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Merged
rolling-codes merged 2 commits into from
Jun 21, 2026
Merged

feat: v2.0 premium physics — yaw damping, slip discrimination, adaptive smooth, TC #3

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718d19e
feat: v2.0 premium physics — yaw damping, slip discrimination, adapti…
rolling-codes Jun 21, 2026
271f1c4
ci: update Structure config key list for v2.0 (replace COUNTERSTEER_*…
rolling-codes Jun 21, 2026
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4 changes: 2 additions & 2 deletions .github/workflows/quality.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -60,10 +60,10 @@ jobs:
echo "Manifests OK"
- name: Config keys
run: |
for key in DEADZONE GAMMA STEER_SMOOTH SPEED_SCALE_START SPEED_SCALE_END SPEED_SCALE_MIN COUNTERSTEER_GAIN COUNTERSTEER_DAMP SLIP_LIMIT_START SLIP_LIMIT_RANGE SLIP_LIMIT_MIN GAS_DEADZONE GAS_GAMMA BRAKE_DEADZONE BRAKE_GAMMA HAPTICS_ENABLED HAPTICS_SLIP_START HAPTICS_SLIP_MAX HAPTICS_STRENGTH DEBUG_MODE; do
for key in DEADZONE GAMMA STEER_SMOOTH STEER_SMOOTH_MIN SPEED_SCALE_START SPEED_SCALE_END SPEED_SCALE_MIN YAW_GAIN YAW_DAMP SLIP_DELTA_THRESH US_REDUCTION OS_BOOST SLIP_LIMIT_START SLIP_LIMIT_RANGE SLIP_LIMIT_MIN GAS_DEADZONE GAS_GAMMA BRAKE_DEADZONE BRAKE_GAMMA TC_ENABLED HAPTICS_ENABLED HAPTICS_SLIP_START HAPTICS_SLIP_MAX HAPTICS_STRENGTH DEBUG_MODE; do
grep -q "$key" MyGamepadFX/config.lua || { echo "FAIL: config.lua missing $key"; exit 1; }
done
echo "All 20 config keys present"
echo "All 25 config keys present"

comment:
name: PR Comment
Expand Down
91 changes: 47 additions & 44 deletions MyGamepadFX/assist.lua
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
-- assist.lua — pipeline assembly and CSP entry points
-- Pipeline (execution order):
-- raw input → calibrate → deadzone/gamma → speed scale → slip limit (driver only) → + self-steer → smooth → clamp → output
-- raw input → calibrate → deadzone/gamma → speed scale
-- → slip classify → understeer clamp → slip limit
-- + yaw damp (oversteer boost, load transfer)
-- → adaptive smooth → clamp → output

local CFG = require('config')
local lib = require('lib')
Expand All @@ -10,10 +13,8 @@ local steerOut = 0.0
local frameCount = 0
local firstFrameDiagnostics = false

-- Live config: the MyGamepadFX Config app writes this file; we poll it every 0.5s.
-- When absent (no app open yet), CFG defaults from config.lua are used unchanged.
local LIVE_CFG_PATH = ac.getFolder(ac.FolderID.ScriptOrigin) .. '/live_cfg.ini'
local liveCfgTimer = 0.5 -- start first check after 0.5s to avoid startup noise
local liveCfgTimer = 0.5

local function applyLiveCfg()
local ok, ini = pcall(ac.INIConfig.load, LIVE_CFG_PATH)
Expand All @@ -27,18 +28,25 @@ local function applyLiveCfg()
CFG.DEADZONE = ini:get('PARAMS', 'DEADZONE', CFG.DEADZONE)
CFG.GAMMA = ini:get('PARAMS', 'GAMMA', CFG.GAMMA)
CFG.STEER_SMOOTH = ini:get('PARAMS', 'STEER_SMOOTH', CFG.STEER_SMOOTH)
CFG.STEER_SMOOTH_MIN = ini:get('PARAMS', 'STEER_SMOOTH_MIN', CFG.STEER_SMOOTH_MIN)
CFG.SPEED_SCALE_START = ini:get('PARAMS', 'SPEED_SCALE_START', CFG.SPEED_SCALE_START)
CFG.SPEED_SCALE_END = ini:get('PARAMS', 'SPEED_SCALE_END', CFG.SPEED_SCALE_END)
CFG.SPEED_SCALE_MIN = ini:get('PARAMS', 'SPEED_SCALE_MIN', CFG.SPEED_SCALE_MIN)
CFG.COUNTERSTEER_GAIN = ini:get('PARAMS', 'COUNTERSTEER_GAIN', CFG.COUNTERSTEER_GAIN)
CFG.COUNTERSTEER_DAMP = ini:get('PARAMS', 'COUNTERSTEER_DAMP', CFG.COUNTERSTEER_DAMP)
CFG.YAW_GAIN = ini:get('PARAMS', 'YAW_GAIN', CFG.YAW_GAIN)
CFG.YAW_DAMP = ini:get('PARAMS', 'YAW_DAMP', CFG.YAW_DAMP)
CFG.SLIP_DELTA_THRESH = ini:get('PARAMS', 'SLIP_DELTA_THRESH', CFG.SLIP_DELTA_THRESH)
CFG.US_REDUCTION = ini:get('PARAMS', 'US_REDUCTION', CFG.US_REDUCTION)
CFG.OS_BOOST = ini:get('PARAMS', 'OS_BOOST', CFG.OS_BOOST)
CFG.SLIP_LIMIT_START = ini:get('PARAMS', 'SLIP_LIMIT_START', CFG.SLIP_LIMIT_START)
CFG.SLIP_LIMIT_RANGE = ini:get('PARAMS', 'SLIP_LIMIT_RANGE', CFG.SLIP_LIMIT_RANGE)
CFG.SLIP_LIMIT_MIN = ini:get('PARAMS', 'SLIP_LIMIT_MIN', CFG.SLIP_LIMIT_MIN)
CFG.GAS_DEADZONE = ini:get('PARAMS', 'GAS_DEADZONE', CFG.GAS_DEADZONE)
CFG.GAS_GAMMA = ini:get('PARAMS', 'GAS_GAMMA', CFG.GAS_GAMMA)
CFG.BRAKE_DEADZONE = ini:get('PARAMS', 'BRAKE_DEADZONE', CFG.BRAKE_DEADZONE)
CFG.BRAKE_GAMMA = ini:get('PARAMS', 'BRAKE_GAMMA', CFG.BRAKE_GAMMA)
CFG.TC_ENABLED = ini:get('PARAMS', 'TC_ENABLED', CFG.TC_ENABLED)
CFG.TC_SLIP_THRESHOLD = ini:get('PARAMS', 'TC_SLIP_THRESHOLD', CFG.TC_SLIP_THRESHOLD)
CFG.TC_MAX_REDUCTION = ini:get('PARAMS', 'TC_MAX_REDUCTION', CFG.TC_MAX_REDUCTION)
Comment on lines +31 to +49

@coderabbitai coderabbitai Bot Jun 21, 2026

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⚠️ Potential issue | 🟠 Major | ⚡ Quick win

Clamp live INI numeric values before assigning to CFG.

applyLiveCfg() trusts live_cfg.ini values. Invalid values (for example SLIP_DELTA_THRESH <= 0 or SLIP_LIMIT_RANGE <= 0) flow into divisions at Line 109 in this file and MyGamepadFX/lib.lua Line 84, producing unstable control math (Inf/NaN paths).

Proposed fix 
 local function applyLiveCfg()
     local ok, ini = pcall(ac.INIConfig.load, LIVE_CFG_PATH)
     if not ok or not ini then return end
+    local function getNum(key, fallback, minV, maxV)
+        local v = tonumber(ini:get('PARAMS', key, fallback)) or fallback
+        if minV and maxV then return math.clamp(v, minV, maxV) end
+        if minV then return math.max(v, minV) end
+        if maxV then return math.min(v, maxV) end
+        return v
+    end
@@
-    CFG.SLIP_DELTA_THRESH  = ini:get('PARAMS', 'SLIP_DELTA_THRESH',  CFG.SLIP_DELTA_THRESH)
+    CFG.SLIP_DELTA_THRESH  = getNum('SLIP_DELTA_THRESH', CFG.SLIP_DELTA_THRESH, 0.001, 1.0)
@@
-    CFG.SLIP_LIMIT_RANGE   = ini:get('PARAMS', 'SLIP_LIMIT_RANGE',   CFG.SLIP_LIMIT_RANGE)
+    CFG.SLIP_LIMIT_RANGE   = getNum('SLIP_LIMIT_RANGE', CFG.SLIP_LIMIT_RANGE, 0.001, 1.0)
🤖 Prompt for AI Agents 
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

In `@MyGamepadFX/assist.lua` around lines 31 - 49, In the applyLiveCfg() function,
the numeric values retrieved from ini:get() for parameters like
SLIP_DELTA_THRESH, SLIP_LIMIT_RANGE, and other divisor-dependent values are
assigned directly to CFG without validation, which can cause Inf/NaN results
when these values are used in division operations at line 109 and in
MyGamepadFX/lib.lua line 84. Add clamping logic after each ini:get() call to
ensure critical numeric parameters that are used as divisors (such as
SLIP_DELTA_THRESH and SLIP_LIMIT_RANGE) have minimum values greater than 0, and
ensure other numeric parameters are within acceptable ranges before assigning
them to their corresponding CFG properties.

CFG.HAPTICS_ENABLED = ini:get('PARAMS', 'HAPTICS_ENABLED', CFG.HAPTICS_ENABLED)
CFG.HAPTICS_SLIP_START = ini:get('PARAMS', 'HAPTICS_SLIP_START', CFG.HAPTICS_SLIP_START)
CFG.HAPTICS_SLIP_MAX = ini:get('PARAMS', 'HAPTICS_SLIP_MAX', CFG.HAPTICS_SLIP_MAX)
Expand All @@ -49,7 +57,6 @@ end
function script.update(dt)
frameCount = frameCount + 1

-- Poll live_cfg.ini written by the MyGamepadFX Config app (if open)
liveCfgTimer = liveCfgTimer - dt
if liveCfgTimer <= 0 then
liveCfgTimer = 0.5
Expand All @@ -59,15 +66,15 @@ function script.update(dt)
local car = ac.getCar(0)
if not car then
if frameCount > 2 then
lib.logOnce("car_nil", "[MyGamepadFX] ERROR: ac.getCar(0) returned nil after startup. Check CM → Settings → Custom Shaders Patch → Gamepad FX → confirm Active and MyGamepadFX selected.")
lib.logOnce("car_nil", "[MyGamepadFX] ERROR: ac.getCar(0) returned nil after startup. Check CM \xE2\x86\x92 Settings \xE2\x86\x92 Custom Shaders Patch \xE2\x86\x92 Gamepad FX \xE2\x86\x92 confirm Active and MyGamepadFX selected.")
end
steerOut = 0.0
return
end

local gamepad = ac.getGamepad(0)
if not gamepad then
lib.logOnce("gamepad_nil", "[MyGamepadFX] ERROR: No gamepad detected. Check CM → Settings → Assetto Corsa → Controls → Input Method = Gamepad.")
lib.logOnce("gamepad_nil", "[MyGamepadFX] ERROR: No gamepad detected. Check CM \xE2\x86\x92 Settings \xE2\x86\x92 Assetto Corsa \xE2\x86\x92 Controls \xE2\x86\x92 Input Method = Gamepad.")
steerOut = 0.0
return
end
Expand All @@ -78,68 +85,64 @@ function script.update(dt)
lib.logOnce("frame_drop", "[MyGamepadFX] Warning: frame time " .. string.format("%.0f", dt * 1000) .. "ms exceeds 50ms threshold. Smoothing may be affected.")
end

-- First-frame axis diagnostics (once per game start, not per session reset)
if not firstFrameDiagnostics then
ac.log("[MyGamepadFX] === Startup Diagnostic ===")
ac.log("[MyGamepadFX] Axes: [0]=" .. string.format("%.2f", gamepad.axes[0] or 0)
.. " [1]=" .. string.format("%.2f", gamepad.axes[1] or 0)
.. " [3]=" .. string.format("%.2f", gamepad.axes[3] or 0)
.. " [4]=" .. string.format("%.2f", gamepad.axes[4] or 0))
ac.log("[MyGamepadFX] Expected: axes[1]=steer, axes[3]=throttle, axes[4]=brake")
ac.log("[MyGamepadFX] yawRate available: " .. tostring(car.localAngularVelocity ~= nil))
firstFrameDiagnostics = true
end

-- 1. Raw input → calibrate → deadzone → gamma → speed scale
local raw = gamepad.axes[1] or 0.0 -- left stick X (steering)
-- 1. Raw input -> calibrate -> deadzone -> gamma -> speed scale
local raw = gamepad.axes[1] or 0.0
local calibrated = lib.normalizeAxis(raw, CFG.STEER_CENTER, CFG.STEER_RANGE)
local steer = lib.applyGamma(lib.applyDeadzone(calibrated, CFG.DEADZONE), CFG.GAMMA)
steer = steer * lib.speedScale(car.speedKmh, CFG)

-- 2. Slip limit — clamps driver input only; self-steer is added after
local avgFrontSlip = (car.wheelsSlip[0] + car.wheelsSlip[1]) * 0.5
local slipFactor = math.clamp(
(avgFrontSlip - CFG.SLIP_LIMIT_START) / CFG.SLIP_LIMIT_RANGE,
0.0, 1.0
)
-- 2. Slip classify: front vs rear
local slip = lib.stageSlipClassify(car, CFG)

-- 3. Slip limit — clamps driver input; tightened by understeer factor
local slipFactor = math.clamp((slip.front - CFG.SLIP_LIMIT_START) / CFG.SLIP_LIMIT_RANGE, 0.0, 1.0)
local steerLimit = lib.lerp(1.0, CFG.SLIP_LIMIT_MIN, slipFactor)
steerLimit = steerLimit * lib.lerp(1.0, 1.0 - CFG.US_REDUCTION, slip.understeer)
local driverInput = math.clamp(steer, -steerLimit, steerLimit)

-- 3. Self-steer: caster return-to-center + damping (not subject to slip limit)
local selfSteer = -avgFrontSlip * CFG.COUNTERSTEER_GAIN
- car.steer * CFG.COUNTERSTEER_DAMP
local combined = driverInput + selfSteer

-- 4. Smooth combined signal (driver + self-steer together — avoids correction lag)
steerOut = lib.expSmooth(steerOut, combined, CFG.STEER_SMOOTH, dt)

-- if dbg and CFG.DEBUG_MODE then dbg.draw({
-- raw = raw,
-- afterScale = steer,
-- steerLimit = steerLimit,
-- driverInput = driverInput,
-- selfSteer = selfSteer,
-- combined = combined,
-- steerOut = steerOut,
-- avgFrontSlip = avgFrontSlip,
-- speedKmh = car.speedKmh,
-- carSteer = car.steer,
-- dt = dt,
-- }) end

-- 4.5. Haptic feedback (trigger rumble on front slip)
-- 4. Yaw damping + oversteer boost (replaces self-steer)
local yaw = lib.yawRate(car)
local heavyBraking = (car.brake or 0) > 0.4 and car.speedKmh > 30
local effectiveDamp = heavyBraking and CFG.YAW_DAMP * 0.6 or CFG.YAW_DAMP
local yawCorrection = lib.stageYawDamp(yaw, car.steer, CFG, slip.oversteer, effectiveDamp)
local combined = driverInput + yawCorrection

-- 5. Adaptive smooth: faster at the limit, smooth when settled
local avgSlip = (slip.front + slip.rear) * 0.5
local stability = 1.0 - math.clamp((math.abs(yaw) * 0.5 + avgSlip) / 0.4, 0.0, 1.0)
steerOut = lib.stageAdaptiveSmooth(steerOut, combined, stability, CFG, dt)

-- 5.5. Haptic feedback
if CFG.HAPTICS_ENABLED then
local slipIntensity = math.clamp(
(avgFrontSlip - CFG.HAPTICS_SLIP_START) / (CFG.HAPTICS_SLIP_MAX - CFG.HAPTICS_SLIP_START),
(avgSlip - CFG.HAPTICS_SLIP_START) / (CFG.HAPTICS_SLIP_MAX - CFG.HAPTICS_SLIP_START),
0.0, 1.0
)
ac.setTriggerRumble(0, slipIntensity * CFG.HAPTICS_STRENGTH)
end

-- 5. Write to physics
-- 6. Write to physics
local rawGas = lib.normalizeTrigger(gamepad.axes[3] or 0.0, CFG.GAS_REST, CFG.GAS_MAX)
local rawBrake = lib.normalizeTrigger(gamepad.axes[4] or 0.0, CFG.BRAKE_REST, CFG.BRAKE_MAX)
local gasOut = math.clamp(lib.applyGamma(lib.applyDeadzone(rawGas, CFG.GAS_DEADZONE), CFG.GAS_GAMMA), 0.0, 1.0)
if CFG.TC_ENABLED then
local spin = lib.stageWheelspin(car)
local reduction = math.clamp((spin - CFG.TC_SLIP_THRESHOLD) / 0.2, 0.0, 1.0)
gasOut = gasOut * (1.0 - reduction * CFG.TC_MAX_REDUCTION)
end
ac.setSteer(math.clamp(steerOut, -1.0, 1.0))
ac.setGas( math.clamp(lib.applyGamma(lib.applyDeadzone(rawGas, CFG.GAS_DEADZONE), CFG.GAS_GAMMA), 0.0, 1.0))
ac.setGas(gasOut)
ac.setBrake(math.clamp(lib.applyGamma(lib.applyDeadzone(rawBrake, CFG.BRAKE_DEADZONE), CFG.BRAKE_GAMMA), 0.0, 1.0))
end

Expand Down
31 changes: 21 additions & 10 deletions MyGamepadFX/config.lua
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
-- config.lua — all tunable constants; no logic lives here
local CFG = {
-- Axis calibration (Hall Effect controllers)
-- Defaults produce no change from v1.0 behaviour.
-- Defaults produce no change from pre-calibration behaviour.
STEER_CENTER = 0.0, -- raw stick value at rest; subtracted before deadzone
STEER_RANGE = 1.0, -- max raw deflection from center (scale to ±1.0)
GAS_REST = 0.0, -- raw trigger value when fully released
Expand All @@ -14,16 +14,22 @@ local CFG = {
GAMMA = 1.6, -- steering curve exponent (>1 = more center precision)

-- Smoothing
STEER_SMOOTH = 0.12, -- blend weight at 60 fps (frame-rate independent)
STEER_SMOOTH = 0.12, -- stable-state blend weight at 60 fps
STEER_SMOOTH_MIN = 0.04, -- minimum blend weight at high instability (v2.0)

-- Speed scaling
SPEED_SCALE_START = 60, -- km/h where speed scaling begins
SPEED_SCALE_END = 180, -- km/h where scaling reaches minimum
SPEED_SCALE_MIN = 0.35, -- minimum steering multiplier at top speed

-- Self-steer
COUNTERSTEER_GAIN = 0.45, -- correction strength
COUNTERSTEER_DAMP = 0.30, -- oscillation damping; must stay >= (COUNTERSTEER_GAIN * 0.6)
-- Yaw damping (v2.0 — replaces COUNTERSTEER_GAIN/DAMP)
YAW_GAIN = 0.5, -- countersteer force per rad/s of yaw
YAW_DAMP = 0.3, -- steer angle damping when yawing

-- Slip discrimination (v2.0)
SLIP_DELTA_THRESH = 0.08, -- front-rear slip difference that fully classifies under/oversteer
US_REDUCTION = 0.25, -- max authority reduction when understeering (0 = disabled)
OS_BOOST = 0.3, -- max countersteer boost when oversteering (0 = disabled)

-- Slip limit
SLIP_LIMIT_START = 0.15, -- front slip level where reduction begins
Expand All @@ -36,14 +42,19 @@ local CFG = {
BRAKE_DEADZONE = 0.01, -- avoids light brake from trigger drift
BRAKE_GAMMA = 1.0, -- linear brake (no curve)

-- Traction control (v2.0, off by default)
TC_ENABLED = false, -- enable to reduce wheelspin automatically
TC_SLIP_THRESHOLD = 0.15, -- rear wheelspin ratio where TC activates
TC_MAX_REDUCTION = 0.5, -- maximum throttle reduction fraction

-- Haptic feedback (trigger rumble, CSP v0.2.0+)
HAPTICS_ENABLED = false, -- disabled by default; enable in config if controller supports it
HAPTICS_SLIP_START = 0.3, -- front slip level where rumble begins
HAPTICS_SLIP_MAX = 1.0, -- slip level for maximum rumble
HAPTICS_STRENGTH = 0.8, -- overall rumble intensity [0, 1]
HAPTICS_ENABLED = false,
HAPTICS_SLIP_START = 0.3,
HAPTICS_SLIP_MAX = 1.0,
HAPTICS_STRENGTH = 0.8,

-- Debug / tuning mode
DEBUG_MODE = false, -- set true to enable live telemetry overlay
DEBUG_MODE = false,
}

return CFG
47 changes: 46 additions & 1 deletion MyGamepadFX/lib.lua
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
-- lib.lua — math primitives; no constants, no ac.* API calls
-- lib.lua — math primitives and pipeline stage functions; no constants, no ac.* API calls
-- Note: math.clamp is a CSP extension, not available in vanilla LuaJIT.
local M = {}

Expand Down Expand Up @@ -64,4 +64,49 @@ function M.speedScale(speedKmh, cfg)
return M.lerp(1.0, cfg.SPEED_SCALE_MIN, t)
end

-- Yaw rate from car object. Returns 0.0 if unavailable (pre-v2.0 CSP).
-- car.localAngularVelocity is body-frame rad/s; .y = yaw (positive = rotating left).
function M.yawRate(car)
if not car.localAngularVelocity then return 0.0 end
return car.localAngularVelocity.y
end

-- Classify front vs rear slip to determine oversteer/understeer state.
-- Returns { front, rear, understeer, oversteer } all in [0, 1].
function M.stageSlipClassify(car, cfg)
local front = (car.wheelsSlip[0] + car.wheelsSlip[1]) * 0.5
local rear = (car.wheelsSlip[2] + car.wheelsSlip[3]) * 0.5
local delta = front - rear -- positive = understeer, negative = oversteer
local thresh = cfg.SLIP_DELTA_THRESH
return {
front = front,
rear = rear,
understeer = math.clamp( delta / thresh, 0.0, 1.0),
oversteer = math.clamp(-delta / thresh, 0.0, 1.0),
}
end

-- Yaw damping: opposes car rotation and steer angle oscillation.
-- overFactor scales yaw correction up when oversteering; effectiveDamp handles load transfer.
function M.stageYawDamp(yaw, steerAngle, cfg, overFactor, effectiveDamp)
local yawPart = -yaw * cfg.YAW_GAIN * M.lerp(1.0, 1.0 + cfg.OS_BOOST, overFactor)
local dampPart = -steerAngle * effectiveDamp
return yawPart + dampPart
end

-- Adaptive smooth: faster at the limit, stable when settled.
-- stability in [0, 1] where 1 = fully stable.
function M.stageAdaptiveSmooth(current, target, stability, cfg, dt)
local smooth = M.lerp(cfg.STEER_SMOOTH_MIN, cfg.STEER_SMOOTH, stability)
return M.expSmooth(current, target, smooth, dt)
end

-- Rear wheelspin ratio. Returns value in [0, 1] where 0 = no spin, 1 = full spin.
function M.stageWheelspin(car)
local expected = car.speedKmh / 3.6 / 0.3 -- ~0.3m typical tyre radius
if expected < 1.0 then return 0.0 end
local rearAvg = (car.wheelAngularSpeed[2] + car.wheelAngularSpeed[3]) * 0.5
return math.clamp(rearAvg / expected - 1.0, 0.0, 1.0)
end

return M
2 changes: 1 addition & 1 deletion MyGamepadFX/manifest.ini
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Original file line number Diff line number Diff line change
@@ -1,3 +1,3 @@
[ABOUT]
NAME = MyGamepadFX
VERSION = 1.0
VERSION = 2.0
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