Ford: anti-weave smoothing of the angle-mode command path (opt-in strength dial) - #163

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ghbarker wants to merge 17 commits into

BluePilotDev:bp-devfrom

ghbarker:ford-angle-smoothing

Commits on Jul 22, 2026

ford autocal: params, capnp telemetry fields, card publisher

ghbarker
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claude
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ford: angle-mode speed-factor auto-calibration (core + carcontroller glue + tests)

ghbarker
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claude
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ui: FordAngleAutoCal toggle in lateral tuning menus (TICI + MICI)

ghbarker
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claude
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ford autocal: continuous closed-loop calibration

ghbarker
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claude
committed
ford autocal: tune quality thresholds on the reference drive; drop outlier gate

ghbarker
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claude
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ford autocal: fix typed-param nudge writes; ground-truth telemetry; self-reporting errors

ghbarker
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claude
committed
ford autocal: declare telemetry fields in the ControllerStateBP struct

ghbarker
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claude
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ford angle auto-cal: close review blockers 1-3 + bound low-anchor wander

ghbarker
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claude
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ford angle auto-cal: actuation-delay protections — liveDelay warmup gate + steady-window drift bound

ghbarker
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claude
committed
ford angle mode: gain model moves to values_ext — strategy owns it, calibrator consumes (review 5.2)

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claude
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ford angle auto-cal: extract AutoCalController — lifecycle out of the strategy (review P4)

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claude
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ford angle auto-cal: review 5.3 should-fix sweep

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claude
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docs: Ford angle-mode auto-calibration user guide

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ford angle auto-cal: only build the evidence Frame while armed

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claude
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sunnylink: expose the auto-cal toggle

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claude
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ford angle mode: anti-weave smoothing of the command path (FordAngleSmoothing + strength)

ghbarker
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claude
committed
docs: Ford angle-mode anti-weave smoothing user guide

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claude
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Ford: anti-weave smoothing of the angle-mode command path (opt-in strength dial) - #163

Ford: anti-weave smoothing of the angle-mode command path (opt-in strength dial)#163
ghbarker wants to merge 17 commits into
BluePilotDev:bp-devfrom
ghbarker:ford-angle-smoothing

Commits on Jul 22, 2026

ford autocal: params, capnp telemetry fields, card publisher

ford: angle-mode speed-factor auto-calibration (core + carcontroller glue + tests)

ui: FordAngleAutoCal toggle in lateral tuning menus (TICI + MICI)

ford autocal: continuous closed-loop calibration

ford autocal: tune quality thresholds on the reference drive; drop outlier gate

ford autocal: fix typed-param nudge writes; ground-truth telemetry; self-reporting errors

ford autocal: declare telemetry fields in the ControllerStateBP struct

ford angle auto-cal: close review blockers 1-3 + bound low-anchor wander

ford angle auto-cal: actuation-delay protections — liveDelay warmup gate + steady-window drift bound

ford angle mode: gain model moves to values_ext — strategy owns it, calibrator consumes (review 5.2)

ford angle auto-cal: extract AutoCalController — lifecycle out of the strategy (review P4)

ford angle auto-cal: review 5.3 should-fix sweep

docs: Ford angle-mode auto-calibration user guide

ford angle auto-cal: only build the evidence Frame while armed

sunnylink: expose the auto-cal toggle

ford angle mode: anti-weave smoothing of the command path (FordAngleSmoothing + strength)

docs: Ford angle-mode anti-weave smoothing user guide