Behavior Correctness
Behavior correctness tests for BHV_MemoryTurnLimit. These cases verify recent-heading average output, tight and relaxed turn-window effects, runtime limiter updates, speed-scaling branches, heading mismatch evidence, and missing limiter configuration.
Stem Mission
The stem mission runs one simulated vehicle with a constant speed objective, a sustained constant-heading turn demand, and BHV_MemoryTurnLimit as the evaluated limiter. Case overlays vary memory_time, turn_range, priority weight, speed, runtime updates, and malformed or missing configuration while the evaluator grades MEM_HDG_AVG, NAV_HEADING, NAV_SPEED, heading mismatch, and warning/error state.
Examples
These MemoryTurnLimit GIFs are generated explanatory views instead of raw pMarineViewer captures because the important evidence is the relationship between recent heading memory, turn range, runtime updates, and graded motion metrics. The visuals call out the evidence that makes each case pass.
Case Matrix
baseline_memory_pass
Requests a turn from 90 to 180 degrees at 1.3 m/s with memory_time=8, turn_range=18, and limiter weight 150; passes at 16 seconds when MEM_HDG_AVG is 95 to 175, heading is 105 to 180, speed is at least 0.7 m/s, mismatch is at most 75 degrees, and no warning or error occurs.
tight_window_pass
Holds limiter weight at 150 and narrows turn_range from 18 to 6, isolating the smaller peak width around the recent-heading average; passes at 16 seconds when MEM_HDG_AVG is 90 to 100 degrees, heading is 95 to 105, mismatch is at least 75 degrees, speed is at least 0.7 m/s, and no warning or error occurs.
relaxed_window_pass
Holds limiter weight at 150 and widens turn_range from 18 to 120, isolating the wider peak that lets the 180-degree heading demand advance farther; passes at 16 seconds when MEM_HDG_AVG is 100 to 180 degrees, heading is 125 to 185, mismatch is at most 60 degrees, speed is at least 0.7 m/s, and no warning or error occurs.
short_memory_pass
Shortens memory_time from 8 to 2 seconds so the average retains two seconds of trailing headings; passes at the shared 16-second turn checkpoint when MEM_HDG_AVG is 110 to 114 degrees, heading is 112 to 116, mismatch is 55 to 70 degrees, speed is at least 0.7 m/s, and no warning or error occurs.
long_memory_pass
Lengthens memory_time from 8 to 20 seconds; passes when the memory average is 85 to 120 degrees, heading is 90 to 130, mismatch is at least 50, speed is at least 0.7 m/s, and no warning or error occurs.
zero_memory_pass
Sets memory_time=0, causing each iteration to discard every earlier heading sample so the posted average tracks the current heading; passes at the shared 16-second turn checkpoint when MEM_HDG_AVG and heading are each 115 to 120 degrees, mismatch is 60 to 70 degrees, speed is at least 0.7 m/s, and no warning or error occurs.
weak_priority_pass
Lowers the limiter weight from 150 to 40 while retaining turn_range=18; passes when the memory average is 120 to 190 degrees, heading is 140 to 190, mismatch is at most 50, speed is at least 0.7 m/s, and no warning or error occurs.
very_slow_speed_floor_pass
Commands 0.1 m/s, below the limiter's minimum-speed floor; passes when speed is 0.05 to 0.2 m/s, memory average and heading are each 88 to 105 degrees, mismatch is 75 to 95, and no warning or error occurs.
slow_speed_scaled_pass
Commands 0.4 m/s to exercise speed-scaled peak width; passes when speed is 0.25 to 0.7 m/s, memory average is 88 to 115 degrees, heading is 88 to 120, mismatch is 60 to 92, and no warning or error occurs.
fast_speed_unscaled_pass
Commands 2.0 m/s above the reference-speed branch; passes when speed is 1.5 to 2.2 m/s, memory average is 95 to 125 degrees, heading is 100 to 135, mismatch is 45 to 85, and no warning or error occurs.
moderate_turn_pass
Changes the constant-heading demand from 180 to 135 degrees; passes when the memory average is 95 to 125 degrees, heading is 100 to 135, mismatch is 15 to 45, speed is at least 0.7 m/s, and no warning or error occurs.
starboard_turn_pass
Changes the heading demand from 180 to 0 degrees to exercise the opposite turn direction; passes when the memory average is 60 to 90 degrees, heading is 45 to 85, mismatch is 45 to 90, speed is at least 0.7 m/s, and no warning or error occurs.
max_turn_range_pass
Sets the accepted upper boundary turn_range=180; passes when the memory average is 125 to 190 degrees, heading is 145 to 190, mismatch is at most 45, speed is at least 0.7 m/s, and no warning or error occurs.
zero_turn_range_pass
Sets the accepted lower boundary turn_range=0; passes when the memory average and heading are each 88 to 105 degrees, mismatch is 75 to 95, speed is at least 0.7 m/s, and no warning or error occurs.
runtime_widen_range_pass
Starts at turn_range=6 and posts turn_range=120 after five seconds; passes when the memory average is 110 to 170 degrees, heading is 125 to 185, mismatch is at most 65, speed is at least 0.7 m/s, and no warning or error occurs.
runtime_tighten_range_pass
Starts at turn_range=120 and posts turn_range=0 after five seconds; passes when the memory average is 95 to 130 degrees, heading is 95 to 140, mismatch is 40 to 85, speed is at least 0.7 m/s, and no warning or error occurs.
bad_memory_time_fail
Sets invalid memory_time=-1; the harness passes when the helm reaches MALCONFIG and vehicle speed remains at or below 0.05 m/s.
bad_turn_range_high_fail
Sets invalid turn_range=181; the harness passes when the helm reaches MALCONFIG and vehicle speed remains at or below 0.05 m/s.
bad_turn_range_text_fail
Sets nonnumeric turn_range=wide; the harness passes when the helm reaches MALCONFIG and vehicle speed remains at or below 0.05 m/s.
missing_memory_time_fail
Omits required memory_time; the harness passes when any BHV_WARNING is observed at evaluation time and no BHV_ERROR is observed.
missing_turn_range_fail
Omits required turn_range; the harness passes when any BHV_WARNING is observed at evaluation time and no BHV_ERROR is observed.