diff --git a/gemini.md b/gemini.md index 11159f1..7db08b7 100644 --- a/gemini.md +++ b/gemini.md @@ -24,6 +24,8 @@ This document is the consolidated source of truth for AI agents working on the F - `intel/`: Detailed deep-dive documentation for specific components. - `intel/CHRONICLES.md`: **Project History** — Weekly evolution and major milestones. - `intel/memory_update.md`: **Agent Protocol** — Standardized guide for repo memory updates. +- `intel/radar/`: Deep dives into radar physics (e.g. `isotropic_illumination_problem.md`). +- `scripts/`: Utility scripts for data processing and **Metrology Analysis** (`track_full_state.py`, etc). --- @@ -93,4 +95,4 @@ This document is the consolidated source of truth for AI agents working on the F --- -*Generated by Antigravity AI | Last Updated: 2026-04-10 | Refer to .cursorrules for start-of-turn instructions.* +*Generated by Antigravity AI | Last Updated: 2026-04-14 | Refer to .cursorrules for start-of-turn instructions.* diff --git a/intel/CHRONICLES.md b/intel/CHRONICLES.md index 7d6fd58..bd67cac 100644 --- a/intel/CHRONICLES.md +++ b/intel/CHRONICLES.md @@ -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**| --- @@ -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. + --- ## 📜 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." --- -*Generated by Antigravity AI | Fox CARLA ADAS Simulation | 2026-04-13* +*Generated by Antigravity AI | Fox CARLA ADAS Simulation | 2026-04-14* diff --git a/intel/memory_update.md b/intel/memory_update.md index bdbcd68..dcc0042 100644 --- a/intel/memory_update.md +++ b/intel/memory_update.md @@ -42,4 +42,4 @@ Don't just log *what* happened. Documentation must explain: - **No Fluff**: Keep descriptions concise but info-dense. --- -*Generated by Antigravity AI | Repository Memory System | 2026-04-13* +*Generated by Antigravity AI | Repository Memory System | 2026-04-14*