Parameter set `v1-default` (algorithm version 1)

Selected in: phase-03 (normalisation), phase-04 (GPS validation calibration), phase-06 (speed filters); IMU filter values remain provisional until Phase 8.
Justification: docs/proofs/phase-04/qc_report.md, docs/proofs/phase-06/filter_selection.md.

Changing any value requires a new param_set_id and an algorithm_version bump; every artifact records the id and the full dictionary in its provenance.

Normalisation (Phase 3)

parameter	value	meaning
`earth_radius_m`	6.37101e+06	Earth radius for the local east-north projection
`stationary_speed_max_ms`	0.5	GPS speed below which a second counts as stationary (up-vector calibration)
`stationary_min_seconds`	30	stationary data needed for a confident up-vector
`stationary_gyro_max_rads`	0.05	IMU-only stationary detection: gyro magnitude limit
`stationary_accel_std_max_ms2`	0.3	IMU-only stationary detection: accelerometer std limit
`timing_drift_fallback_s`	0.5	cumulative-index timing falls back to per-payload timing above this residual
`chapter_gap_min_s`	0.5	minimum STMP gap between consecutive chapters
`chapter_gap_max_s`	1.5	maximum STMP gap between consecutive chapters

GPS validation (Phase 4)

parameter	value	meaning
`gps_fix_min`	3	minimum fix quality (3 = 3-D fix)
`gps_dop_max`	3	DOP above which a sample is invalid
`gps_dop_confidence_taper`	2	DOP above which confidence is halved
`gps_prelock_valid_run_s`	2	length of the first valid run that ends the pre-lock period
`gps_gap_s`	1	gap length that splits the data into runs
`gps_gap_factor`	3	a gap is dt > factor / nominal rate
`gps_stationary_speed_ms`	0.5	speed below which duplicate positions are a receiver hold
`gps_moving_speed_ms`	3	speed above which a duplicate position is a jump
`gps_jump_speed_factor`	2	position-jump limit: factor × speed × dt
`gps_jump_noise_m`	3	position-jump limit: added noise allowance
`gps_jump_speed_floor_ms`	60	position-jump limit floor speed
`gps_speed_max_ms`	80	reported speed above which a sample is a spike
`gps_spike_accel_ms2`	15	acceleration of a speed step that counts as a spike
`gps_spike_recovery_samples`	3	samples within which a spike must reverse
`gps_hampel_window`	7	Hampel window on reported speed
`gps_hampel_nsigma`	3	Hampel threshold in robust sigmas
`gps_hampel_min_ms`	2	Hampel minimum absolute deviation
`gps_implausible_accel_ms2`	12	sustained acceleration that lowers confidence
`gps_implausible_accel_s`	0.5	duration for the sustained-acceleration rule
`gps_valid_fraction_min`	0.8	session blocked below this valid fraction
`gps_min_valid_run_s`	60	session blocked without a valid run this long
`gps_speed_consistency_window_s`	2	window for the position-vs-reported speed witness
`gps_speed_consistency_max_ms`	1.5	allowed disagreement of the speed witness
`gps_speed_consistency_fraction`	0.95	fraction of moving windows that must agree

Lap detection (Phase 5)

parameter	value	meaning
`lap_heading_smooth_samples`	5	moving-average window for the heading from positions
`lap_heading_min_speed_ms`	2	heading undefined below this speed
`lap_race_min_speed_ms`	8	samples faster than this define the racing surface
`lap_cross_min_speed_ms`	3	minimum speed for a gate crossing
`lap_gate_min_halfwidth_m`	15	minimum gate half-width
`lap_gate_spread_factor`	3	gate half-width = factor × median lateral spread
`lap_gate_heading_max_deg`	45	maximum heading error for a crossing
`gate_point_max_offset_m`	30	a start/finish line moved by the racer must lie within this distance of the centerline
`lap_min_lap_s`	6	minimum time between accepted crossings
`lap_progress_min_fraction`	0.95	a lap must cover this fraction of the loop
`lap_backward_jump_m`	10	maximum backward step in progress
`lap_distance_tolerance`	0.1	integrated distance tolerance vs loop length
`lap_gps_valid_fraction_min`	0.9	lap invalid below this valid fraction
`lap_max_gap_s`	1	lap invalid with a GPS gap longer than this
`lap_pit_speed_ms`	2	speed below which the car counts as stopped
`lap_pit_min_s`	2	stopped time that makes a lap a pit lap
`lap_caution_factor`	1.35	lap time factor over the fastest lap for caution
`lap_caution_speed_fraction`	0.7	mean-speed fraction under the best for caution
`lap_implausibly_fast_factor`	0.95	lap time must exceed factor × L / v_max

Speed and path acceleration (Phase 6)

parameter	value	meaning
`speed_cutoff_hz`	1	zero-phase Butterworth cutoff on GPS speed
`speed_gap_fill_s`	0.5	gaps up to this length are linearly filled
`sg_window_long_s`	0.7	Savitzky–Golay window for longitudinal acceleration
`sg_window_heading_s`	1	Savitzky–Golay window for the path heading
`sg_polyorder`	2	Savitzky–Golay polynomial order
`brake_threshold_ms2`	2	deceleration that defines the brake point
`brake_sustain_s`	0.3	how long braking must be sustained
`accel_threshold_ms2`	1	acceleration that defines the acceleration point
`accel_sustain_s`	0.5	how long acceleration must be sustained
`heading_min_speed_ms`	3	Cornering G undefined below this speed

IMU and mount calibration (Phase 8)

parameter	value	meaning
`imu_cutoff_hz`	5	zero-phase Butterworth (order 4) cutoff on accelerometer and gyro
`imu_hampel_window`	11	rolling-median window for clipped-sample replacement
`imu_hampel_nsigma`	None (disabled)	statistical Hampel threshold; None = disabled (Phase 8 finding)
`imu_replace_clipped`	true	replace samples at the ±8 g rail by the rolling median
`imu_decimate_hz`	50	storage rate of filtered IMU channels
`sustained_window_s`	1	window for sustained lateral values
`sustained_window_long_s`	0.5	window for sustained longitudinal values (proof study)
`sustained_threshold_g`	1	threshold for duration-above statistics
`calib_lowpass_hz`	1	low-pass used for the mount calibration fit
`calib_long_min_ms2`	2	longitudinal window threshold (plan §14.6; rarely met on ovals)
`calib_lat_max_ms2`	1	lateral limit for straight-line windows
`calib_window_min_s`	1	minimum straight-line window length
`calib_corr_good`	0.8	lateral-axis correlation for confidence 1.0
`calib_corr_ok`	0.6	lateral-axis correlation for confidence 0.7
`handedness_min_lat_ms2`	2	Cornering G magnitude that counts as a corner for the handedness test
`handedness_agreement_min`	0.95	required lateral sign agreement
`lean_lowpass_hz`	0.5	low-pass on the lean estimate used for the gyro lateral
`complementary_tau_s`	15	complementary-filter time constant for the attitude estimate
`imu_agreement_rms_max_g`	0.15	plan §14.7 item 3 threshold; superseded by the net-rotation identity (Amendment A2), reported not enforced
`stationary_up_spread_max_deg`	3	stationary runs disagreeing by more use the pre-race run only
`mount_drift_max_deg`	10	lap-mean up-vector drift that flags the mount as moved
`imu_agreement_bias_max_g`	0.05	plan §14.7 bias threshold; reported, not enforced

Centerline and projection (Phase 7)

parameter	value	meaning
`centerline_bins`	180	angular bins for the median polyline
`centerline_smooth_rms_m`	1	target RMS residual of the smoothed centerline
`centerline_max_harmonics`	32	maximum Fourier harmonics of the closed curve
`centerline_ds_m`	1	grid spacing of s
`proj_sigma_s_m`	3	expected along-track GPS jitter
`proj_back_tol_m`	2	allowed backward move in progress
`proj_n_max_m`	30	maximum lateral distance from the centerline
`proj_lost_limit`	5	consecutive lost samples that invalidate a lap
`proj_min_window_m`	5	minimum search window

Segments (Phase 10)

parameter	value	meaning
`segment_curvature_smooth_m`	10	smoothing length of
`segment_min_length_m`	45	minimum segment length after cleanup
`segment_user_min_length_m`	20	shortest corner or straight a racer can draw in the segment editor
`segment_blob_m`	30	corner runs shorter than this are ripple
`segment_corner_fraction`	0.35	corner where
`segment_center_fraction`	0.15	corner centre = ± this fraction of the arc

Lap delta (Phase 7)

parameter	value	meaning
`delta_invariant_tol_s`	0.001	tolerance of the endpoint invariant
`delta_display_smooth_m`	10	display smoothing window for Δt
`delta_low_confidence`	0.5	projection confidence below which a grid point is low-confidence

Parameter set v1-default (algorithm version 1)