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Tesla Pre-AP: fix grade acceleration domain - #2

Merged
daggerhashjack merged 4 commits into
nap-devfrom
grade-feedback-fix
Jul 23, 2026
Merged

Tesla Pre-AP: fix grade acceleration domain#2
daggerhashjack merged 4 commits into
nap-devfrom
grade-feedback-fix

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Summary

  • keep planner targets and wheel-speed acceleration in the same net-acceleration domain
  • apply steady and transient grade terms in acceleration effort with bounded pitch and dropout behavior
  • keep the engage pedal slew active until the requested output catches up
  • add explicit 1.5-second handoff, delayed-plant, workflow, and mutation regressions

Validation

  • 253 Pre-AP tests plus 9 subtests
  • 89 Tesla Pre-AP safety tests plus 8 skips and 2 subtests
  • all 23 named longitudinal mutations killed
  • touched-file ruff and workflow contracts
  • clean-first Linux SCons build of the exact tree

Route nap and naponsp pushes and pull requests through a dedicated build, lint, car, and safety gate while preserving the upstream master matrix. Modernize the upstream model job, fix the MG test adapter's torque units, and enforce the single-feedback-owner test contract.
@daggerhashjack
daggerhashjack merged commit 2282f56 into nap-dev Jul 23, 2026
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