b2c85e60bf
fire=1 appears in 0 of 13521 samples. The gate that closes is measured rather than guessed: over the 3004 samples that had a target, |aim yaw| is EXACTLY 90.0 degrees every time, which is the `if ez < 0` branch in sticks() - the target is astern - with pitch near 180 and a range that grows 22km -> 49km and plateaus. The craft flies away from what it is chasing for fifteen minutes and the turn never completes. What is NOT established is why, and the attempt is withdrawn rather than kept: aim_probe.py reported the forward vector pinned at [-1,0,0] with 0.00 deg/s under neutral, full-left and full-right stick, which looks like a stale attitude matrix - but the guest had FROZEN partway through the probe, confirmed after the fact by frozen.py and by the player position being identical across 3 s. A dead world holds every matrix still. The probe is committed because it is the right experiment; its numbers are not evidence. One confusion resolved: today's entities2.py "0 moving triples" bind failures are the freeze, not a tool defect - moving() types entities by position CHANGING, so a frozen world yields nothing by construction. live_delta.py gains a per-1MB-region summary; a flat list is useless at 236000 hits. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01PMRJjbxLqZtsb5Vb7KunPE
83 lines
2.7 KiB
Python
Executable File
83 lines
2.7 KiB
Python
Executable File
#!/usr/bin/env python3
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"""Is the pilot's attitude binding live, and is its yaw stick the right way round?
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`pilot.py` never fires: `fire=1` in 0 of 13 521 samples over a 900 s run. The log
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says why the gate never opens — `|aim yaw|` is **exactly 90.0°** in all 3 004
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samples that had a target, which is the `ez < 0` branch of `sticks()`, i.e. *the
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target is behind us*, always — and the range to the committed target grows
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22 km → 33 km → 49 km and stays there. The craft flies away from what it is
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chasing and the turn never completes.
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Three things could do that and they need separating by measurement, not argument:
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1. the attitude matrix the pilot reads is **stale**, so the ship turns and the
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pilot cannot see it;
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2. the matrix is live but `fwd_sign` / `fwd_row` name the wrong axis, so
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"forward" points backwards;
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3. both are fine and the **yaw stick sign** is inverted, so the controller turns
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away from the error it is trying to null.
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This probe separates them: watch the forward vector with no input at all, then
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under a hard left stick, then a hard right one.
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Usage: aim_probe.py <nav-live.json> [seconds_per_phase]
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"""
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import json
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import math
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import os
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import sys
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import time
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import numpy as np
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sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
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import navigator # noqa: E402
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from flight_probe import Pad # noqa: E402
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def main():
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cfg = json.load(open(sys.argv[1]))
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secs = float(sys.argv[2]) if len(sys.argv) > 2 else 4.0
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W = navigator.World(cfg)
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W.scan()
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pad = Pad()
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def fwd_now():
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ents = W.sample(time.time())
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me = next((e for e in ents if "Player" in e[1]), None)
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if me is None:
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return None, None
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M = W.rot(me[0])
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if M is None:
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return None, None
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return M[W.fwd_row] * W.fwd_sign, me[2]
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def phase(name, lx):
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pad.axis("LX", lx)
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f0, p0 = fwd_now()
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t0 = time.time()
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time.sleep(secs)
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f1, p1 = fwd_now()
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pad.axis("LX", 0.0)
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if f0 is None or f1 is None:
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print(f"{name:>12}: NO PLAYER/ORIENTATION")
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return
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dot = float(np.clip(np.dot(f0, f1), -1, 1))
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turn = math.degrees(math.acos(dot)) / max(time.time() - t0, 1e-3)
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cross = np.cross(f0, f1)
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moved = float(np.linalg.norm(p1 - p0)) if p0 is not None else float("nan")
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print(f"{name:>12}: |turn| {turn:6.2f} deg/s fwd {f0.round(3)} -> "
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f"{f1.round(3)} cross {cross.round(3)} moved {moved:8.1f}")
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print("# phases: neutral, then full LEFT stick, then full RIGHT stick")
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phase("neutral", 0.0)
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phase("LX=-1", -1.0)
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phase("neutral", 0.0)
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phase("LX=+1", +1.0)
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pad.reset()
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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