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Isaac Barham
79a4caa1f6
Retain the absolute desired-curvature base and unchanged C0, while adding measured yaw-error correction to C1 under fresh PSCM status. Preserve command limits, reset on override or unusable status, and release stored correction with the base request. Admit reachable partial increments at host slew limits. Publish PSCM enums with original CAN receipt timestamps through carStateSP. Add telemetry, status/driver guards, CAN roundtrip tests and recorded fixtures. Validation: focused suite 116 tests and 38 subtests; Ruff, settings compilation and diff checks pass. Production replay covers 52,273 route80 cycles; no-status fallback preserves v4 over 246,961 cycles / 43 segments. Physical stability and the reported 85-degree plateau remain unvalidated; EPS limits can inhibit the new correction.
Docs development
The docs/ tree is the source for docs.comma.ai.
The site is updated on pushes to master by this workflow.
1. Build the site
python docs/serve.py --build
2. Run the site locally (rebuilds on change)
python docs/serve.py