mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-30 17:03:41 +08:00
Isaac Barham
01f5d54292
Sample position and orientation at the existing distance stations, retain measured-steering feedback against the path heading, and apply request limits independently to C0 and C1. Reuse the geometry toggle with upstream and maneuver fallback unchanged. Defer the untested raw-torque filtering change so this trial compares against the driven baseline. Validate with 593 tests and paired full-route replays; no physical tracking improvement is claimed.
155 lines
5.3 KiB
JSON
155 lines
5.3 KiB
JSON
{
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"15a": {
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"cycles": 21867,
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"wire_checks": 2187,
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"baseline_recorded_error_p50_p95_p99_max": {
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"c0": [
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4.172324707951702e-09,
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5.2452087118126656e-08,
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8.583068833445395e-08,
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1.1444091807533141e-07
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],
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"c1": [
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8.791685157660822e-10,
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1.1682510403510094e-08,
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1.4305114759416426e-08,
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1.478195188475695e-08
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]
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},
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"latched_angle_match_fraction": 1.0,
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"command_changes": {
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"c0": [
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0.2799999999999998,
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1.3800000000000003,
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1.8000000000000007,
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2.51
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],
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"c1": [
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0.01749999999999996,
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0.124,
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0.2940450000000001,
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0.45200000000000007
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]
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},
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"reference_change_p50_p95_max": [
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0.0015834828704371431,
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0.012526763883651669,
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0.03905121179470369
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],
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"variants": {
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"old": {
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"feedback_switches_active": 112,
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"feedback_switches_low_speed": 61,
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"low_speed_c0_steps_over_025m": 52,
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"low_speed_c1_steps_over_005rad": 36,
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"low_speed_step_p99": {
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"c0": 0.4996000000000004,
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"c1": 0.05668000000000003
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},
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"c0_bound_active_s": 0.0,
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"c1_bound_active_s": 2.5702606670000137
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},
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"new": {
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"feedback_switches_active": 112,
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"feedback_switches_low_speed": 61,
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"low_speed_c0_steps_over_025m": 52,
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"low_speed_c1_steps_over_005rad": 46,
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"low_speed_step_p99": {
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"c0": 0.8499999999999996,
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"c1": 0.08540000000000011
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},
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"c0_bound_active_s": 0.0,
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"c1_bound_active_s": 6.774772933000349
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}
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},
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"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",
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"provenance": {
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"baseline_commit": "18ded0380045c29520cf1f690688e48ebad043d8",
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"baseline_controller_sha256": "8bc8554ed6743c5faf433deaa6de3f07fae27d183f62b04f49f9c3b9f1e8dcca",
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"candidate_controller_sha256": "02b64f40a56cadefb181afbf7c3720affa3c7fe4ac18a2902dc9c546fd6b395d",
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"fixed_c0_distance_m": 7.0
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},
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"sources_sha256": {
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".cache/ford_route15a/rlog_full/route.npz": "057ce69ce028b2c9c1b42ab8110f35c888a6c398ddcc4156e74afc98c83d119d",
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".cache/ford_route15a/rlog_full/model_paths.npz": "ef820d9df14afa308bf46f95463b636a599ff24fd08bffaff1ae671b3932c24a",
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".cache/ford_route15a/rlog_full/metadata.json": "bea47c7f0c0b583964ced3484fe814ec9a7a24abbfe6272e70f9dde12580a756"
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}
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},
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"15b": {
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"cycles": 22278,
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"wire_checks": 2228,
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"baseline_recorded_error_p50_p95_p99_max": {
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"c0": [
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6.70552502413102e-10,
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3.814697269177714e-08,
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1.0490417512443173e-07,
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0.009999947547912669
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],
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"c1": [
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1.9371515502797365e-10,
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5.4836273299940785e-09,
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1.2159347528850617e-08,
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1.478195188475695e-08
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]
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},
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"latched_angle_match_fraction": 0.9999321895978843,
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"command_changes": {
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"c0": [
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0.040000000000000036,
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1.08,
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1.7699999999999996,
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2.46
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],
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"c1": [
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0.003500000000000003,
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0.12449999999999994,
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0.22634999999999764,
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0.406
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]
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},
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"reference_change_p50_p95_max": [
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0.00021085212911765025,
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0.013382994089416386,
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0.03945627628640698
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],
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"variants": {
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"old": {
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"feedback_switches_active": 238,
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"feedback_switches_low_speed": 107,
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"low_speed_c0_steps_over_025m": 85,
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"low_speed_c1_steps_over_005rad": 32,
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"low_speed_step_p99": {
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"c0": 0.36999999999999944,
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"c1": 0.03771999999999984
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},
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"c0_bound_active_s": 0.0,
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"c1_bound_active_s": 6.701652654999748
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},
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"new": {
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"feedback_switches_active": 238,
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"feedback_switches_low_speed": 107,
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"low_speed_c0_steps_over_025m": 129,
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"low_speed_c1_steps_over_005rad": 57,
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"low_speed_step_p99": {
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"c0": 0.6187999999999921,
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"c1": 0.05121999999999982
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},
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"c0_bound_active_s": 0.0,
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"c1_bound_active_s": 7.542629173000023
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}
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},
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"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",
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"provenance": {
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"baseline_commit": "18ded0380045c29520cf1f690688e48ebad043d8",
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"baseline_controller_sha256": "8bc8554ed6743c5faf433deaa6de3f07fae27d183f62b04f49f9c3b9f1e8dcca",
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"candidate_controller_sha256": "02b64f40a56cadefb181afbf7c3720affa3c7fe4ac18a2902dc9c546fd6b395d",
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"fixed_c0_distance_m": 7.0
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},
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"sources_sha256": {
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".cache/ford_route15b/rlog_full/route.npz": "f95e1c16a4677fee0ab57002d714e22716bf11873c308280553312fa9d18aab0",
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".cache/ford_route15b/rlog_full/model_paths.npz": "a90be55943ce0009afbf38ef2035b3fff4de8ab00ea266636247bcc5a5012eae",
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".cache/ford_route15b/rlog_full/metadata.json": "545ef8d6740e57237f35b2ca684111fc2d774e83aa1d6c8a5a0fff1b71270e85"
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}
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}
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}
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