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Isaac Barham
b3bc05acd4
Prevent same-direction C0/C1 growth when measured turning exceeds current and delayed requests during release, retaining request history across driver feedback resets. Permit bounded C1 correction after opposing bias reaches zero when both requests remain undertracked and measured curvature is no longer catching up. Keep model allocation, gain, field and slew limits, platform selection, and zero C2/C3 unchanged. Add anonymous recorded-input regressions and diagnostics. Validation: 139 Ford tests plus 150 subtests, 46 Sunnylink tests, Ruff, generated settings check, and recorded-command replays. Physical response and stability remain unverified.