mawei/sunnypilot

mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-09-18 10:23:43 +08:00

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Isaac Barham 7bf3b9b428 Ford: soften small C0 feedback corrections

Reduce incremental C0 proportional gain near zero error, smoothly returning toward the existing slope for large errors. Preserve C1 feedback, request timing, base mapping, field bounds, and the upstream fallback.

Validate with 719 tests and 25 subtests, plus five route replays covering 646178 cycles and 64620 CAN round trips. Replay confirms command behavior; physical stability remains an onroad trial.

2026-09-16 20:33:02 -04:00

..

docs: replace zensical with dumb html template (#38462 )

2026-07-26 13:56:32 -07:00

camera names that make sense (#38585 )

2026-08-08 09:44:21 -07:00

camera names that make sense (#38585 )

2026-08-08 09:44:21 -07:00

prefix paths with openpilot (#38223 )

2026-06-21 18:28:35 -07:00

AI_POLICY.md

docs: update policy (#1898 )

2026-08-06 21:57:56 -04:00

CARS.md

Merge commit '053d9c446800df38aca42b69bb99197aefbea77b' into sync-20260816

2026-08-17 00:38:50 -04:00

CONTRIBUTING.md

Merge commit 'b7c333cf3fee117779515c9ebfd7b2beb164fa81' into sync-20260813

2026-08-14 15:35:10 -04:00

DEBUGGING_SAFETY.md

Improve debugging for safety (#36055 )

2025-09-06 12:05:15 -07:00

ford_action_c0_gain_v19_validation.json

Ford: increase action-mode C0 proportional correction

2026-09-16 16:43:26 -04:00

ford_action_c0_gain_v19.md

Ford: increase action-mode C0 proportional correction

2026-09-16 16:43:26 -04:00

ford_c0_feedback_v15_validation.json

Ford: add proportional C0 tracking correction

2026-09-15 20:04:11 -04:00

ford_c0_feedback_v15.md

Ford: increase action-mode C0 proportional correction

2026-09-16 16:43:26 -04:00

ford_c0_softening_v22_validation.json

Ford: soften small C0 feedback corrections

2026-09-16 20:33:02 -04:00

ford_c0_softening_v22.md

Ford: soften small C0 feedback corrections

2026-09-16 20:33:02 -04:00

ford_c1_carryover_validation.json

Ford: release conflicting C1 correction when the path agrees

2026-09-10 10:01:37 -04:00

ford_c1_carryover.md

Ford: release conflicting C1 correction when the path agrees

2026-09-10 10:01:37 -04:00

ford_c1_feedback_validation.json

Ford: add measured-curvature feedback to C1

2026-09-09 10:46:41 -04:00

ford_c1_feedback.md

Ford: release conflicting C1 correction when the path agrees

2026-09-10 10:01:37 -04:00

ford_c1_i1_trial.md

Ford: build C1 error correction four times faster

2026-09-15 17:05:50 -04:00

ford_c1_i1_validation.json

Ford: build C1 error correction four times faster

2026-09-15 17:05:50 -04:00

ford_c1_minimal_pi_validation.json

Ford: simplify C1 feedback with continuous PI unwind

2026-09-13 12:30:22 -04:00

ford_c1_minimal_pi.md

Ford: simplify C1 feedback with continuous PI unwind

2026-09-13 12:30:22 -04:00

ford_c1_overflow_validation.json

Ford: allocate clipped base heading to C0

2026-09-10 18:04:51 -04:00

ford_c1_overflow.md

Ford: restore upstream control when the experimental toggle is off

2026-09-11 12:12:48 -04:00

ford_c1_p75_trial.md

Ford: increase immediate C1 error correction to P=0.75

2026-09-15 01:11:15 -04:00

ford_c1_p75_validation.json

Ford: increase immediate C1 error correction to P=0.75

2026-09-15 01:11:15 -04:00

ford_c1_pi_validation.json

Ford: add explicit proportional C1 feedback trial

2026-09-13 08:18:42 -04:00

ford_c1_pi.md

Ford: add explicit proportional C1 feedback trial

2026-09-13 08:18:42 -04:00

ford_c1_request_release_validation.json

Ford: retire opposing C1 correction as the selected request changes

2026-09-12 23:52:25 -04:00

ford_c1_request_release.md

Ford: retire opposing C1 correction as the selected request changes

2026-09-12 23:52:25 -04:00

ford_curvature_c0_v8_validation.json

Ford: derive C0 from selected desired curvature

2026-09-13 13:08:46 -04:00

ford_curvature_c0_v8.md

Ford: derive C0 from selected desired curvature

2026-09-13 13:08:46 -04:00

ford_direct_path_v9_validation.json

Ford: send current C0/C1 requests without extra slew

2026-09-13 23:00:17 -04:00

ford_direct_path_v9.md

Ford: send current C0/C1 requests without extra slew

2026-09-13 23:00:17 -04:00

ford_direct_path_validation.json

Ford: trial direct model-path offset and heading

2026-09-16 11:59:09 -04:00

ford_direct_path.md

Ford: revert geometry-assisted action trial

2026-09-16 14:51:04 -04:00

ford_feedback_delay_v21_validation.json

Ford: align feedback with upstream request-history timing

2026-09-16 18:16:45 -04:00

ford_feedback_delay_v21.md

Ford: align feedback with upstream request-history timing

2026-09-16 18:16:45 -04:00

ford_filtered_driver_v20_validation.json

Ford: use filtered driver input for feedback continuity

2026-09-16 17:51:41 -04:00

ford_filtered_driver_v20.md

Ford: use filtered driver input for feedback continuity

2026-09-16 17:51:41 -04:00

ford_geometry_reference_validation.json

Ford: add selectable model geometry reference

2026-09-15 22:08:20 -04:00

ford_geometry_reference.md

Ford: revert geometry-assisted action trial

2026-09-16 14:51:04 -04:00

ford_model_action_candidate.md

Ford: add measured-curvature feedback to C1

2026-09-09 10:46:41 -04:00

ford_model_action_drive_test_validation.json

Ford: document hiimisaac-dev installation target

2026-09-07 12:20:35 -04:00

ford_model_action_drive_test.md

Ford: build C1 error correction four times faster

2026-09-15 17:05:50 -04:00

ford_model_action_validation.json

Ford: add offline selected-action controller and validation

2026-09-07 10:40:06 -04:00

ford_unwind_catchup_validation.json

Ford: release completed unwind correction after catch-up

2026-09-13 00:45:55 -04:00

ford_unwind_catchup.md

Ford: release completed unwind correction after catch-up

2026-09-13 00:45:55 -04:00

ford_upstream_fallback_validation.json

Ford: restore upstream control when the experimental toggle is off

2026-09-11 12:12:48 -04:00

ford_upstream_fallback.md

Ford: restore upstream control when the experimental toggle is off

2026-09-11 12:12:48 -04:00

ford_virtual_angle_experiment.md

Ford: gate selected-action controller in Sunnylink and retire v8

2026-09-07 11:43:56 -04:00

index.md

misc docs updates (#37839 )

2026-04-15 18:37:23 -07:00

INTEGRATION.md

One-word grammar fix to docs/INTEGRATION.md (#26621 )

2022-11-29 00:38:18 -08:00

LIMITATIONS.md

camera names that make sense (#38585 )

2026-08-08 09:44:21 -07:00

README.md

docs: replace zensical with dumb html template (#38462 )

2026-07-26 13:56:32 -07:00

SAFETY.md

prefix paths with openpilot (#38223 )

2026-06-21 18:28:35 -07:00

serve.py

docs fixups

2026-07-26 14:34:43 -07:00

template.html

docs fixups

2026-07-26 14:34:43 -07:00

README.md

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