae4ee4bae8af938f34ef9590062",
-      "opendbc/car/ford/carcontroller.py": "b2d327a1833fb1f0d09ee17f54c9c8d45517fa29beb04a4543cfbf1b43f1a65e"
-    },
-    "results": [
-      {
-        "fingerprint": "FORD_BRONCO_SPORT_MK1",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 5665
-      },
-      {
-        "fingerprint": "FORD_ESCAPE_MK4",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 5665
-      },
-      {
-        "fingerprint": "FORD_ESCAPE_MK4_5",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 3165
-      },
-      {
-        "fingerprint": "FORD_ESCAPE_MK4_5",
-        "custom_enabled": true,
-        "cycles": 5000,
-        "identical_packets": 7165
-      },
-      {
-        "fingerprint": "FORD_EXPLORER_MK6",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 5665
-      },
-      {
-        "fingerprint": "FORD_EXPEDITION_MK4",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 3165
-      },
-      {
-        "fingerprint": "FORD_EXPEDITION_MK4",
-        "custom_enabled": true,
-        "cycles": 5000,
-        "identical_packets": 7165
-      },
-      {
-        "fingerprint": "FORD_F_150_MK14",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 3165
-      },
-      {
-        "fingerprint": "FORD_F_150_MK14",
-        "custom_enabled": true,
-        "cycles": 5000,
-        "identical_packets": 7165
-      },
-      {
-        "fingerprint": "FORD_F_150_LIGHTNING_MK1",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 3165
-      },
-      {
-        "fingerprint": "FORD_F_150_LIGHTNING_MK1",
-        "custom_enabled": true,
-        "cycles": 5000,
-        "identical_packets": 7165
-      },
-      {
-        "fingerprint": "FORD_FOCUS_MK4",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 5665
-      },
-      {
-        "fingerprint": "FORD_MAVERICK_MK1",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 5665
-      },
-      {
-        "fingerprint": "FORD_MUSTANG_MACH_E_MK1",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 3165
-      },
-      {
-        "fingerprint": "FORD_MUSTANG_MACH_E_MK1",
-        "custom_enabled": true,
-        "cycles": 5000,
-        "identical_packets": 7165
-      },
-      {
-        "fingerprint": "FORD_RANGER_MK2",
-        "custom_enabled": false,
-        "cycles": 5000,
-        "identical_packets": 3165
-      },
-      {
-        "fingerprint": "FORD_RANGER_MK2",
-        "custom_enabled": true,
-        "cycles": 5000,
-        "identical_packets": 7165
-      }
-    ],
-    "total_cycles": 85000,
-    "total_identical_packets": 90305,
-    "candidate_source_sha256": {
-      "opendbc/car/ford/carcontroller.py": "6d33f288de87e3baa69e9161b1b85367dc1d8542c06c3d3a9ce2d1f2347dbd30",
-      "opendbc/car/ford/fordcan.py": "0e241f19f152df897b294d4562bfd729dbfcbc56bcc9770379f76922f2864cb8",
-      "opendbc/car/structs.py": "82ecc4de1e5fda486d68fcf67903098dd083a56b78e65866744f42d5fb97b385"
-    },
-    "checker_sha256": "1d33a07cc5e6188c6d1b5de2a2a603efaee691d25d91b7bcd843ab4909753ae1"
-  },
-  "source_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "167ae5a01fdd7ea014e6ad3fe9d0b6e31c67de8ba057ec5ecf18ab38fc16353f",
-    "openpilot/selfdrive/controls/controlsd.py": "c9b68431d212178ae2177b16ddba4cf023ece84c7c0ea8a1db02a2527dc27aba",
-    "openpilot/cereal/custom.capnp": "c877eac4a77ea4cb42447edcf38da4baf20708e8993124852234008e0a084664",
-    "openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py": "45bfaafa9a96d3ccbb56f34ec0b9a71abb7cd7f01e7e80620796d13c222e4720",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py": "3dc4f7236937358aad09b544577a796e47c15dbc96607739ff0874b900d55089",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "073b16ffa611d654b954711f9e4f24df95477dfc0c09e75eff89d02eb29d7f2a",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "5b082f3c1f6dc596a40a2011c71928debeb04fa70af36841f6f9a237a9ca439e",
-    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "e37a662618b6ccd2620ac355b4cc40a2253707bb4ba1d5d4631fdc89fd01a800",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "36ac7f6177de2679d35c5f7f77234336e17a8632d31b195f40aec6014efb8577",
-    "openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py": "53a3f1f807c638661c8ef60b5dc5c28ecf5604a9d35b610b8e4a5f5d1d99eedb",
-    "tools/ford_pscm_lab/feedback_replay.py": "860aff9fd00d26b2bd7c2b627286918d3b52c25cc31b0b0768a51fc55b0df37e"
-  },
-  "validation_environment": {
-    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
-    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
-    "PYTHONDONTWRITEBYTECODE": "1",
-    "LOG_ROOT": "/private/tmp/ford-upstream-logs",
-    "PARAMS_ROOT": "/private/tmp/ford-upstream-params"
-  },
-  "panda_safety_changed": false,
-  "limitations": [
-    "No full device build, boot, installation or physical steering validation.",
-    "Upstream means the pinned upstream implementation merged into this branch, not an upgrade to unrelated latest source."
-  ]
-}

docs/ford_virtual_angle_experiment.md

@@ -1,327 +0,0 @@
-# Ford C2-free model-pose tracking with measured feedback
-
-This experiment is retired. Its implementation, setting and dedicated tests
-were removed from the selected-action drive-test branch. For current setup,
-see [Ford selected-action drive testing](ford_model_action_drive_test.md).
-The material below is historical; it does not describe an available toggle.
-
-Hypothesis `model-pose-c0-c1-feedback-v8` retains the model-pose C0/C1 base
-and adds two guarded release policies. When measured turning exceeds both
-current and delayed requests, a separate output guard prevents same-direction
-C0/C1 growth, including while feedback history rebuilds after driver input.
-When turning instead falls below both requests and is no longer increasing,
-bounded C1 tracking can use remaining release-entry command headroom.
-Existing opposing-bias recovery still stops at zero bias. Geometry, blending,
-feedback gain, slew rates and field limits are unchanged; C2/C3 remain zero.
-
-This is an experimental outer controller around the multivariable PSCM.
-Its geometry does not define a calibrated C0/C1-to-wheel mapping or an angle
-servo. V8 has offline validation only. Command replay cannot establish the
-truck's response, closed-loop stability, or an overshoot improvement.
-
-## Evidence and scope
-
-Route80 ran v3 and contains both sustained under-response and over-response.
-Representative eligible windows had median CAN response/request ratios of
-0.78, 1.77 and 0.69 with a declared 0.2-second comparison interval. These
-are descriptive tracking ratios, not identified controller gains.
-
-V4 replaced separate model-heading C1 with selected-curvature C1 and reduced
-heading demand in several large maneuvers. The user subsequently reported
-weak turning and steering repeatedly stopping near 85 degrees. Older logs
-contain larger wheel angles; the inspected host code has no fixed 85-degree
-wheel stop, although upstream curvature limits depend on speed.
-
-Route83 had the Sunnylink toggle on, but omitted EPS firmware responses.
-The former firmware gate selected the default `FordPathController`; replay
-reproduced its recorded C0/C1/C2 requests. Its favorable turns are evidence
-for the existing model-pose construction, not validation of v5 or v6.
-V6 reuses that construction while replacing its remaining C2 request with
-C0/C1 geometry. Removing C2 changes the request received by the PSCM, so
-matching large C0/C1 commands does not guarantee matching vehicle motion.
-
-Route8a ran v6 and was reported as the best drive. Route8e ran v7 throughout
-with the experiment enabled; it includes entry lag and excessive turning
-while requests release. Fixed-input v6/v7 replay produced identical commands
-in the main reversal and over-response examples, so the v7 recovery change
-does not directly explain their command behavior. In the over-response
-example, model C0/C1 grew while selected curvature fell and driver resets
-repeatedly removed feedback history. Another exit remained deficient after
-opposing bias reached zero. These observations motivate the v8 guards; they
-do not isolate an EPS transfer function or demonstrate the proposed response.
-
-## Base request
-
-controlsd selects valid `lateralManeuverPlan.desiredCurvature`, otherwise
-`modelV2.action.desiredCurvature`, after the existing curvature limiter.
-This action already includes upstream delay handling; it receives no extra
-response advance here.
-
-The model contribution uses the existing allocator's raw forward pose and
-bounded short-pose correction. `_model_pose` advances 0.1 seconds, retains
-the model's remaining forward geometry, and separately corrects the short
-pose using measured curvature and its recent change. Its offset preview is
-up to 7 m and its heading preview is up to max(7 m, speed × 1 s), bounded by
-available path length. This raw pose is not passed through a second model
-filter. The filtered, ego-aligned reference remains available for comparison
-and the existing geometry-validity checks.
-
-```text
-share(k) = clip((k - 0.006/m) / (0.012/m - 0.006/m), 0, 1)
-aligned = desired_curvature × model_forward_heading > 0
-model_share = min(share(abs(desired_curvature)), share(model_curvature_demand))
-              if aligned, otherwise 0
-model_pair = existing_pose_encoder(model_pose, model_share, C2=0)
-
-remaining_curvature = desired_curvature × (1 - model_share)
-L0 = max(8 m, speed × 1 s)
-L1 = max(7 m, speed × 1 s)
-curvature_C0 = 0.5 × remaining_curvature × L0²
-curvature_C1 = remaining_curvature × L1
-C0_base = clip(model_pair.C0 + curvature_C0, ±5.11 m)
-C1_base = clip(model_pair.C1 + curvature_C1, ±0.5 rad)
-```
-
-`model_curvature_demand` is the larger absolute curvature implied by the
-forward offset and heading previews. The share uses the existing allocator's
-0.006–0.012/m thresholds. Both model and action must request a substantial
-turn in the same direction before model pose supplies the full base.
-Small, flat, opposed or zero requests use the curvature contribution; zero
-action produces a zero base. Partial shares combine both contributions.
-The existing pose encoder retains its quantization and field-allocation rules.
-The residual-curvature lift is geometric, not a claim of EPS equivalence to C2.
-
-The inherited pose encoder allocates heading overflow using its asymmetric
-limits (+0.5235/−0.5 rad), before the symmetric final ±0.5 rad
-heading bound. On clipped tails, this can leave mirrored C0 requests differing
-by up to 0.0235 rad × 7 m = 0.1645 m. The favorable comparison anchors lie
-below that heading cap; full model-base odd symmetry is not claimed.
-
-## Measured feedback and limits
-
-```text
-past_request = selected curvature held at or before (measurement_time - delay)
-yaw_error = measured_speed × past_request - measured_yaw_rate
-bias_trial = released_bias + feedback_gain × yaw_error × measurement_dt
-C1_unconstrained = clip(C1_base + accepted_bias, ±0.5 rad)
-C1_target = temporary_backoff_ceiling(C1_unconstrained) if backoff_active
-            otherwise C1_unconstrained
-```
-
-Measured yaw is negated Ford CAN yaw, matching the control sign convention.
-The historical request uses zero-order hold; it never interpolates toward a
-future publication. Nominal comparison delay is `CP.steerActuatorDelay`
-(0.2 seconds on the source vehicle). Feedback compares against selected
-curvature, not curvature inferred from the model-pose coefficients.
-
-| Quantity | Value |
-|---|---:|
-| C0 / C1 final bounds | ±5.11 m / ±0.5 rad |
-| Independent C0 / C1 slew | 4 m/s / 0.5 rad/s |
-| Feedback integration scale | 1.0 |
-| Feedback minimum speed | 2 m/s |
-| Maximum PSCM/core input age | 150 ms |
-| Allowed timestamp lead | 5 ms |
-| Release comparison tolerance | one C1 wire quantum, 0.0005 rad |
-
-The integration scale, preview distances and blend thresholds are effective
-gains; none establishes stability. No wheel-response gain is fitted.
-Zero yaw error retains acquired bias while an eligible turn continues.
-Host anti-windup admits reachable correction within the combined C1 field
-and slew limits. Feedback overflow is not transferred into C0.
-
-The release logic scales bias as the bounded base decreases and resets on
-zero/reversal. When delayed curvature still represents a stronger or opposing
-request, or PSCM reports LimitReached, new integration is normally frozen.
-One exception permits measured-error backoff: measured turning must exceed
-both the delayed and current selected yaw requests in the base's direction,
-and total heading must still have the base's sign. Exceeding only an older,
-smaller request during turn-in does not qualify. The accepted increment may
-only reduce that existing total toward zero; it cannot grow the request or
-carry it through zero. Existing host field and slew limits still apply.
-
-The existing release-recovery exception requires fresh valid PSCM status with
-limit below 2, retained bias opposing the base, and both current and delayed
-requests aligned with that base. Measured turning must be below both requests
-in their direction. It then uses the current yaw deficit × the existing
-feedback gain × measurement interval to unwind only the opposing bias toward
-zero. The increment is clipped so recovery cannot cross zero bias or create
-demand beyond the existing base. Common host anti-windup still limits what
-can be accepted. A separate release-tracking exception is described below;
-other constrained cases remain frozen. PSCM limit 2 never permits either
-request-increasing exception.
-The no-new-bias restriction applies to `release_recovery`. It does not apply
-to the separate bounded `release_tracking` branch. Once release ends,
-ordinary eligible integration can add correction beyond the base as before;
-its existing limits and guards are unchanged.
-
-`release_recovery` and `feedback_recovery_active=true` indicate that the
-recovery branch actually changed bias on that update. If host anti-windup
-blocks the entire increment, the status remains `host_limit` and the flag is
-false. Recovery is evaluated only on fresh measurements; the flag is false
-on repeated-measurement updates and after reset.
-
-Diagnostics distinguish `release_backoff` and `pscm_backoff`; a release takes
-precedence when both conditions apply. While `feedback_backoff_active` is
-true, total C1 is also capped at the preceding continuous heading request in
-the current request direction and at zero in the opposite direction. This
-ceiling affects the output only: it is not stored or projected into bias.
-The measured-error increment can still update bias under the normal limits,
-but a changing model base does not create persistent integral suppression.
-The ceiling persists between repeated measurements; C1 cannot grow or reverse
-while it applies. The next fresh measurement clears it unless backoff is
-again warranted. It does not cap C0, and normal feedback has its own rules
-outside backoff. Independent slew remains 0.5 rad/s for C1 and 4 m/s for C0.
-Backoff still compares against the delayed reference, so response lag remains.
-Reducing a request does not demonstrate that physical overshoot is resolved.
-
-## V8 release guard and tracking
-
-`ReleaseGuard` retains selected-request history independently of feedback
-bias history. Driver-related feedback resets do not erase that reference,
-but the guard still requires current fresh valid PSCM status, no current
-driver override, and the existing input and speed eligibility. Invalid core
-input or disengagement resets its history with the controller.
-
-During release, measured yaw must exceed both the current and delay-matched
-requests in the requested turn direction. Only then does the guard cap
-same-direction C0/C1 growth at each preceding continuous request. Terms
-already reducing the turn, including an opposing C0 centering offset, remain
-available. The guard follows base allocation and C1 feedback, so changing
-model geometry cannot bypass it. Its ceilings affect outputs, never stored
-bias. No scalar-curvature cap replaces strong model geometry during turn-in
-or undertracking. Existing independent slew and field limits still apply.
-
-`release_tracking` addresses an eligible release deficit once bias is zero
-or already in the base's direction. Both current and delayed requests must
-align with that base, measured turning must be below both, and measured
-curvature must not be rising in the turn direction across the response
-interval by more than one C1 wire quantum after scaling by heading preview.
-Fresh valid PSCM status with limit below 2 is required. The current yaw deficit
-uses the existing integration gain and measurement interval;
-new C1 tracking increments are limited by command headroom captured at
-release entry, tapered with remaining desired curvature. The allowance is
-`max(0, entry_command_magnitude - abs(base)) × min(1, abs(desired) / entry_reference)`
-above the current base; any existing same-direction bias consumes it first.
-This limits new tracking integration, not the existing model base or bias.
-Only that additional allowance is tapered; strong model geometry remains
-available. A brief pause does not reacquire a higher entry
-ceiling; a full response interval without release ends the retained episode.
-Common host anti-windup, field and slew bounds still apply. Opposing bias
-continues through `release_recovery`, which stops at zero, before any separate
-tracking exception can be considered.
-
-Neither exception relaxes the PSCM LimitReached growth restriction. The
-reference delay and finite response time remain; these output policies are
-command-construction changes, not evidence of improved physical tracking.
-
-## PSCM status and driver handling
-
-card publishes `Lane_Assist_Data3_FD1` in `carStateSP.fordPscmStatus`, retaining
-the original CAN receipt timestamp. Republishing carStateSP or receiving
-unrelated frames cannot refresh it. The opendbc submodule is unchanged.
-
-Feedback requires valid fresh status, InProgress lateral state (2), capability
-LimitedModeAvailable or ExtendedModeAvailable (1 or 2), and no denial.
-Missing, malformed, stale, backward-timestamped, denied or unavailable status
-clears feedback bias/history and disables the separate release guard,
-leaving the base subject to its core validity gates.
-LimitReached (2) permits only the bounded request-reducing backoff described
-above and otherwise freezes integration. LimitWithDriverActive (3) clears
-feedback. Backoff still requires fresh, valid, InProgress status with an
-available capability and no denial. These generic PSCM reports do not identify
-a specific torque or rate limit.
-
-`steeringPressed`, raw torque above the existing Ford driver allowance, or
-nonfinite torque clear feedback. Below 2 m/s feedback also clears. A fresh
-feedback reference interval is required after override; the independent
-release guard can use retained valid request history once its current gates
-are satisfied. Base requests retain normal
-PSCM driver arbitration while lateral control remains authorized; an unset
-override flag cannot rule out subthreshold driver influence.
-
-## Gates and Sunnylink selection
-
-Core model/action/car-state freshness, finite-value, clock and speed checks
-remain in place. Invalid core inputs reset both commands and clear latActive.
-Raw model geometry is validated on every update, including repeated model
-timestamps; an invalid raw path cannot reuse the cached valid reference.
-Missing PSCM status disables feedback, not an otherwise valid base request.
-
-Vehicle → Ford → **C2-Free Path Tracking (Experimental)** retains the
-`FordVirtualAngleController` key, default-off setting and offroad/onroad cycle
-requirement. Enabled selects v8 on Ford CAN FD `FORD_F_150_LIGHTNING_MK1`
-regardless of missing or different EPS firmware-query results. Other platforms
-retain their existing controller. V8 takes priority over PSCM Coefficient
-Observer while selected; disabling and cycling offroad/onroad restores the
-previous selection. Controller selection does not force lateral engagement.
-
-The analyzed firmware is `RL38-14D003-AA`; removing the eligibility check
-is not validation of other firmware. No live device setting is changed.
-
-## Diagnostics and verification
-
-The 5 Hz `Ford C2-free path tracking` event keeps its name and identifies v8.
-`model_offset_base` / `model_heading_base` report the already weighted and
-encoded model contribution; `curvature_offset_base` / `curvature_heading_base`
-report the residual-curvature contribution. `model_share` and `base_guard`
-identify model-pose, blended, curvature-only, opposed-model and zero-request
-cases. `heading_base` is the bounded pre-feedback C1. `offset_target` and
-`heading_target` are the final targets after the independent release guard;
-`offset_target_unguarded` and `heading_target_unguarded` retain the inputs to
-that guard. The latter C1 already includes its normal feedback/backoff policy.
-
-The event retains source timestamps, measured curvature/yaw, final commands,
-slew scales, feedback bias/status/history, raw torque and PSCM status/age.
-`feedback_backoff_active` records the persistent heading ceiling, including
-cycles whose feedback status is `no_new_measurement`.
-`release_guard_active` and `release_guard_reference_curvature` expose the
-independent C0/C1 guard and its retained delayed reference.
-`feedback_release_tracking_active`, `feedback_release_ceiling` and
-`feedback_curvature_delta` identify accepted release
-tracking, the total-heading threshold used to admit new bias, and the
-measured-curvature change across the response interval (1/m). The tracking
-flag is true only when the branch accepts a bias change on a new measurement;
-it is false on repeated measurements. The ceiling/trend fields can describe
-an evaluated condition even when no increment is accepted.
-`feedback_recovery_active` records an accepted recovery increment on this
-update only; it does not persist between measurements.
-`feedback_yaw_error` retains its delayed-reference meaning. Recovery instead
-uses current error, reconstructed from logged `desired_curvature`,
-synchronized car-state speed and `yaw_rate`; those two errors can differ.
-During backoff or the independent release guard, `heading_target` can be lower in the request direction than
-the bounded sum of `heading_base` and `heading_bias`, because the temporary
-ceiling is not part of the stored bias.
-`model_heading_target` remains a filtered comparison reference; it is not the
-weighted model contribution. `angleState.saturated` is not an EPS-limit signal.
-
-Validation must cover large recorded maneuvers, flat-model centering, both
-turn directions, model/action disagreement, share transitions, release and
-reversal, release/limit backoff without growth or zero crossing, status/driver
-resets, reference causality, bounds, slew and CAN packing with C2/C3 zero.
-Recovery checks cover both directions, stopping at zero bias, repeated
-measurements, current-and-delayed agreement, and rejection at PSCM limit 2.
-Old v3/v4 command-equality expectations do not define
-v8 success. Guard checks also cover driver reset/history rebuilding,
-same-direction growth, opposing coefficients, repeated measurements,
-undertracking and invalid-status inhibition. Tracking checks cover delayed
-curvature trends and tapered release-entry headroom. Historical v5–v7 replay
-results remain historical observations.
-
-The v8 recorded-input fixture contains 15,273 cycles with 4,879 selected
-evidence samples. Base allocation and output eligibility match v7. In the
-clean deficient exit, median absolute C1 changes from 0.0665 to 0.0845 rad
-while C0 stays unchanged. The growth guard also acts while feedback history
-rebuilds; the largest over-growth witness includes nearby driver input and
-is excluded from the strict autonomous tracking score. Both good comparison
-curves in that fixture retain their median requests, and the older large-turn
-fixtures retain their required command scale.
-
-On the earlier good drive, one comparison curve retains extra C1 after
-eligible release tracking: median magnitude changes from 0.121 to 0.128 rad.
-In its 103–110 s interval, tracking increments occur only while measured
-turning falls short, with a median current response/request ratio of 0.895.
-Acquired bias can persist after matching, as with ordinary integral feedback.
-This collateral command change remains a reason to compare new vehicle logs.
-Replay fixes recorded motion and planner outputs, so enabled vehicle logs
-are still required to assess tracking error, oscillation and interventions.

launch_chffrplus.sh

@@ -18,21 +18,21 @@ function agnos_init {
   sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
 
   # Check if AGNOS update is required
-  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+  if [ "$(< /VERSION)" != "$AGNOS_VERSION" ]; then
     AGNOS_PY="$DIR/openpilot/common/hardware/comma/agnos.py"
     MANIFEST="$DIR/openpilot/system/hardware/comma/agnos.json"
-    if $AGNOS_PY --verify $MANIFEST; then
+    if "$AGNOS_PY" --verify "$MANIFEST"; then
       sudo reboot
     fi
     while true; do
-      $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
+      "$DIR/openpilot/common/hardware/comma/updater" "$AGNOS_PY" "$MANIFEST"
     done
   fi
 }
 
 function launch {
   # Remove orphaned git lock if it exists on boot
-  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+  [ -f "$DIR/.git/index.lock" ] && rm -f "$DIR/.git/index.lock"
 
   # Check to see if there's a valid overlay-based update available. Conditions
   # are as follows:
@@ -44,7 +44,7 @@ function launch {
   #    that completed successfully and synced to disk.
 
   if [ -f "${DIR}/.overlay_init" ]; then
-    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
+    find "${DIR}/.git" -newer "${DIR}/.overlay_init" | grep -q '.' 2> /dev/null
     if [ $? -eq 0 ]; then
       echo "${DIR} has been modified, skipping overlay update installation"
     else
@@ -53,9 +53,9 @@ function launch {
           echo "Valid overlay update found, installing"
           LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
 
-          mv $DIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $DIR
-          cd $DIR
+          mv "$DIR" /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" "$DIR"
+          cd "$DIR"
 
           echo "Restarting launch script ${LAUNCHER_LOCATION}"
           unset AGNOS_VERSION
@@ -69,7 +69,7 @@ function launch {
   fi
 
   # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
+  ln -sfn "$(pwd)" /data/pythonpath
   export PYTHONPATH="$PWD"
 
   # submodule package symlinks for PYTHONPATH imports on device.
@@ -90,7 +90,7 @@ function launch {
 
   # start manager
   cd openpilot/system/manager
-  if [ ! -f $DIR/prebuilt ]; then
+  if [ ! -f "$DIR/prebuilt" ]; then
     ./build.py
   fi
   ./manager.py

openpilot/cereal/custom.capnp

@@ -383,7 +383,6 @@ struct CarControlSP @0xa5cd762cd951a455 {
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
   intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
-  fordLateralPath @5 :FordLateralPath;
 
   struct Param {
     key @0 :Text;
@@ -404,15 +403,6 @@ struct CarControlSP @0xa5cd762cd951a455 {
   }
 }
 
-struct FordLateralPath {
-  pathOffset @0 :Float32;     # c0 [m]
-  pathAngle @1 :Float32;      # c1 [rad]
-  curvature @2 :Float32;      # c2 [1/m]
-  curvatureRate @3 :Float32;  # c3 [1/m^2]
-  valid @4 :Bool;
-  enabled @5 :Bool;          # Startup-selected custom controller; independent of command validity.
-}
-
 struct BackupManagerSP @0xf98d843bfd7004a3 {
   backupStatus @0 :Status;
   restoreStatus @1 :Status;
@@ -457,16 +447,6 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 
 struct CarStateSP @0xb86e6369214c01c8 {
   speedLimit @0 :Float32;
-  fordPscmStatus @1 :FordPscmStatus;
-
-  struct FordPscmStatus {
-    valid @0 :Bool;
-    canMonoTime @1 :UInt64;  # Last accepted Lane_Assist_Data3_FD1 CAN receipt, not carStateSP publication time.
-    lateralState @2 :UInt8;  # LatCtlSte_D_Stat
-    limit @3 :UInt8;  # LatCtlLim_D_Stat: generic lateral limit, not a torque/rate diagnosis.
-    capability @4 :UInt8;  # LatCtlCpblty_D_Stat
-    denied @5 :Bool;  # LaActDeny_B_Actl
-  }
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {
@@ -482,18 +462,6 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
   leftLaneChangeEdgeBlock @1 :Bool;
   rightLaneChangeEdgeBlock @2 :Bool;
-  fordGeometryReference @3 :FordGeometryReference;
-
-  struct FordGeometryReference {
-    enabled @0 :Bool;
-    valid @1 :Bool;  # False while enabled means invalid geometry; original action is retained.
-    modelMonoTime @2 :UInt64;
-    actionDesiredCurvature @3 :Float32;  # Original model action, with its own unchanged smoothing history.
-    rawCurvature @4 :Float32;
-    selectedCurvature @5 :Float32;  # Published modelV2.action, before controlsd's normal limits/maneuver override.
-    previewSeconds @6 :Float32;
-    smoothSeconds @7 :Float32;
-  }
 
   enum TurnDirection {
     none @0;
@@ -502,30 +470,7 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   }
 }
 
-struct AssistedDrivingMilestoneState @0xcb9fd56c7057593a {
-  enabled @0 :Bool;
-  madsDistanceMeters @1 :Float64;
-  fullAssistDistanceMeters @2 :Float64;
-  event @3 :Event;
-
-  struct Event {
-    id @0 :UInt64;
-    category @1 :Category;
-    distanceMeters @2 :Float64;
-    previousDistanceMeters @3 :Float64;
-    unit @4 :Unit;
-  }
-
-  enum Category {
-    none @0;
-    mads @1;
-    fullAssist @2;
-  }
-
-  enum Unit {
-    imperial @0;
-    metric @1;
-  }
+struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 
 struct CustomReserved11 @0xc2243c65e0340384 {

openpilot/cereal/log.capnp

@@ -2119,9 +2119,6 @@ struct Joystick {
   # convenient for debug and live tuning
   axes @0: List(Float32);
   buttons @1: List(Bool);
-  fordChannel @2 :FordChannel;
-
-  enum FordChannel { standard @0; c0 @1; c1 @2; }
 }
 
 struct DriverStateV2 {
@@ -2597,6 +2594,7 @@ struct Event {
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
     chestnutState @152 :ChestnutState;
+    chestnutGpuState @153 :ChestnutState;
     logMessage @18 :Text;
     errorLogMessage @85 :Text;
 
@@ -2645,7 +2643,7 @@ struct Event {
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
     modelDataV2SP @116 :Custom.ModelDataV2SP;
-    assistedDrivingMilestoneState @136 :Custom.AssistedDrivingMilestoneState;
+    customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
     customReserved13 @139 :Custom.CustomReserved13;

openpilot/cereal/services.py

@@ -25,7 +25,8 @@ _services: dict[str, tuple] = {
   "accelerometer": (True, 104., 104),
   "temperatureSensor": (True, 2., 200),
   "deviceState": (True, 2., 1),
-  "chestnutState": (True, 10., 10),
+  "chestnutState": (True, 10., 1),
+  "chestnutGpuState": (False, 10.),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10, QueueSize.MEDIUM),
@@ -90,7 +91,6 @@ _services: dict[str, tuple] = {
   "carParamsSP": (True, 0.02, 1),
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
-  "assistedDrivingMilestoneState": (True, 10., 1),
   "liveMapDataSP": (True, 1., 1),
   "modelDataV2SP": (True, 20., None, QueueSize.BIG),
   "liveLocationKalman": (True, 20.),

openpilot/common/esim/base.py

@@ -21,6 +21,13 @@ class Profile:
   def is_comma(self) -> bool:
     return self.provider == 'Webbing' and self.iccid.startswith('8985235')
 
+  @property
+  def display_name(self) -> str:
+    if self.is_comma:
+      return "comma prime"
+    name = self.nickname or self.provider or "<unnamed>"
+    return f"{name} (...{self.iccid[-4:]})"
+
 
 class LPABase(ABC):
   @abstractmethod

openpilot/common/esim/lpa.py

@@ -613,7 +613,7 @@ def parse_lpa_activation_code(activation_code: str) -> tuple[str, str]:
   if not activation_code.startswith("LPA:"):
     raise ValueError("Invalid activation code format")
   parts = activation_code[4:].split("$")
-  if len(parts) != 3:
+  if len(parts) != 3 or not all(parts):
     raise ValueError("Invalid activation code format")
   return parts[1], parts[2]
 

openpilot/common/file_chunker.py

@@ -24,6 +24,7 @@ def chunk_file(path, targets):
   manifest_path, *chunk_paths = targets
   actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
   assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
+  Path(manifest_path).unlink(missing_ok=True)
   with open(path, 'rb') as f:
     for chunk_path in chunk_paths:
       with open(chunk_path, 'wb') as out:
@@ -31,14 +32,6 @@ def chunk_file(path, targets):
   Path(manifest_path).write_text(str(len(chunk_paths)))
   os.remove(path)
 
-def get_existing_chunks(path):
-  if os.path.isfile(path):
-    return [path]
-  if os.path.isfile(manifest := get_manifest_path(path)):
-    num_chunks = int(Path(manifest).read_text().strip())
-    return _chunk_paths(path, num_chunks)
-  raise FileNotFoundError(path)
-
 class ChunkStream(io.RawIOBase):
   def __init__(self, paths):
     self._paths = iter(paths)
@@ -66,11 +59,11 @@ class ChunkStream(io.RawIOBase):
 
 def open_file_chunked(path):
   manifest_path = get_manifest_path(path)
-  if os.path.isfile(manifest_path):
+  if os.path.isfile(path):
+    paths = [path]
+  elif os.path.isfile(manifest_path):
     num_chunks = int(Path(manifest_path).read_text().strip())
     paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-  elif os.path.isfile(path):
-    paths = [path]
   else:
     raise FileNotFoundError(path)
   return io.BufferedReader(ChunkStream(paths))

openpilot/common/hardware/base.py

@@ -145,6 +145,9 @@ class HardwareBase(ABC):
   def get_modem_temperatures(self):
     return []
 
+  def get_modem_state(self) -> dict:
+    return {}
+
   def initialize_hardware(self):
     pass
 

openpilot/common/hardware/comma/power_monitor.py

@@ -9,22 +9,25 @@ from openpilot.common.realtime import Ratekeeper
 from openpilot.common.filter_simple import FirstOrderFilter
 
 
-def read_power():
+def read_power(panda=None):
+  if panda is not None and panda.get_type() == panda.HW_TYPE_CUATRO:
+    health = panda.health()
+    return health['voltage'] * health['current'] / 1e6
   with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
     return int(f.read()) / 1e6
 
-def sample_power(seconds=5) -> list[float]:
+def sample_power(seconds=5, panda=None) -> list[float]:
   rate = 123
   rk = Ratekeeper(rate, print_delay_threshold=None)
 
   pwrs = []
   for _ in range(rate*seconds):
-    pwrs.append(read_power())
+    pwrs.append(read_power(panda))
     rk.keep_time()
   return pwrs
 
-def get_power(seconds=5):
-  pwrs = sample_power(seconds)
+def get_power(seconds=5, panda=None):
+  pwrs = sample_power(seconds, panda)
   return np.mean(pwrs)
 
 def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout):

openpilot/common/hardware/comma/updater

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
-size 24709205
+oid sha256:6a7adb302d378dda7b1788a841b89e4f905c872550a70a76650dcde977b4ece0
+size 24709209

openpilot/common/params.cc

@@ -97,10 +97,6 @@ Params::Params(const std::string &path) {
 }
 
 Params::~Params() {
-  flushNonBlockingWrites();
-}
-
-void Params::flushNonBlockingWrites() {
   if (future.valid()) {
     future.wait();
   }

openpilot/common/params.h

@@ -75,7 +75,6 @@ public:
     return put(key.c_str(), val ? "1" : "0", 1);
   }
   void putNonBlocking(const std::string &key, const std::string &val);
-  void flushNonBlockingWrites();
   inline void putBoolNonBlocking(const std::string &key, bool val) {
     putNonBlocking(key, val ? "1" : "0");
   }

openpilot/common/params.py

@@ -73,7 +73,6 @@ params_get = _bind("params_get", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool],
 params_get_bool = _bind("params_get_bool", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool], ctypes.c_bool)
 params_put = _bind("params_put", [ParamsHandle, ctypes.c_char_p, ctypes.c_char_p, ctypes.c_size_t, ctypes.c_bool], ctypes.c_int)
 params_put_bool = _bind("params_put_bool", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool, ctypes.c_bool], ctypes.c_int)
-params_flush = _bind("params_flush", [ParamsHandle])
 params_remove = _bind("params_remove", [ParamsHandle, ctypes.c_char_p], ctypes.c_int)
 params_get_path = _bind("params_get_path", [ParamsHandle, ctypes.c_char_p, ctypes.c_size_t], ParamsBuffer)
 params_keys_size = _bind("params_keys_size", [ParamsHandle], ctypes.c_size_t)
@@ -179,10 +178,6 @@ class Params:
   def put_bool(self, key, val, block=False):
     params_put_bool(self.p, self.check_key(key), val, block)
 
-  def flush(self):
-    """Wait for all prior nonblocking writes from this Params instance."""
-    params_flush(self.p)
-
   def remove(self, key):
     params_remove(self.p, self.check_key(key))
 

openpilot/common/params_c.cc

@@ -133,12 +133,6 @@ int params_put_bool(ParamsHandle *handle, const char *key, bool value, bool bloc
   });
 }
 
-void params_flush(ParamsHandle *handle) noexcept {
-  translate_exceptions([&]() {
-    handle->params.flushNonBlockingWrites();
-  });
-}
-
 int params_remove(ParamsHandle *handle, const char *key) noexcept {
   return translate_exceptions(-1, [&]() {
     return handle->params.remove(key);
@@ -168,15 +162,12 @@ ParamsBuffer params_key_at(ParamsHandle *handle, size_t index) noexcept {
 
 size_t params_keys_by_flag(ParamsHandle *handle, uint32_t flag, ParamsBuffer *out, size_t out_size) noexcept {
   return translate_exceptions(size_t{0}, [&]() {
-    size_t count = 0;
-    for (const auto &key : handle->keys) {
-      if (flag == ALL || (handle->params.getKeyFlag(key) & flag)) {
-        // Each buffer borrows a different string, stable for the handle's lifetime.
-        if (count < out_size) out[count] = {key.data(), key.size()};
-        ++count;
-      }
+    auto filtered = handle->params.allKeys(static_cast<ParamKeyFlag>(flag));
+    size_t count = std::min(filtered.size(), out_size);
+    for (size_t i = 0; i < count; i++) {
+      out[i] = return_string(filtered[i]);
     }
-    return count;
+    return filtered.size();
   });
 }
 

openpilot/common/params_keys.h

@@ -28,6 +28,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"CurrentBootlog", {PERSISTENT, STRING}},
     {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"DisableDriverCameraIR", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
     {"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -138,13 +139,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
-    {"AssistedDrivingMilestonesEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"AssistedDrivingMilestoneState", {PERSISTENT, JSON, "{}"}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
     {"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}},  // seconds
@@ -165,7 +163,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
-    {"FullAssistDrivenDistanceMeters", {PERSISTENT, FLOAT, "0.0"}},
     {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
@@ -175,9 +172,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"LastGPSPositionLLK", {PERSISTENT, STRING}},
-    {"LastDriveAssistedDrivingSummary", {PERSISTENT, JSON, "{}"}},
     {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"MadsDrivenDistanceMeters", {PERSISTENT, FLOAT, "0.0"}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
@@ -237,10 +232,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
 
     // sunnypilot car specific params
-    {"FordPscmObserver", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"FordModelActionController", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"FordC0TimeBased", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"FordGeometryReference", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},

openpilot/common/qrcode.py

@@ -1,16 +1,47 @@
-"""Small QR encoder for the UI's byte-mode, error-correction-level-L codes."""
+"""QR code encoding, decoding, and UI textures."""
+
+import functools
+import itertools
 
 import numpy as np
 import pyray as rl
 
 
-# Indexes are QR versions. These are the only two Reed-Solomon parameters needed
-# for error-correction level L.
-_ECC_LEN = (0, 7, 10, 15, 20, 26, 18, 20, 24, 30, 18, 20, 24, 26, 30, 22, 24, 28, 30, 28, 28)
-_NUM_BLOCKS = (0, 1, 1, 1, 1, 1, 2, 2, 2, 2, 4, 4, 4, 4, 4, 6, 6, 6, 6, 7, 8)
+# (ec codewords per block, block count) for levels L, M, Q, H, versions 1-40
+_EC = [
+  ((7, 1), (10, 1), (13, 1), (17, 1)), ((10, 1), (16, 1), (22, 1), (28, 1)), ((15, 1), (26, 1), (18, 2), (22, 2)),
+  ((20, 1), (18, 2), (26, 2), (16, 4)), ((26, 1), (24, 2), (18, 4), (22, 4)), ((18, 2), (16, 4), (24, 4), (28, 4)),
+  ((20, 2), (18, 4), (18, 6), (26, 5)), ((24, 2), (22, 4), (22, 6), (26, 6)), ((30, 2), (22, 5), (20, 8), (24, 8)),
+  ((18, 4), (26, 5), (24, 8), (28, 8)), ((20, 4), (30, 5), (28, 8), (24, 11)), ((24, 4), (22, 8), (26, 10), (28, 11)),
+  ((26, 4), (22, 9), (24, 12), (22, 16)), ((30, 4), (24, 9), (20, 16), (24, 16)), ((22, 6), (24, 10), (30, 12), (24, 18)),
+  ((24, 6), (28, 10), (24, 17), (30, 16)), ((28, 6), (28, 11), (28, 16), (28, 19)), ((30, 6), (26, 13), (28, 18), (28, 21)),
+  ((28, 7), (26, 14), (26, 21), (26, 25)), ((28, 8), (26, 16), (30, 20), (28, 25)), ((28, 8), (26, 17), (28, 23), (30, 25)),
+  ((28, 9), (28, 17), (30, 23), (24, 34)), ((30, 9), (28, 18), (30, 25), (30, 30)), ((30, 10), (28, 20), (30, 27), (30, 32)),
+  ((26, 12), (28, 21), (30, 29), (30, 35)), ((28, 12), (28, 23), (28, 34), (30, 37)), ((30, 12), (28, 25), (30, 34), (30, 40)),
+  ((30, 13), (28, 26), (30, 35), (30, 42)), ((30, 14), (28, 28), (30, 38), (30, 45)), ((30, 15), (28, 29), (30, 40), (30, 48)),
+  ((30, 16), (28, 31), (30, 43), (30, 51)), ((30, 17), (28, 33), (30, 45), (30, 54)), ((30, 18), (28, 35), (30, 48), (30, 57)),
+  ((30, 19), (28, 37), (30, 51), (30, 60)), ((30, 19), (28, 38), (30, 53), (30, 63)), ((30, 20), (28, 40), (30, 56), (30, 66)),
+  ((30, 21), (28, 43), (30, 59), (30, 70)), ((30, 22), (28, 45), (30, 62), (30, 74)), ((30, 24), (28, 47), (30, 65), (30, 77)),
+  ((30, 25), (28, 49), (30, 68), (30, 81)),
+]
 
-# 15 format-info bits for level L (01) with mask 0: ((0x08 << 10) | bch_remainder) ^ 0x5412
-_FORMAT_BITS = 0b111011111000100
+# GF(256) with the QR polynomial x^8 + x^4 + x^3 + x^2 + 1: powers of alpha and their logs
+_EXP = [1]
+for _ in range(254):
+  _EXP.append(_EXP[-1] << 1 ^ (0x11D if _EXP[-1] & 0x80 else 0))
+_LOG = {v: i for i, v in enumerate(_EXP)}
+
+
+def _bch_format(data: int) -> int:
+  v = data << 10
+  for shift in range(14, 9, -1):
+    if v >> shift & 1:
+      v ^= 0x537 << (shift - 10)
+  return (data << 10 | v) ^ 0x5412
+
+
+# 15-bit format info indexed by (level bits << 3 | mask). Level bits: L=01, M=00, Q=11, H=10.
+_FORMATS = [_bch_format(d) for d in range(32)]
 
 
 def _raw_modules(version: int) -> int:
@@ -21,8 +52,24 @@ def _raw_modules(version: int) -> int:
   return result - (36 if version >= 7 else 0)
 
 
+def _block_lengths(version: int, level: int) -> list[int]:
+  """Data codewords per Reed-Solomon block. The last blocks may be one longer."""
+  ec, nblocks = _EC[version - 1][level]
+  total = _raw_modules(version) // 8 - ec * nblocks
+  return [total // nblocks + (i >= nblocks - total % nblocks) for i in range(nblocks)]
+
+
+def _interleaved(version: int, level: int) -> list[tuple[int, int]]:
+  """(block, index within block) of each transmitted codeword: data column-major, then ECC column-major."""
+  ec, nblocks = _EC[version - 1][level]
+  lens = _block_lengths(version, level)
+  data = [(b, i) for i in range(max(lens)) for b in range(nblocks) if i < lens[b]]
+  ecc = [(b, lens[b] + i) for i in range(ec) for b in range(nblocks)]
+  return data + ecc
+
+
 def _capacity(version: int) -> int:
-  return _raw_modules(version) // 8 - _ECC_LEN[version] * _NUM_BLOCKS[version]
+  return sum(_block_lengths(version, 0))
 
 
 def _append_bits(bits: list[int], value: int, length: int) -> None:
@@ -49,37 +96,18 @@ def _data_codewords(data: bytes, version: int) -> bytes:
 def _codewords(data: bytes, version: int) -> bytes:
   """Split data codewords into Reed-Solomon blocks and interleave data + ECC."""
   data = _data_codewords(data, version)
-  num_blocks = _NUM_BLOCKS[version]
-  ecc_len = _ECC_LEN[version]
-  raw_codewords = _raw_modules(version) // 8
-  short_len = raw_codewords // num_blocks
-  num_short = num_blocks - raw_codewords % num_blocks
-  divisor = _divisor(ecc_len)
-  blocks: list[tuple[bytes, bytes]] = []
+  divisor = _divisor(_EC[version - 1][0][0])
+  blocks = []
   offset = 0
-  for i in range(num_blocks):
-    length = short_len - ecc_len + (0 if i < num_short else 1)
+  for length in _block_lengths(version, 0):
     block = data[offset:offset + length]
-    blocks.append((block, _remainder(block, divisor)))
+    blocks.append(block + _remainder(block, divisor))
     offset += length
-  result = bytearray()
-  for i in range(short_len - ecc_len + 1):
-    for block, _ in blocks:
-      result.extend(block[i:i + 1])
-  for i in range(ecc_len):
-    for _, ecc in blocks:
-      result.append(ecc[i])
-  return bytes(result)
+  return bytes(blocks[b][i] for b, i in _interleaved(version, 0))
 
 
 def _multiply(x: int, y: int) -> int:
-  result = 0
-  for _ in range(8):
-    result = (result << 1) ^ (0x11D if result & 0x80 else 0)
-    if y & 0x80:
-      result ^= x
-    y <<= 1
-  return result
+  return _EXP[(_LOG[x] + _LOG[y]) % 255] if x and y else 0
 
 
 def _divisor(degree: int) -> bytes:
@@ -108,7 +136,7 @@ def _alignment_positions(version: int) -> list[int]:
   if version == 1:
     return []
   count = version // 7 + 2
-  step = ((version * 4 + count * 2 + 1) // (count * 2 - 2)) * 2
+  step = (version * 8 + count * 3 + 5) // (count * 4 - 4) * 2
   return [6] + [version * 4 + 10 - step * i for i in range(count - 1)][::-1]
 
 
@@ -171,7 +199,7 @@ class _Qr:
 
   def _format(self) -> None:
     for i in range(15):
-      bit = ((_FORMAT_BITS >> i) & 1) != 0
+      bit = ((_FORMATS[1 << 3 | 0] >> i) & 1) != 0  # level L, mask 0
       y_pos = i if i < 6 else i + 1 if i < 8 else self.size - 15 + i
       self._set_function(8, y_pos, bit)
       x_pos = self.size - 1 - i if i < 8 else 15 - i if i < 9 else 14 - i
@@ -216,3 +244,496 @@ def make_texture(data: str, inverted: bool = False) -> rl.Texture:
   rl_image.mipmaps = 1
   rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
   return rl.load_texture_from_image(rl_image)
+
+
+# ---- Symbol structure for decoding ----
+
+
+class QRError(Exception):
+  pass
+
+
+_LEVELS = (1, 0, 3, 2)  # format info level bits -> column in _EC
+
+_MASKS = [
+  lambda i, j: (i + j) % 2 == 0,
+  lambda i, j: i % 2 == 0,
+  lambda i, j: j % 3 == 0,
+  lambda i, j: (i + j) % 3 == 0,
+  lambda i, j: (i // 2 + j // 3) % 2 == 0,
+  lambda i, j: (i * j) % 2 + (i * j) % 3 == 0,
+  lambda i, j: ((i * j) % 2 + (i * j) % 3) % 2 == 0,
+  lambda i, j: ((i + j) % 2 + (i * j) % 3) % 2 == 0,
+]
+
+_ALIGNMENT = np.ones((5, 5), dtype=bool)
+_ALIGNMENT[1:4, 1:4] = False
+_ALIGNMENT[2, 2] = True
+
+
+def _gf_inv(a: int) -> int:
+  return _EXP[-_LOG[a] % 255]
+
+
+@functools.lru_cache
+def _data_coords(version: int) -> tuple[np.ndarray, np.ndarray]:
+  """(rows, cols) of the data and error correction modules in placement order: two-column zigzag from the right."""
+  dim = version * 4 + 17
+  func = np.zeros((dim, dim), dtype=bool)  # finder, timing, alignment, format, and version modules
+  func[:9, :9] = func[:9, dim - 8:] = func[dim - 8:, :9] = True
+  func[6, :] = func[:, 6] = True
+  positions = _alignment_positions(version)
+  for r, c in itertools.product(positions, positions):
+    if (r, c) not in ((6, 6), (6, dim - 7), (dim - 7, 6)):
+      func[r - 2:r + 3, c - 2:c + 3] = True
+  if version >= 7:
+    func[:6, dim - 11:dim - 8] = func[dim - 11:dim - 8, :6] = True
+  ys = np.arange(dim)
+  rows, cols = [], []
+  # the vertical timing column is skipped, so the pairs left of it start at odd columns
+  for i, right in enumerate(col if col > 6 else col - 1 for col in range(dim - 1, 0, -2)):
+    r = np.repeat(ys[::-1] if i % 2 == 0 else ys, 2)
+    c = np.tile((right, right - 1), dim)
+    keep = ~func[r, c]
+    rows.append(r[keep])
+    cols.append(c[keep])
+  return np.concatenate(rows), np.concatenate(cols)
+
+
+# ---- Matrix decoding ----
+
+
+def _poly_eval(p: list[int], x: int) -> int:
+  # p is highest degree first
+  y = 0
+  for c in p:
+    y = _multiply(y, x) ^ c
+  return y
+
+
+_EXP_TABLE = np.array(_EXP)
+_LOG_TABLE = np.array([_LOG.get(v, 0) for v in range(256)])
+
+
+def _syndromes(msg: list[int], nsym: int) -> list[int]:
+  """syn[i] = msg(alpha^i), msg highest degree first."""
+  m = np.array(msg)
+  exponents = np.arange(nsym)[:, None] * (len(msg) - 1 - np.arange(len(msg)))
+  return np.bitwise_xor.reduce(_EXP_TABLE[(_LOG_TABLE[m] + exponents) % 255] * (m != 0), axis=1).tolist()
+
+
+def _rs_correct(msg: list[int], nsym: int) -> list[int]:
+  """Corrects up to nsym // 2 errors in a Reed-Solomon codeword, in place."""
+  n = len(msg)
+  syn = _syndromes(msg, nsym)
+  if not any(syn):
+    return msg
+
+  # Berlekamp-Massey, sigma is lowest degree first
+  sigma, prev, L, m, b = [1], [1], 0, 1, 1
+  for r in range(nsym):
+    d = syn[r]
+    for i in range(1, L + 1):
+      d ^= _multiply(sigma[i], syn[r - i])
+    if d == 0:
+      m += 1
+      continue
+    coef = _multiply(d, _gf_inv(b))
+    shifted = [0] * m + prev
+    saved = sigma[:]
+    sigma = sigma + [0] * max(0, len(shifted) - len(sigma))
+    for i, c in enumerate(shifted):
+      sigma[i] ^= _multiply(coef, c)
+    if 2 * L <= r:
+      L, prev, b, m = r + 1 - L, saved, d, 1
+    else:
+      m += 1
+  sigma = sigma[:L + 1]
+  if 2 * L > nsym:
+    raise QRError("too many errors")
+
+  # Chien search: codeword position p has locator alpha^(n-1-p)
+  positions = [p for p in range(n) if _poly_eval(sigma[::-1], _EXP[(p - n + 1) % 255]) == 0]
+  if len(positions) != L:
+    raise QRError("error locator mismatch")
+
+  # solve syn[i] = sum_k e_k * X_k^i for the magnitudes e_k
+  xlog = [(n - 1 - p) % 255 for p in positions]
+  A = [[_EXP[(xlog[k] * i) % 255] for k in range(L)] + [syn[i]] for i in range(L)]
+  for col in range(L):
+    piv = next((r for r in range(col, L) if A[r][col]), None)
+    if piv is None:
+      raise QRError("singular")
+    A[col], A[piv] = A[piv], A[col]
+    inv = _gf_inv(A[col][col])
+    A[col] = [_multiply(inv, v) for v in A[col]]
+    for r in range(L):
+      if r != col and A[r][col]:
+        f = A[r][col]
+        A[r] = [a ^ _multiply(f, c) for a, c in zip(A[r], A[col], strict=True)]
+  for k, p in enumerate(positions):
+    msg[p] ^= A[k][L]
+
+  if any(_syndromes(msg, nsym)):
+    raise QRError("uncorrectable")
+  return msg
+
+
+def _read_format(m: np.ndarray) -> int:
+  """Returns the closest format info (level bits << 3 | mask) from either copy."""
+  dim = m.shape[0]
+  copies = ([(8, i) for i in range(6)] + [(8, 7), (8, 8), (7, 8)] + [(5 - i, 8) for i in range(6)],
+            [(dim - 1 - i, 8) for i in range(7)] + [(8, dim - 8 + i) for i in range(8)])  # (row, col), msb first
+  candidates = []
+  for coords in copies:
+    bits = int("".join(str(int(m[r, c])) for r, c in coords), 2)
+    candidates += [((bits ^ f).bit_count(), i) for i, f in enumerate(_FORMATS)]
+  distance, fmt = min(candidates)
+  if distance > 3:
+    raise QRError("bad format info")
+  return fmt
+
+
+_ALNUM = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ $%*+-./:"
+
+_ECI_ENCODINGS = {
+  0: "cp437", 2: "cp437", 1: "iso8859-1", 3: "iso8859-1",
+  **{i + 2: f"iso8859-{i}" for i in range(2, 17) if i != 12},
+  20: "shift_jis", 21: "cp1250", 22: "cp1251", 23: "cp1252", 24: "cp1256",
+  25: "utf-16-be", 26: "utf-8", 27: "ascii", 170: "ascii", 28: "big5", 29: "gb18030", 30: "euc_kr",
+}
+
+
+class _Bits:
+  def __init__(self, data: list[int]):
+    self._value = int.from_bytes(bytes(data), "big")
+    self.remaining = len(data) * 8
+
+  def read(self, n: int) -> int:
+    if n > self.remaining:
+      raise QRError("bitstream underflow")
+    self.remaining -= n
+    return self._value >> self.remaining & (1 << n) - 1
+
+  def read_below(self, n: int, limit: int) -> int:
+    v = self.read(n)
+    if v >= limit:
+      raise QRError("value out of range")
+    return v
+
+
+def _parse_data(data: list[int], version: int) -> str:
+  bits = _Bits(data)
+  out: list[str] = []
+  encoding = None
+  band = 0 if version <= 9 else 1 if version <= 26 else 2
+  while bits.remaining >= 4:
+    mode = bits.read(4)
+    if mode == 0:
+      break
+    if mode == 7:  # ECI character set assignment
+      first = bits.read(8)
+      extra = 0 if first < 0x80 else 8 if first < 0xC0 else 16 if first < 0xE0 else -1  # 1, 2, or 3 byte assignment
+      if extra < 0:
+        raise QRError("bad ECI assignment")
+      assignment = (first & 0x7F >> extra // 8) << extra | bits.read(extra)
+      encoding = _ECI_ENCODINGS.get(assignment)
+      if encoding is None:
+        raise QRError(f"unsupported ECI assignment {assignment}")
+    elif mode == 1:
+      n = bits.read((10, 12, 14)[band])
+      while n > 0:
+        k = min(n, 3)  # 3 digits in 10 bits, the last 2 or 1 in 7 or 4
+        out.append(f"{bits.read_below((4, 7, 10)[k - 1], 10 ** k):0{k}d}")
+        n -= k
+    elif mode == 2:
+      n = bits.read((9, 11, 13)[band])
+      while n > 0:
+        k = min(n, 2)  # 2 characters in 11 bits, a last one in 6
+        v = bits.read_below((6, 11)[k - 1], 45 ** k)
+        out.append(_ALNUM[v // 45] * (k - 1) + _ALNUM[v % 45])
+        n -= k
+    elif mode == 4:
+      n = bits.read((8, 16, 16)[band])
+      segment = bytes(bits.read(8) for _ in range(n))
+      try:
+        out.append(segment.decode(encoding or "utf-8"))
+      except UnicodeDecodeError as e:
+        if encoding is not None:
+          raise QRError("invalid ECI byte segment") from e
+        out.append(segment.decode("latin-1"))
+    elif mode == 8:
+      n = bits.read((8, 10, 12)[band])
+      for _ in range(n):
+        v = bits.read(13)
+        c = (v // 0xC0) << 8 | v % 0xC0
+        c += 0x8140 if c < 0x1F00 else 0xC140
+        try:
+          out.append(c.to_bytes(2, "big").decode("shift_jis"))
+        except UnicodeDecodeError as e:
+          raise QRError("invalid Kanji character") from e
+    else:
+      raise QRError(f"unsupported mode {mode}")
+  return "".join(out)
+
+
+def decode_matrix(m: np.ndarray) -> str:
+  """Decodes a square boolean module matrix (True = dark) without a quiet zone."""
+  dim = m.shape[0]
+  if m.shape != (dim, dim) or dim % 4 != 1 or not 21 <= dim <= 177:
+    raise QRError("bad matrix size")
+  version = (dim - 17) // 4
+
+  fmt = _read_format(m)
+  level = _LEVELS[fmt >> 3]
+  rows, cols = _data_coords(version)
+  bits = m[rows, cols] ^ _MASKS[fmt & 7](rows, cols)
+  codewords = np.packbits(bits[:len(bits) // 8 * 8]).tolist()
+
+  ec, _ = _EC[version - 1][level]
+  lens = _block_lengths(version, level)
+  blocks = [[0] * (n + ec) for n in lens]
+  for (b, i), codeword in zip(_interleaved(version, level), codewords, strict=True):
+    blocks[b][i] = codeword
+
+  data: list[int] = []
+  for block, n in zip(blocks, lens, strict=True):
+    data += _rs_correct(block, ec)[:n]
+  return _parse_data(data, version)
+
+
+# ---- Image decoding ----
+
+
+def _box_sums(a: np.ndarray, radii: tuple[int, ...]) -> list[np.ndarray]:
+  """Sums over (2r + 1)^2 neighborhoods of the last two axes, edge padded, from one integral image."""
+  P = max(radii)
+  lead = [(0, 0)] * (a.ndim - 2)
+  cs = np.pad(np.cumsum(np.cumsum(np.pad(a, lead + [(P, P), (P, P)], mode="edge"), -2), -1), lead + [(1, 0), (1, 0)])
+  H, W = a.shape[-2:]
+  out = []
+  for r in radii:
+    lo, hi = P - r, P + r + 1
+    out.append(cs[..., hi:hi + H, hi:hi + W] - cs[..., lo:lo + H, hi:hi + W] - cs[..., hi:hi + H, lo:lo + W] + cs[..., lo:lo + H, lo:lo + W])
+  return out
+
+
+def _binarize(gray: np.ndarray) -> np.ndarray:
+  """Adaptive threshold: each pixel against the mean of the surrounding tiles that have contrast."""
+  h, w = gray.shape
+  if h < 21 or w < 21:
+    raise QRError("image too small")
+  B = max(8, min(h, w) // 128 * 2)
+  H, W = -(-h // B), -(-w // B)
+  padded = np.pad(gray, ((0, H * B - h), (0, W * B - w)), mode="edge")
+  # block statistics from a subsample are plenty
+  sub = np.ascontiguousarray(padded[::2, ::2].reshape(H, B // 2, W, B // 2).transpose(0, 2, 1, 3)).reshape(H, W, -1)
+  blocks = sub.sum(axis=2, dtype=np.uint32) / sub.shape[2]
+  known = sub.max(axis=2) - sub.min(axis=2) >= 32
+  # Flat tiles cannot estimate their own threshold: use the tiles with contrast nearby, then
+  # further out, then the global midrange. A flat tile is then all dark or all light.
+  est = np.full((H, W), (blocks.min() + blocks.max()) / 2)
+  filled = np.zeros((H, W), dtype=bool)
+  for total, count in _box_sums(np.stack((known * blocks, known.astype(float))), (2, 6)):
+    fill = ~filled & (count > 0)
+    est[fill] = total[fill] / count[fill]
+    filled |= fill
+  thr = np.where(known, np.minimum(est, 254) + 1, np.where(blocks <= est, 255, 0)).astype(np.uint8)
+  return (padded.reshape(H, B, W, B) < thr[:, None, :, None]).reshape(H * B, W * B)[:h, :w]
+
+
+class _Runs:
+  """Run-length table of a padded, flattened binary image with a per-pixel run index."""
+
+  def __init__(self, padded: np.ndarray):
+    self.flat = padded.ravel()
+    self.lines, self.stride = padded.shape
+    change = self.flat[1:] != self.flat[:-1]
+    self.starts = np.concatenate(([0], np.flatnonzero(change) + 1))
+    self.lengths = np.diff(np.append(self.starts, self.flat.size)).astype(np.int32)
+
+  def run_at(self, line: np.ndarray, pos: np.ndarray) -> np.ndarray:
+    """Index of the run containing the pixel at `pos` along `line`."""
+    return np.searchsorted(self.starts, line * self.stride + pos + 1, side="right") - 1
+
+  @staticmethod
+  def _match(lengths: list[np.ndarray], ratios: tuple[int, ...]) -> tuple[np.ndarray, np.ndarray]:
+    """Checks windows of runs against the ratios, given the length of each run. Returns (ok, module size)."""
+    S = sum(ratios)
+    total = sum(lengths[1:], start=lengths[0])
+    ok = total >= 2 * S  # modules need to be at least 2 px
+    for L, r in zip(lengths, ratios, strict=True):
+      ok &= np.abs(2 * S * L - 2 * r * total) <= r * total  # integer form of |L - r * total / S| <= r * total / (2 * S)
+    return ok, total / S
+
+  def scan(self, ratios: tuple[int, ...]) -> np.ndarray:
+    """Returns the indices of all dark runs starting a window of runs matching the ratios."""
+    n = len(ratios)
+    N = len(self.lengths) - n + 1
+    if N <= 0:
+      return np.zeros(0, dtype=int)
+    ok, _ = self._match([self.lengths[k:N + k] for k in range(n)], ratios)
+    ok &= self.flat[self.starts[:N]]
+    first = np.flatnonzero(ok)
+    return first[self.starts[first] // self.stride == self.starts[first + n - 1] // self.stride]
+
+  def check(self, first: np.ndarray, ratios: tuple[int, ...]) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
+    """Checks the run windows starting at run index `first`. Returns (ok, center position along the line, module size)."""
+    n, half = len(ratios), len(ratios) // 2
+    ok = (first >= 0) & (first + n <= len(self.starts))
+    idx = np.clip(first[:, None] + np.arange(n), 0, len(self.starts) - 1)
+    matched, module = self._match([self.lengths[idx[:, k]] for k in range(n)], ratios)
+    ok &= matched & self.flat[self.starts[idx[:, 0]]]
+    ok &= self.starts[idx[:, 0]] // self.stride == self.starts[idx[:, -1]] // self.stride
+    center = self.starts[idx[:, half]] % self.stride - 1 + self.lengths[idx[:, half]] / 2
+    return ok, center, module
+
+
+def _find_patterns(binary: np.ndarray, ratios: tuple[int, ...]) -> list[tuple[float, float, float]]:
+  """Finds dark/light run patterns with the given module ratios. Returns (x, y, module size)."""
+  half = len(ratios) // 2
+  step = 2  # the center rows of a 2 px finder pattern still get scanned twice
+  rows_t = _Runs(np.pad(binary[::step], ((0, 0), (1, 1))))
+  first = rows_t.scan(ratios)
+  if len(first) == 0:
+    return []
+  _, cx, hmod = rows_t.check(first, ratios)
+  row = rows_t.starts[first] // rows_t.stride * step
+
+  xi = cx.astype(int)
+  xs, col = np.unique(xi, return_inverse=True)
+  cols_t = _Runs(np.pad(binary[:, xs].T, ((0, 0), (1, 1))))
+  ok, cy, vmod = cols_t.check(cols_t.run_at(col, row) - half, ratios)
+  ok &= (0.5 <= vmod / hmod) & (vmod / hmod <= 2)
+  line = np.clip(np.rint(cy / step), 0, rows_t.lines - 1).astype(int)
+  ok2, cx2, hmod2 = rows_t.check(rows_t.run_at(line, xi) - half, ratios)
+  ok &= ok2 & (0.5 <= hmod2 / vmod) & (hmod2 / vmod <= 2)
+
+  found: list[list[float]] = []  # [x, y, module, count]
+  for x, y, module in zip(cx2[ok], cy[ok], (hmod2[ok] + vmod[ok]) / 2, strict=True):
+    for f in found:
+      if abs(f[0] - x) <= f[2] and abs(f[1] - y) <= f[2] and 0.5 <= f[2] / module <= 2:
+        c = f[3]
+        f[0], f[1], f[2], f[3] = (f[0] * c + x) / (c + 1), (f[1] * c + y) / (c + 1), (f[2] * c + module) / (c + 1), c + 1
+        break
+    else:
+      found.append([x, y, module, 1])
+  found.sort(key=lambda f: -f[3])
+  return [(f[0], f[1], f[2]) for f in found if f[3] >= 2]
+
+
+def _pick_finders(patterns: list[tuple[float, float, float]]) -> tuple[np.ndarray, np.ndarray, np.ndarray, float]:
+  """Returns (top-left, top-right, bottom-left) centers and the module size of the most square-looking triple."""
+  best = None
+  for a, b, c in itertools.combinations(patterns[:10], 3):
+    mods = sorted((a[2], b[2], c[2]))
+    if mods[2] / mods[0] > 1.5:
+      continue
+    pts = [np.array(p[:2]) for p in (a, b, c)]
+    d = [np.linalg.norm(pts[(i + 1) % 3] - pts[(i + 2) % 3]) for i in range(3)]
+    tl = int(np.argmax(d))  # opposite the hypotenuse
+    p1, p2 = pts[(tl + 1) % 3], pts[(tl + 2) % 3]
+    v1, v2 = p1 - pts[tl], p2 - pts[tl]
+    n1, n2 = np.linalg.norm(v1), np.linalg.norm(v2)
+    if n1 == 0 or n2 == 0:
+      continue
+    cos = abs(np.dot(v1, v2)) / (n1 * n2)
+    if cos > 0.35 or not 0.6 <= n1 / n2 <= 1.6:
+      continue
+    score = cos + abs(np.log(n1 / n2)) + np.log(mods[2] / mods[0])
+    if best is not None and score >= best[0]:
+      continue
+    if v1[0] * v2[1] - v1[1] * v2[0] < 0:
+      p1, p2 = p2, p1
+    best = (score, pts[tl], p1, p2, float(sum(mods) / 3))
+  if best is None:
+    raise QRError("no finder patterns")
+  return best[1:]
+
+
+def _perspective(src: np.ndarray, dst: np.ndarray) -> np.ndarray:
+  """Homography mapping the four src points onto the four dst points."""
+  A = [row for (x, y), (u, v) in zip(src, dst, strict=True)
+       for row in ([x, y, 1, 0, 0, 0, -u * x, -u * y], [0, 0, 0, x, y, 1, -v * x, -v * y])]
+  try:
+    h = np.linalg.solve(np.array(A, dtype=float), np.asarray(dst, dtype=float).ravel())
+  except np.linalg.LinAlgError as e:
+    raise QRError("degenerate geometry") from e
+  return np.append(h, 1).reshape(3, 3)
+
+
+def _transform(H: np.ndarray, pts: np.ndarray) -> np.ndarray:
+  p = np.column_stack((pts, np.ones(len(pts)))) @ H.T
+  return p[:, :2] / p[:, 2:3]
+
+
+def _match_alignment(binary: np.ndarray, est: np.ndarray, offs: np.ndarray, r: int, module: float) -> np.ndarray | None:
+  h, w = binary.shape
+  dy = np.arange(max(0, int(est[1]) - r), min(h, int(est[1]) + r)) - est[1]
+  dx = np.arange(max(0, int(est[0]) - r), min(w, int(est[0]) + r)) - est[0]
+  if len(dy) == 0 or len(dx) == 0:
+    return None
+  y = np.rint(est[1] + dy[:, None, None] + offs[None, None, :, 1]).astype(int)
+  x = np.rint(est[0] + dx[None, :, None] + offs[None, None, :, 0]).astype(int)
+  valid = ((y >= 0) & (y < h) & (x >= 0) & (x < w)).all(axis=2)
+  samples = binary[np.clip(y, 0, h - 1), np.clip(x, 0, w - 1)]
+  score = np.where(valid, (samples == _ALIGNMENT.ravel()).sum(axis=2), 0)
+  if score.max() < 23:
+    return None
+  hits = np.argwhere(score == score.max())
+  centers = np.column_stack((est[0] + dx[hits[:, 1]], est[1] + dy[hits[:, 0]]))
+  closest = centers[np.argmin(np.linalg.norm(centers - est, axis=1))]
+  return centers[np.linalg.norm(centers - closest, axis=1) <= module / 2].mean(axis=0)
+
+
+def _locate_alignment(binary: np.ndarray, H: np.ndarray, center: float, module: float) -> np.ndarray | None:
+  """Template matches the 5x5 alignment pattern around its position estimated from H."""
+  grid = np.mgrid[-2:3, -2:3].reshape(2, -1).T[:, ::-1] + center  # (25, 2) module coords (x, y)
+  pts = _transform(H, grid)
+  # the affine estimate can be off in both position and local scale under perspective
+  for radius in (2, 4, 8, 16):
+    for scale in (1.0, 0.8, 1.25, 0.65, 1.5):
+      found = _match_alignment(binary, pts[12], (pts - pts[12]) * scale, int(module * radius), module)
+      if found is not None:
+        return found
+  return None
+
+
+def _sample(binary: np.ndarray, tl: np.ndarray, tr: np.ndarray, bl: np.ndarray, module: float, dim: int, use_alignment: bool) -> np.ndarray:
+  src = np.array([(3.5, 3.5), (dim - 3.5, 3.5), (3.5, dim - 3.5), (dim - 3.5, dim - 3.5)])
+  dst = np.array([tl, tr, bl, tr + bl - tl])
+  H = _perspective(src, dst)
+  if use_alignment and dim > 21:
+    align = _locate_alignment(binary, H, dim - 6.5, module)
+    if align is not None:
+      src[3], dst[3] = (dim - 6.5, dim - 6.5), align
+      H = _perspective(src, dst)
+
+  rows, cols = np.mgrid[0:dim, 0:dim]
+  pts = _transform(H, np.column_stack((cols.ravel() + 0.5, rows.ravel() + 0.5)))
+  xy = np.rint(pts).astype(int)
+  h, w = binary.shape
+  if (xy < 0).any() or (xy[:, 0] >= w).any() or (xy[:, 1] >= h).any():
+    raise QRError("code extends outside image")
+  return binary[xy[:, 1], xy[:, 0]].reshape(dim, dim)
+
+
+def decode(gray: np.ndarray) -> str | None:
+  """Decodes the QR code in a 2D uint8 grayscale image. Modules need to be at least 2 px.
+  Returns None if nothing could be decoded."""
+  try:
+    binary = _binarize(gray)
+    tl, tr, bl, module = _pick_finders(_find_patterns(binary, (1, 1, 3, 1, 1)))
+  except QRError:
+    return None
+
+  d = (np.linalg.norm(tr - tl) + np.linalg.norm(bl - tl)) / 2
+  dim = int(round((d / module + 7 - 17) / 4)) * 4 + 17
+  dims = [cand for cand in (dim, dim - 4, dim + 4) if 21 <= cand <= 177]
+  for cand, use_alignment, transpose in itertools.product(dims, (True, False), (False, True)):
+    try:
+      m = _sample(binary, tl, tr, bl, module, cand, use_alignment)
+      return decode_matrix(m.T if transpose else m)
+    except QRError:
+      pass
+  return None

openpilot/common/tests/test_params.py

@@ -106,13 +106,6 @@ class TestParams(OpenpilotTestCase):
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
 
-  def test_flush_non_blocking_writes(self):
-    self.params.put("DongleId", "first")
-    self.params.put("DongleId", "last")
-    self.params.flush()
-
-    assert self.params.get("DongleId") == "last"
-
   def test_params_all_keys(self):
     keys = Params().all_keys()
 
@@ -133,16 +126,6 @@ class TestParams(OpenpilotTestCase):
     assert self.params.get("LiveParametersV2") is None
     assert self.params.get("LiveParametersV2", return_default=True) is None
 
-  def test_filtered_keys_are_distinct_registered_strings(self):
-    registered = set(self.params.all_keys())
-    for flag in (ParamKeyFlag.PERSISTENT, ParamKeyFlag.BACKUP, ParamKeyFlag.CLEAR_ON_MANAGER_START):
-      filtered = self.params.all_keys(flag)
-      assert len(filtered) > 1
-      assert len(filtered) == len(set(filtered))
-      assert set(filtered) <= registered
-      assert all(key.decode('utf-8') for key in filtered)
-      assert self.params.all_keys(flag) == filtered
-
   def test_params_get_type(self):
     # json
     self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)

openpilot/common/tests/test_qrcode.py

@@ -0,0 +1,178 @@
+import hashlib
+import math
+from pathlib import Path
+
+import numpy as np
+
+from openpilot.common import qrcode as qr
+from openpilot.common.test import OpenpilotTestCase
+
+LPA = "LPA:1$rsp.truphone.com$QRF-BETTERROAMING-PMRDGIR2EARDEIT5"
+
+
+# Matrices generated with python-qrcode 8.2, covering all versions and EC levels.
+# Packed fixtures keep the decoder tests independent of our encoder.
+FIXTURES = {}
+for path in Path(__file__).with_name("fixtures").glob("qrcode_*.npz"):
+  with np.load(path) as fixtures:
+    FIXTURES.update({key: fixtures[key] for key in fixtures.files})
+
+
+def fixture(key: str) -> np.ndarray:
+  bits = np.unpackbits(FIXTURES[key])
+  size = math.isqrt(len(bits))
+  return bits[:size * size].reshape(size, size).astype(bool)
+
+
+def render(matrix: np.ndarray, box: int = 6, border: int = 4) -> np.ndarray:
+  img = np.repeat(np.repeat(np.pad(matrix, border), box, axis=0), box, axis=1)
+  return np.where(img, 0, 255).astype(np.uint8)
+
+
+def make(data: str, version: int | None = None, level: int = 0, box: int = 6, border: int = 4):
+  matrix = fixture(hashlib.sha256(f"{version}:{level}:{data}".encode()).hexdigest())
+  return matrix, render(matrix, box, border)
+
+
+def warp(img: np.ndarray, H: np.ndarray) -> np.ndarray:
+  """Bilinear resampling through the output -> input homography H, white outside the image."""
+  h, w = img.shape
+  rows, cols = np.mgrid[0:h, 0:w]
+  pts = qr._transform(H, np.column_stack((cols.ravel() + 0.5, rows.ravel() + 0.5))) - 0.5
+  x0, y0 = np.floor(pts[:, 0]).astype(int), np.floor(pts[:, 1]).astype(int)
+  fx, fy = pts[:, 0] - x0, pts[:, 1] - y0
+  padded = np.pad(img.astype(float), 1, constant_values=255)
+
+  def at(y, x):
+    return padded[np.clip(y + 1, 0, h + 1), np.clip(x + 1, 0, w + 1)]
+
+  out = at(y0, x0) * (1 - fx) * (1 - fy) + at(y0, x0 + 1) * fx * (1 - fy) + at(y0 + 1, x0) * (1 - fx) * fy + at(y0 + 1, x0 + 1) * fx * fy
+  return np.clip(out, 0, 255).astype(np.uint8).reshape(h, w)
+
+
+def rotate(img: np.ndarray, angle: float) -> np.ndarray:
+  h, w = img.shape
+  t = np.radians(angle)
+  R = np.array([[np.cos(t), -np.sin(t)], [np.sin(t), np.cos(t)]])
+  center = np.array([w / 2, h / 2])
+  corners = np.array([(0, 0), (w, 0), (w, h), (0, h)], dtype=float)
+  return warp(img, qr._perspective((corners - center) @ R.T + center, corners))
+
+
+class TestQRCode(OpenpilotTestCase):
+  def test_alignment_positions(self):
+    assert qr._alignment_positions(7) == [6, 22, 38]
+    assert qr._alignment_positions(32) == [6, 34, 60, 86, 112, 138]
+    assert qr._alignment_positions(40) == [6, 30, 58, 86, 114, 142, 170]
+
+  def test_all_versions(self):
+    for version in range(1, 41):
+      for level in range(4):
+        with self.subTest(version=version, level=level):
+          data = "".join(chr(ord("a") + i % 26) for i in range(version))
+          matrix, img = make(data, version, level, box=3)
+          assert qr.decode_matrix(matrix) == data
+          assert qr.decode(img) == data
+
+  def test_modes(self):
+    for data in ["0123456789012345", "HELLO WORLD $1.50", LPA, "こんにちは", "ünïcødé", "mixed 123 ABC xyz"]:
+      with self.subTest(data=data):
+        matrix, img = make(data)
+        assert qr.decode_matrix(matrix) == data
+        assert qr.decode(img) == data
+
+  def test_error_correction(self):
+    matrix, _ = make(LPA, level=2)
+    rng = np.random.default_rng(0)
+    flipped = matrix.copy()
+    for r, c in rng.integers(9, matrix.shape[0] - 9, size=(40, 2)):
+      flipped[r, c] ^= True
+    assert qr.decode_matrix(flipped) == LPA
+
+  def test_large_modules(self):
+    for data in ["0123456789012345", "HELLO WORLD $1.50", LPA, "mixed 123 ABC xyz"]:
+      for box in [16, 20, 24, 32]:
+        for dark, light in [(0, 255), (60, 200), (140, 250)]:
+          with self.subTest(data=data, box=box, dark=dark):
+            _, img = make(data, box=box)
+            img = np.where(img == 0, dark, light).astype(np.uint8)
+            assert qr.decode(img) == data
+
+  def test_image_edges(self):
+    # a code touching the image edge must not lose the rows and columns left over from tiling
+    matrix, _ = make(LPA)
+    for size in (200, 203):
+      with self.subTest(size=size):
+        img = np.full((size, size), 255, dtype=np.uint8)
+        code = render(matrix, box=5, border=0)
+        img[size - code.shape[0]:, size - code.shape[1]:] = code
+        assert qr.decode(img) == LPA
+
+  def test_eci(self):
+    # qrcode_eci.npz: packed Segno 1.6.6 matrices, generated with mode='byte',
+    # eci=True, micro=False and the named encoding. Mixed also includes numeric,
+    # alphanumeric, and Kanji segments after changing the byte encoding twice.
+    cases = {
+      "iso8859-5": "Привет", "utf-16-be": "héllo", "utf-8": "こんにちは",
+      "shift_jis": "日本語", "cp1251": "Привет", "iso8859-1": "héllo",
+      "mixed": "hélloПривет日本語123ABC漢字",
+    }
+    for encoding, expected in cases.items():
+      with self.subTest(encoding=encoding):
+        matrix = fixture(encoding)
+        assert qr.decode_matrix(matrix) == expected
+        assert qr.decode(render(matrix)) == expected
+
+  def test_parse_data(self):
+    def parse(stream: str) -> str:
+      stream += '0' * (-len(stream) % 8)
+      return qr._parse_data([int(stream[i:i + 8], 2) for i in range(0, len(stream), 8)], 1)
+
+    def eci(assignment: str, payload: bytes = b'A') -> str:
+      return parse('0111' + assignment + '0100' + f'{len(payload):08b}' + ''.join(f'{b:08b}' for b in payload) + '0000')
+
+    # ASCII assignment 170 uses the two-byte ECI representation.
+    assert eci('1000000010101010') == 'A'
+    for assignment in ['00001110', '1000001111100111', '110000010000000000000000', '11100000']:
+      with self.subTest(assignment=assignment), self.assertRaises(qr.QRError):
+        eci(assignment)
+    with self.assertRaises(qr.QRError):
+      eci('00011010', b'\xff')  # Invalid UTF-8 must not fall back to Latin-1.
+
+    # out-of-range numeric, alphanumeric, and Kanji values are format errors, not crashes
+    for stream in ['0001' + '0000000011' + '1111111111', '0001' + '0000000010' + '1111111',
+                   '0010' + '000000010' + '11111111111', '0010' + '000000001' + '111111',
+                   '1000' + '00000001' + '0000000111111']:
+      with self.subTest(stream=stream), self.assertRaises(qr.QRError):
+        parse(stream)
+
+  def test_rotation(self):
+    for angle in [0, 90, 180, 270, 25, 110]:
+      with self.subTest(angle=angle):
+        _, img = make(LPA, box=8, border=12)
+        assert qr.decode(rotate(img, angle)) == LPA
+
+  def test_mirrored(self):
+    _, img = make(LPA)
+    assert qr.decode(img[:, ::-1]) == LPA
+
+  def test_perspective_and_noise(self):
+    _, img = make(LPA, box=10, border=8)
+    h, w = img.shape
+    corners = np.array([(40, 60), (w - 20, 30), (w - 60, h - 40), (30, h - 90)])
+    arr = warp(img, qr._perspective(corners, np.array([(0, 0), (w, 0), (w, h), (0, h)]))).astype(float)
+    rng = np.random.default_rng(1)
+    arr = arr * 0.6 + 60 + rng.normal(0, 12, arr.shape)  # low contrast + noise
+    # uneven lighting
+    arr += np.linspace(-40, 40, w)[None, :]
+    assert qr.decode(np.clip(arr, 0, 255).astype(np.uint8)) == LPA
+
+  def test_no_code(self):
+    rng = np.random.default_rng(2)
+    assert qr.decode(rng.integers(0, 256, size=(240, 320), dtype=np.uint8)) is None
+    assert qr.decode(np.full((240, 320), 200, dtype=np.uint8)) is None
+
+  def test_encoder_roundtrip(self):
+    for version in range(1, 21):
+      with self.subTest(version=version):
+        assert qr.decode_matrix(np.array(qr._Qr(version, b"hello").modules)) == "hello"

openpilot/selfdrive/assets/icons_mici/chestnut_orange.png

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:845c40ff0d37612e8f2f482a36845744b5ae91ce2fcfc8117990d7d278b59820
-size 13079
+oid sha256:bf97a6738b294ac0aed9b2d075916cee0b7d3215bcd23381760900ede6a92748
+size 13256

openpilot/selfdrive/assets/prep-svg.sh

@@ -23,8 +23,8 @@ done
 
 # sudo apt install inkscape
 
-for svg in $(find $DIR -type f | grep svg$); do
-  bunx svgo $svg --multipass --pretty --indent 2
+for svg in $(find "$DIR" -type f | grep svg$); do
+  bunx svgo "$svg" --multipass --pretty --indent 2
 
   # convert to PNG
   png="${svg%.svg}.png"

openpilot/selfdrive/car/card.py

@@ -21,7 +21,6 @@ from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
-from openpilot.selfdrive.car.ford_pscm_status import populate_ford_pscm_status
 
 from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
@@ -187,9 +186,6 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    # log fingerprint in sentry
-    sunnypilot_interfaces.log_fingerprint(self.CP)
-
   def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
@@ -199,7 +195,6 @@ class Car:
     # Update carState from CAN
     CS, CS_SP = self.CI.update(can_list)
     CS_SP = convert_to_capnp(CS_SP)
-    populate_ford_pscm_status(self.CP, self.CI.can_parsers, CS_SP, CS.canValid)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)

openpilot/selfdrive/car/ford_pscm_status.py

@@ -1,36 +0,0 @@
-"""Publish the Ford PSCM's actual CAN status without changing opendbc structs."""
-import math
-
-from opendbc.car import Bus
-from opendbc.car.ford.values import FordFlags
-
-
-MESSAGE = 'Lane_Assist_Data3_FD1'
-SIGNALS = ('LatCtlSte_D_Stat', 'LatCtlLim_D_Stat', 'LatCtlCpblty_D_Stat', 'LaActDeny_B_Actl')
-
-
-def populate_ford_pscm_status(CP, can_parsers, CS_SP, can_valid):
-  if CP.brand != 'ford' or not CP.flags & FordFlags.CANFD:
-    return
-  status = CS_SP.init('fordPscmStatus')
-  parser = can_parsers.get(Bus.pt)
-  if parser is None:
-    return
-  values = parser.vl.get(MESSAGE, {})
-  timestamps = parser.ts_nanos.get(MESSAGE, {})
-  if any(signal not in values or signal not in timestamps for signal in SIGNALS):
-    return
-  received = timestamps[SIGNALS[0]]
-  if received <= 0 or any(timestamps[signal] != received for signal in SIGNALS):
-    return
-  decoded = [values[signal] for signal in SIGNALS]
-  if any(not math.isfinite(value) or int(value) != value or not 0 <= value <= maximum
-         for value, maximum in zip(decoded, (7, 3, 3, 1), strict=True)):
-    return
-  status.canMonoTime = received
-  status.lateralState, status.limit, status.capability = map(int, decoded[:3])
-  status.denied = bool(decoded[3])
-  # CI.update already checked all parser validity. Reading can_valid again here
-  # would advance the parser's invalid-message counter a second time per tick.
-  # Age is evaluated by the feedback consumer using this original CAN timestamp.
-  status.valid = bool(can_valid)

openpilot/selfdrive/car/helpers.py

@@ -63,6 +63,5 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
     **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
   )
-  struct_dataclass.fordLateralPath = structs.FordLateralPath(**remove_deprecated(struct_dict.get('fordLateralPath', {})))
 
   return struct_dataclass

openpilot/selfdrive/car/tests/test_ford_pscm_status.py

@@ -1,109 +0,0 @@
-import ast
-from pathlib import Path
-from types import SimpleNamespace
-import unittest
-
-from openpilot.cereal import custom
-from openpilot.selfdrive.car.ford_pscm_status import MESSAGE, SIGNALS, populate_ford_pscm_status
-from openpilot.selfdrive.car.helpers import convert_to_capnp
-from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, structs
-from opendbc.car.ford.values import FordFlags
-
-
-class TestFordPscmStatus(unittest.TestCase):
-  def setUp(self):
-    self.cp = SimpleNamespace(brand='ford', flags=FordFlags.CANFD)
-    self.packer = CANPacker('ford_lincoln_base_pt')
-    self.parser = CANParser('ford_lincoln_base_pt', [(MESSAGE, 33), ('Yaw_Data_FD1', 100)], 0)
-
-  def update_status(self, timestamp, *, lateral_state=2, limit=0, capability=2, denied=False):
-    status = self.packer.make_can_msg(MESSAGE, 0, dict(zip(SIGNALS, (lateral_state, limit, capability, denied), strict=True)))
-    yaw = self.packer.make_can_msg('Yaw_Data_FD1', 0, {'VehYaw_W_Actl': 0.1})
-    self.parser.update([(timestamp, [status, yaw])])
-
-  def publish(self, *, can_valid=True):
-    state_sp = convert_to_capnp(structs.CarStateSP(speedLimit=13.5))
-    populate_ford_pscm_status(self.cp, {Bus.pt: self.parser}, state_sp, can_valid)
-    return state_sp
-
-  def test_decodes_status_and_preserves_receipt_time_across_other_can_messages(self):
-    self.update_status(1_000_000_000, limit=2, capability=1, denied=True)
-    original = self.publish()
-    self.assertEqual(original.speedLimit, 13.5)
-    status = original.fordPscmStatus
-    self.assertTrue(status.valid)
-    self.assertEqual(status.canMonoTime, 1_000_000_000)
-    self.assertEqual((status.lateralState, status.limit, status.capability, status.denied), (2, 2, 1, True))
-
-    # carStateSP may publish at 100 Hz while this 33 Hz message is absent. New
-    # unrelated CAN must not freshen the timestamp of an old PSCM status.
-    yaw = self.packer.make_can_msg('Yaw_Data_FD1', 0, {'VehYaw_W_Actl': .2})
-    self.parser.update([(1_080_000_000, [yaw])])
-    copied = self.publish().fordPscmStatus
-    self.assertEqual(copied.canMonoTime, 1_000_000_000)
-    self.assertEqual((copied.limit, copied.capability, copied.denied), (2, 1, True))
-
-    self.update_status(1_090_000_000, lateral_state=3, limit=3, capability=2)
-    next_state = self.publish()
-    with custom.CarStateSP.from_bytes(next_state.to_bytes()) as decoded:
-      latest = decoded.fordPscmStatus
-      self.assertTrue(latest.valid)
-      self.assertEqual(latest.canMonoTime, 1_090_000_000)
-      self.assertEqual((latest.lateralState, latest.limit, latest.capability, latest.denied), (3, 3, 2, False))
-
-  def test_absent_parser_unseen_message_and_invalid_can_do_not_claim_valid_status(self):
-    state = custom.CarStateSP.new_message()
-    populate_ford_pscm_status(self.cp, {}, state, True)
-    self.assertFalse(state.fordPscmStatus.valid)
-    self.assertEqual(state.fordPscmStatus.canMonoTime, 0)
-    self.assertFalse(self.publish().fordPscmStatus.valid)
-    self.update_status(1_000_000_000)
-    invalid = self.publish(can_valid=False).fordPscmStatus
-    self.assertFalse(invalid.valid)
-    self.assertEqual(invalid.canMonoTime, 1_000_000_000)
-
-  def test_mixed_timestamps_or_malformed_status_cannot_enable_feedback(self):
-    self.update_status(1_000_000_000)
-    self.parser.ts_nanos[MESSAGE][SIGNALS[-1]] = 990_000_000
-    self.assertFalse(self.publish().fordPscmStatus.valid)
-    self.parser.ts_nanos[MESSAGE][SIGNALS[-1]] = 1_000_000_000
-    for value in (float('nan'), -1, 1.5, 4):
-      self.parser.vl[MESSAGE]['LatCtlLim_D_Stat'] = value
-      self.assertFalse(self.publish().fordPscmStatus.valid)
-
-  def test_other_vehicles_and_legacy_messages_default_to_unavailable(self):
-    for cp in (SimpleNamespace(brand='toyota'), SimpleNamespace(brand='ford', flags=0)):
-      state = custom.CarStateSP.new_message(speedLimit=10.)
-      populate_ford_pscm_status(cp, {}, state, True)
-      self.assertFalse(state.fordPscmStatus.valid)
-      self.assertEqual(state.fordPscmStatus.canMonoTime, 0)
-      self.assertEqual(state.speedLimit, 10.)
-    # Old recordings/readers have no appended status pointer; defaults must
-    # remain unavailable rather than interpreting zeroed enums as fresh data.
-    self.assertFalse(custom.CarStateSP.new_message().fordPscmStatus.valid)
-
-  def test_actual_card_update_populates_status_after_dataclass_conversion(self):
-    self.update_status(1_000_000_000, limit=1)
-    source_path = Path(__file__).resolve().parents[1] / 'card.py'
-    source = ast.parse(source_path.read_text())
-    car_class = next(n for n in source.body if isinstance(n, ast.ClassDef) and n.name == 'Car')
-    method = next(n for n in car_class.body if isinstance(n, ast.FunctionDef) and n.name == 'state_update')
-    statements = method.body
-    first = next(i for i, n in enumerate(statements) if isinstance(n, ast.Assign) and ast.unparse(n.value) == 'self.CI.update(can_list)')
-    last = next(i for i, n in enumerate(statements) if isinstance(n, ast.Expr) and isinstance(n.value, ast.Call)
-                and isinstance(n.value.func, ast.Name) and n.value.func.id == 'populate_ford_pscm_status')
-    self.assertGreater(last, first)
-    code = compile(ast.Module(body=statements[first:last + 1], type_ignores=[]), str(source_path), 'exec')
-    ci = SimpleNamespace(update=lambda _: (SimpleNamespace(canValid=True), structs.CarStateSP(speedLimit=11.)),
-                         can_parsers={Bus.pt: self.parser})
-    environment = {'self': SimpleNamespace(CP=self.cp, CI=ci), 'can_list': [], 'convert_to_capnp': convert_to_capnp,
-                   'populate_ford_pscm_status': populate_ford_pscm_status}
-    exec(code, environment)
-    self.assertTrue(environment['CS_SP'].fordPscmStatus.valid)
-    self.assertEqual(environment['CS_SP'].fordPscmStatus.canMonoTime, 1_000_000_000)
-    self.assertEqual(environment['CS_SP'].fordPscmStatus.limit, 1)
-
-
-if __name__ == '__main__':
-  unittest.main()

openpilot/selfdrive/controls/controlsd.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import math
-import time
 from numbers import Number
 
 from openpilot.cereal import log
@@ -14,8 +13,6 @@ from openpilot.common.swaglog import cloudlog
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
-from openpilot.selfdrive.controls.lib.ford_model_action import FordModelActionController, select_model_action_controller
-from openpilot.selfdrive.controls.lib.ford_path import FordPath
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
@@ -47,7 +44,7 @@ class Controls(ControlsExt):
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
     self.sm = messaging.SubMaster(['lateralDelay', 'vehicleParameters', 'lateralTorqueParameters', 'modelV2', 'selfdriveState',
-                                   'extrinsicsCalibration', 'deviceMotion', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carStateSP', 'carOutput',
+                                   'extrinsicsCalibration', 'deviceMotion', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
                                    'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext,
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
@@ -55,14 +52,6 @@ class Controls(ControlsExt):
     self.steer_limited_by_safety = False
     self.curvature = 0.0
     self.desired_curvature = 0.0
-    self.ford_path_controller = select_model_action_controller(self.CP, self.params.get_bool("FordModelActionController"),
-                                                              c0_time_based=self.params.get_bool("FordC0TimeBased"),
-                                                              direct_path=self.params.get_bool("FordGeometryReference"))
-    self.ford_model_action = isinstance(self.ford_path_controller, FordModelActionController)
-    if self.CP.brand == "ford":
-      cloudlog.event("Ford path controller selected",
-                     controller=type(self.ford_path_controller).__name__ if self.ford_model_action else "upstream")
-    self.ford_path = FordPath()
 
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
@@ -152,8 +141,6 @@ class Controls(ControlsExt):
     # Reset desired curvature to current to avoid violating the limits on engage
     if self.sm.valid['lateralManeuverPlan']:
       new_desired_curvature = self.sm['lateralManeuverPlan'].desiredCurvature if CC.latActive else self.curvature
-    elif self.ford_model_action and self.ford_path_controller.direct_path:
-      new_desired_curvature = self.ford_path_controller.path_curvature(model_v2, CS.vEgo) if CC.latActive else self.curvature
     else:
       new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
     self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
@@ -168,32 +155,6 @@ class Controls(ControlsExt):
       actuators.curvature = float(lateral_output)
     else:
       actuators.steeringAngleDeg = float(lateral_output)
-    if self.CP.brand == "ford":
-      ford_model = model_v2 if self.sm.valid['modelV2'] else None
-      if self.ford_model_action:
-        reference_service = 'lateralManeuverPlan' if self.sm.valid['lateralManeuverPlan'] else 'modelV2'
-        self.ford_path = self.ford_path_controller.update(
-          ford_model, self.desired_curvature, current_curvature=self.curvature, yaw_rate=-CS.yawRate, speed=CS.vEgo, now=time.monotonic(),
-          # Roll/angle offset cancel in the error; retain the normal steering-angle conversion's speed and stiffness effects.
-          curvature_scale=self.VM.get_steer_from_curvature(1., CS.vEgo, 0.) / (self.CP.steerRatio*self.CP.wheelbase),
-          measurement_time=self.sm.logMonoTime['carState'] * 1e-9,
-          model_time=self.sm.logMonoTime['modelV2'] * 1e-9,
-          reference_time=self.sm.logMonoTime[reference_service] * 1e-9,
-          active=CC.latActive, valid=CS.canValid and self.sm.all_checks(['carState', 'vehicleParameters', 'modelV2', reference_service]),
-          lat_delay=lat_delay,
-          driver_pressed=CS.steeringPressed, driver_torque=CS.steeringTorque,
-          reference_source=reference_service, roll=lp.roll,
-          pscm_status=self.sm['carStateSP'].fordPscmStatus if self.sm.valid['carStateSP'] else None,
-        )
-        if not self.ford_path.valid:
-          CC.latActive = False
-        if self.sm.frame % 20 == 0:
-          cloudlog.event("Ford C2-free path tracking", model_mono_time=self.sm.logMonoTime['modelV2'],
-                         measurement_mono_time=self.sm.logMonoTime['carState'],
-                         reference_service=reference_service, reference_mono_time=self.sm.logMonoTime[reference_service],
-                         measured_curvature=self.curvature,
-                         **self.ford_path_controller.diagnostics)
-        actuators.curvature = float(self.ford_path.curvature)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)

openpilot/selfdrive/controls/lib/ford_model_action.py

@@ -1,320 +0,0 @@
-"""Opt-in Ford C2-free model mapping with measured-curvature PI feedback.
-
-C0 samples a desired-curvature arc at 7 m, optionally max(7 m, v*1s),
-including base-heading overflow, plus proportional tracking correction softened
-near zero error without filtering or a deadband. C1
-combines the selected curvature's heading with proportional and integrated
-tracking error. Reference distance and gains are explicit trial choices.
-Commands use the current bounded request without an additional C0/C1 slew.
-The direct-path trial samples model position and heading separately, retains
-independent upstream request limits, and uses heading-equivalent feedback.
-"""
-from collections import deque
-import math
-import struct
-
-import numpy as np
-
-from opendbc.car.ford.values import FordFlags
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
-from openpilot.selfdrive.controls.lib.ford_path import FordPath, _model_path
-
-
-OFFSET_STATION_M = 7.0
-HEADING_TIME_S = 1.0
-C1_PROPORTIONAL_GAIN = 0.75  # Drive-trial gains, not a learned calibration.
-C1_INTEGRAL_GAIN = 1.0
-C0_PROPORTIONAL_GAIN = 1.0  # Action trial: stronger immediate correction for the same tracking error.
-DIRECT_PATH_C0_PROPORTIONAL_GAIN = 0.5
-# Action-only trial: soften the error expressed as metres of C0 before gain.
-# The slope grows smoothly from 0.5 to 1; correction reduction is at most 0.125 m * gain.
-C0_SMALL_ERROR_GAIN = 0.5
-C0_SMALL_ERROR_SCALE_M = 0.25
-# Offline Lightning fit: geometric curvature per metre of C0, with v in m/s.
-C0_RESPONSE_CONSTANT = 0.010717679293424373
-C0_RESPONSE_INVERSE_SPEED_SQUARED = 0.018122981795212647
-CALIBRATION_APPROVED = False
-CURVATURE_REQUEST_BUFFER_SECONDS = 1.0
-
-
-def _packed(value, resolution, offset):
-  """Mirror Float32 carControlSP and sign-reversed CANPacker rounding."""
-  value = struct.unpack("f", struct.pack("f", value))[0]
-  return -(math.floor((-value - offset) / resolution + 0.5) * resolution + offset)
-
-
-def _finite(*values):
-  try:
-    return all(math.isfinite(value) for value in values)
-  except (TypeError, ValueError, OverflowError):
-    return False
-
-
-def encode_model_action(model, desired_curvature, speed, *, c0_time_based=False):
-  """Encode a circular-arc offset and max(7, v*1s)*selected curvature.
-
-  The arc starts at zero lateral position and heading. Original model geometry
-  remains a health gate; selected curvature supplies both path commands.
-  """
-  if not _finite(desired_curvature, speed) or not .3 <= speed <= 55 or abs(desired_curvature) > 1:
-    return FordPath()
-  try:
-    path = _model_path(model)
-  except OverflowError:
-    return FordPath()
-  if path is None or not all(_finite(*values) for values in path):
-    return FordPath()
-  # (1-cos(S*k))/k, using sinc to avoid cancellation near zero curvature.
-  distance = max(OFFSET_STATION_M, speed*HEADING_TIME_S) if c0_time_based else OFFSET_STATION_M
-  half_heading = .5*distance*desired_curvature
-  sinc = math.sin(half_heading)/half_heading if half_heading else 1.
-  c0 = .5*desired_curvature*distance**2*sinc**2
-  c1 = max(OFFSET_STATION_M, speed*HEADING_TIME_S)*desired_curvature
-  return FordPath(True, c0, c1, 0., 0.) if _finite(c0, c1) else FordPath()
-
-
-def encode_model_path(model, speed, *, c0_time_based=False):
-  """Sample lateral position and heading independently in the model's frame.
-
-  Preserve the existing distance choices and hold a short path's endpoint.
-  These preview points are trial choices, not identified Ford reference points.
-  """
-  if not _finite(speed) or not .3 <= speed <= 55:
-    return FordPath()
-  try:
-    path = _model_path(model)
-  except OverflowError:
-    return FordPath()
-  if path is None or not all(_finite(*values) for values in path):
-    return FordPath()
-  distance, _, lateral, heading = path
-  heading_distance = max(OFFSET_STATION_M, speed*HEADING_TIME_S)
-  offset_distance = heading_distance if c0_time_based else OFFSET_STATION_M
-  return FordPath(True, float(np.interp(offset_distance, distance, lateral)),
-                  float(np.interp(heading_distance, distance, heading)), 0., 0.)
-
-
-class ModelActionController:
-  """Integrated tracking error is the only accumulated correction.
-
-  Freshness, measurement cadence and driver/PSCM arbitration belong to the caller.
-  """
-  __slots__ = ('c0', 'c1', 'correction', 'proportional_gain', 'integral_gain', 'proportional', 'feedback_curvature', 'c0_time_based',
-               'c0_proportional_gain', 'offset_proportional', 'offset_proportional_linear', 'offset_reference')
-
-  def __init__(self, proportional_gain=C1_PROPORTIONAL_GAIN, integral_gain=C1_INTEGRAL_GAIN, *, c0_time_based=False,
-               c0_proportional_gain=C0_PROPORTIONAL_GAIN):
-    if not _finite(proportional_gain, integral_gain, c0_proportional_gain) or min(proportional_gain, integral_gain, c0_proportional_gain) < 0.:
-      raise ValueError('PI gains must be finite and nonnegative')
-    self.proportional_gain, self.integral_gain = float(proportional_gain), float(integral_gain)
-    self.c0_proportional_gain = float(c0_proportional_gain)
-    self.c0_time_based = bool(c0_time_based)
-    self.reset()
-
-  def reset(self):
-    self.c0 = self.c1 = self.correction = self.proportional = self.feedback_curvature = 0.
-    self.offset_proportional = self.offset_proportional_linear = 0.
-    self.offset_reference = None
-
-  def update(self, model, desired_curvature, *, current_curvature, speed, dt, active=True, valid=True,
-             feedback_dt=None, feedback_enabled=True, pscm_limited=False, feedback_curvature=None, curvature_scale=1.,
-             direct_path=False, roll=0.):
-    feedback_dt = dt if feedback_dt is None else feedback_dt
-    reference = desired_curvature if feedback_curvature is None else feedback_curvature
-    if (not active or not valid or not _finite(dt, feedback_dt, desired_curvature, current_curvature, reference, curvature_scale, roll)
-        or not .002 <= dt <= .1 or not 0. <= feedback_dt <= .15
-        or abs(desired_curvature) > 1. or abs(current_curvature) > 1. or abs(reference) > 1.):
-      self.reset()
-      return FordPath()
-    if curvature_scale <= 0.:
-      self.reset()
-      return FordPath()
-    target = (encode_model_path(model, speed, c0_time_based=self.c0_time_based) if direct_path else
-              encode_model_action(model, desired_curvature, speed, c0_time_based=self.c0_time_based))
-    if not target.valid:
-      self.reset()
-      return FordPath()
-    if direct_path:
-      # Limit the channels independently, without rebuilding C0 from C1.
-      # Normalizing C0 by distance only applies the existing curvature envelope;
-      # when unconstrained, the output is exactly the sampled model offset.
-      distance = max(OFFSET_STATION_M, speed*HEADING_TIME_S) if self.c0_time_based else OFFSET_STATION_M
-      previous = current_curvature if self.offset_reference is None else self.offset_reference
-      self.offset_reference, _ = clip_curvature(speed, previous, 2.*target.path_offset/distance**2, roll)
-      target = FordPath(True, .5*self.offset_reference*distance**2,
-                        max(OFFSET_STATION_M, speed*HEADING_TIME_S)*desired_curvature, 0., 0.)
-    else:
-      self.offset_reference = None
-    self.feedback_curvature = reference
-    error = reference-current_curvature
-    self.proportional = self.proportional_gain*max(OFFSET_STATION_M, speed*HEADING_TIME_S)*error if feedback_enabled else 0.
-    # Road-curvature error -> geometric steering error -> metres of C0.
-    # This is proportional only: nothing is accumulated or carried into a release.
-    response = C0_RESPONSE_CONSTANT+C0_RESPONSE_INVERSE_SPEED_SQUARED/max(speed, 1.34)**2
-    offset_error = error*curvature_scale/response
-    self.offset_proportional_linear = self.c0_proportional_gain*error*curvature_scale/response if feedback_enabled else 0.
-    self.offset_proportional = self.offset_proportional_linear
-    if not _finite(self.proportional, self.offset_proportional):
-      self.reset()
-      return FordPath()
-    if feedback_enabled and not direct_path:
-      # Unlike blending gains back to 1, this never introduces a slope above the
-      # original gain. Large corrections lose only a bounded amount, not a fraction.
-      self.offset_proportional -= self.c0_proportional_gain*(1.-C0_SMALL_ERROR_GAIN)*C0_SMALL_ERROR_SCALE_M*math.tanh(
-        offset_error/C0_SMALL_ERROR_SCALE_M)
-    base = float(np.clip(target.path_angle, -.5, .5))
-    offset = float(np.clip(target.path_offset+OFFSET_STATION_M*(target.path_angle-base), -5.11, 5.11))
-    self.c0 = float(np.clip(offset+self.offset_proportional, -5.11, 5.11))
-    if feedback_enabled:
-      increment = self.integral_gain*error*speed*feedback_dt
-      if not _finite(increment):
-        self.reset()
-        return FordPath()
-      direction = current_curvature if current_curvature else self.c1
-      if pscm_limited and increment*direction > 0.:
-        increment = float(np.clip(increment, min(-self.correction, 0.), max(-self.correction, 0.)))
-      # Retire existing I before limiting new accumulation; never cross zero
-      # through this step. New I is bounded by the combined command's range.
-      relief = float(np.clip(increment, min(-self.correction, 0.), max(-self.correction, 0.)))
-      self.correction += relief
-      increment -= relief
-      request = base+self.proportional+self.correction
-      self.correction += float(np.clip(increment, min(-.5-request, 0.), max(.5-request, 0.)))
-    else:
-      self.correction = 0.
-    self.c1 = float(np.clip(base+self.proportional+self.correction, -.5, .5))
-    return FordPath(True, _packed(self.c0, .01, -5.12), _packed(self.c1, .0005, -.5), 0., 0.)
-
-
-class FordModelActionController:
-  """Input adapter for the opt-in selected-action controller.
-
-  controlsd owns upstream selection/limiting and service health. This adapter
-  checks ages and clock order, then supplies elapsed time to the core.
-  Base commands use the latest request. Like comma's torque controller, feedback
-  uses a one-second request buffer indexed by lateralDelay at the 100 Hz control
-  cadence. Only integration waits for fresh steering measurements.
-
-  CAN yaw remains a health gate, not the feedback measurement. Ford's filtered
-  steeringPressed and fresh PSCM driver overrides clear the correction.
-  Fresh PSCM limits only inhibit outward integration;
-  neither a limit nor a repeated measurement freezes the model request.
-  """
-  def __init__(self, proportional_gain=C1_PROPORTIONAL_GAIN, integral_gain=C1_INTEGRAL_GAIN, *, c0_time_based=False,
-               c0_proportional_gain=None, direct_path=False):
-    if c0_proportional_gain is None:
-      c0_proportional_gain = DIRECT_PATH_C0_PROPORTIONAL_GAIN if direct_path else C0_PROPORTIONAL_GAIN
-    self.core = ModelActionController(proportional_gain=proportional_gain, integral_gain=integral_gain, c0_time_based=c0_time_based,
-                                      c0_proportional_gain=c0_proportional_gain)
-    self.direct_path = bool(direct_path)
-    self.request_buffer_size = int(CURVATURE_REQUEST_BUFFER_SECONDS / DT_CTRL)
-    self.request_buffer = deque([0.] * self.request_buffer_size, maxlen=self.request_buffer_size)
-    self.hypothesis = ('model-path-direct-feedback-v22-soft-c0' if self.direct_path else
-                       'model-action-curvature-c0-feedback-v22-soft-c0')
-    self.reset()
-
-  def path_curvature(self, model, speed):
-    """Heading-equivalent feedback target; controlsd limits and logs this value."""
-    target = encode_model_path(model, speed, c0_time_based=self.core.c0_time_based)
-    return target.path_angle/max(OFFSET_STATION_M, speed*HEADING_TIME_S) if target.valid else 0.
-
-  def set_c0_time_based(self, enabled, *, lateral_engaged):
-    """Apply a distance change only after lateral assistance is disengaged."""
-    if lateral_engaged or self.core.c0_time_based == bool(enabled):
-      return False
-    self.core.c0_time_based = bool(enabled)
-    self.reset('c0_distance_changed')
-    return True
-
-  def reset(self, status='inactive'):
-    self.core.reset()
-    if status != 'inactive':
-      self.request_buffer = deque([0.] * self.request_buffer_size, maxlen=self.request_buffer_size)
-    self.last_time = self.last_measurement_time = self.last_model_time = None
-    self.diagnostics = {'status': status, 'hypothesis': self.hypothesis,
-                        'c0_time_based': self.core.c0_time_based,
-                        'calibration_approved': CALIBRATION_APPROVED, 'command': (0., 0., 0., 0.)}
-
-  def update(self, model, desired_curvature, *, current_curvature, yaw_rate, speed, now, measurement_time, model_time,
-             reference_time, active, valid=True, driver_pressed=False, driver_torque=0., pscm_status=None,
-             feedback_curvature=None, curvature_scale=1., reference_source='modelV2', roll=0., lat_delay=0.):
-    # Record on every control cycle, including disengagement, as upstream does.
-    # This buffer changes feedback only; it never queues the outgoing base path.
-    feedback_delay = 0.
-    if _finite(desired_curvature, lat_delay) and abs(desired_curvature) <= 1.:
-      self.request_buffer.append(desired_curvature)
-      delay_frames = int(np.clip(lat_delay / DT_CTRL + 1, 1, self.request_buffer_size))
-      if feedback_curvature is None:
-        feedback_curvature = self.request_buffer[-delay_frames]
-        feedback_delay = (delay_frames - 1) * DT_CTRL
-    reason = None
-    if not active:
-      reason = 'inactive'
-    elif not valid:
-      reason = 'invalid_service'
-    elif not _finite(desired_curvature, current_curvature, yaw_rate, speed, now, measurement_time, model_time, reference_time, lat_delay):
-      reason = 'nonfinite'
-    elif not all(-.005 <= now - timestamp <= .15 for timestamp in (measurement_time, model_time, reference_time)):
-      reason = 'stale_input'
-    elif not .3 <= speed <= 55 or abs(yaw_rate) > 3 or abs(desired_curvature) > 1 or abs(current_curvature) > 1:
-      reason = 'input_range'
-    if reason is not None:
-      self.reset(reason)
-      return FordPath()
-
-    dt = .01 if self.last_time is None else now - self.last_time
-    feedback_dt = 0. if self.last_measurement_time is None else measurement_time-self.last_measurement_time
-    if not .002 <= dt <= .1 or not 0. <= feedback_dt <= .15 or (
-      self.last_model_time is not None and model_time < self.last_model_time
-    ):
-      self.reset('timing_reset')
-      return FordPath()
-    status_fresh = (pscm_status is not None and pscm_status.valid and pscm_status.canMonoTime > 0
-                    and -.005 <= now-pscm_status.canMonoTime*1e-9 <= .15)
-    pscm_limited = bool(status_fresh and pscm_status.limit == 2)
-    # CarState already filters Ford's torque threshold into steeringPressed.
-    # Rechecking raw torque here bypasses that filter and abruptly clears P/I.
-    driver_override = bool(driver_pressed or not _finite(driver_torque)
-                           or (status_fresh and pscm_status.limit == 3))
-    feedback_enabled = not (driver_override or (status_fresh and (pscm_status.denied or pscm_status.lateralState != 2)))
-    direct_path = self.direct_path and reference_source == 'modelV2'
-    command = self.core.update(model, desired_curvature, current_curvature=current_curvature, speed=speed, dt=dt,
-                               feedback_dt=feedback_dt, feedback_enabled=feedback_enabled, pscm_limited=pscm_limited,
-                               feedback_curvature=feedback_curvature, curvature_scale=curvature_scale, direct_path=direct_path, roll=roll)
-    if not command.valid:
-      self.reset('invalid_path')
-      return command
-    self.last_time, self.last_measurement_time, self.last_model_time = now, measurement_time, model_time
-    raw_heading = max(OFFSET_STATION_M, speed*HEADING_TIME_S)*desired_curvature
-    base_heading = float(np.clip(raw_heading, -.5, .5))
-    self.diagnostics = {'status': 'active', 'hypothesis': self.hypothesis,
-                        'direct_path': direct_path, 'offset_reference': self.core.offset_reference,
-                        'c0_time_based': self.core.c0_time_based,
-                        'offset_distance': max(OFFSET_STATION_M, speed*HEADING_TIME_S) if self.core.c0_time_based else OFFSET_STATION_M,
-                        'calibration_approved': CALIBRATION_APPROVED, 'desired_curvature': desired_curvature,
-                        'model_age': now - model_time, 'measurement_age': now - measurement_time, 'reference_age': now - reference_time,
-                        'dt': dt, 'offset_request': self.core.c0, 'heading_request': self.core.c1,
-                        'curvature_error': desired_curvature-current_curvature, 'feedback_dt': feedback_dt,
-                        'feedback_delay_requested': lat_delay, 'feedback_delay': feedback_delay,
-                        'heading_feedforward': base_heading,
-                        'offset_overflow': OFFSET_STATION_M*(raw_heading-base_heading),
-                        'offset_proportional': self.core.offset_proportional, 'c0_proportional_gain': self.core.c0_proportional_gain,
-                        'offset_proportional_linear': self.core.offset_proportional_linear,
-                        'curvature_scale': curvature_scale,
-                        'heading_correction': self.core.correction, 'feedback_enabled': feedback_enabled,
-                        'heading_proportional': self.core.proportional, 'proportional_gain': self.core.proportional_gain,
-                        'integral_gain': self.core.integral_gain, 'feedback_curvature': self.core.feedback_curvature,
-                        'feedback_error': self.core.feedback_curvature-current_curvature,
-                        'driver_override': driver_override, 'pscm_limited': pscm_limited, 'pscm_status_fresh': bool(status_fresh),
-                        'command': (command.path_offset, command.path_angle, 0., 0.)}
-    return command
-
-
-def select_model_action_controller(CP, enabled, *, c0_time_based=False, direct_path=False):
-  """Only opt-in Ford CAN FD vehicles override upstream curvature control."""
-  compatible = CP.brand == 'ford' and CP.flags & FordFlags.CANFD
-  if enabled and compatible:
-    return FordModelActionController(proportional_gain=C1_PROPORTIONAL_GAIN, integral_gain=C1_INTEGRAL_GAIN,
-                                     c0_time_based=c0_time_based, direct_path=direct_path)
-  return None

openpilot/selfdrive/controls/lib/ford_path.py

@@ -1,368 +0,0 @@
-from collections import deque
-from dataclasses import dataclass
-import math
-
-import numpy as np
-
-from opendbc.car.ford.values import CarControllerParams
-
-
-DBC_OFFSET = (-5.12, 5.11)
-DBC_ANGLE = (-0.5, 0.5235)
-DBC_CURVATURE = (-0.02, 0.02)
-DBC_CURVATURE_RATE = (-0.001024, 0.001023)
-
-DBC_OFFSET_RESOLUTION = 0.01
-DBC_ANGLE_RESOLUTION = 0.0005
-DBC_CURVATURE_RESOLUTION = 0.00002
-DBC_CURVATURE_RATE_RESOLUTION = 0.000001
-_PATH_MIN_LOOKAHEAD = 7.0
-_POSE_PREDICTION_TIME = 0.1
-_POSE_BLEND_CURVATURE = (0.006, 0.012)
-_PATH_OFFSET_RATE = 4.0
-_PATH_ANGLE_RATE = 1.0
-
-_PSCM_DT = 0.004
-_PSCM_C0_RATE = 1.5
-_PSCM_C1_RATE = 0.100006103515625
-_PSCM_C2_RATE = 0.0030059814453125
-_PSCM_SPEED_KPH = (0.0, 15.0, 40.0, 70.0, 100.0, 150.0, 200.0, 250.0)
-_PSCM_SPEED_GAIN = (32.0, 32.0, 32.0, 30.0, 30.0, 24.0, 12.0, 0.0)
-_PSCM_C0_EFFECTIVE_LIMIT = 1.0
-_PSCM_C1_EFFECTIVE_LIMIT = 0.349609375 / 10.0
-
-
-@dataclass(frozen=True)
-class FordPath:
-  valid: bool = False
-  path_offset: float = 0.0
-  path_angle: float = 0.0
-  curvature: float = 0.0
-  curvature_rate: float = 0.0
-
-
-@dataclass(frozen=True)
-class FordPscmState:
-  path_offset: float = 0.0
-  path_angle: float = 0.0
-  curvature: float = 0.0
-
-
-@dataclass(frozen=True)
-class FordModelPose:
-  path_offset: float
-  path_angle: float
-  offset_horizon: float
-  curvature_demand: float
-  forward_angle: float
-
-
-def _finite(value: float) -> float:
-  return float(value) if math.isfinite(value) else 0.0
-
-
-def _sample(distance: float, distances: list[float], values: list[float]) -> float:
-  return float(np.interp(distance, distances, values))
-
-
-def _blend_share(demand: float) -> float:
-  lower, upper = _POSE_BLEND_CURVATURE
-  return float(np.clip((demand - lower) / (upper - lower), 0.0, 1.0))
-
-
-def _model_path(model) -> tuple[list[float], list[float], list[float], list[float]] | None:
-  try:
-    x = [float(value) for value in model.position.x]
-    y = [float(value) for value in model.position.y]
-    heading = [float(value) for value in model.orientation.z]
-  except (AttributeError, TypeError, ValueError):
-    return None
-  if len(x) < 2 or len(x) != len(y) or len(x) != len(heading):
-    return None
-  if not all(math.isfinite(value) for values in (x, y, heading) for value in values):
-    return None
-
-  distance = [0.0]
-  for i in range(1, len(x)):
-    distance.append(distance[-1] + math.hypot(x[i] - x[i - 1], y[i] - y[i - 1]))
-  if distance[-1] <= 0.0:
-    return None
-
-  unwrapped_heading = [heading[0]]
-  for value in heading[1:]:
-    delta = (value - unwrapped_heading[-1] + math.pi) % (2.0 * math.pi) - math.pi
-    unwrapped_heading.append(unwrapped_heading[-1] + delta)
-  return distance, x, y, unwrapped_heading
-
-
-def _predicted_pose(distance: float, current_curvature: float,
-                    curvature_delta: float) -> tuple[float, float, float]:
-  curvature = current_curvature + 0.5 * curvature_delta
-  heading = curvature * distance
-  if abs(curvature) < 1e-9:
-    return distance, 0.0, 0.0
-  return math.sin(heading) / curvature, (1.0 - math.cos(heading)) / curvature, heading
-
-
-def _relative_pose(target_distance: float, path: tuple[list[float], list[float], list[float], list[float]],
-                   vehicle_pose: tuple[float, float, float]) -> tuple[float, float]:
-  distance, x, y, heading = path
-  vehicle_x, vehicle_y, vehicle_heading = vehicle_pose
-  dx = _sample(target_distance, distance, x) - vehicle_x
-  dy = _sample(target_distance, distance, y) - vehicle_y
-  cosine = math.cos(vehicle_heading)
-  sine = math.sin(vehicle_heading)
-  offset = -sine * dx + cosine * dy
-  angle = math.atan2(math.sin(_sample(target_distance, distance, heading) - vehicle_heading),
-                     math.cos(_sample(target_distance, distance, heading) - vehicle_heading))
-  return offset, angle
-
-
-def _path_pose(target_distance: float,
-               path: tuple[list[float], list[float], list[float], list[float]]) -> tuple[float, float, float]:
-  distance, x, y, heading = path
-  return (_sample(target_distance, distance, x), _sample(target_distance, distance, y),
-          _sample(target_distance, distance, heading))
-
-
-def _bounded_feedback(feedforward: float, feedback: float, resolution: float, zero_path_limit: float) -> float:
-  quantization_threshold = 0.5 * resolution
-  limit = max(abs(feedforward) - resolution, 0.0) if abs(feedforward) >= quantization_threshold else zero_path_limit
-  return float(np.clip(feedback, -limit, limit))
-
-
-def _model_pose(path: tuple[list[float], list[float], list[float], list[float]],
-                current_curvature: float, curvature_delta: float, v_ego: float) -> FordModelPose:
-  distance, _, _, _ = path
-  advance = min(v_ego * _POSE_PREDICTION_TIME, distance[-1])
-  offset_horizon = min(_PATH_MIN_LOOKAHEAD, distance[-1] - advance)
-  angle_horizon = min(max(v_ego, _PATH_MIN_LOOKAHEAD), distance[-1] - advance)
-
-  # Keep the model's remaining path as feedforward. Measured vehicle motion is
-  # a separate, short delay-aligned correction, so catching the requested
-  # curvature cannot erase a turn that is still present in the model path.
-  model_pose = _path_pose(advance, path)
-  model_offset, _ = _relative_pose(advance + offset_horizon, path, model_pose)
-  _, model_angle = _relative_pose(advance + angle_horizon, path, model_pose)
-  vehicle_pose = _predicted_pose(advance, current_curvature, curvature_delta)
-  feedback_offset, feedback_angle = _relative_pose(advance, path, vehicle_pose)
-  gentle_curvature = _POSE_BLEND_CURVATURE[0]
-  feedback_offset = _bounded_feedback(model_offset, feedback_offset, DBC_OFFSET_RESOLUTION,
-                                       0.5 * gentle_curvature * advance ** 2)
-  feedback_angle = _bounded_feedback(model_angle, feedback_angle, DBC_ANGLE_RESOLUTION,
-                                      gentle_curvature * advance)
-
-  offset_curvature = 2.0 * model_offset / max(offset_horizon, 1e-3) ** 2
-  angle_curvature = model_angle / max(angle_horizon, 1e-3)
-  return FordModelPose(model_offset + feedback_offset, model_angle + feedback_angle, offset_horizon,
-                       max(abs(offset_curvature), abs(angle_curvature)), model_angle)
-
-
-def _encode_pose(pose: FordModelPose, pose_share: float, curvature: float) -> FordPath:
-  path_offset = pose_share * pose.path_offset
-  path_angle = pose_share * pose.path_angle
-  if abs(path_offset) < 0.5 * DBC_OFFSET_RESOLUTION:
-    path_offset = 0.0
-  if abs(path_angle) < 0.5 * DBC_ANGLE_RESOLUTION:
-    path_angle = 0.0
-  limited_path_angle = float(np.clip(path_angle, *DBC_ANGLE))
-  path_offset += (path_angle - limited_path_angle) * pose.offset_horizon
-  return FordPath(
-    valid=True,
-    path_offset=float(np.clip(path_offset, *DBC_OFFSET)),
-    path_angle=limited_path_angle,
-    curvature=float(np.clip(curvature, *DBC_CURVATURE)),
-    curvature_rate=0.0,
-  )
-
-
-def _encode_path(path: tuple[list[float], list[float], list[float], list[float]], desired_curvature: float,
-                 current_curvature: float, curvature_delta: float, v_ego: float) -> FordPath:
-  pose = _model_pose(path, current_curvature, curvature_delta, v_ego)
-  pose_share = _blend_share(max(pose.curvature_demand, abs(desired_curvature)))
-
-  # Match upstream's C2-only normal driving, then continuously transfer the
-  # command to the model pose for larger maneuvers. An opposing/finished model
-  # path must unload sticky C2 and retain the fast pose needed to unwind it.
-  c2_opposes_path = desired_curvature != 0.0 and desired_curvature * pose.forward_angle <= 0.0
-  if c2_opposes_path:
-    pose_share = 1.0
-    curvature = 0.0
-  else:
-    curvature = desired_curvature * (1.0 - pose_share)
-
-  return _encode_pose(pose, pose_share, curvature)
-
-
-class FordPathController:
-  """Blend normal C2 following into the model's forward C0/C1 pose."""
-
-  def __init__(self, dt: float = 0.01):
-    self.dt = dt
-    self._last_path = FordPath(valid=True)
-    self._curvature_history = deque(maxlen=max(round(_POSE_PREDICTION_TIME / dt) + 1, 2))
-
-  def _limit(self, target: FordPath) -> FordPath:
-    offset_delta = target.path_offset - self._last_path.path_offset
-    angle_delta = target.path_angle - self._last_path.path_angle
-    scale = min(
-      1.0,
-      _PATH_OFFSET_RATE * self.dt / abs(offset_delta) if offset_delta else 1.0,
-      _PATH_ANGLE_RATE * self.dt / abs(angle_delta) if angle_delta else 1.0,
-    )
-    self._last_path = FordPath(
-      True,
-      self._last_path.path_offset + scale * offset_delta,
-      self._last_path.path_angle + scale * angle_delta,
-      self._last_path.curvature + scale * (target.curvature - self._last_path.curvature),
-      0.0,
-    )
-    return self._last_path
-
-  def update(self, model, desired_curvature: float, *, current_curvature: float = 0.0,
-             v_ego: float = 0.0, active: bool = True) -> FordPath:
-    if not active:
-      self._last_path = FordPath(valid=True)
-      self._curvature_history.clear()
-      return FordPath()
-    current_curvature = _finite(current_curvature)
-    self._curvature_history.append(current_curvature)
-    curvature_delta = (current_curvature - self._curvature_history[0]
-                       if len(self._curvature_history) == self._curvature_history.maxlen else 0.0)
-    path = _model_path(model) if model is not None else None
-    if path is None:
-      return self._limit(FordPath(valid=True))
-    return self._limit(_encode_path(path, _finite(desired_curvature), current_curvature, curvature_delta,
-                                    max(_finite(v_ego), 0.0)))
-
-
-def _pscm_slew(value: float, target: float, rate: float, ticks: int) -> float:
-  step = rate * _PSCM_DT * ticks
-  return float(np.clip(target, value - step, value + step))
-
-
-def _pscm_speed_gain(v_ego: float) -> float:
-  return float(np.interp(max(v_ego, 0.0) * 3.6, _PSCM_SPEED_KPH, _PSCM_SPEED_GAIN))
-
-
-def _wire_path(path: FordPath) -> FordPath:
-  return FordPath(
-    valid=path.valid,
-    path_offset=round(path.path_offset / DBC_OFFSET_RESOLUTION) * DBC_OFFSET_RESOLUTION,
-    path_angle=round(path.path_angle / DBC_ANGLE_RESOLUTION) * DBC_ANGLE_RESOLUTION,
-    curvature=round(path.curvature / DBC_CURVATURE_RESOLUTION) * DBC_CURVATURE_RESOLUTION,
-    curvature_rate=round(path.curvature_rate / DBC_CURVATURE_RATE_RESOLUTION) * DBC_CURVATURE_RATE_RESOLUTION,
-  )
-
-
-def _pscm_contributions(state: FordPscmState, v_ego: float) -> tuple[float, float, float]:
-  gain = _pscm_speed_gain(v_ego)
-  return (
-    float(np.clip(0.5 * gain * state.path_offset, -0.5 * gain, 0.5 * gain)),
-    float(np.clip(10.0 * gain * state.path_angle, -0.349609375 * gain, 0.349609375 * gain)),
-    float(np.clip(0.30078125 * gain * state.curvature * v_ego ** 2, -0.5 * gain, 0.5 * gain)),
-  )
-
-
-class FordPscmObserver:
-  """Mirror the firmware's held-command coefficient states at its 250 Hz step."""
-
-  def __init__(self):
-    self.state = FordPscmState()
-    self.command = FordPath(valid=True)
-    self._phase = 0.0
-
-  def reset(self) -> None:
-    self.state = FordPscmState()
-    self.command = FordPath(valid=True)
-    self._phase = 0.0
-
-  def advance(self, elapsed: float) -> None:
-    self._phase += max(elapsed, 0.0)
-    ticks = int((self._phase + 1e-12) / _PSCM_DT)
-    self._phase -= ticks * _PSCM_DT
-    if ticks == 0:
-      return
-    self.state = FordPscmState(
-      _pscm_slew(self.state.path_offset, self.command.path_offset, _PSCM_C0_RATE, ticks),
-      _pscm_slew(self.state.path_angle, self.command.path_angle, _PSCM_C1_RATE, ticks),
-      _pscm_slew(self.state.curvature, self.command.curvature + 10.0 * self.command.curvature_rate,
-                  _PSCM_C2_RATE, ticks),
-    )
-
-  def set_command(self, command: FordPath) -> None:
-    self.command = _wire_path(command)
-
-
-class FordPscmObserverPathController:
-  """Compensate model-path commands for the PSCM coefficient state it still carries."""
-
-  def __init__(self, dt: float = 0.01):
-    self.dt = dt
-    self._last_path = FordPath(valid=True)
-    self._curvature_history = deque(maxlen=max(round(_POSE_PREDICTION_TIME / dt) + 1, 2))
-    self.observer = FordPscmObserver()
-    self._sent_c2 = 0.0
-
-  def _reset(self) -> None:
-    self._last_path = FordPath(valid=True)
-    self._curvature_history.clear()
-    self.observer.reset()
-    self._sent_c2 = 0.0
-
-  def _command_for_state(self, target: FordPath, v_ego: float) -> FordPath:
-    # The target describes the desired fully-settled PSCM contribution. C0 keeps
-    # the remaining C1-saturated residual. C1 supplies the primary contribution
-    # that the known slow C2 state does not yet provide, without a guessed gain.
-    target_state = FordPscmState(target.path_offset, target.path_angle, target.curvature)
-    target_contribution = sum(_pscm_contributions(target_state, v_ego))
-    _, _, observed_c2 = _pscm_contributions(self.observer.state, v_ego)
-    gain = _pscm_speed_gain(v_ego)
-    required_fast = target_contribution - observed_c2
-    c1_contribution = float(np.clip(required_fast, -0.349609375 * gain, 0.349609375 * gain))
-    c0_contribution = required_fast - c1_contribution
-    path_offset = c0_contribution / (0.5 * gain) if gain > 0.0 else 0.0
-    path_angle = c1_contribution / (10.0 * gain) if gain > 0.0 else 0.0
-    return FordPath(
-      valid=True,
-      path_offset=float(np.clip(path_offset, -_PSCM_C0_EFFECTIVE_LIMIT, _PSCM_C0_EFFECTIVE_LIMIT)),
-      path_angle=float(np.clip(path_angle, -_PSCM_C1_EFFECTIVE_LIMIT, _PSCM_C1_EFFECTIVE_LIMIT)),
-      curvature=target.curvature,
-      curvature_rate=target.curvature_rate,
-    )
-
-  def _limit(self, target: FordPath, v_ego_raw: float) -> FordPath:
-    path_offset = float(np.clip(target.path_offset,
-                                self._last_path.path_offset - _PATH_OFFSET_RATE * self.dt,
-                                self._last_path.path_offset + _PATH_OFFSET_RATE * self.dt))
-    path_angle = float(np.clip(target.path_angle,
-                               self._last_path.path_angle - _PATH_ANGLE_RATE * self.dt,
-                               self._last_path.path_angle + _PATH_ANGLE_RATE * self.dt))
-    curvature = CarControllerParams.CURVATURE_LIMITS.apply_limits(
-      target.curvature, self._sent_c2, v_ego_raw, 0.0, True, CarControllerParams.LMC2_STEP,
-    )
-    self._sent_c2 = curvature
-    self._last_path = FordPath(True, path_offset, path_angle, curvature, target.curvature_rate)
-    self.observer.set_command(self._last_path)
-    return self._last_path
-
-  def update(self, model, desired_curvature: float, *, current_curvature: float = 0.0,
-             v_ego: float = 0.0, v_ego_raw: float = 0.0, active: bool = True) -> FordPath:
-    if not active:
-      self._reset()
-      return FordPath()
-
-    self.observer.advance(self.dt)
-    current_curvature = _finite(current_curvature)
-    self._curvature_history.append(current_curvature)
-    curvature_delta = (current_curvature - self._curvature_history[0]
-                       if len(self._curvature_history) == self._curvature_history.maxlen else 0.0)
-    path = _model_path(model) if model is not None else None
-    if path is None:
-      target = FordPath(valid=True)
-    else:
-      target = _encode_path(path, _finite(desired_curvature), current_curvature, curvature_delta,
-                            max(_finite(v_ego), 0.0))
-    v_ego_raw = max(_finite(v_ego_raw), 0.0)
-    command = self._command_for_state(target, v_ego_raw)
-    return self._limit(command, v_ego_raw)

openpilot/selfdrive/controls/tests/fixtures/ford_c2_free_path_routes.json

@@ -1,229 +0,0 @@
-{
-  "description": "Curvature-driven C0 and full-heading C1 command regression; does not predict counterfactual wheel response. Contains geometry and control signals only, no GPS.",
-  "fixture_sha256": "12782ac1b0d0637945f729a46ad03af16cd58188872b6a65f104e32c4db70e9b",
-  "episodes": [
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-      ],
-      "evidence_seconds": [
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-        814.0
-      ],
-      "samples": 532
-    },
-    {
-      "name": "right_large",
-      "route": "84865544361f55cb_00000077--4b55791ce6",
-      "range_seconds": [
-        866.5,
-        872.0
-      ],
-      "evidence_seconds": [
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-        871.0
-      ],
-      "samples": 547
-    },
-    {
-      "name": "left_very_large",
-      "route": "84865544361f55cb_00000077--4b55791ce6",
-      "range_seconds": [
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-        884.0
-      ],
-      "evidence_seconds": [
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-      "samples": 397
-    },
-    {
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-      "route": "84865544361f55cb_00000077--4b55791ce6",
-      "range_seconds": [
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-      ],
-      "evidence_seconds": [
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-      ],
-      "samples": 583
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-      "range_seconds": [
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-      ],
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-      ],
-      "samples": 795
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-      ],
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-        125.3
-      ],
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-      "samples": 576
-    }
-  ],
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-  },
-  "pairing": "controlsState cycle time; causal carState speed/yaw/pressed; exact consumed model timestamp and geometry; nearest same-cycle carControl and carControlSP within 5ms.",
-  "yaw_rate": "Negative carState.yawRate, matching the model/control curvature coordinate sign; no wheel-to-curvature conversion.",
-  "desired_curvature": "Exact controlsState.desiredCurvature from the matching controlsState cycle. This is the post-selection, post-limiting request consumed by controlsd; it is not a wheel-angle-to-curvature fit.",
-  "reference_time": "Exact consumed modelV2 publication time, in the same relative seconds as each episode. The extraction cache does not retain consumed lateralManeuverPlan timestamps or validity; model time is an explicit replay assumption and cannot verify alternate-reference freshness."
-}

openpilot/selfdrive/controls/tests/fixtures/ford_curvature_heading_route80.json

@@ -1,67 +0,0 @@
-{
-  "description": "Real route80 turn-command regressions. Signal-only fixture; no GPS. Counterfactual commands do not predict physical vehicle response.",
-  "route": "84865544361f55cb_00000080--1643deea7e",
-  "source_commit": "98662df401217a00ec9fc8e73b16857b6c220150",
-  "frozen_v3_controller_sha256": "576f4ec6f2dbc93f7e6c93a69839f69447eb5a0c2f834bd48b24f84a163dc2eb",
-  "fixture_sha256": "c1460e2cf1d3fd52b1a036d923fec7835a7d361126ee0c2decbc3f101ee6653c",
-  "episodes": [
-    {
-      "name": "under_333_339",
-      "range_seconds": [
-        331.5,
-        339.0
-      ],
-      "evidence_seconds": [
-        333.0,
-        339.0
-      ],
-      "samples": 745
-    },
-    {
-      "name": "over_417_420",
-      "range_seconds": [
-        415.5,
-        420.0
-      ],
-      "evidence_seconds": [
-        417.0,
-        420.0
-      ],
-      "samples": 447
-    },
-    {
-      "name": "under_430_435",
-      "range_seconds": [
-        428.5,
-        435.0
-      ],
-      "evidence_seconds": [
-        430.0,
-        435.0
-      ],
-      "samples": 646
-    }
-  ],
-  "sources": [
-    {
-      "name": "84865544361f55cb_00000080--1643deea7e--5--rlog.zst",
-      "bytes": 12531711,
-      "sha256": "059482830794cb0eabe6069b75a9610b900bf2a93d7a6624f53c575cef997157"
-    },
-    {
-      "name": "84865544361f55cb_00000080--1643deea7e--6--rlog.zst",
-      "bytes": 12560505,
-      "sha256": "147276789f5b14913adc4cd16db18f3d4bd27ce8497c9ff96fdf0315c219339f"
-    },
-    {
-      "name": "84865544361f55cb_00000080--1643deea7e--7--rlog.zst",
-      "bytes": 12660797,
-      "sha256": "b311b6ace75819db52b9618154d68c7d12e2751d5046b6d174adb89ef87a223c"
-    }
-  ],
-  "pairing": "Exact controlsState desiredCurvature and consumed model publication timestamp; causal carState speed, negative CAN yaw, and steeringPressed; nearest same-cycle carControl/carControlSP within 5 ms.",
-  "reference_time": "Consumed modelV2 publication time. Controller audit confirms route80 used modelV2 as reference throughout.",
-  "preroll": "Each episode starts from reset 1.5 s before evidence; v3_replay stores those exact cold-start commands and gates, while recorded stores original live path fields.",
-  "benchmark_clean": "Existing route80 benchmark mask: whole interval request minus 0.5 s through response (0.2 s) plus 0.25 s active, unpressed, valid, fresh, and speed >= 2 m/s.",
-  "expected_common_c1": "Independent shadow: clip(desiredCurvature * max(7 m, vEgo * 1 s), +/-0.5 rad), independently slewed at 0.5 rad/s and packed to Float32/sign-reversed CAN semantics. No subtraction of measured curvature."
-}

openpilot/selfdrive/controls/tests/fixtures/ford_heading_feedback_route80_status.json

@@ -1,13 +0,0 @@
-{
-  "description": "PSCM status and raw driver-torque overlay for the existing three route80 request windows. No GPS. No counterfactual vehicle response.",
-  "fixture_sha256": "a9defdc5abdf26724358d606beb16becbdf30faa972974d49b179a9e004d7629",
-  "base_fixture": "ford_curvature_heading_route80.npz",
-  "base_fixture_sha256": "c1460e2cf1d3fd52b1a036d923fec7835a7d361126ee0c2decbc3f101ee6653c",
-  "source_route": "84865544361f55cb_00000080--1643deea7e",
-  "source_commit": "98662df401217a00ec9fc8e73b16857b6c220150",
-  "samples": 1838,
-  "source_cache_sha256": "1cd3e0c00805869ace1c5954dc682644f36f5eddb71785b69e4cb9da40f7f04f",
-  "pairing": "Latest actual bus-0 EPS 972 frame at or before each controlsState cycle; raw steering torque from the exact causal carState used by the base fixture.",
-  "timestamp_policy": "Actual CAN event logMonoTime in route-relative seconds, not the benchmark response-shifted status. The old route predates the new carStateSP status telemetry; source CAN timestamps are an explicit replay approximation.",
-  "validity": "Replay validity uses the paired carState valid and canValid values; enum validity, availability and age are checked by the production feedback controller."
-}