re(flight): axis probe -- lx is roll, ly drives one clean axis, rest not trustworthy
New probe (axis_probe.py) decomposes every held input into all THREE rotation
components at once, instead of measuring one axis at a time through a non-forward
matrix row -- the flaw that once made roll and pitch produce identical numbers.
For previous rows (f,u,w): roll = atan2(u.w_old, u.u_old), and forward's rotation
toward each of the other two rows gives the remaining pair.
Stage 02, file pad, full deflection on exactly one channel at a time:
lx+ roll 209.8 b 0.9 c 10.1 deg/wall-s
ly+ roll 0.0 b 154.1 c 0.0
rx+ roll 0.0 b 0.0 c 0.0
ry+ roll 161.1 b 87.0 c 37.1
LB/RB all zero
What this supports: lx = ROLL, cleanly (~0 on both other channels), agreeing with
the independent roll measurement. ly drives ONE axis, cleanly.
What it does NOT support, and I am not claiming:
- WHICH axis ly drives. entities2 measures row 2 = forward against velocity, but
rows 0 and 1 are labelled up/right by the D3D convention rather than by
evidence, and yaw/pitch SWAP if that is wrong. Roll is immune (rotation of
either non-forward row in their shared plane is roll either way).
- anything about rx/ry/LB/RB. The run ended on GAME OVER: full-deflection spin in
a live combat mission gets the craft destroyed, and the only symptom is "0
player candidates" AFTERWARDS, so late rows may be post-death. rx+ reading all
zeros and ry+ reading mixed are exactly what a dying craft would produce.
So "yaw: no input found" is NOT resolved. Both gaps are now written into the
probe's header with what would fix them: a liveness check between inputs, and
pinning up-vs-right against world Y.
This commit is contained in:
131
tools/re-capture/axis_probe.py
Executable file
131
tools/re-capture/axis_probe.py
Executable file
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#!/usr/bin/env python3
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"""Which pad input drives which rotation axis — all three measured at once.
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The control mapping was left with **yaw ❔ "no input found"**: `AV_Yaw_*` exists in
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the definitions (45/25) but no stick appeared to yaw. That conclusion came from
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probes that measured one axis at a time using a non-forward matrix row, which is
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exactly the flaw that made roll and pitch produce identical numbers — a row like
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that moves under *any* rotation, so "this input yaws" and "this input pitches"
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cannot be told apart by it.
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So decompose properly. For each small step, with the previous frame's orthonormal
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rows `(f, u, w)` = forward, up, right:
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roll = atan2(u_new . w_old, u_new . u_old) rotation of UP about forward
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yaw = atan2(f_new . w_old, f_new . f_old) rotation of FORWARD about up
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pitch = atan2(f_new . u_old, f_new . f_old) rotation of FORWARD about right
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Each drops the components the other two produce, so one held input yields three
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numbers and the axis it actually drives is whichever is large.
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Every candidate is held with the file pad, which writes the WHOLE state at once —
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so `rx` really means right-stick-X with every other channel exactly zero, which a
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quantising virtual stick could not promise.
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⚠️ TWO THINGS THIS PROBE DOES NOT YET HANDLE, both learned the hard way:
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1. **The craft can DIE mid-run.** Holding a stick at full deflection spins the ship
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at 150-200 deg/s in a live combat mission; two minutes of that and the first run
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ended on GAME OVER. Inputs measured after that point are meaningless, and the
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symptom is only "0 player candidates, best displacement 0.000" *afterwards* --
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the earlier rows still look fine. Check the player is alive BETWEEN inputs, or
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probe somewhere nothing shoots back.
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2. **Which row is UP and which is RIGHT is not pinned.** `entities2` measures that
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row 2 is forward (against velocity), but rows 0 and 1 are assigned by the D3D
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convention, not by evidence. Roll is unaffected -- rotation of either non-forward
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row within their shared plane is roll either way -- but YAW and PITCH swap if the
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convention is wrong, so this probe's last two columns are named on an assumption.
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Usage: axis_probe.py <out.csv> [dwell_s]
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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 struct
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import sys
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import time
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sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
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import speed_law # noqa: E402
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PAD_FILE = os.environ.get("XENIA_PAD_FILE", "/tmp/xenia_pad.txt")
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# Candidates. Sticks at full deflection, shoulders as buttons. Triggers are the
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# throttle (already settled) and are left out.
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CANDIDATES = [
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("lx+", {"lx": 32767}),
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("ly+", {"ly": 32767}),
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("rx+", {"rx": 32767}),
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("ry+", {"ry": 32767}),
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("LB", {"press": "LB"}),
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("RB", {"press": "RB"}),
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]
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def pad_state(**kw):
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parts = [f"{k}={v}" for k, v in kw.items() if v is not None]
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tmp = PAD_FILE + ".tmp"
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with open(tmp, "w") as f:
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f.write(" ".join(parts))
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os.replace(tmp, PAD_FILE)
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def rows_at(fd, off, cfg):
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base = off + cfg["rot_delta"]
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out = []
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for r in range(3):
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v = struct.unpack(">3f", os.pread(fd, 12, base + r * cfg["rot_stride"]))
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n = math.sqrt(sum(c * c for c in v)) or 1.0
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out.append(tuple(c / n for c in v))
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return out
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def dot(a, b):
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return sum(a[i] * b[i] for i in range(3))
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def main():
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out_csv = sys.argv[1]
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dwell = float(sys.argv[2]) if len(sys.argv) > 2 else 5.0
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cfg = json.load(open("/tmp/nav-live.json"))
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w, off, nm = speed_law.find_player()
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if not w:
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sys.exit("player entity not found")
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print(f"# locked on {nm}")
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f_i = cfg["fwd_row"]
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u_i, w_i = [r for r in (0, 1, 2) if r != f_i]
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rows = []
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print(f"# {'input':<6} {'roll':>9} {'yaw':>9} {'pitch':>9} (deg over the dwell)")
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for label, state in CANDIDATES:
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pad_state() # neutral
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time.sleep(2.0)
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prev = rows_at(w.fd, off, cfg)
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pad_state(**state)
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t0 = time.time()
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sw = [0.0, 0.0, 0.0]
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while time.time() - t0 < dwell:
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time.sleep(0.05)
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cur = rows_at(w.fd, off, cfg)
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roll = math.degrees(math.atan2(dot(cur[u_i], prev[w_i]), dot(cur[u_i], prev[u_i])))
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yaw = math.degrees(math.atan2(dot(cur[f_i], prev[w_i]), dot(cur[f_i], prev[f_i])))
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pitch = math.degrees(math.atan2(dot(cur[f_i], prev[u_i]), dot(cur[f_i], prev[f_i])))
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for k, v in enumerate((roll, yaw, pitch)):
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sw[k] += abs(v)
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prev = cur
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pad_state()
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wall = time.time() - t0
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rate = [v / wall for v in sw]
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rows.append((label, *[round(v, 2) for v in rate]))
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print(f"# {label:<6} {rate[0]:9.1f} {rate[1]:9.1f} {rate[2]:9.1f} deg/wall-s")
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time.sleep(1.5)
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with open(out_csv, "w") as f:
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f.write("input,roll_deg_s,yaw_deg_s,pitch_deg_s\n")
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for r in rows:
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f.write(",".join(str(x) for x in r) + "\n")
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print(f"# wrote {out_csv}")
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if __name__ == "__main__":
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raise SystemExit(main())
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