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Isaac Barham
5fbb583e59
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.