fix: iterate A/V every cycle and push the feed-forward harder

The chart after 5 cycles settled to ~zero (P/D/I good) but still showed a
steady-speed lag (V too low) and accel/decel spikes (A too low), because A/V
were only tuned on the final cycle and gave up early. Now A/V run every cycle
(true coordinate-descent iteration with P/D/I), with a tighter plateau (5%),
lower cruise target (3), higher caps (A 2e6 / V 10000) and a couple more
attempts, so they push further toward zero error during the move.

48 tests green; typecheck + verify-build OK.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Author: jaysuk

src/components/ClosedLoopTuning.vue

@@ -811,9 +811,9 @@ async function runAutoTune(): Promise<void> {
 				if (autoCancel.value) { ok = false; break; }
 				if (!(await autoTuneTerm(strategy))) { ok = false; break; }
 			}
-			// A/V feed-forward (needs a G1 move + an axis) — only on the final cycle, after P/D/I have
-			// settled, since they're slower and far less coupled to the P/D/I iteration.
-			if (ok && !autoCancel.value && cycle === totalCycles) {
+			// A/V feed-forward (needs a G1 move + an axis) — run every cycle so they iterate alongside
+			// P/D/I (a too-low V leaves a steady-speed lag; a too-low A leaves accel/decel spikes).
+			if (ok && !autoCancel.value) {
 				if (axisLetterForDriver()) {
 					log("Tuning A/V on a moving axis…");
 					for (const strategy of AUTOTUNE_FF_SEQUENCE) {

src/model/autotune.ts

@@ -161,10 +161,10 @@ export interface MoveTermStrategy {
 	decide(attempts: Array<MoveAttempt>): AutoDecision;
 }
 
-export const A_MAX = 1_000_000;
-export const V_MAX = 5000;
-export const AV_PLATEAU = 0.1;        // <10% improvement → stop raising
-export const V_CRUISE_OK = 5;         // |mean P term| in cruise considered ~zero
+export const A_MAX = 2_000_000;
+export const V_MAX = 10000;
+export const AV_PLATEAU = 0.05;       // <5% improvement → stop raising (push further before settling)
+export const V_CRUISE_OK = 3;         // |mean P term| in cruise considered ~zero
 
 const noMove: AutoDecision = { kind: "fail", reason: "No steady-speed move detected — increase the A/V test move length or speed so the axis reaches cruise." };
 
@@ -177,7 +177,7 @@ export const A_STRATEGY: MoveTermStrategy = {
 	term: "a",
 	label: "A (accel feed-forward)",
 	start: 0,
-	maxAttempts: 8,
+	maxAttempts: 10,
 	decide(attempts) {
 		const last = attempts[attempts.length - 1];
 		if (!last.metrics.hasMove) { return noMove; }
@@ -204,7 +204,7 @@ export const V_STRATEGY: MoveTermStrategy = {
 	term: "v",
 	label: "V (velocity feed-forward)",
 	start: 0,
-	maxAttempts: 9,
+	maxAttempts: 11,
 	decide(attempts) {
 		const last = attempts[attempts.length - 1];
 		if (!last.metrics.hasMove) { return noMove; }