mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-07 20:33:42 +08:00
Isaac Barham
dfcfddb91c
Allow release recovery only when fresh measured yaw undertracks both aligned current and delayed requests and PSCM limit is below 2. Unwind the opposing bias toward zero using current yaw error and existing antiwindup; preserve C0, base geometry, gains, rates, and safety guards. Add mirrored unit checks and a sanitized recorded turn-exit regression. Validate with 142 tests and 97 subtests, full-route frozen-input replay, large-turn retention, CAN packing, diagnostics, and generated Sunnylink schema checks. Physical improvement remains unvalidated.