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Isaac Barham
7d558c0650
Track the bounded planner reference through C0 and delay-aware PI/rate feedback through C1. Remove the failed Shared Path toggle and add a default-off, Lightning RL38-specific Virtual Angle setting. Reject stale inputs and disable outgoing lateral requests when the path is invalid. Validation: 85 focused tests plus 22 subtests, native Params, real CAN packing, settings generation and Ruff passed. Frozen route78 replay attenuates the observed command forcing; physical stability and turn authority remain unvalidated.
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