# 底盘算法输出参数模板。
# 真实算法填充完成后，应输出同类 YAML，再交给 stage_chassis_parameter_commit.py 生成待提交参数包。

schema_version: 1
session_id: replace_with_session_id
vehicle_id: replace_with_real_vehicle_id
chassis_type: differential
parameter_version: replace_with_algorithm_parameter_version

quality:
  data_quality_passed: true
  suitable_for_commit: true
  auto_acceptance_passed: true

validation_summary:
  max_lateral_error_m: 0.0
  max_yaw_error_rad: 0.0
  rms_lateral_error_m: 0.0
  rms_yaw_error_rad: 0.0
  repeatability_error_m: 0.0
  curvature_error: 0.0
  module_consistency_error: 0.0

estimated_params:
  common:
    longitudinal_scale: 1.0
    yaw_scale: 1.0
    straight_line_bias: 0.0
  differential:
    left_wheel_radius_m: replace_with_algorithm_output
    right_wheel_radius_m: replace_with_algorithm_output
    axle_track_width_m: replace_with_algorithm_output
