Firmware Controller: modeld says where the steering comes from; the Civics get their own measured delay schedules

openpilot/cereal/log.capnp

@@ -1168,6 +1168,22 @@ struct ModelDataV2 {
     desiredAcceleration @1 :Float32;
     shouldStop @2 :Bool;
     lateralActionTime @3 :Float32; # Seconds from the source vision frame to the lateral action target; zero means unavailable.
+    lateralSource @4 :LateralSource;  # where desiredCurvature came from; unknown in older logs
+    delayInput @5 :DelayInput;        # which model input carries the told lateral delay; unknown in older logs
+
+    enum LateralSource {
+      unknown @0;
+      plan @1;           # read off the plan at lateralActionTime (floored at MIN_STABLE_DELAY)
+      actionHead @2;     # the model's own action output
+      curvatureHead @3;  # the model's desired_curvature output (non-tinygrad models)
+    }
+
+    enum DelayInput {
+      unknown @0;
+      none @1;
+      actionT @2;
+      lateralControlParams @3;
+    }
   }
 
   deprecated :group {

openpilot/nrdr/docs/firmware_controller_profiles.md

@@ -7,24 +7,41 @@ changing it requires offroad confirmation. PIF's Device Yaw Correction is separa
 | Detected vehicle / EPS family | Calibration | Prediction delay |
 | --- | --- | --- |
 | HONDA_CLARITY / 39990-TRW-A020, modified EPS | Existing Clarity A020 | Measured speed schedule |
-| HONDA_CIVIC_BOSCH / 39990-TBA-C020, modified EPS | Civic C020 TargetMapD / Tracker4500 / Norm1650 / P117to265 / D737 / KFF45 | Normal live/manual path |
-| HONDA_CIVIC / 39990-TEG-A010, modified EPS | TEG-A010 corrected PTM build, command row 3 (provisional until driven on that build) | Normal live/manual path |
-| HONDA_INSIGHT / 39990-TXM-A040, modified EPS | Insight TXM-A040 corrected PTM build (the Clarity's own command map and P table, 4096 E4 per unit, measured load, R6 from its A table) | Clarity's measured speed schedule |
+| HONDA_CIVIC_BOSCH / 39990-TBA-C020, modified EPS | Civic C020 TargetMapD / Tracker4500 / Norm1650 / P117to265 / D737 / KFF45 | Its own speed schedule (provisional) |
+| HONDA_CIVIC / 39990-TEG-A010, modified EPS | TEG-A010 corrected PTM build, command row 3 (driven on that build) | Its own measured schedule |
+| HONDA_INSIGHT / 39990-TXM-A040, modified EPS | Insight TXM-A040 corrected PTM build (the Clarity's own command map and P table, 3840 E4 per unit, measured load, R6 from its A table) | Clarity's measured speed schedule |
+| HONDA_CIVIC_BOSCH / 39990-TBA-C120, modified EPS | C120 corrected PTM starting calibration: rows 0-4 the Clarity's R5 per key (3840 E4 per unit, its image's key clamp 1663), R6 from its A table, the C020's load and trims | The C020's speed schedule |
+| HONDA_CIVIC_BOSCH / 39990-TGG-A120, modified EPS | TGG-A120 corrected PTM starting calibration: row 0, built for 4096 E4 per unit but sent 3840 (its key clamp 1663), R6 from its A table (the C020's), the C020's load and trims | The C020's speed schedule |
+| HONDA_CIVIC / 39990-TBA-A030, modified EPS | A030 corrected PTM starting calibration: the TEG-A010's row 3 on every row, R6 from its A table (the TEG's), the TEG's measured load | The TEG-A010's speed schedule |
+| HONDA_CRV_5G / 39990-TLA-A040, modified EPS | CR-V A040 corrected PTM starting calibration: row 0, key clamp 1774, R6 from its A table, the owner's measured load, untrimmed | Normal live/manual path |
+| HONDA_CRV_5G / 39990-TLA-A220, modified EPS | CR-V A220 corrected PTM starting calibration: rows 0-5 Clarity-equivalent, its own envelope, the A040's A table, R6, load and trims | Normal live/manual path |
 
 PID CarParams and a matching firmware steer-ratio profile are also required. No
-other Civic, firmware version, diesel, CR-V, or generic Honda inherits the fallback.
+other Civic, firmware version, diesel, CR-V, or generic Honda inherits a calibration.
+The five starting calibrations are provisional: their firmware fields are read from
+each corrected image, while load, trims and command delay are carried from the
+nearest measured car until the owner's drives measure them.
 
 ## Required corrected firmware
 
 The Civic TEG-A010 calibration requires
 `39990-TEG,A010-20261016b-PTMFix-ClarityEquivMap-ClarityPKnots-Row6Stock-A280FlatRows023`
-(RWD SHA-256 starts `04147917`). It replaces the Bosch placeholder, but remains
-provisional: it has not yet been road-validated on this corrected build.
+(RWD SHA-256 starts `04147917`). It replaces the Bosch placeholder. It has been
+driven on this corrected build (owner's route `0000013d`, 2026-10-17): the car runs
+the corrected map (median R5 residual 35 counts over 104k frames, against 822 for the
+earlier build's), the column load
+holds out at R^2 0.810 (the same as a refit), and its telemetry R6 word agrees with the R6 computed from its Table A
+(-156.16 at centre) within 0.8% on unrailed frames.
 
 The Insight TXM-A040 calibration requires `39990-TXM,A040-PTM-20261016b`
 (RWD SHA-256 starts `7ba37432`). Its source configuration has been driven on the
 corrected build; that is not independent validation of this port.
 
+The starting calibrations require, by RWD SHA-256 prefix: Civic Bosch TBA-C120
+`9261b8db`, Civic TGG-A120 `6640806d`, Civic TBA-A030 `55c37266`, CR-V TLA-A040
+`2e6a8802`, CR-V TLA-A220 `2c992997` (each `...-20261016b-PTMFix-ClarityEquivMap-...`).
+The controller logs the required build at start and shows it in its description.
+
 Older builds report the same EPS version strings as these corrected builds.
 Family admission cannot verify the actual flashed image. Confirm the flashed
 build separately before selecting Firmware Controller; do not pair these
@@ -37,16 +54,29 @@ The temporary fixed 0.30-second prediction override is removed. Clarity uses
 0.15 / 0.08 / 0.10 / 0.20 / 0.30 seconds at 3.5 / 7 / 12 / 20 / 30 m/s,
 interpolated every frame, with endpoints held. Both model runtimes and controlsd
 use the same profile. Saved live/manual settings are preserved but unavailable
-while that schedule is selected. Civic has no measured prediction schedule in the
-source and therefore keeps live/manual delay normally, subject to Suggested locks.
+while that schedule is selected. The Civics have their own schedules (2026-10-18):
+TEG-A010 0.20 seconds at every speed, measured on its owner's drives, and C020 0.28 /
+0.28 / 0.28 / 0.26 / 0.26 seconds, provisional (from a drive on an older controller).
+Each is the car's lag from the camera frame to its yaw-sensor curvature, less modeld's
+fixed 0.075 seconds. lagd told the TEG 0.37-0.39 seconds, which ran it early.
 Model-specific smoothing remains separate, as in the source implementation.
 
 Command delay is a separate interpolated curvature history buffer, not a blocking
-sleep. It fades between 10 and 15 m/s. Clarity retains its saved endpoints, default
-0.145 / 0.025 seconds. Civic (and the Insight) uses fixed 0.175 / 0.025 seconds (source 0.150 / 0.000
-plus the existing port's 0.025-second model-action compensation); saved Clarity
-command-delay settings do not retune Civic. These are model-dependent calibrations,
-not a guarantee for every driving model.
+sleep. It moves between its ends from 10 to 15 m/s. Clarity retains its saved endpoints,
+default 0.145 / 0.125 seconds (the high end was 0.025 until the Clarity, on an action-head
+model, measured 0.10-0.14 seconds early above 15 m/s without it). The Insight uses fixed 0.175 / 0.025 seconds and the Civics
+0.175 seconds at every speed, since they ran as early on the highway as in town
+(source 0.150 plus the existing port's 0.025-second model-action compensation); saved
+Clarity command-delay settings do not retune them. These are model-dependent
+calibrations, not a guarantee for every driving model.
+
+They are what an action-head model needs. modeld now records where the steering came
+from (`modelV2.action.lateralSource`: `plan`, `actionHead` or `curvatureHead`) and how
+the told delay reached the model (`delayInput`). On a plan model (Pop v2, TCP v3) the
+plan is read no earlier than `MIN_STABLE_DELAY` (0.3 s); with the schedule telling it
+the car's own lag, the command delay becomes `max(0.3 - lateralActionTime, 0)`, which
+undoes that floor and nothing else. The delay slews at 0.3 s per second when the
+source changes.
 
 ## Calibration and unchanged behavior
 
@@ -58,13 +88,13 @@ newer angle-dependent R6 conversion and all existing core numerical behavior.
 TEG-A010 now uses its corrected firmware's command row 3 and shared Clarity P
 knots, with its own telemetry-derived column load and angle-dependent R6. It
 retains the C020 base gains, P/I trims and Civic command delay. Its existing
-3840-count transport and user-selected geometry are unchanged. It remains
-provisional, especially at crawl speeds not covered by the source telemetry.
+3840-count transport and user-selected geometry are unchanged. Crawl speeds
+are still thinly covered by its owner's drives (few turns below 9 m/s).
 
 Insight TXM-A040 uses the corrected firmware's Clarity command map and P table,
 its own load and angle-dependent R6, the C020 base gains/P-I trims, Civic command
-delay, and Clarity prediction schedule. Its 4096-count transport is accounted
-for in the inversion; no transport or safety limit is increased.
+delay, and Clarity prediction schedule. It is sent 3840 counts per unit, the
+image's own command clamp (as the Clarity); no transport or safety limit is increased.
 
 Shared steer-ratio selection, driver override, torque clipping, safety checks,
 inactive reset/history behavior and single output LPF are preserved. Optimized

openpilot/nrdr/features/lateral/controller_selection.py

@@ -3,8 +3,9 @@
 Firmware version strings identify the family, not the contents of a modified image.
 The owner must still confirm the flashed build. TEG-A010 runs its own calibration for the corrected PTM
 build (command row 3; rows 2 and 3 make the same command there), with R6 and load measured on one
-car's telemetry. It stays provisional until it has been driven on that build, and it is never a
+car's telemetry, and driven on that build (owner's route 0000013d, 2026-10-17). It is never a
 generic Honda fallback. Insight TXM-A040 runs its corrected PTM build's calibration, which has been driven.
+The corrected builds of the C120, TGG-A120, A030 and both CR-V images have provisional starting calibrations.
 """
 from dataclasses import dataclass
 
@@ -19,21 +20,47 @@ class FirmwareControllerProfile:
   calibration: str
   prediction_schedule: bool = False
   provisional: bool = False
+  # The corrected PTM build the calibration models (RWD SHA-256 prefix). Older builds report the same EPS version,
+  # so admission cannot check it; it is shown and logged so the owner can.
+  required_rwd: str = ""
 
 
 CLARITY_PROFILE = FirmwareControllerProfile("Clarity A020", "clarity_a020", prediction_schedule=True)
-CIVIC_PROFILE = FirmwareControllerProfile("Civic Bosch C020", "civic_bosch_c020")
+CIVIC_PROFILE = FirmwareControllerProfile("Civic Bosch C020", "civic_bosch_c020", prediction_schedule=True)
 TEG_PROFILE = FirmwareControllerProfile(
-  "Civic TEG-A010 corrected PTM, row 3 (not yet driven)", "civic_teg_a010", provisional=True,
+  "Civic TEG-A010 corrected PTM, row 3", "civic_teg_a010", prediction_schedule=True, required_rwd="04147917",
 )
 INSIGHT_PROFILE = FirmwareControllerProfile(
-  "Insight TXM-A040 corrected PTM", "insight_txm_a040", prediction_schedule=True,
+  "Insight TXM-A040 corrected PTM", "insight_txm_a040", prediction_schedule=True, required_rwd="7ba37432",
+)
+# Corrected-PTM (revision b) starting calibrations: firmware read from each image, the vehicle side carried from
+# the nearest measured car until its owner's drives measure it. The Civics take that car's delay schedule too (the
+# A030 the TEG's, the C120 and TGG the C020's); the CR-Vs keep live/manual delay until a CR-V drive is measured.
+C120_PROFILE = FirmwareControllerProfile(
+  "Civic Bosch TBA-C120 corrected PTM (starting calibration)", "civic_tba_c120", prediction_schedule=True, provisional=True, required_rwd="9261b8db",
+)
+TGG_PROFILE = FirmwareControllerProfile(
+  "Civic TGG-A120 corrected PTM (starting calibration)", "civic_tgg_a120", prediction_schedule=True, provisional=True, required_rwd="6640806d",
+)
+A030_PROFILE = FirmwareControllerProfile(
+  "Civic TBA-A030 corrected PTM (starting calibration)", "civic_tba_a030", prediction_schedule=True, provisional=True, required_rwd="55c37266",
+)
+CRV_A040_PROFILE = FirmwareControllerProfile(
+  "CR-V TLA-A040 corrected PTM (starting calibration)", "crv_tla_a040", provisional=True, required_rwd="2e6a8802",
+)
+CRV_A220_PROFILE = FirmwareControllerProfile(
+  "CR-V TLA-A220 corrected PTM (starting calibration)", "crv_tla_a220", provisional=True, required_rwd="2c992997",
 )
 _PROFILES = {
   ("HONDA_CLARITY", "39990-TRW-A020"): CLARITY_PROFILE,
   ("HONDA_CIVIC_BOSCH", "39990-TBA-C020"): CIVIC_PROFILE,
   ("HONDA_CIVIC", "39990-TEG-A010"): TEG_PROFILE,
   ("HONDA_INSIGHT", "39990-TXM-A040"): INSIGHT_PROFILE,
+  ("HONDA_CIVIC_BOSCH", "39990-TBA-C120"): C120_PROFILE,
+  ("HONDA_CIVIC_BOSCH", "39990-TGG-A120"): TGG_PROFILE,
+  ("HONDA_CIVIC", "39990-TBA-A030"): A030_PROFILE,
+  ("HONDA_CRV_5G", "39990-TLA-A040"): CRV_A040_PROFILE,
+  ("HONDA_CRV_5G", "39990-TLA-A220"): CRV_A220_PROFILE,
 }
 
 

openpilot/nrdr/features/lateral/honda_vgr.py

@@ -126,7 +126,8 @@ def physical_to_linear(self, angle_deg: float) -> float:
                   ("39990-TBA-C120", "39990-TBA-A030", "39990-TEG-A010"), _CIVIC_C120_X, _CIVIC_C120_Y),
   HondaVgrProfile("Civic C020/TGG-A120", ("HONDA_CIVIC_BOSCH",),
                   ("39990-TBA-C020", "39990-TGG-A120"), _CIVIC_C020_X, _CIVIC_C020_Y),
-  HondaVgrProfile("CR-V TLA-A040", ("HONDA_CRV_5G",), ("39990-TLA-A040",), _TLA_A040_X, _TLA_A040_Y),
+  # The corrected TLA-A220 image carries the A040's Table A byte for byte (same offset, same values).
+  HondaVgrProfile("CR-V TLA-A040", ("HONDA_CRV_5G",), ("39990-TLA-A040", "39990-TLA-A220"), _TLA_A040_X, _TLA_A040_Y),
   HondaVgrProfile("Insight TXM-A040", ("HONDA_INSIGHT",), ("39990-TXM-A040",), _TXM_A040_X, _TXM_A040_Y),
 )
 
@@ -138,6 +139,7 @@ def physical_to_linear(self, angle_deg: float) -> float:
   ("HONDA_CIVIC_BOSCH", "39990-TBA-C020"): HONDA_VGR_PROFILES[2],
   ("HONDA_CIVIC_BOSCH", "39990-TGG-A120"): HONDA_VGR_PROFILES[2],
   ("HONDA_CRV_5G", "39990-TLA-A040"): HONDA_VGR_PROFILES[3],
+  ("HONDA_CRV_5G", "39990-TLA-A220"): HONDA_VGR_PROFILES[3],
   ("HONDA_INSIGHT", "39990-TXM-A040"): HONDA_VGR_PROFILES[4],
 }