Technical notes¶

These pages are the engineering record behind the fork. They document the reasoning behind zoompilot's constants and design choices, kept out of the code comments on purpose.

Each page carries a Constants table (name, value, measurement, route) and a Tried and rejected section. Rlogs and the analysis scripts live in the private zoompilot-research repository. Route IDs are the dongle-side segment names in tools/mazda_long/test_data/ of the zoompilot repository.

Lateral (steering)¶

• Mazda lateral: evidence and design notes — the 2022 EPS detection and flag, the "1200/12/12 envelope", speed-dependent STEER_MAX, LKAS_BLOCK and the non-delivery latch, and the camera ERR_BIT_1 history.
• Lateral tune: v2 torque controller — the v0/v1/v2 lineage, v2 mechanisms and how they are attributed, the steer-limit classifier, and the speed-bin learner with its cache.
• v2 torque tune roadmap — the empirical roadmap and acceptance numbers for the torque tune.

Longitudinal (cruise)¶

• Mazda longitudinal (alpha long) — radar takeover and hand-back, the CRZ_INFO checksum, stop-and-go, MRCC state semantics, and alpha-long availability.
• Cruise arbiter — setpoint ownership, SLA sessions, dismiss semantics, and the reconciler.
• ICBM — the button servo, actuation profiles, fast mode, and the restore quiet window.
• Curve and limit speed planning — model curvature range bias, the highway near-window horizon, publish_ramp and the op-long budget, and map retain logic.

Identification¶

• Mazda fingerprinting — a VIN decode table and the EPS-swap fallback.