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sunnypilot/docs/ford_c1_overflow_validation.json
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Isaac Barham b81c00f5b9 Ford: allocate clipped base heading to C0
2026-09-10 18:04:51 -04:00

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{
"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,
"validity_matches_baseline_exactly": true,
"status_counts": {
"inactive": 208692,
"active": 118756
},
"c0_matches_baseline_exactly": false,
"c0_changed_cycles": 855,
"max_abs_c0_change_m": 2.2,
"offset_overflow_seconds": 7.359375754000212,
"max_abs_offset_overflow_target_m": 2.867466852068901,
"feedback_enabled_seconds": 1128.448330694985,
"pscm_limit_2_seconds": 1.5229074359986043,
"c1_changed_cycles": 0,
"max_abs_c1_change_rad": 0.0,
"max_abs_correction_rad": 0.13238253764709199,
"can_round_trips": 327448,
"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.",
"carryover_release_count": 32
},
"route_ca_release": {
"scope": "Describe candidate command tails on frozen ca measurements, not wheel response.",
"changed_c0_seconds": 8.606610047996583,
"overflow_target_seconds": 7.359375754000212,
"changed_c0_without_current_overflow_seconds": 1.4386431469993113,
"candidate_c0_at_cap_seconds": 2.054423716999736,
"baseline_c0_at_cap_seconds": 0.0,
"all_c1_c2_c3_match_baseline_exactly": true,
"all_pre_overflow_commands_match_baseline_exactly": true,
"all_inactive_commands_zero": true,
"windows": [
{
"start_s": 645.4515506280004,
"last_overflow_s": 647.9591778859995,
"duration_s": 2.5175176129996544,
"extra_target_peak_m": 2.867466852068901,
"c0_change_peak_m": 2.2,
"post_overflow_tail_s": 0.4753179760009516,
"tail_end_s": 648.444386217001,
"tail_ended_by": "matches baseline"
},
{
"start_s": 1896.7594062080007,
"last_overflow_s": 1897.0382758169999,
"duration_s": 0.29005605599923,
"extra_target_peak_m": 0.16229432076215744,
"c0_change_peak_m": 0.16999999999999993,
"post_overflow_tail_s": 0.0,
"tail_end_s": 1897.0494622639999,
"tail_ended_by": "matches baseline"
},
{
"start_s": 1897.3739526980007,
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"duration_s": 0.0802515539999149,
"extra_target_peak_m": 0.049945808947086334,
"c0_change_peak_m": 0.04999999999999982,
"post_overflow_tail_s": 0.0,
"tail_end_s": 1897.4542042520006,
"tail_ended_by": "matches baseline"
},
{
"start_s": 1897.492552009,
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"duration_s": 0.19981637000091723,
"extra_target_peak_m": 0.10685679316520691,
"c0_change_peak_m": 0.11000000000000032,
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},
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"tail_end_s": 1897.807154727001,
"tail_ended_by": "matches baseline"
},
{
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"duration_s": 1.361525778000214,
"extra_target_peak_m": 0.22848158329725266,
"c0_change_peak_m": 0.22999999999999954,
"post_overflow_tail_s": 0.021877274999496876,
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"tail_ended_by": "matches baseline"
},
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"post_overflow_tail_s": 0.034061254000334884,
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"tail_ended_by": "matches baseline"
},
{
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},
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}
],
"example_points": [
{
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"time_s": 646.7503591629993,
"baseline_c0_m": 3.9000000000000004,
"candidate_c0_m": 5.11,
"extra_c0_target_m": 2.867466852068901,
"baseline_c1_rad": 0.5,
"candidate_c1_rad": 0.5
},
{
"segment": 31,
"time_s": 1898.0837712450011,
"baseline_c0_m": -2.8499999999999996,
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"baseline_c1_rad": -0.5,
"candidate_c1_rad": -0.5
},
{
"segment": 35,
"time_s": 2147.4098699660008,
"baseline_c0_m": 3.67,
"candidate_c0_m": 5.11,
"extra_c0_target_m": 2.0555079206824303,
"baseline_c1_rad": 0.5,
"candidate_c1_rad": 0.5
},
{
"segment": 52,
"time_s": 3121.239466367,
"baseline_c0_m": 3.11,
"candidate_c0_m": 3.42,
"extra_c0_target_m": 0.5380096957087517,
"baseline_c1_rad": 0.5,
"candidate_c1_rad": 0.5
}
]
},
"route_ca_input_sha256": {
"route.npz": "ae9d46770eaf0dbbac6af86aebc926320eed0cf114eb43d5f78b0676e8e0dbf9",
"model_paths.npz": "bf17deb442383aaa79432566cd382df24a1bbbbd0521d0cafab956618f5bdd96",
"metadata.json": "a759d5cdf878df8b05d91db637b1935b6b4bdd87af96f0f256b67e7d809b3525"
},
"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."
]
}
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