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Changes

Summary

  1. feat: steering latency compensation for reversing truck controller (details)
  2. fix: steering delay identification (details)
  3. fix: record debug data (details)
  4. fix: steering latency compensation optimizaiton (details)
  5. fix: trailer angle bug (details)
  6. fix: add trailer_angle_replay_ekf (details)
  7. fix: add speed governor (details)
  8. fix: update config (details)
  9. fix: auto recording script (details)
  10. fix: ignore bag files (details)
  11. fix: wire steer into mpc_solver (details)
  12. fix: add trailer angle comp calibrator (details)
  13. fix: update debug message (details)
  14. fix: update config (details)
  15. fix: calib bug (details)
  16. fix: update params (details)
  17. fix: add startup_blank_s (details)
  18. fix: trailer_angle_comp opt (details)
  19. fix(control): guard MPC during rotation command dropout (details)
  20. feat: add forward trailer bias estimator v2 (details)
  21. refactor(control): simplify trailer bias validation (details)
  22. feat(control): filter pre-stop trailer bias samples (details)
Commit 98fbc0e229dee40569f7e2c77db56dfd81cdcda7 by 5081703.cr
feat: steering latency compensation for reversing truck controller
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was addedscripts/trailer_angle_compensation_identify.py
The file was modifieddata/config/cfg_mpc_qp.hpp
The file was modifiedconfig/config_imv/ctrl.yaml
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifieddata/config/cfg_mpc_qp.cpp
The file was modifiedtest/CMakeLists.txt
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiedconfig/config_sc/ctrl.yaml
The file was added1
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was addedtest/steer_latency_estimator_test.cpp
The file was addedalgorithm/util/steer_latency_estimator.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
The file was addedalgorithm/util/steer_latency_estimator.hpp
The file was modifiedconfig/config_car/ctrl.yaml
Commit 1fd102d3c5df605c12e2ebe750772a7150a2587b by chenran
fix: steering delay identification
The file was addedscripts/steering_delay_identify.py
The file was modifiedconfig/config_truck/ctrl.yaml
Commit e1c54ece7cb7be8b767adb7b4bac62507bd86404 by chenran
fix: record debug data
The file was addedscripts/record_reversing_tuning.sh
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
Commit e4bcbd5e760d22d3f3b3be39e10a19c387b4a7ea by chenran
fix: steering latency compensation optimizaiton
The file was modified.gitignore
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedscripts/record_reversing_tuning.sh
Commit a66e556979e757a3ae74f9e4ebce30211c574d79 by chenran
fix: trailer angle bug
The file was modifieddata/vehicle/trailer_state.cpp
The file was modifieddata/config/cfg_mpc_qp.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifieddata/config/cfg_mpc_qp.hpp
Commit 6f7098be72e39fcdda229bc787df356c6ce0805c by chenran
fix: add trailer_angle_replay_ekf
The file was modifieddata/vehicle/trailer_state.cpp
The file was addedalgorithm/ctrl/observer/trailer_angle_replay_ekf.cpp
The file was modifieddata/vehicle/trailer_state.hpp
The file was removedalgorithm/ctrl/observer/trailer_angle_observer.hpp
The file was addedscripts/trailer_wheelbase_raw_fit.py
The file was modifiedscripts/record_reversing_tuning.sh
The file was addedalgorithm/ctrl/observer/trailer_angle_replay_ekf.hpp
The file was modifiednode/process/prepare/prepare_state.hpp
The file was addedalgorithm/ctrl/observer/trailer_angle_smith_predictor.hpp
The file was removedalgorithm/ctrl/observer/trailer_angle_observer.cpp
The file was modifiednode/logic.cpp
The file was addeddata/config/cfg_estimator.hpp
The file was modifieddata/config/cfg_mpc_qp.hpp
The file was modifieddata/config/cfg_mpc_qp.cpp
The file was addedscripts/trailer_angle_estimator_offline_test.py
The file was addedalgorithm/ctrl/observer/trailer_angle_smith_predictor.cpp
The file was addedscripts/trailer_wheelbase_estimate.py
The file was modifiednode/process/prepare/prepare_state.cpp
The file was addedalgorithm/ctrl/observer/trailer_angle_estimator.hpp
The file was addeddata/config/cfg_estimator.cpp
Commit a53c2f1059876cc5d0474ce4cfecd902333bb61a by chenran
fix: add speed governor
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
The file was modifieddata/config/cfg_estimator.cpp
The file was addedalgorithm/ctrl/lon_controller/reversing_speed_governor.hpp
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_estimator.hpp
The file was addedscripts/reversing_tuning_2026-07-14-17-36-37_0.bag
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifiednode/process/prepare/prepare_state.cpp
The file was modifiedscripts/record_reversing_tuning.sh
The file was modifieddata/ctrl/longctrl_data.hpp
The file was addedscripts/steer_rate_identify.py
The file was modifiedalgorithm/ctrl/observer/trailer_angle_replay_ekf.cpp
The file was modifieddata/config/cfg_estimator.hpp
The file was addedalgorithm/ctrl/lon_controller/reversing_speed_governor.cpp
The file was modifieddata/vehicle/trailer_state.hpp
The file was modifiednode/process/proc/proc_longitude_controller.hpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_replay_ekf.hpp
Commit a1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25e by chenran
fix: update config
The file was modifiedconfig/config_truck/ctrl.yaml
Commit 2819dab08ee479e0201d1aed1680aa2be9246c65 by chenran
fix: auto recording script
The file was modifiedscripts/record_reversing_tuning.sh
The file was addedscripts/record_reversing_tuning_auto.py
Commit 4038141f709b3b3e83e0bfb66db5e9cd9cb16a70 by chenran
fix: ignore bag files
The file was modified.gitignore
The file was removedscripts/reversing_tuning_2026-07-14-17-36-37_0.bag
Commit b1beaecb1ca219abbf2c89ef822d64e094ce9271 by chenran
fix: wire steer into mpc_solver
The file was modified.gitignore
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiedscripts/record_reversing_tuning_auto.py
Commit a65074757d10b414c4eaf171bd3a567e71f302ed by chenran
fix: add trailer angle comp calibrator
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifieddata/config/cfg_estimator.cpp
The file was modifiednode/process/prepare/prepare_traj.cpp
The file was addedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was addedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was modifiednode/logic.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
Commit f2cf046433f383df82ac73ef7465882b5e4af3d0 by chenran
fix: update debug message
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifiedscripts/record_reversing_tuning.sh
The file was modifiedscripts/record_reversing_tuning_auto.py
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
Commit bf75a5f41e149319bc0641c71022dce6c3e1d261 by chenran
fix: update config
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifieddata/config/cfg_estimator.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifieddata/config/cfg_estimator.hpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
Commit d8346a561beab1e16bcdc7db5de1dfb0052cebea by chenran
fix: calib bug
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_estimator.cpp
The file was modifieddata/config/cfg_estimator.hpp
Commit 39ab21eb0b2f80f2bac76ec8bbfa9dc08b517576 by 5081703.cr
fix: update params

The file was modifieddata/config/cfg_estimator.cpp
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
Commit 90e42e33b20e28f38ff59ed51e0712967612a048 by chenran
fix: add startup_blank_s
The file was modifieddata/config/cfg_estimator.cpp
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
Commit 390447bdd6b2984c81967581a0ddb28675f01650 by chenran
fix: trailer_angle_comp opt
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_estimator.cpp
Commit ae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20b by chenran
fix(control): guard MPC during rotation command dropout
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifiedtest/CMakeLists.txt
The file was modifiedtest/augment_mpc_rotation_control_test.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
Commit b2ad339b4232655d14c328cc123a059f03de80f8 by chenran
feat: add forward trailer bias estimator v2
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was removedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was addedtest/forward_trailer_bias_estimator_test.cpp
The file was addedalgorithm/ctrl/observer/forward_trailer_bias_estimator.cpp
The file was removedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was addedalgorithm/ctrl/observer/forward_trailer_bias_estimator.hpp
The file was modifiednode/logic.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
The file was modifiedtest/CMakeLists.txt
The file was modifieddata/config/cfg_log.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifieddata/config/cfg_estimator.cpp
The file was modifieddata/config/cfg_log.hpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
Commit 5f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf99 by chenran
refactor(control): simplify trailer bias validation
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiedalgorithm/ctrl/observer/forward_trailer_bias_estimator.hpp
The file was modifiedalgorithm/ctrl/observer/forward_trailer_bias_estimator.cpp
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedtest/forward_trailer_bias_estimator_test.cpp
The file was modifieddata/config/cfg_estimator.cpp
Commit b713440355124783638400636683659be57d55f1 by chenran
feat(control): filter pre-stop trailer bias samples
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was addedscripts/plot_last_bias_estimator_boxes.py
The file was modifiedtest/forward_trailer_bias_estimator_test.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was addedscripts/analyze_bias_stop_exclusion.py
The file was modifieddata/config/cfg_estimator.cpp
The file was modifiedalgorithm/ctrl/observer/forward_trailer_bias_estimator.cpp
The file was modifiedalgorithm/ctrl/observer/forward_trailer_bias_estimator.hpp