#accumulator

A timeout accumulator gated on a control-signal sample (throttle > threshold) resets to zero on frames where the signal legitimately reads zero, so it never fills. A gear change drives the throttle magnitude through zero on a fixed cadence, and an unstick routine that alternates gears makes that happen forever, so a stuck vehicle is never declared wrecked. Drive give-up timers from ground-truth state, such as position progress since the last known-good, never from a control signal that pulses through the reset value by design.