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docs(simulation): record Ackermann motion acceptance

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DCCONSTRUCTIONS
2026-07-24 23:00:07 +03:00
parent 49b0f47fea
commit bc61331604
4 changed files with 145 additions and 13 deletions
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@@ -192,6 +192,26 @@ residue. The run contained zero commands, so this result does not yet prove
rover motion, PX4 command delivery, watchdog/failsafe behavior, navigation or
safety acceptance.
S1D exact code generation `49b0f47` closes the first virtual Ackermann command
and motion slice. React sends bounded speed/steering intents through the
same-origin Mission Core API and private worker socket. The worker journals each
accepted command before mapping it to PX4 rover-level Offboard setpoints:
`RoverThrottleSetpoint` is calibrated against the stock model's
`RO_MAX_THR_SPEED=3.1`, `RoverSteeringSetpoint` carries normalized steering,
and PX4 retains arming, Offboard loss handling and control allocation. No
`ActuatorMotors` or `ActuatorServos` topic is exposed or published by Mission
Core.
The immutable D-only generation passed 40 focused target tests. Its first cold
start completed in one request after 32.08 seconds. Run
`s1c-49b0f47-20260724t195259z-62edd2` proved 3.74 m straight motion, a curved
turn, reverse motion, 44.6 ms sampled command admission, a 250 ms TTL transition
(`ttl_expired_count` 4 -> 5), stable stopped pose and clean provider shutdown
with no PX4/Gazebo/XRCE residue. This does not accept calibrated closed-loop
speed tracking, Differential Rover, canonical PX4/ROS 2 telemetry,
pause/step/reset, heartbeat/offboard/link-loss cases, Nav2, perception or safety
behavior. Real actuator authority remains false.
Start the worker from the exact immutable D source generation:
```bash
@@ -215,11 +235,11 @@ http://127.0.0.1:8765/
The direct `?workspace=polygon-run&run=<qualification-run-id>` URL remains a
compatible evidence deep-link. The archive API remains GET-only. The worker API
adds status/live GETs and explicit start/stop POSTs; POSTs remain `403` unless
the backend has the `internal-virtual-only` gate and an exact commit. Missing
configuration, transport drift and corrupt evidence fail closed. The browser
receives no Unix socket, D root, artifact bytes, PX4 endpoint or direct provider
command.
adds status/live GETs and explicit start, command and stop POSTs; POSTs remain
`403` unless the backend has the `internal-virtual-only` gate and an exact
commit. Missing configuration, transport drift and corrupt evidence fail
closed. The browser receives no Unix socket, D root, artifact bytes, PX4
endpoint or direct provider command.
See the [Polygon product/SRS](docs/12_SIMULATION_POLYGON_PRODUCT_AND_SRS.md),
[ADR 0015](docs/adr/0015-simulation-polygon-qualification-boundary.md),