sunnypilot/docs/ford_virtual_angle_experiment.md

# Ford C2-free model-pose tracking with measured feedback

Hypothesis `model-pose-c0-c1-feedback-v7` retains v6's model-pose C0/C1 base
and adds narrow recovery of an opposing C1 bias during release. C0, model
geometry, blending, gains, rates and output bounds are unchanged. Recovery
can remove retained opposing bias but cannot create bias beyond zero or
relax the PSCM LimitReached growth restriction. C2/C3 remain zero, and
selected desired curvature remains the measured-yaw feedback target.

This is an experimental outer controller around the multivariable PSCM.
Its geometry does not define a calibrated C0/C1-to-wheel mapping or an angle
servo. Command replay cannot establish the truck's response, closed-loop
stability, or an overshoot improvement.
The v7 recovery change has offline validation only; its physical response
is unproven.

## Evidence and scope

Route80 ran v3 and contains both sustained under-response and over-response.
Representative eligible windows had median CAN response/request ratios of
0.78, 1.77 and 0.69 with a declared 0.2-second comparison interval. These
are descriptive tracking ratios, not identified controller gains.

V4 replaced separate model-heading C1 with selected-curvature C1 and reduced
heading demand in several large maneuvers. The user subsequently reported
weak turning and steering repeatedly stopping near 85 degrees. Older logs
contain larger wheel angles; the inspected host code has no fixed 85-degree
wheel stop, although upstream curvature limits depend on speed.

Route83 had the Sunnylink toggle on, but omitted EPS firmware responses.
The former firmware gate selected the default `FordPathController`; replay
reproduced its recorded C0/C1/C2 requests. Its favorable turns are evidence
for the existing model-pose construction, not validation of v5 or v6.
V6 reuses that construction while replacing its remaining C2 request with
C0/C1 geometry. Removing C2 changes the request received by the PSCM, so
matching large C0/C1 commands does not guarantee matching vehicle motion.

## Base request

controlsd selects valid `lateralManeuverPlan.desiredCurvature`, otherwise
`modelV2.action.desiredCurvature`, after the existing curvature limiter.
This action already includes upstream delay handling; it receives no extra
response advance here.

The model contribution uses the existing allocator's raw forward pose and
bounded short-pose correction. `_model_pose` advances 0.1 seconds, retains
the model's remaining forward geometry, and separately corrects the short
pose using measured curvature and its recent change. Its offset preview is
up to 7 m and its heading preview is up to max(7 m, speed × 1 s), bounded by
available path length. This raw pose is not passed through a second model
filter. The filtered, ego-aligned reference remains available for comparison
and the existing geometry-validity checks.

```text
share(k) = clip((k - 0.006/m) / (0.012/m - 0.006/m), 0, 1)
aligned = desired_curvature × model_forward_heading > 0
model_share = min(share(abs(desired_curvature)), share(model_curvature_demand))
              if aligned, otherwise 0
model_pair = existing_pose_encoder(model_pose, model_share, C2=0)

remaining_curvature = desired_curvature × (1 - model_share)
L0 = max(8 m, speed × 1 s)
L1 = max(7 m, speed × 1 s)
curvature_C0 = 0.5 × remaining_curvature × L0²
curvature_C1 = remaining_curvature × L1
C0_target = clip(model_pair.C0 + curvature_C0, ±5.11 m)
C1_base = clip(model_pair.C1 + curvature_C1, ±0.5 rad)
```

`model_curvature_demand` is the larger absolute curvature implied by the
forward offset and heading previews. The share uses the existing allocator's
0.006–0.012/m thresholds. Both model and action must request a substantial
turn in the same direction before model pose supplies the full base.
Small, flat, opposed or zero requests use the curvature contribution; zero
action produces a zero base. Partial shares combine both contributions.
The existing pose encoder retains its quantization and field-allocation rules.
The residual-curvature lift is geometric, not a claim of EPS equivalence to C2.

The inherited pose encoder allocates heading overflow using its asymmetric
limits (+0.5235/−0.5 rad), before the symmetric final ±0.5 rad
heading bound. On clipped tails, this can leave mirrored C0 requests differing
by up to 0.0235 rad × 7 m = 0.1645 m. The favorable comparison anchors lie
below that heading cap; full model-base odd symmetry is not claimed.

## Measured feedback and limits

```text
past_request = selected curvature held at or before (measurement_time - delay)
yaw_error = measured_speed × past_request - measured_yaw_rate
bias_trial = released_bias + feedback_gain × yaw_error × measurement_dt
C1_unconstrained = clip(C1_base + accepted_bias, ±0.5 rad)
C1_target = temporary_backoff_ceiling(C1_unconstrained) if backoff_active
            otherwise C1_unconstrained
```

Measured yaw is negated Ford CAN yaw, matching the control sign convention.
The historical request uses zero-order hold; it never interpolates toward a
future publication. Nominal comparison delay is `CP.steerActuatorDelay`
(0.2 seconds on the source vehicle). Feedback compares against selected
curvature, not curvature inferred from the model-pose coefficients.

| Quantity | Value |
|---|---:|
| C0 / C1 final bounds | ±5.11 m / ±0.5 rad |
| Independent C0 / C1 slew | 4 m/s / 0.5 rad/s |
| Feedback integration scale | 1.0 |
| Feedback minimum speed | 2 m/s |
| Maximum PSCM/core input age | 150 ms |
| Allowed timestamp lead | 5 ms |
| Release comparison tolerance | one C1 wire quantum, 0.0005 rad |

The integration scale, preview distances and blend thresholds are effective
gains; none establishes stability. No wheel-response gain is fitted.
Zero yaw error retains acquired bias while an eligible turn continues.
Host anti-windup admits reachable correction within the combined C1 field
and slew limits. Feedback overflow is not transferred into C0.

The release logic scales bias as the bounded base decreases and resets on
zero/reversal. When delayed curvature still represents a stronger or opposing
request, or PSCM reports LimitReached, new integration is normally frozen.
One exception permits measured-error backoff: measured turning must exceed
both the delayed and current selected yaw requests in the base's direction,
and total heading must still have the base's sign. Exceeding only an older,
smaller request during turn-in does not qualify. The accepted increment may
only reduce that existing total toward zero; it cannot grow the request or
carry it through zero. Existing host field and slew limits still apply.

The new release-recovery exception requires fresh valid PSCM status with
limit below 2, retained bias opposing the base, and both current and delayed
requests aligned with that base. Measured turning must be below both requests
in their direction. It then uses the current yaw deficit × the existing
feedback gain × measurement interval to unwind only the opposing bias toward
zero. The increment is clipped so recovery cannot cross zero bias or create
demand beyond the existing base. Common host anti-windup still limits what
can be accepted. All other constrained cases remain frozen; PSCM limit 2
never permits this request-increasing recovery.
The no-new-bias restriction applies only to `release_recovery`. Once release
ends, ordinary eligible integration can add correction beyond the base as
before; its existing limits and guards are unchanged.

`release_recovery` and `feedback_recovery_active=true` indicate that the
recovery branch actually changed bias on that update. If host anti-windup
blocks the entire increment, the status remains `host_limit` and the flag is
false. Recovery is evaluated only on fresh measurements; the flag is false
on repeated-measurement updates and after reset.

Diagnostics distinguish `release_backoff` and `pscm_backoff`; a release takes
precedence when both conditions apply. While `feedback_backoff_active` is
true, total C1 is also capped at the preceding continuous heading request in
the current request direction and at zero in the opposite direction. This
ceiling affects the output only: it is not stored or projected into bias.
The measured-error increment can still update bias under the normal limits,
but a changing model base does not create persistent integral suppression.
The ceiling persists between repeated measurements; C1 cannot grow or reverse
while it applies. The next fresh measurement clears it unless backoff is
again warranted. It does not cap C0, and normal feedback has its own rules
outside backoff. Independent slew remains 0.5 rad/s for C1 and 4 m/s for C0.
Backoff still compares against the delayed reference, so response lag remains.
Reducing a request does not demonstrate that physical overshoot is resolved.

## PSCM status and driver handling

card publishes `Lane_Assist_Data3_FD1` in `carStateSP.fordPscmStatus`, retaining
the original CAN receipt timestamp. Republishing carStateSP or receiving
unrelated frames cannot refresh it. The opendbc submodule is unchanged.

Feedback requires valid fresh status, InProgress lateral state (2), capability
LimitedModeAvailable or ExtendedModeAvailable (1 or 2), and no denial.
Missing, malformed, stale, backward-timestamped, denied or unavailable status
clears bias/history, leaving the new base subject to its core validity gates.
LimitReached (2) permits only the bounded request-reducing backoff described
above and otherwise freezes integration. LimitWithDriverActive (3) clears
feedback. Backoff still requires fresh, valid, InProgress status with an
available capability and no denial. These generic PSCM reports do not identify
a specific torque or rate limit.

`steeringPressed`, raw torque above the existing Ford driver allowance, or
nonfinite torque clear feedback. Below 2 m/s feedback also clears. A fresh
reference interval is required after override. Base requests retain normal
PSCM driver arbitration while lateral control remains authorized; an unset
override flag cannot rule out subthreshold driver influence.

## Gates and Sunnylink selection

Core model/action/car-state freshness, finite-value, clock and speed checks
remain in place. Invalid core inputs reset both commands and clear latActive.
Raw model geometry is validated on every update, including repeated model
timestamps; an invalid raw path cannot reuse the cached valid reference.
Missing PSCM status disables feedback, not an otherwise valid base request.

Vehicle → Ford → **C2-Free Path Tracking (Experimental)** retains the
`FordVirtualAngleController` key, default-off setting and offroad/onroad cycle
requirement. Enabled selects v7 on Ford CAN FD `FORD_F_150_LIGHTNING_MK1`
regardless of missing or different EPS firmware-query results. Other platforms
retain their existing controller. V7 takes priority over PSCM Coefficient
Observer while selected; disabling and cycling offroad/onroad restores the
previous selection. Controller selection does not force lateral engagement.

The analyzed firmware is `RL38-14D003-AA`; removing the eligibility check
is not validation of other firmware. No live device setting is changed.

## Diagnostics and verification

The 5 Hz `Ford C2-free path tracking` event keeps its name and identifies v7.
`model_offset_base` / `model_heading_base` report the already weighted and
encoded model contribution; `curvature_offset_base` / `curvature_heading_base`
report the residual-curvature contribution. `model_share` and `base_guard`
identify model-pose, blended, curvature-only, opposed-model and zero-request
cases. `offset_target` is the final bounded C0 target, `heading_base` the
bounded pre-feedback C1, and `heading_target` the corrected C1 target.

The event retains source timestamps, measured curvature/yaw, final commands,
slew scales, feedback bias/status/history, raw torque and PSCM status/age.
`feedback_backoff_active` records the persistent heading ceiling, including
cycles whose feedback status is `no_new_measurement`.
`feedback_recovery_active` records an accepted recovery increment on this
update only; it does not persist between measurements.
`feedback_yaw_error` retains its delayed-reference meaning. Recovery instead
uses current error, reconstructed from logged `desired_curvature`,
synchronized car-state speed and `yaw_rate`; those two errors can differ.
During backoff, `heading_target` can be lower in the request direction than
the bounded sum of `heading_base` and `heading_bias`, because the temporary
ceiling is not part of the stored bias.
`model_heading_target` remains a filtered comparison reference; it is not the
weighted model contribution. `angleState.saturated` is not an EPS-limit signal.

Validation must cover large recorded maneuvers, flat-model centering, both
turn directions, model/action disagreement, share transitions, release and
reversal, release/limit backoff without growth or zero crossing, status/driver
resets, reference causality, bounds, slew and CAN packing with C2/C3 zero.
Recovery checks cover both directions, stopping at zero bias, repeated
measurements, current-and-delayed agreement, and rejection at PSCM limit 2.
Old v3/v4 command-equality expectations do not define
v7 success. Historical v5/v6 replay results remain historical observations.
Replay fixes recorded motion and planner outputs, so enabled vehicle logs
are still required to assess tracking error, oscillation and interventions.