mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-10-01 01:43:41 +08:00
Isaac Barham
cf69210bb8
An accumulated correction can outweigh a new C1 request while measured curvature still points the other way. Release that correction only with fresh feedback and agreement from both target and slewed C0. Keep steady-target correction, the existing integral strength, output limits and arbitration. Record releases in the v2 diagnostic identity. The change adds one release condition and a diagnostic counter; the command law still has three states. Validation: 567 tests and 9,146 subtests pass, with 178 inherited or unsupported skips. Randomized and b8/b9 replay checks cover 669,343 Float32/CAN round trips. Activation and C0 match the previous controller exactly. Replay verifies command behavior only; no physical response or stability claim is made.
178 lines
9.7 KiB
JSON
178 lines
9.7 KiB
JSON
{
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"created_at_utc": "2026-09-10T14:00:37.853762+00:00",
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"scope": "Conditional release of accumulated C1 correction; offline command behavior only, no predicted vehicle response.",
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"baseline_commit": "5fbb583e592d30de266f8160a5d6b9c620c97f56",
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"baseline_source_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
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"deployment_target": {
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"repository": "sunnypilot/sunnypilot",
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"branch": "hiimisaac-dev"
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},
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"hypothesis": "model-action-c1-feedback-v2",
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"calibration_approved": false,
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"toggle": {
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"key": "FordModelActionController",
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"default_enabled": false,
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"activation": "Existing controlsd startup selection"
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},
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"release_rule": "Fresh enabled feedback; target and slewed C0 agree with base C1 by >= one DBC step; measured curvature is opposite; stored correction makes total C1 zero or opposite base. Clear correction, then apply original integration and output slew.",
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"engineering_choices": "Conditional reset policy, using existing DBC steps (0.01 m, 0.0005 rad) to confirm nonzero commands. Original 1:1 integral strength is unchanged.",
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"preserved": [
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"C0 mapping and limits",
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"Base C1 mapping",
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"Original integral strength",
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"Final C1 amplitude and slew limits",
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"Driver and PSCM arbitration",
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"Upstream selection and limiting",
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"100 Hz sender",
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"C2=C3=0"
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],
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"panda_safety_changed": false,
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"opendbc_submodule_changed": false,
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"opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
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"controller_size": {
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"total_lines": 194,
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"code_lines_excluding_blanks_comments_docstrings": 131,
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"core_command_state_values": 3,
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"core_diagnostic_counters": 1
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},
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"tests": {
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"combined_suite": "567 passed, 178 skipped, 9146 subtests passed in 6.45s",
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"safety_skips": "Same 178 inherited or unsupported variants recorded in ford_c1_feedback_validation.json.",
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"regression": "Two mirrored carryover command tests fail on the exact baseline class and pass in the candidate suite.",
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"ruff_changed_python": "pass",
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"ty_controller": "pass",
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"settings_compiler_check": "pass",
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"carryover_controlsd_to_can_frames": 1120,
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"existing_feedback_controlsd_to_can_frames": 1010,
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"integration_scope": "Actual source selection, upstream limiting, controller, Float32 publication, Ford sender, both plan sources and signs, all counters and checksums."
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},
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"routes": {
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"b8": {
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"cycles": 160431,
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"active_cycles": 68217,
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"validity_and_c0_match_baseline_exactly": true,
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"c1_changed_cycles": 6065,
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"max_abs_c1_change_rad": 0.09250000000000003,
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"can_round_trips": 160431,
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"timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
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"reference_limit": "Uses exact consumed model publication as reference; b8 and b9 have no maneuver-plan messages.",
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"carryover_release_count": 11,
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"input_sha256": {
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"route.npz": "6f5dd369b70eaed4b95b28c8b25c9f2e9b830fa07a334881a185505481667c8b",
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"model_paths.npz": "939af6cf7e74251d8842581cc078d26d9fbfd22a0d7817cb0e368697d419b615",
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"metadata.json": "73b439132d1de37ec187b544c04d2b05c80965065515a4b7dec29ba57ae37e7c"
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}
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},
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"b9": {
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"cycles": 90774,
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"active_cycles": 86474,
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"validity_and_c0_match_baseline_exactly": true,
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"c1_changed_cycles": 15208,
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"max_abs_c1_change_rad": 0.10400000000000004,
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"can_round_trips": 90774,
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"timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
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"reference_limit": "Uses exact consumed model publication as reference; b8 and b9 have no maneuver-plan messages.",
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"carryover_release_count": 14,
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"input_sha256": {
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"route.npz": "b07c789d8155335f5d120d0262fced6e4d5803fe767b0ff49b6413dce4140b5c",
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"model_paths.npz": "6b1f87897c050273fdc05af051307a049b6fc3a93072e7cda1721195ce7c3861",
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"metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee"
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}
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}
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},
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"command_timing_example": {
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"event": {
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"time_s": 808.286646083,
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"correction_before_rad": -0.13089810321135922,
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"correction_after_rad": 0.0,
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"base_c1_rad": 0.06412824021622576,
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"desired_angle_deg": -24.17155647277832,
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"actual_angle_deg": -0.30000001192092896,
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"speed_m_s": 11.804088592529297,
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"baseline_c0_c1": [
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0.15000000000000036,
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-0.06600000000000006
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],
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"candidate_c0_c1": [
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0.15000000000000036,
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-0.062000000000000055
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]
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},
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"scope": "Command zero crossing on identical frozen recorded inputs; not wheel response.",
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"baseline_c1_rightward_at_s": 808.67241324,
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"candidate_c1_rightward_at_s": 808.4169884780001,
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"command_crossing_advance_s": 0.25542476199984776
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},
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"feedback_stress": {
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"cycles": 200000,
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"mirrored_updates": 200000,
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"can_round_trips": 200000,
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"carryover_release_count": 946,
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"baseline_revision": "5fbb583e592d30de266f8160a5d6b9c620c97f56",
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"baseline_source_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
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"exact_unchanged_state_and_commands_without_release": 199054,
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"checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, carryover direction/confirmation, integration, PSCM limits, CAN.",
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"scope": "Numerical software invariants only; no model of vehicle motion.",
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"calibration_approved": false,
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"controller_sha256": "6f40a05977253987a2c96e74c8c18d912367ed1e55630558ed7b28d52576e552"
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},
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"zero_error_stress": {
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"seed": 20260907,
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"random_cycles": 200000,
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"mirrored_core_updates": 200000,
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"invalid_or_inactive_resets": 3537,
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"field_boundary_cases": 18138,
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"float32_can_round_trips": 218138,
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"analytic_targets_scalar_slew_and_mirror_checks_pass": true,
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"direct_raw_float32_packing_matches_host_output": true,
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"max_continuous_step_c0_c1": [
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0.40000000000000147,
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0.05000000000000002
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],
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"calibration_approved": false,
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"scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
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"opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
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},
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"total_lab_float32_can_round_trips": 669343,
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"source_sha256": {
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"openpilot/selfdrive/controls/lib/ford_model_action.py": "6f40a05977253987a2c96e74c8c18d912367ed1e55630558ed7b28d52576e552",
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"openpilot/selfdrive/controls/tests/test_ford_model_action_feedback.py": "04935fb941a795cb243870a4c03f7073c68147b01da3cedf2872476aa5fb798e",
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"openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "e2e98d3a0a531235abd032fc4d3564796613ad51ff6ba22a230c48e36f6f6848",
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"openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "90fb42ce580f0085e349467086a2eef28c2512c671755d0771f6331d30b19035",
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"tools/ford_pscm_lab/feedback_replay.py": "9bf145fbff6ed685aec2c0e5d0584e2dc7ff831021f15110f939e8a94c93280b",
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"tools/ford_pscm_lab/stress_model_action.py": "0b25188edf2b248ebe741173ce02ce75bd59f1f39fd5bd909d41a3dca2294aa8",
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"tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f",
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"docs/ford_c1_carryover.md": "e8d08375963efc6d1ae6ce503bb580ba00cfa90adb71c941d56fe6e3701d5cbb",
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"docs/ford_c1_feedback.md": "1b440a03082e5cec264a1d6693833ed0a7e07b6c6e2122f8e4455c5971121b57",
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"docs/ford_model_action_drive_test.md": "7ac5ca0faf9690a23e7058d09b55f23e21e2ba74666001cacb56b67e8d8b4376",
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"openpilot/selfdrive/controls/controlsd.py": "2b7e246f00bccce3a2bb9f6f44009ca77690cadb8527cd2bdfe855e9ad72ad1e",
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"opendbc_repo/opendbc/car/ford/carcontroller.py": "b2d327a1833fb1f0d09ee17f54c9c8d45517fa29beb04a4543cfbf1b43f1a65e",
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"opendbc_repo/opendbc/safety/modes/ford.h": "1d9d996292d6697ab4f02d55fae348d6aca1df94a07f7bdae48b68971b91afe7",
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"openpilot/sunnypilot/sunnylink/settings_ui.json": "7d38f315a7c5ce6d46d01a06f7eaddd4933f85639e5325ff71fdce22866ef401"
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},
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"artifact_sha256": {
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".cache/ford_c1_carryover/tests.txt": "cd65146df93632e4a2c1e086781e1da4673db7d038c7e673124f227efefbb567",
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".cache/ford_c1_carryover/baseline_regression.txt": "4469873f95ccf45a376a27fed05be3bdad5f808af7ceca472c6e2cb9d973eb7f",
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".cache/ford_c1_carryover/stress.json": "7a8d20d7abd7cf444f55b7316e8bedbed0fbe8e9587e09f90d5b1946c3c2e98c",
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".cache/ford_c1_carryover/zero_error_stress.json": "09e64eaac35df4ec324b41fabdc8baf91931106ac98b89c1ca71f4c8bf8796a4",
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".cache/ford_c1_carryover/timing.json": "0d18ed4164803adedbbd660fe024f4c28de8eb7921caa60659346ff386d3847f",
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".cache/ford_c1_carryover/routeb8/report.json": "d2c6f767cef29a74e292b6a16263d2da13b8c302e4653e419b0e232e1aaf762e",
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".cache/ford_c1_carryover/routeb8/commands.npz": "89b5c3474940b61afce060111c27fd9bad9e24d703c59fca61adf4ce10473df3",
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".cache/ford_c1_carryover/routeb9/report.json": "e3ff7bfa70e770eca763b125c283fd8a1d509ef1b6e7f26a81c398aca89a87da",
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".cache/ford_c1_carryover/routeb9/commands.npz": "e4f5f341146e2897a479baf222d678fd16352c8da931876a2471c3719faf9edf"
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},
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"test_environment": {
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"python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
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"PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
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"PYTHONDONTWRITEBYTECODE": "1",
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"LOG_ROOT": "/private/tmp/ford-carryover-logs",
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"PARAMS_ROOT": "/private/tmp/ford-carryover-params"
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},
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"limitations": [
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"Frozen replay preserves recorded requests and measured motion; changed commands do not establish changed wheel angles, centering or stability.",
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"C0/C1 agreement is a reset-policy choice, not an identified relationship between PSCM input and wheel angle.",
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"The rule can release small corrections and does not promise unchanged centering during transients.",
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"No device build, boot, installation or physical validation was performed."
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]
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}
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