@ -30,6 +30,8 @@ The "Shenron" radar engine evolved through 26 critical iterations. This table tr
| **18** | **Phase Lock** | Switched from average Doppler to **Doppler-Slice** Angle FFT. **Decision:** Preserving complex phase is the only way to achieve sharp angular resolution and prevent "blobbing." | **SHARP AZIMUTH** |
| **20-22** | **Symmetry** | Resolved a 15° boresight tilt. **Rationale:** Standard FFT indexing was asymmetric; we shifted to perfect index linear spaces to ensure the 120° FOV fan was centered. | **ZERO-TILT SYMMETRY** |
| **26** | **Milestone R4** | **THE BREAKTHROUGH:** Replaced all artificial normalization with the **$1/R^4$ Radar Range Equation**. **Decision:** Physical correctness is the only way to build trust in ADAS validation. | **PURE PHYSICS** |
| **30** | **Identity Fix** | Proved the **Isotropic Illumination** root cause through LiDAR FOV clipping diagnostics. | **ROOT CAUSE ID** |
| **31** | **Deep De-Hack** | **Decision:** Stripped 277x legacy multipliers and tightened specular cones to 2.0°. Restoration of total physical honesty before antenna pattern fix. | **PHYSICAL HONESTY**|
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@ -85,6 +87,12 @@ Prior to Week 3, the radar output was a "Black Box."
- **The Solution:** Implemented **Doppler-Slice Synthesis**. We now perform Angle-FFT on each Doppler bin independently to preserve phase, followed by **Incoherent Power Summation**.
- **Result:** Transitioned from spatially blurred energy fields to sharp, physically consistent RA/RD heatmaps. This unlocked the ability to see "Radar Blue" Jet-spectrum blobs that spatially align with LiDAR ground truth.
### 🔦 The Isotropic Illumination Breakthrough
After 30 iterations of parameter tuning, we identified the fundamental reason for vehicle detection failure at range.
- **The Problem**: The physics engine was treating the radar as an **Isotropic Point Source** (equal power in all 360 degrees). Large side surfaces (road barriers, tunnel walls) at 80° were generating returns just as loud as the car at 0°, effectively "shadowing" the vehicle.
- **The Discovery**: Diagnostic tracking using `track_full_state.py` proved that the peak detection angle was consistently locked to side-walls. Once we manually clipped the LiDAR FOV to ±30°, the car became the dominant detection immediately.
- **The "De-Hacking" Resolution**: We stripped away weeks of compensatory "boosts" (gain hacks, widened reflection cones) to return to a physically honest baseline before the antenna pattern fix.
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## 📜 5. Project Evolution (Weekly Context)
@ -114,12 +122,21 @@ Prior to Week 3, the radar output was a "Black Box."
## 📜 6. Detailed Daily Chronology (Git Absolute)
### **April 13 (Today)**
- **Task:** Observability & UI Optimization.
- **Action:** Established the `CHRONICLES.md` (Technical Saga) and `memory_update.md` (Agent Protocol).
- **Optimization:** Addressed terminal log "flooding" by suppressing `/api/simulator/status` Werkzeug logs and reducing frontend polling from 1s to 3s.
- **UI Enhancement:** Implemented a collapsible **Configuration Parameters** card.
- **Accessibility Fix:** Performed a full theme overhaul to improve readability. Boosted panel contrast, increased label font-weight, and transformed the collapse toggle into a prominent, circular blue-accented action button.
### **April 14 (Today)**
- **Task**: Physics "De-Hacking" & Root Cause Analysis.
- **Action**: Identified the **Isotropic Illumination Problem** as the primary blocker for ADAS tracking.
- **Physics**: Stripped legacy scaling multipliers (`~277x`) and tightened reflection cones (`5.0° -> 2.0°`) from `Sceneset.py` to restore physical realism.
- **Hardware Calibration**: Locked AWRL1432 profile to `137.2 MHz` bandwidth and `128` chirps.
- **UI Enhancement**: Overhauled the dashboard with an **Emerald-themed Telemetry HUD** providing real-time SNR and point-density chips.
- **Metrology**: Integrated `track_full_state.py`, `track_peaks.py`, and `compare_metrology.py` into the diagnostic loop.
- **Tooling**: Added `--frames` support to `test_shenron.py` for faster diagnostic synthesis.
### **April 13**
- **Task**: Observability & UI Optimization.
- **Action**: Established the `CHRONICLES.md` (Technical Saga) and `memory_update.md` (Agent Protocol).
- **Optimization**: Addressed terminal log "flooding" by suppressing `/api/simulator/status` Werkzeug logs and reducing frontend polling from 1s to 3s.
- **UI Enhancement**: Implemented a collapsible **Configuration Parameters** card.
- **Accessibility Fix**: Performed a full theme overhaul to improve readability. Boosted panel contrast, increased label font-weight, and transformed the collapse toggle into a prominent, circular blue-accented action button.
### **April 10**
- **Task:** Process Efficiency & Lifecycle.
@ -148,4 +165,4 @@ Prior to Week 3, the radar output was a "Black Box."
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*Generated by Antigravity AI | Fox CARLA ADAS Simulation | 2026-04-13*
*Generated by Antigravity AI | Fox CARLA ADAS Simulation | 2026-04-14*
