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re(flight): polling faster than the guest updates manufactures a clean curve

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Fitting rate against instantaneous speed produced a tidy "rate rises with speed"
relationship, with speeds up to 4795 when the craft's maximum is 1200. It is
entirely an artefact: 20 Hz polling is faster than the guest updates these fields,
so a per-read delta is either exactly zero (no update yet) or a whole frame's
worth divided by a fraction of a frame. 111 of 352 reads were zero on BOTH
channels -- position and attitude update on the same frame, so the two are
perfectly correlated, and dividing each by the short wall dt produced the
correlation out of nothing.

Fix: aggregate over windows spanning many frames (0.5 s). A sum of |delta| over
such a window is right however the updates fall inside it.

This does NOT affect the swept-total probes (roll_axis.py, rate_probe.py) -- they
already summed over the whole dwell, immune for the same reason. Only per-sample
instantaneous rates were ever wrong, so no earlier number moves.

The windowed re-run is NOT yet claimed as a result. It gives plausible magnitudes
but still shows rate rising with speed, against the definition's PitchPlus_Min 150
> _Max 70, and it has two disqualifiers: it ran on an instance where the craft was
already tumbling from the previous sweep, so pinning reported "WEAK -- craft may
not be level", and the sweep started mid-range rather than at maximum. A clean
answer needs a fresh flight with pinning CONFIDENT and nothing before it. Since
what is in doubt is precisely what _Min/_Max mean, a measurement through a
doubtful instrument cannot settle it.

Both datasets kept, the bad one labelled, because the aliased curve is a good
example of what a manufactured correlation looks like.
This commit is contained in:
Claude (auto-RE)
2026-08-13 23:00:59 +00:00
parent 6c7025851e
commit 0a84c1358e
4 changed files with 550 additions and 0 deletions
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353
docs/re/captures/rate-curve-aliased-BAD.csv Normal file
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t,speed_units_per_wall_s,rate_deg_per_wall_s
0.05,0.0,0.0
0.101,4682.4,0.0
0.154,1865.9,8.21
0.205,1915.4,22.53
0.273,1722.2,32.72
0.323,2309.7,64.27
0.374,0.0,0.0
0.426,0.0,0.0
0.476,0.0,0.0
0.526,3781.4,166.09
0.576,1133.2,56.22
0.626,2228.8,125.61
0.676,735.8,46.29
0.726,2161.2,150.9
0.777,0.0,0.0
0.827,0.0,0.0
0.877,0.0,0.0
0.927,4795.2,363.58
0.978,1400.3,105.58
1.028,2080.9,159.73
1.078,688.0,53.58
1.129,1018.2,79.65
1.179,0.0,0.0
1.229,0.0,0.0
1.279,3169.4,272.63
1.332,1891.3,159.33
1.382,656.8,55.51
1.432,1958.3,167.87
1.485,311.4,26.7
1.535,0.0,0.0
1.585,0.0,0.0
1.637,2189.9,217.26
1.687,1470.3,152.38
1.737,1832.8,178.53
1.788,611.6,57.44
1.838,311.7,29.03
1.889,0.0,0.0
1.939,0.0,0.0
1.989,2568.6,290.03
2.039,1303.4,156.28
2.09,1571.3,188.96
2.173,987.0,114.66
2.223,1389.3,157.19
2.274,0.0,0.0
2.324,0.0,0.0
2.374,0.0,0.0
2.425,3014.5,437.25
2.476,851.8,137.78
2.526,1720.0,282.99
2.576,855.8,142.04
2.626,1272.7,213.71
2.676,420.4,71.25
2.726,0.0,0.0
2.776,0.0,0.0
2.827,2337.7,393.95
2.879,605.4,103.05
2.929,1229.4,216.06
2.979,798.9,145.37
3.029,1356.7,257.13
3.081,183.1,35.66
3.131,0.0,0.0
3.181,0.0,0.0
3.231,1858.0,372.22
3.281,541.0,112.82
3.332,1372.1,301.88
3.382,335.4,76.89
3.432,658.3,154.84
3.482,162.0,38.8
3.536,0.0,0.0
3.586,0.0,0.0
3.636,1591.8,390.72
3.686,311.3,78.69
3.736,1215.5,316.75
3.786,602.4,159.01
3.839,429.8,113.96
3.889,0.0,0.0
3.939,0.0,0.0
3.989,0.0,0.0
4.04,1835.6,469.81
4.09,311.3,78.92
4.14,1251.2,315.27
4.19,317.9,78.47
4.24,320.5,78.42
4.29,0.0,0.0
4.341,0.0,0.0
4.391,1352.5,313.43
4.441,850.5,192.03
4.492,1033.9,227.09
4.542,1073.0,227.87
4.592,551.1,113.43
4.642,0.0,0.0
4.692,0.0,0.0
4.743,1735.5,337.79
4.793,779.7,147.59
4.843,1186.4,220.17
4.893,808.4,146.17
4.943,1018.0,181.41
4.993,204.4,36.08
5.043,0.0,0.0
5.093,0.0,0.0
5.144,0.0,0.0
5.194,3438.2,575.96
5.244,853.2,142.26
5.294,1685.8,285.28
5.344,1250.1,215.19
5.394,825.0,144.01
5.445,202.2,35.56
5.495,0.0,0.0
5.545,0.0,0.0
5.596,2042.5,361.76
5.674,762.2,138.77
5.725,1171.7,219.95
5.775,384.3,73.55
5.826,0.0,0.0
5.877,0.0,0.0
5.927,0.0,0.0
5.977,1528.0,296.2
6.028,1281.9,256.26
6.078,365.6,75.03
6.128,1073.3,226.52
6.178,176.0,37.88
6.231,0.0,0.0
6.281,0.0,0.0
6.332,1720.1,372.76
6.382,518.3,114.37
6.432,1009.5,230.82
6.484,480.0,112.96
6.534,807.9,194.56
6.584,159.3,38.98
6.675,0.0,0.0
6.725,1449.1,352.93
6.775,477.0,117.26
6.826,927.2,232.38
6.877,306.8,77.6
6.927,928.5,236.59
6.977,154.5,39.37
7.027,0.0,0.0
7.077,0.0,0.0
7.131,1353.2,333.31
7.181,963.9,234.69
7.231,1304.5,311.86
7.281,332.6,77.62
7.331,506.1,116.36
7.381,0.0,0.0
7.432,0.0,0.0
7.482,0.0,0.0
7.534,2615.1,556.47
7.584,1101.8,225.72
7.634,1108.3,222.17
7.686,929.5,182.14
7.736,576.3,111.11
7.786,0.0,0.0
7.836,0.0,0.0
7.886,0.0,0.0
7.936,2840.4,515.81
7.987,807.7,144.56
8.037,1214.6,217.75
8.087,809.7,145.24
8.137,606.3,108.89
8.187,0.0,0.0
8.237,0.0,0.0
8.288,0.0,0.0
8.339,2628.6,463.46
8.389,811.4,144.9
8.439,1198.5,218.35
8.489,392.4,72.53
8.539,784.5,146.63
8.59,0.0,0.0
8.64,0.0,0.0
8.69,0.0,0.0
8.741,2111.3,400.11
8.791,946.6,185.46
8.841,1110.6,224.19
8.891,364.4,75.15
8.941,720.3,150.86
8.991,0.0,0.0
9.042,0.0,0.0
9.092,1792.7,378.77
9.142,529.6,113.67
9.193,1022.7,226.47
9.273,624.6,143.36
9.325,644.6,151.82
9.375,0.0,0.0
9.425,0.0,0.0
9.476,1289.1,307.07
9.526,1122.5,273.41
9.577,311.7,76.8
9.627,789.7,196.14
9.677,156.4,38.99
9.727,0.0,0.0
9.778,0.0,0.0
9.828,2131.2,510.02
9.878,653.9,155.64
9.928,983.1,233.48
9.978,330.0,77.72
10.028,496.6,116.32
10.079,0.0,0.0
10.129,0.0,0.0
10.179,0.0,0.0
10.23,2470.2,540.62
10.282,672.7,144.51
10.333,1067.2,227.85
10.383,1076.8,227.17
10.433,724.0,150.8
10.483,0.0,0.0
10.533,0.0,0.0
10.583,0.0,0.0
10.633,2272.0,451.3
10.683,759.7,148.67
10.734,762.5,148.52
10.784,756.3,146.57
10.834,770.1,148.16
10.885,0.0,0.0
10.935,0.0,0.0
10.985,0.0,0.0
11.035,2168.6,406.08
11.085,984.6,183.61
11.136,1178.3,220.07
11.186,590.5,110.24
11.236,393.0,73.44
11.286,0.0,0.0
11.336,0.0,0.0
11.386,2007.6,367.45
11.436,597.4,109.35
11.486,1180.4,219.81
11.537,1160.8,220.86
11.587,575.3,111.02
11.639,368.0,71.56
11.689,0.0,0.0
11.739,0.0,0.0
11.789,2275.4,445.88
11.879,415.2,83.5
11.929,1448.9,300.69
11.979,356.5,75.48
12.031,0.0,0.0
12.081,0.0,0.0
12.131,1612.8,341.73
12.184,504.1,108.0
12.234,1042.0,228.85
12.284,683.1,153.38
12.334,674.3,153.83
12.386,0.0,0.0
12.473,0.0,0.0
12.524,1701.7,386.01
12.574,672.1,154.19
12.625,974.9,227.26
12.675,330.4,77.54
12.725,986.1,232.99
12.775,163.8,38.73
12.825,0.0,0.0
12.878,0.0,0.0
12.928,0.0,0.0
12.978,2405.7,542.85
13.029,1022.4,230.5
13.079,681.6,153.81
13.129,1354.2,305.37
13.179,343.9,76.77
13.229,692.5,153.38
13.28,0.0,0.0
13.33,0.0,0.0
13.38,0.0,0.0
13.43,2362.5,496.01
13.483,693.6,143.63
13.533,1466.7,300.97
13.583,555.0,112.79
13.633,184.3,37.4
13.683,0.0,0.0
13.735,0.0,0.0
13.785,1917.4,375.17
13.838,542.8,105.29
13.888,1144.2,222.78
13.938,1513.8,297.05
13.988,568.4,111.69
14.038,378.0,74.42
14.088,0.0,0.0
14.139,0.0,0.0
14.189,1933.6,372.51
14.239,955.5,184.91
14.289,756.9,148.61
14.374,662.1,132.25
14.424,554.7,112.16
14.474,0.0,0.0
14.524,0.0,0.0
14.577,1603.7,323.84
14.627,1276.0,263.01
14.677,542.3,113.23
14.727,714.5,150.87
14.777,354.7,75.59
14.83,0.0,0.0
14.88,0.0,0.0
14.93,1795.9,379.83
14.98,355.3,75.74
15.031,1386.0,301.97
15.083,330.9,73.04
15.133,688.3,153.24
15.183,170.9,38.24
15.234,0.0,0.0
15.284,0.0,0.0
15.334,0.0,0.0
15.384,2304.1,499.06
15.435,1027.8,225.69
15.485,1024.9,230.47
15.536,1000.9,229.21
15.586,664.6,153.64
15.636,665.2,154.54
15.687,0.0,0.0
15.737,0.0,0.0
15.788,0.0,0.0
15.84,2131.8,478.6
15.89,856.1,192.06
15.941,1025.4,230.39
15.991,342.4,76.74
16.043,663.2,148.34
16.093,0.0,0.0
16.143,0.0,0.0
16.193,0.0,0.0
16.246,2555.4,545.64
16.296,895.5,189.56
16.373,694.2,146.49
16.424,1443.5,302.27
16.476,0.0,0.0
16.526,0.0,0.0
16.577,0.0,0.0
16.627,2074.2,414.87
16.677,751.3,149.12
16.727,1123.6,223.97
16.777,374.5,74.66
16.827,1122.8,223.93
16.88,0.0,0.0
16.93,0.0,0.0
16.98,0.0,0.0
17.03,2296.0,447.62
17.08,379.9,74.23
17.13,1503.9,297.32
17.18,563.4,111.98
17.233,538.0,107.34
17.283,0.0,0.0
17.333,0.0,0.0
17.383,1890.3,373.65
17.433,1119.5,223.93
17.485,361.3,72.88
17.535,1651.2,337.72
17.585,365.1,75.24
17.635,547.2,113.12
17.686,0.0,0.0
17.736,0.0,0.0
17.786,0.0,0.0
17.839,2490.6,503.11
17.892,1033.4,213.33
17.942,1073.2,226.83
17.995,670.1,143.94
18.045,1223.2,266.8
1 t speed_units_per_wall_s rate_deg_per_wall_s
2 0.05 0.0 0.0
3 0.101 4682.4 0.0
4 0.154 1865.9 8.21
5 0.205 1915.4 22.53
6 0.273 1722.2 32.72
7 0.323 2309.7 64.27
8 0.374 0.0 0.0
9 0.426 0.0 0.0
10 0.476 0.0 0.0
11 0.526 3781.4 166.09
12 0.576 1133.2 56.22
13 0.626 2228.8 125.61
14 0.676 735.8 46.29
15 0.726 2161.2 150.9
16 0.777 0.0 0.0
17 0.827 0.0 0.0
18 0.877 0.0 0.0
19 0.927 4795.2 363.58
20 0.978 1400.3 105.58
21 1.028 2080.9 159.73
22 1.078 688.0 53.58
23 1.129 1018.2 79.65
24 1.179 0.0 0.0
25 1.229 0.0 0.0
26 1.279 3169.4 272.63
27 1.332 1891.3 159.33
28 1.382 656.8 55.51
29 1.432 1958.3 167.87
30 1.485 311.4 26.7
31 1.535 0.0 0.0
32 1.585 0.0 0.0
33 1.637 2189.9 217.26
34 1.687 1470.3 152.38
35 1.737 1832.8 178.53
36 1.788 611.6 57.44
37 1.838 311.7 29.03
38 1.889 0.0 0.0
39 1.939 0.0 0.0
40 1.989 2568.6 290.03
41 2.039 1303.4 156.28
42 2.09 1571.3 188.96
43 2.173 987.0 114.66
44 2.223 1389.3 157.19
45 2.274 0.0 0.0
46 2.324 0.0 0.0
47 2.374 0.0 0.0
48 2.425 3014.5 437.25
49 2.476 851.8 137.78
50 2.526 1720.0 282.99
51 2.576 855.8 142.04
52 2.626 1272.7 213.71
53 2.676 420.4 71.25
54 2.726 0.0 0.0
55 2.776 0.0 0.0
56 2.827 2337.7 393.95
57 2.879 605.4 103.05
58 2.929 1229.4 216.06
59 2.979 798.9 145.37
60 3.029 1356.7 257.13
61 3.081 183.1 35.66
62 3.131 0.0 0.0
63 3.181 0.0 0.0
64 3.231 1858.0 372.22
65 3.281 541.0 112.82
66 3.332 1372.1 301.88
67 3.382 335.4 76.89
68 3.432 658.3 154.84
69 3.482 162.0 38.8
70 3.536 0.0 0.0
71 3.586 0.0 0.0
72 3.636 1591.8 390.72
73 3.686 311.3 78.69
74 3.736 1215.5 316.75
75 3.786 602.4 159.01
76 3.839 429.8 113.96
77 3.889 0.0 0.0
78 3.939 0.0 0.0
79 3.989 0.0 0.0
80 4.04 1835.6 469.81
81 4.09 311.3 78.92
82 4.14 1251.2 315.27
83 4.19 317.9 78.47
84 4.24 320.5 78.42
85 4.29 0.0 0.0
86 4.341 0.0 0.0
87 4.391 1352.5 313.43
88 4.441 850.5 192.03
89 4.492 1033.9 227.09
90 4.542 1073.0 227.87
91 4.592 551.1 113.43
92 4.642 0.0 0.0
93 4.692 0.0 0.0
94 4.743 1735.5 337.79
95 4.793 779.7 147.59
96 4.843 1186.4 220.17
97 4.893 808.4 146.17
98 4.943 1018.0 181.41
99 4.993 204.4 36.08
100 5.043 0.0 0.0
101 5.093 0.0 0.0
102 5.144 0.0 0.0
103 5.194 3438.2 575.96
104 5.244 853.2 142.26
105 5.294 1685.8 285.28
106 5.344 1250.1 215.19
107 5.394 825.0 144.01
108 5.445 202.2 35.56
109 5.495 0.0 0.0
110 5.545 0.0 0.0
111 5.596 2042.5 361.76
112 5.674 762.2 138.77
113 5.725 1171.7 219.95
114 5.775 384.3 73.55
115 5.826 0.0 0.0
116 5.877 0.0 0.0
117 5.927 0.0 0.0
118 5.977 1528.0 296.2
119 6.028 1281.9 256.26
120 6.078 365.6 75.03
121 6.128 1073.3 226.52
122 6.178 176.0 37.88
123 6.231 0.0 0.0
124 6.281 0.0 0.0
125 6.332 1720.1 372.76
126 6.382 518.3 114.37
127 6.432 1009.5 230.82
128 6.484 480.0 112.96
129 6.534 807.9 194.56
130 6.584 159.3 38.98
131 6.675 0.0 0.0
132 6.725 1449.1 352.93
133 6.775 477.0 117.26
134 6.826 927.2 232.38
135 6.877 306.8 77.6
136 6.927 928.5 236.59
137 6.977 154.5 39.37
138 7.027 0.0 0.0
139 7.077 0.0 0.0
140 7.131 1353.2 333.31
141 7.181 963.9 234.69
142 7.231 1304.5 311.86
143 7.281 332.6 77.62
144 7.331 506.1 116.36
145 7.381 0.0 0.0
146 7.432 0.0 0.0
147 7.482 0.0 0.0
148 7.534 2615.1 556.47
149 7.584 1101.8 225.72
150 7.634 1108.3 222.17
151 7.686 929.5 182.14
152 7.736 576.3 111.11
153 7.786 0.0 0.0
154 7.836 0.0 0.0
155 7.886 0.0 0.0
156 7.936 2840.4 515.81
157 7.987 807.7 144.56
158 8.037 1214.6 217.75
159 8.087 809.7 145.24
160 8.137 606.3 108.89
161 8.187 0.0 0.0
162 8.237 0.0 0.0
163 8.288 0.0 0.0
164 8.339 2628.6 463.46
165 8.389 811.4 144.9
166 8.439 1198.5 218.35
167 8.489 392.4 72.53
168 8.539 784.5 146.63
169 8.59 0.0 0.0
170 8.64 0.0 0.0
171 8.69 0.0 0.0
172 8.741 2111.3 400.11
173 8.791 946.6 185.46
174 8.841 1110.6 224.19
175 8.891 364.4 75.15
176 8.941 720.3 150.86
177 8.991 0.0 0.0
178 9.042 0.0 0.0
179 9.092 1792.7 378.77
180 9.142 529.6 113.67
181 9.193 1022.7 226.47
182 9.273 624.6 143.36
183 9.325 644.6 151.82
184 9.375 0.0 0.0
185 9.425 0.0 0.0
186 9.476 1289.1 307.07
187 9.526 1122.5 273.41
188 9.577 311.7 76.8
189 9.627 789.7 196.14
190 9.677 156.4 38.99
191 9.727 0.0 0.0
192 9.778 0.0 0.0
193 9.828 2131.2 510.02
194 9.878 653.9 155.64
195 9.928 983.1 233.48
196 9.978 330.0 77.72
197 10.028 496.6 116.32
198 10.079 0.0 0.0
199 10.129 0.0 0.0
200 10.179 0.0 0.0
201 10.23 2470.2 540.62
202 10.282 672.7 144.51
203 10.333 1067.2 227.85
204 10.383 1076.8 227.17
205 10.433 724.0 150.8
206 10.483 0.0 0.0
207 10.533 0.0 0.0
208 10.583 0.0 0.0
209 10.633 2272.0 451.3
210 10.683 759.7 148.67
211 10.734 762.5 148.52
212 10.784 756.3 146.57
213 10.834 770.1 148.16
214 10.885 0.0 0.0
215 10.935 0.0 0.0
216 10.985 0.0 0.0
217 11.035 2168.6 406.08
218 11.085 984.6 183.61
219 11.136 1178.3 220.07
220 11.186 590.5 110.24
221 11.236 393.0 73.44
222 11.286 0.0 0.0
223 11.336 0.0 0.0
224 11.386 2007.6 367.45
225 11.436 597.4 109.35
226 11.486 1180.4 219.81
227 11.537 1160.8 220.86
228 11.587 575.3 111.02
229 11.639 368.0 71.56
230 11.689 0.0 0.0
231 11.739 0.0 0.0
232 11.789 2275.4 445.88
233 11.879 415.2 83.5
234 11.929 1448.9 300.69
235 11.979 356.5 75.48
236 12.031 0.0 0.0
237 12.081 0.0 0.0
238 12.131 1612.8 341.73
239 12.184 504.1 108.0
240 12.234 1042.0 228.85
241 12.284 683.1 153.38
242 12.334 674.3 153.83
243 12.386 0.0 0.0
244 12.473 0.0 0.0
245 12.524 1701.7 386.01
246 12.574 672.1 154.19
247 12.625 974.9 227.26
248 12.675 330.4 77.54
249 12.725 986.1 232.99
250 12.775 163.8 38.73
251 12.825 0.0 0.0
252 12.878 0.0 0.0
253 12.928 0.0 0.0
254 12.978 2405.7 542.85
255 13.029 1022.4 230.5
256 13.079 681.6 153.81
257 13.129 1354.2 305.37
258 13.179 343.9 76.77
259 13.229 692.5 153.38
260 13.28 0.0 0.0
261 13.33 0.0 0.0
262 13.38 0.0 0.0
263 13.43 2362.5 496.01
264 13.483 693.6 143.63
265 13.533 1466.7 300.97
266 13.583 555.0 112.79
267 13.633 184.3 37.4
268 13.683 0.0 0.0
269 13.735 0.0 0.0
270 13.785 1917.4 375.17
271 13.838 542.8 105.29
272 13.888 1144.2 222.78
273 13.938 1513.8 297.05
274 13.988 568.4 111.69
275 14.038 378.0 74.42
276 14.088 0.0 0.0
277 14.139 0.0 0.0
278 14.189 1933.6 372.51
279 14.239 955.5 184.91
280 14.289 756.9 148.61
281 14.374 662.1 132.25
282 14.424 554.7 112.16
283 14.474 0.0 0.0
284 14.524 0.0 0.0
285 14.577 1603.7 323.84
286 14.627 1276.0 263.01
287 14.677 542.3 113.23
288 14.727 714.5 150.87
289 14.777 354.7 75.59
290 14.83 0.0 0.0
291 14.88 0.0 0.0
292 14.93 1795.9 379.83
293 14.98 355.3 75.74
294 15.031 1386.0 301.97
295 15.083 330.9 73.04
296 15.133 688.3 153.24
297 15.183 170.9 38.24
298 15.234 0.0 0.0
299 15.284 0.0 0.0
300 15.334 0.0 0.0
301 15.384 2304.1 499.06
302 15.435 1027.8 225.69
303 15.485 1024.9 230.47
304 15.536 1000.9 229.21
305 15.586 664.6 153.64
306 15.636 665.2 154.54
307 15.687 0.0 0.0
308 15.737 0.0 0.0
309 15.788 0.0 0.0
310 15.84 2131.8 478.6
311 15.89 856.1 192.06
312 15.941 1025.4 230.39
313 15.991 342.4 76.74
314 16.043 663.2 148.34
315 16.093 0.0 0.0
316 16.143 0.0 0.0
317 16.193 0.0 0.0
318 16.246 2555.4 545.64
319 16.296 895.5 189.56
320 16.373 694.2 146.49
321 16.424 1443.5 302.27
322 16.476 0.0 0.0
323 16.526 0.0 0.0
324 16.577 0.0 0.0
325 16.627 2074.2 414.87
326 16.677 751.3 149.12
327 16.727 1123.6 223.97
328 16.777 374.5 74.66
329 16.827 1122.8 223.93
330 16.88 0.0 0.0
331 16.93 0.0 0.0
332 16.98 0.0 0.0
333 17.03 2296.0 447.62
334 17.08 379.9 74.23
335 17.13 1503.9 297.32
336 17.18 563.4 111.98
337 17.233 538.0 107.34
338 17.283 0.0 0.0
339 17.333 0.0 0.0
340 17.383 1890.3 373.65
341 17.433 1119.5 223.93
342 17.485 361.3 72.88
343 17.535 1651.2 337.72
344 17.585 365.1 75.24
345 17.635 547.2 113.12
346 17.686 0.0 0.0
347 17.736 0.0 0.0
348 17.786 0.0 0.0
349 17.839 2490.6 503.11
350 17.892 1033.4 213.33
351 17.942 1073.2 226.83
352 17.995 670.1 143.94
353 18.045 1223.2 266.8

40
docs/re/captures/rate-curve-windowed.csv Normal file
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@@ -0,0 +1,40 @@
t,speed_units_per_wall_s,rate_deg_per_wall_s
0.52,766.4,15.56
1.06,875.3,81.57
1.56,319.7,79.47
2.08,589.5,124.0
2.6,833.9,118.23
3.1,846.4,144.01
3.62,682.9,147.83
4.12,442.3,114.32
4.62,782.3,183.76
5.13,869.9,160.12
5.66,691.9,117.79
6.18,770.1,146.5
6.68,659.7,149.99
7.19,546.7,135.85
7.7,760.5,163.7
8.2,645.7,121.72
8.72,884.3,159.2
9.26,546.3,107.3
9.78,633.0,139.66
10.28,716.1,169.56
10.8,607.5,129.02
11.32,866.0,156.23
11.82,677.8,119.63
12.32,537.0,103.57
12.82,821.2,187.87
13.34,545.6,133.44
13.86,608.8,128.22
14.38,778.1,141.08
14.88,543.6,93.59
15.38,935.1,176.36
15.9,708.2,159.77
16.4,439.7,105.71
16.9,847.5,185.58
17.42,584.5,112.34
17.94,874.4,158.62
18.44,733.0,149.31
18.96,527.8,128.4
19.46,642.2,156.88
19.98,737.8,149.45
1 t speed_units_per_wall_s rate_deg_per_wall_s
2 0.52 766.4 15.56
3 1.06 875.3 81.57
4 1.56 319.7 79.47
5 2.08 589.5 124.0
6 2.6 833.9 118.23
7 3.1 846.4 144.01
8 3.62 682.9 147.83
9 4.12 442.3 114.32
10 4.62 782.3 183.76
11 5.13 869.9 160.12
12 5.66 691.9 117.79
13 6.18 770.1 146.5
14 6.68 659.7 149.99
15 7.19 546.7 135.85
16 7.7 760.5 163.7
17 8.2 645.7 121.72
18 8.72 884.3 159.2
19 9.26 546.3 107.3
20 9.78 633.0 139.66
21 10.28 716.1 169.56
22 10.8 607.5 129.02
23 11.32 866.0 156.23
24 11.82 677.8 119.63
25 12.32 537.0 103.57
26 12.82 821.2 187.87
27 13.34 545.6 133.44
28 13.86 608.8 128.22
29 14.38 778.1 141.08
30 14.88 543.6 93.59
31 15.38 935.1 176.36
32 15.9 708.2 159.77
33 16.4 439.7 105.71
34 16.9 847.5 185.58
35 17.42 584.5 112.34
36 17.94 874.4 158.62
37 18.44 733.0 149.31
38 18.96 527.8 128.4
39 19.46 642.2 156.88
40 19.98 737.8 149.45

40
docs/re/flight-speed-law.md
View File

@@ -545,3 +545,43 @@ better and gives the whole rate-vs-speed curve rather than two points.
reimplementation that treats the throttle as setting a speed the craft simply holds reimplementation that treats the throttle as setting a speed the craft simply holds
will be wrong during manoeuvres. Data: will be wrong during manoeuvres. Data:
[`captures/pitch-rate-speed-bleed.csv`](captures/pitch-rate-speed-bleed.csv). [`captures/pitch-rate-speed-bleed.csv`](captures/pitch-rate-speed-bleed.csv).
## ⚠️ Polling faster than the guest updates manufactures a curve
Trying to fit rate against *instantaneous* speed (`rate_curve.py`, one long hold so
the speed-bleed sweeps the range) produced a beautifully clean result that is
entirely an artefact:
```
speed 0- 599 rate 29.4 speed 1199-1798 rate 279.8
speed 599-1199 rate 174.9 speed 1798-2398 rate 317.5
```
Rate rising with speed, and speeds to **4 795** when the craft's maximum is 1 200.
The cause: **20 Hz polling is faster than the guest updates these fields**, so a
per-read delta is either exactly zero (no update yet) or a whole frame's worth
divided by a fraction of a frame. In that run **111 of 352 reads were zero on BOTH
channels** — position and attitude update on the same frame, so the two are
perfectly correlated, and dividing each by the short wall `dt` produced a tidy
correlation out of nothing.
**Fix: aggregate over windows spanning many frames** (0.5 s here). The sum of
`|Δ|` over a window is right however the updates fall inside it.
**This does NOT affect the swept-total probes** (`roll_axis.py`, `rate_probe.py`):
they already summed over the whole dwell, which is immune for the same reason. Only
per-sample instantaneous rates were ever wrong.
🟡 **The windowed re-run is not yet a result.** It gives plausible magnitudes
(speed 320–935, rate 80–149 °/wall-s) but still shows rate *rising* with speed,
against the definition's `AV_PitchPlus_Min` 150 > `_Max` 70. Two disqualifiers: it
ran on an instance where the craft was already tumbling from the previous sweep, so
the row pinning reported **WEAK — craft may not be level**, and the starting speed
was mid-range rather than maximum. A clean answer needs a **fresh flight**, pinning
CONFIDENT, one sweep, nothing before it. Recorded as an open question rather than a
finding — the definitions' `_Min`/`_Max` meaning is exactly what is in doubt, so a
measurement taken through a doubtful instrument cannot settle it.
Data: [aliased, for reference](captures/rate-curve-aliased-BAD.csv) ·
[windowed](captures/rate-curve-windowed.csv).

117
tools/re-capture/rate_curve.py Executable file
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@@ -0,0 +1,117 @@
#!/usr/bin/env python3
"""Angular rate as a FUNCTION of speed — fitted, not sampled at two endpoints.
The two-point probe (`rate_probe.py`) assumed the craft held the speed its throttle
selects. It does not: full pitch bleeds 1 193 -> 589 in eight seconds *with the
throttle still at maximum*, so an 8-second average is taken over a moving speed and
lands between two different caps. That is how a measured pitch rate came out 33 %
ABOVE its own cap.
Turn the bug into the instrument. Because the speed bleeds on its own, one long hold
sweeps the whole range, so sampling position *and* attitude together gives
`(speed, rate)` pairs across it — the entire curve from a single phase, with no
assumption about what speed the craft is at.
Speed comes from the position deltas (no HUD OCR needed). Both speed and rate are
per wall-second here; the run's clock ratio converts both to game units afterwards
and cancels out of the SHAPE of the curve.
⚠️ SAMPLE IN WINDOWS, NOT PER READ. Polling at 20 Hz is faster than the guest
updates these fields, so a per-read delta is either exactly zero (no update yet) or
a whole frame's worth divided by a fraction of a frame. In a first run 111 of 352
reads were zero on BOTH channels — position and attitude update on the same frame,
so the two are perfectly correlated, and dividing each by the short wall dt
manufactured a clean "rate rises with speed" curve out of pure aliasing. Summing
|delta| over a window that spans many frames is immune: the total is right however
the updates fall inside it. (This is also why the swept-total probes were never
affected — only per-sample instantaneous rates were.)
Usage: rate_curve.py <roll|pitch> <out.csv> [dwell_s]
"""
import json
import math
import os
import struct
import subprocess
import sys
import time
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
import speed_law # noqa: E402
from axis_probe import alive, pad_state, pin_rows, rows_at, dot # noqa: E402
DRIVER = {"roll": {"lx": 32767}, "pitch": {"ly": 32767}}
def shot(n):
subprocess.run(["screenshot", f"/sylph-home/re/shots/{n}.png"], capture_output=True)
def pos_at(fd, off):
return struct.unpack(">3f", os.pread(fd, 12, off))
def main():
axis, out_csv = sys.argv[1], sys.argv[2]
dwell = float(sys.argv[3]) if len(sys.argv) > 3 else 16.0
cfg = json.load(open("/tmp/nav-live.json"))
w, off, nm = speed_law.find_player()
if not w:
sys.exit("player entity not found")
f_i = cfg["fwd_row"]
if not alive(w, off, cfg):
sys.exit("craft is not moving")
u_i, w_i = pin_rows(w, off, cfg)
print(f"# locked on {nm}, sweeping {axis}")
# Start at maximum speed and let the turn bleed it: one hold, whole range.
pad_state(rt=255)
time.sleep(6.0)
shot(f"curve_{axis}_a")
prev_r, prev_p, prev_t = rows_at(w.fd, off, cfg), pos_at(w.fd, off), time.time()
pad_state(rt=255, **DRIVER[axis])
t0 = time.time()
rows = []
WIN = 0.5 # seconds per emitted point: many guest frames
win_t0, win_path, win_swept = time.time(), 0.0, 0.0
while time.time() - t0 < dwell:
time.sleep(0.02)
now = time.time()
cur_r, cur_p = rows_at(w.fd, off, cfg), pos_at(w.fd, off)
win_path += math.dist(cur_p, prev_p)
if axis == "roll":
d = math.atan2(dot(cur_r[u_i], prev_r[w_i]), dot(cur_r[u_i], prev_r[u_i]))
else:
d = math.atan2(dot(cur_r[f_i], prev_r[u_i]), dot(cur_r[f_i], prev_r[f_i]))
win_swept += abs(math.degrees(d))
prev_r, prev_p = cur_r, cur_p
if now - win_t0 >= WIN:
span = now - win_t0
rows.append((round(now - t0, 2), round(win_path / span, 1),
round(win_swept / span, 2)))
win_t0, win_path, win_swept = now, 0.0, 0.0
pad_state()
shot(f"curve_{axis}_b")
with open(out_csv, "w") as f:
f.write("t,speed_units_per_wall_s,rate_deg_per_wall_s\n")
for r in rows:
f.write(",".join(str(x) for x in r) + "\n")
# Bin by speed so the shape is visible without any curve-fitting assumption.
print(f"# {len(rows)} windows of {WIN}s; rate binned by speed (per WALL second):")
lo = min(r[1] for r in rows)
hi = max(r[1] for r in rows)
print(f"# speed swept {lo:.0f} -> {hi:.0f} units/wall-s")
nb = 6
for b in range(nb):
a = lo + (hi - lo) * b / nb
z = lo + (hi - lo) * (b + 1) / nb
sel = [r[2] for r in rows if a <= r[1] < z]
if sel:
print(f"# speed {a:7.0f}-{z:7.0f} n={len(sel):3d} rate {sum(sel)/len(sel):6.1f}")
print(f"# wrote {out_csv}; read HUD TIME off curve_{axis}_[ab] for the clock")
if __name__ == "__main__":
raise SystemExit(main())