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Isaac Barham
b720e9f1bb
Add up to 0.4 seconds to lateral model preview at or below 15 mph, tapering to zero at 30 mph. Apply only when the Ford CAN-FD C0/C1 controller is enabled, using the same startup toggle semantics as controlsd. Preserve the underlying delay estimate and longitudinal action time. Validation: 397 helper, Ford controller, model recovery and parser tests passed; lint and whitespace checks passed. Actual model delay construction matches the offline +0.4-second sweep across 2,560 recorded frames at float32 and model float16 precision.