Single-vehicle sync improvements#220

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spectrachrome wants to merge 36 commits into

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spectrachrome:multi-cluster-sync

Commits on Apr 17, 2026

chore: add mathematical foundation for cluster handling as markdown doc
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Commits on Apr 18, 2026

doc: add plans for debugger and cluster sync
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doc: add implementation order notes
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feat: implement Phase 1a measurement primitives for cluster sync
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feat: add Lua console command stubs for measurement system
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docs: revise cluster sync model to sync all body states without joint tracking
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feat: implement Phase 1b core single-vehicle sync with prediction and blending
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Remove dead quaternion math code from shared crate
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feat: implement phase 1c node-position deformation sync
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fix: add deformation field to server VehicleUpdate construction
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Commits on Apr 21, 2026

feat: layered per-node sync with deviation capture + receiver-side gating
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Commits on Apr 23, 2026

feat: checkpoint motion-first sync before heading-hold test
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Commits on Apr 24, 2026

feat: checkpoint trajectory sync with RTT timing
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Commits on Apr 28, 2026

feat: COG-space motion-first sync with dead-reckoning + PD correction
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Commits on Apr 29, 2026