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hiimisaac-dev
sunnypilot/docs/ford_c1_feedback_validation.json
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Isaac Barham 5fbb583e59 Ford: add measured-curvature feedback to C1 
Add a distance-integrated steering-curvature correction to the restored v1
heading request. Hold the correction at zero error, allow unwind at limits,
and clear it for driver override or inactive PSCM control. Preserve C0,
C2=C3=0, final output limits, the 100 Hz sender and the existing opt-in toggle.

Validate build/hold/unwind, measurement cadence, anti-windup and the actual
controlsd-to-CAN path. The combined suite passes 511 tests and 9,146 subtests;
178 inherited or unsupported safety variants skip. Stress and frozen b8
replay pass 578,569 Float32/CAN round trips. These checks do not establish
physical tracking or stability. Record reproduction steps and source hashes.
2026-09-09 10:46:41 -04:00

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{
"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": {
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"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": [
{
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"old_c0_c1": [
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],
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],
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{
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],
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},
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],
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],
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0.1345
],
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"feedback_enabled": true,
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},
{
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"old_c0_c1": [
2.62,
0.5
],
"candidate_c0_c1": [
2.62,
0.5
],
"correction_rad": 0.0,
"feedback_enabled": true,
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]
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"route_input_sha256": {
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},
"feedback_stress": {
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"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"
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"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": "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": {
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"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"
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"tools/ford_pscm_lab/feedback_replay.py": "ca552217953f3cce35da0b1666252fd43b6f8ab6c067e5c9102da8ea8d97c2f3",
"tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f",
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},
"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."
]
}
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