The torque request from ESP during intervention is extremely low
Not the case on my car when I have smaller scale traction problems in 3rd gear pulls on the road.
There is intervention, but very little of it. If the top end of the map is messed up, I get hard cuts. In fact the intervention is almost not noticeable unless you eyeball the ESP light.
And the reason is simple. If your KFMIOP axis ends at 150 load, but you request 200 load, then anything over 75% will be the same value.
Yes, you can request enough load, by just filling 75% to 100% in KFMIRL with 200, but for example the ESP will not be able to finely control the torque request.
It will see during the first request that it has no effect, and during the second request you will get a hard cut because mivbeg_w will be very low.
Basically the function is supposed to be a pretty literal inverse. And it is that on all the factory cars I've seen, give or take a percent.
Otherwise the torque can not be dialed back and forth correctly. Not a problem if you are regulating it with your pedal, but a huge problem if it is needed for ESP.
The load axis of KFMIOP should represent a good distribution of actual up to rlmax. It should never top out on the last cell during the operation, as it is no longer possible to adjust torque past that point (due to the hacks you will need to do to KFMIRL to make it work).