longTauGnssCoupling: wire coast-cap + taper into DisciplineScheduler#84
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Integrates the PR #80 primitives into compute_adaptive_interval so the coast interval is bounded by the DO's STOCHASTIC wander, not just the deterministic drift budget tau=sqrt(2*T/D). Kills the tau~64-256s hump where a quiet DO (D~0) pinned tau at max_interval=120s and coasted blind. All baseline paths now flow through a coast-cap + taper tail: - coast_tdev=(tdev_ref_ns, slope, tau_ref_s) constructor arg: the DO's characterized freerun TDEV power law -> coast_cap_from_tdev. A 1.17ns TCXO caps to <1s (must correct every epoch); an 85ps OCXO caps to ~138s (may coast). slope<=0 -> +inf -> no cap. - p22_at_tau closure (per-call): EKF predict-only P[2,2] growth -> coast_cap_from_p22. Honest only with Q-from-char (qFromCharPerActuator, PR #83) -- that's the runtime prerequisite. - distance_to_lock in [0,1] (per-call): graded_interval taper, the continuous converging->tracking transition replacing the binary "1 if converging else interval" latch + its 1->120s cliff. DEFAULT-OFF / behavior-preserving: absent coast_tdev and per-call args, compute_adaptive_interval is byte-identical to the drift-budget-only path (the quiet-DO branch still returns max_interval). The engine opts in by passing the char TDEV + the EKF closures; that engine wiring + closedLoopServoSim A/B is the next step. 9 new SchedulerCoastCapIntegrationTest cases (TCXO collapse, OCXO no-bite, slope<=0 no-cap, k_sigma tighten, p22 shorten, taper endpoints, compose-tightest-wins, inactive-when-not-adaptive). 1417 pass. Stacked on PR #80 (the primitives); runtime-depends on PR #83 (honest Q[3,3]) for the p22 path. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This was referenced May 29, 2026
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Superseded by #86 (squashed longTau stack). Scheduler wiring included there. |
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Summary
Wires the PR #80 primitives into
DisciplineScheduler.compute_adaptive_intervalso the coast interval is bounded by the DO's stochastic wander, not just the deterministic drift budgetτ=√(2·T/D). This is the fix for the tau~64–256 s hump: a quiet DO (D≈0) pinned τ atmax_interval=120 s and coasted blind while its random-walk wander accumulated.Stacked on #80 (the primitives). Runtime-depends on #83 (honest Q[3,3]) for the
p22path.All baseline paths now flow through a coast-cap + taper tail:
coast_tdev=(tdev_ref_ns, slope, tau_ref_s)(ctor)coast_cap_from_tdev. 1.17 ns TCXO → cap <1 s; 85 ps OCXO → ~138 s. slope≤0 → +inf → no cap.p22_at_tauclosure (per-call)coast_cap_from_p22. Honest only with Q-from-char (#83).distance_to_lock∈[0,1] (per-call)graded_intervaltaper — the continuous converging→tracking transition replacing the1 if converging else intervallatch + its 1→120 s cliff.Default-off / behavior-preserving
Absent
coast_tdevand the per-call args,compute_adaptive_intervalis byte-identical to today (the quiet-DO branch still returnsmax_interval). The engine opts in by passing the char TDEV + the EKF closures.Test plan
SchedulerCoastCapIntegrationTest(TCXO collapse, OCXO no-bite, slope≤0 no-cap, k_sigma tighten, p22 shorten, taper endpoints, compose-tightest-wins, inactive-when-not-adaptive). Existing scheduler tests unchanged. Full suite 1417 passed.coast_tdevfrom the DO char into the scheduler ctor; passp22_at_tau(closure over DOFreqEst predict-only P) +distance_to_lock(√(P22)/σ_total) per epoch. Behind a flag.Merge order: #83 (honest Q) + #80 (primitives) → this → engine wiring → sim A/B.
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