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re(flight): LT mirrors RT, and roll does not depend on speed

Browse Source 
One flight, two measurements (flight_law2.py, binding early so the moving-craft scan
can see the player).

LT curve: 436, 379, 289, 209, 126 units/s across LT 0.00 -> 1.00 — a straight ramp,
whose endpoints after the ~1.2 time-base factor are CruisingVelocity 350 and
MinimumVelocity 100. So the law is symmetric:

  RT: target = Cruising + RT * (Maximum - Cruising)
  LT: target = Cruising - LT * (Cruising - Minimum)

Roll (measured on a non-forward matrix row, since roll turns about the forward axis):
~144 deg/s at minimum speed and ~150 at maximum — no speed dependence, where pitch
dropped by a third to a half between the same regimes. After the time-base factor
that is ~121, i.e. AV_Roll_Max 125 in BOTH regimes.

So _Min/_Max does not mean the same thing for every axis: pitch interpolates with
speed, roll appears pinned at Max. A reimplementation applying one rule to all axes
would get low-speed roll wrong by ~60%.

Caveat recorded: the two roll phases were 2 s of settling apart, marginal for a
126 -> 1342 speed change.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01NptfmpjdpNCKEez6d2xvA9
This commit is contained in:
Claude (auto-RE)
2026-08-13 16:30:19 +00:00
parent 4dbd4f6cef
commit 6ebbbeff65
4 changed files with 696 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

158
docs/re/captures/turn-law-roll.csv Normal file
View File

@@ -0,0 +1,158 @@
phase,t,ux,uy,uz
slow_roll,0.0,5.364417883966259e-07,0.8829469440778077,-0.4694727829633716
slow_roll,0.05,5.364417883966259e-07,0.8829469440778077,-0.4694727829633716
slow_roll,0.128,0.0003251433520745835,0.907077055804204,-0.4209644986401793
slow_roll,0.178,0.0034536272684164153,0.9557110180986144,-0.2942864630654985
slow_roll,0.229,0.004462063366683055,0.9639291880290134,-0.2661214205137173
slow_roll,0.279,0.004462063366683055,0.9639291880290134,-0.2661214205137173
slow_roll,0.329,0.004462063366683055,0.9639291880290134,-0.2661214205137173
slow_roll,0.38,0.03156978751811861,0.9865808845796968,0.16019209311949129
slow_roll,0.43,0.04618248291021098,0.9261940016468521,0.37420829705611663
slow_roll,0.48,0.07209846660150727,0.7068731466017404,0.7036562837970437
slow_roll,0.531,0.07884267175871004,0.6220030945016755,0.7790352903048027
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slow_roll,0.681,0.09389665181370353,0.3775338908873316,0.9212228720617223
slow_roll,0.731,0.09389665181370353,0.3775338908873316,0.9212228720617223
slow_roll,0.782,0.11626024739570803,-0.2910297934919785,0.94962372241615
slow_roll,0.832,0.11331737850132788,-0.5957757659732928,0.7951166005112225
slow_roll,0.882,0.10258919760138681,-0.8301250953132597,0.5480581927739564
slow_roll,0.932,0.09172466968431676,-0.9336924862997908,0.3461284819234293
slow_roll,0.982,0.08855641690308262,-0.9521140126478002,0.2926374342851443
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slow_roll,1.083,0.08855641690308262,-0.9521140126478002,0.2926374342851443
slow_roll,1.133,0.06314271520385657,-0.9856858587151895,-0.15632141710458003
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slow_roll,1.233,0.02278590617030732,-0.7469560671312695,-0.6644828336802873
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slow_roll,1.383,-0.014615090702282351,-0.16289975489324235,-0.986534372933597
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slow_roll,2.627,0.06448994421768593,-0.9941772535855863,-0.08632864847674089
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slow_roll,2.728,0.028817026488532304,-0.7934000725072533,-0.6080180128333736
slow_roll,2.779,0.0032352514477921655,-0.4937015107403189,-0.8696254086908893
slow_roll,2.829,-0.0030165019643082686,-0.39140603848225103,-0.9202131349614229
slow_roll,2.879,-0.02194342210848925,0.11072398209318217,-0.9936089200563758
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slow_roll,3.03,-0.024032596122042907,0.22242838263297865,-0.9746527837763107
slow_roll,3.08,-0.016998113363041106,0.6714604955713218,-0.7408453732252177
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slow_roll,3.232,0.007717609638179204,0.97873380750562,-0.20498920104977397
slow_roll,3.282,0.03587973910508903,0.9687888154822927,0.24527713981977012
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slow_roll,3.384,0.03587973910508903,0.9687888154822927,0.24527713981977012
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slow_roll,3.486,0.0773596494901135,0.6831469198642757,0.726171997883917
slow_roll,3.536,0.08396325243571906,0.5951635161658628,0.7992062069738338
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slow_roll,3.637,0.10964775782794625,0.008981705283138778,0.9939299261887182
slow_roll,3.687,0.11339630501426597,-0.27174721513415995,0.955664548403853
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slow_roll,3.787,0.11339630501426597,-0.27174721513415995,0.955664548403853
slow_roll,3.837,0.11339630501426597,-0.27174721513415995,0.955664548403853
slow_roll,3.888,0.10609239313921122,-0.7832115089350282,0.6126370347846358
slow_roll,3.938,0.08995628366017921,-0.9453017089776493,0.3135483153103919
slow_roll,3.988,0.06882244451400554,-0.9974002650242589,-0.021358428328288378
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fast_roll,0.624,0.024014725961227404,0.9631712904402981,-0.2678140366160408
fast_roll,0.675,0.02597855007862328,0.9728863746848865,-0.22981996625252366
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fast_roll,1.229,0.09611703670528068,0.26936935196850487,0.9582284004740538
fast_roll,1.28,0.09757823976817694,0.15352635522555744,0.9833148760061042
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fast_roll,1.671,0.07640115459065343,-0.8308754661661121,0.5511885551247062
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fast_roll,2.075,0.015937330627194494,-0.8519898088332791,-0.52331574325326
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fast_roll,3.071,0.059284390015703244,0.9348424830246419,0.3500784098352654
fast_roll,3.121,0.059284390015703244,0.9348424830246419,0.3500784098352654
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fast_roll,3.221,0.059284390015703244,0.9348424830246419,0.3500784098352654
fast_roll,3.272,0.08072510807136501,0.70137248333348,0.708209076861836
fast_roll,3.322,0.08779502096077971,0.5478328579420104,0.8319682650519702
fast_roll,3.373,0.08779502096077971,0.5478328579420104,0.8319682650519702
fast_roll,3.423,0.09648741582489807,0.18419646700908573,0.9781420347417874
fast_roll,3.475,0.09712661424334584,0.10679261118594469,0.9895260274503708
fast_roll,3.525,0.09712661424334584,0.10679261118594469,0.9895260274503708
fast_roll,3.576,0.09712661424334584,0.10679261118594469,0.9895260274503708
fast_roll,3.626,0.09808125521867511,-0.276992602937651,0.9558531086378043
fast_roll,3.678,0.09588170136722707,-0.3885191729020873,0.9164385149208886
fast_roll,3.728,0.09071503326084339,-0.5619048646134545,0.822212688946248
fast_roll,3.78,0.08808219791306586,-0.6251522557051209,0.7755167203855778
fast_roll,3.83,0.07489843104312643,-0.8360677205153536,0.5434896427159753
fast_roll,3.881,0.0729683550057793,-0.8569144732195361,0.5102677774998492
fast_roll,3.931,0.0729683550057793,-0.8569144732195361,0.5102677774998492
fast_roll,3.982,0.0729683550057793,-0.8569144732195361,0.5102677774998492
1 phase t ux uy uz
2 slow_roll 0.0 5.364417883966259e-07 0.8829469440778077 -0.4694727829633716
3 slow_roll 0.05 5.364417883966259e-07 0.8829469440778077 -0.4694727829633716
4 slow_roll 0.128 0.0003251433520745835 0.907077055804204 -0.4209644986401793
5 slow_roll 0.178 0.0034536272684164153 0.9557110180986144 -0.2942864630654985
6 slow_roll 0.229 0.004462063366683055 0.9639291880290134 -0.2661214205137173
7 slow_roll 0.279 0.004462063366683055 0.9639291880290134 -0.2661214205137173
8 slow_roll 0.329 0.004462063366683055 0.9639291880290134 -0.2661214205137173
9 slow_roll 0.38 0.03156978751811861 0.9865808845796968 0.16019209311949129
10 slow_roll 0.43 0.04618248291021098 0.9261940016468521 0.37420829705611663
11 slow_roll 0.48 0.07209846660150727 0.7068731466017404 0.7036562837970437
12 slow_roll 0.531 0.07884267175871004 0.6220030945016755 0.7790352903048027
13 slow_roll 0.581 0.09389665181370353 0.3775338908873316 0.9212228720617223
14 slow_roll 0.631 0.09389665181370353 0.3775338908873316 0.9212228720617223
15 slow_roll 0.681 0.09389665181370353 0.3775338908873316 0.9212228720617223
16 slow_roll 0.731 0.09389665181370353 0.3775338908873316 0.9212228720617223
17 slow_roll 0.782 0.11626024739570803 -0.2910297934919785 0.94962372241615
18 slow_roll 0.832 0.11331737850132788 -0.5957757659732928 0.7951166005112225
19 slow_roll 0.882 0.10258919760138681 -0.8301250953132597 0.5480581927739564
20 slow_roll 0.932 0.09172466968431676 -0.9336924862997908 0.3461284819234293
21 slow_roll 0.982 0.08855641690308262 -0.9521140126478002 0.2926374342851443
22 slow_roll 1.032 0.08855641690308262 -0.9521140126478002 0.2926374342851443
23 slow_roll 1.083 0.08855641690308262 -0.9521140126478002 0.2926374342851443
24 slow_roll 1.133 0.06314271520385657 -0.9856858587151895 -0.15632141710458003
25 slow_roll 1.183 0.03871241049647199 -0.8771323194061645 -0.4786859550130072
26 slow_roll 1.233 0.02278590617030732 -0.7469560671312695 -0.6644828336802873
27 slow_roll 1.283 0.0014766457114187138 -0.48236413746616297 -0.8759695533544346
28 slow_roll 1.333 -0.009957047288894565 -0.2732769792151122 -0.9618838546520833
29 slow_roll 1.383 -0.014615090702282351 -0.16289975489324235 -0.986534372933597
30 slow_roll 1.434 -0.014615090702282351 -0.16289975489324235 -0.986534372933597
31 slow_roll 1.484 -0.014615090702282351 -0.16289975489324235 -0.986534372933597
32 slow_roll 1.534 -0.021590294173402004 0.28521754629199986 -0.958219604519067
33 slow_roll 1.585 -0.018226593529973842 0.6796250267681222 -0.733333221856696
34 slow_roll 1.638 -0.015215515922222613 0.7588021671351416 -0.6511434244667093
35 slow_roll 1.688 0.007627889727199663 0.9806664264156518 -0.19553816865119905
36 slow_roll 1.738 0.02129921910039987 0.999324814604695 0.02993757139457134
37 slow_roll 1.791 0.024856976638209058 0.9959630755215296 0.0862535965053266
38 slow_roll 1.841 0.024856976638209058 0.9959630755215296 0.0862535965053266
39 slow_roll 1.891 0.024856976638209058 0.9959630755215296 0.0862535965053266
40 slow_roll 1.942 0.07458550391003292 0.7172507675680203 0.6928119073959196
41 slow_roll 1.992 0.09368970595946137 0.44068963461450666 0.8927569013682068
42 slow_roll 2.042 0.09891259247091141 0.3354630624781779 0.9368462161760838
43 slow_roll 2.092 0.11022117626527345 -7.212161947528295e-06 0.9939070843145672
44 slow_roll 2.142 0.1130640269505834 -0.16963542419702776 0.9789996673478557
45 slow_roll 2.192 0.1130640269505834 -0.16963542419702776 0.9789996673478557
46 slow_roll 2.242 0.1130640269505834 -0.16963542419702776 0.9789996673478557
47 slow_roll 2.293 0.11471063275557963 -0.5849230213172406 0.8029361928982436
48 slow_roll 2.343 0.11019948262240672 -0.7142827003817095 0.6911268320396532
49 slow_roll 2.426 0.10141341251295233 -0.8534859365604823 0.5111526932883697
50 slow_roll 2.477 0.07595491159352484 -0.9936428121723654 0.08309520577634615
51 slow_roll 2.527 0.06448994421768593 -0.9941772535855863 -0.08632864847674089
52 slow_roll 2.577 0.06448994421768593 -0.9941772535855863 -0.08632864847674089
53 slow_roll 2.627 0.06448994421768593 -0.9941772535855863 -0.08632864847674089
54 slow_roll 2.678 0.06448994421768593 -0.9941772535855863 -0.08632864847674089
55 slow_roll 2.728 0.028817026488532304 -0.7934000725072533 -0.6080180128333736
56 slow_roll 2.779 0.0032352514477921655 -0.4937015107403189 -0.8696254086908893
57 slow_roll 2.829 -0.0030165019643082686 -0.39140603848225103 -0.9202131349614229
58 slow_roll 2.879 -0.02194342210848925 0.11072398209318217 -0.9936089200563758
59 slow_roll 2.929 -0.024032596122042907 0.22242838263297865 -0.9746527837763107
60 slow_roll 2.979 -0.024032596122042907 0.22242838263297865 -0.9746527837763107
61 slow_roll 3.03 -0.024032596122042907 0.22242838263297865 -0.9746527837763107
62 slow_roll 3.08 -0.016998113363041106 0.6714604955713218 -0.7408453732252177
63 slow_roll 3.132 -0.01247060336728103 0.7881419301563627 -0.6153671928052867
64 slow_roll 3.182 0.0017347782937767963 0.9491205263327873 -0.31490826765590657
65 slow_roll 3.232 0.007717609638179204 0.97873380750562 -0.20498920104977397
66 slow_roll 3.282 0.03587973910508903 0.9687888154822927 0.24527713981977012
67 slow_roll 3.334 0.03587973910508903 0.9687888154822927 0.24527713981977012
68 slow_roll 3.384 0.03587973910508903 0.9687888154822927 0.24527713981977012
69 slow_roll 3.434 0.03587973910508903 0.9687888154822927 0.24527713981977012
70 slow_roll 3.486 0.0773596494901135 0.6831469198642757 0.726171997883917
71 slow_roll 3.536 0.08396325243571906 0.5951635161658628 0.7992062069738338
72 slow_roll 3.586 0.10665408569280613 0.12264052944652912 0.9867037075749268
73 slow_roll 3.637 0.10964775782794625 0.008981705283138778 0.9939299261887182
74 slow_roll 3.687 0.11339630501426597 -0.27174721513415995 0.955664548403853
75 slow_roll 3.737 0.11339630501426597 -0.27174721513415995 0.955664548403853
76 slow_roll 3.787 0.11339630501426597 -0.27174721513415995 0.955664548403853
77 slow_roll 3.837 0.11339630501426597 -0.27174721513415995 0.955664548403853
78 slow_roll 3.888 0.10609239313921122 -0.7832115089350282 0.6126370347846358
79 slow_roll 3.938 0.08995628366017921 -0.9453017089776493 0.3135483153103919
80 slow_roll 3.988 0.06882244451400554 -0.9974002650242589 -0.021358428328288378
81 fast_roll 0.0 -0.008855284367132087 -0.1892332671169339 -0.9818922316400249
82 fast_roll 0.07 -0.009079338778959034 -0.18350878730578224 -0.9829761393792313
83 fast_roll 0.12 -0.010844887563568405 -0.13094766470039781 -0.9913299639994979
84 fast_roll 0.171 -0.011626663266558038 -0.1013832901335635 -0.9947794977697217
85 fast_roll 0.221 -0.013588458181442458 0.11000248694105531 -0.9938384208064378
86 fast_roll 0.271 -0.013553649516693318 0.13987046820323737 -0.9900770428150457
87 fast_roll 0.321 -0.013553649516693318 0.13987046820323737 -0.9900770428150457
88 fast_roll 0.371 -0.013553649516693318 0.13987046820323737 -0.9900770428150457
89 fast_roll 0.421 -0.006220758125301114 0.49530507440045424 -0.8686968317206567
90 fast_roll 0.472 -0.003314405697850606 0.5920532974235793 -0.8058919950742387
91 fast_roll 0.522 0.00441828382207292 0.7619502753296359 -0.647620457284326
92 fast_roll 0.574 0.007511079032515748 0.810291021781891 -0.5859795591242294
93 fast_roll 0.624 0.024014725961227404 0.9631712904402981 -0.2678140366160408
94 fast_roll 0.675 0.02597855007862328 0.9728863746848865 -0.22981996625252366
95 fast_roll 0.725 0.02597855007862328 0.9728863746848865 -0.22981996625252366
96 fast_roll 0.776 0.02597855007862328 0.9728863746848865 -0.22981996625252366
97 fast_roll 0.826 0.04868464141203835 0.9861706433133424 0.15842117269332898
98 fast_roll 0.876 0.05286310421905672 0.9703418261427044 0.2358860586180681
99 fast_roll 0.926 0.06484538276965729 0.8874555771771414 0.456308749500427
100 fast_roll 0.977 0.07218322140163734 0.8043338636706839 0.589776752933406
101 fast_roll 1.027 0.08026447949825838 0.6727395105986717 0.7355128579503784
102 fast_roll 1.079 0.08167273377955657 0.6434443447451975 0.761123472093981
103 fast_roll 1.129 0.08167273377955657 0.6434443447451975 0.761123472093981
104 fast_roll 1.179 0.08167273377955657 0.6434443447451975 0.761123472093981
105 fast_roll 1.229 0.09611703670528068 0.26936935196850487 0.9582284004740538
106 fast_roll 1.28 0.09757823976817694 0.15352635522555744 0.9833148760061042
107 fast_roll 1.33 0.09823604865691905 -0.08212983146319404 0.9917683043574758
108 fast_roll 1.38 0.09694679551098685 -0.23748907927294635 0.9665403540805936
109 fast_roll 1.43 0.09341384952042775 -0.4228500863358093 0.9013720969741483
110 fast_roll 1.481 0.0924495732731865 -0.4577981398954497 0.8842363595271753
111 fast_roll 1.567 0.0924495732731865 -0.4577981398954497 0.8842363595271753
112 fast_roll 1.617 0.0924495732731865 -0.4577981398954497 0.8842363595271753
113 fast_roll 1.671 0.07640115459065343 -0.8308754661661121 0.5511885551247062
114 fast_roll 1.721 0.06860250673497353 -0.9076870847962724 0.4140022369066653
115 fast_roll 1.771 0.06444845651060765 -0.9377356503677196 0.3413183945860967
116 fast_roll 1.821 0.04452538840952553 -0.9989901855288692 -0.0060082446668173126
117 fast_roll 1.872 0.03992449458605998 -0.9956634626810288 -0.08402561403566944
118 fast_roll 1.923 0.03992449458605998 -0.9956634626810288 -0.08402561403566944
119 fast_roll 1.973 0.03992449458605998 -0.9956634626810288 -0.08402561403566944
120 fast_roll 2.024 0.022197751797496647 -0.9075294163332098 -0.41940150012254407
121 fast_roll 2.075 0.015937330627194494 -0.8519898088332791 -0.52331574325326
122 fast_roll 2.125 0.004667849544530708 -0.7060150524798743 -0.7081814434539146
123 fast_roll 2.175 0.0013530555546399704 -0.648155304131301 -0.761506973682531
124 fast_roll 2.226 -0.010055305667179194 -0.34305984964047753 -0.9392597246728897
125 fast_roll 2.278 -0.010975597965093486 -0.3059300411291784 -0.9519907279926669
126 fast_roll 2.328 -0.010975597965093486 -0.3059300411291784 -0.9519907279926669
127 fast_roll 2.379 -0.010975597965093486 -0.3059300411291784 -0.9519907279926669
128 fast_roll 2.429 -0.013147653645135052 0.04085678327034154 -0.9990785066572235
129 fast_roll 2.479 -0.013055267066359103 0.15918016034161872 -0.9871632269059877
130 fast_roll 2.568 -0.010483057404651826 0.38589633572112736 -0.922482587144309
131 fast_roll 2.618 -0.0025064649020058844 0.652755248321719 -0.7575647189660735
132 fast_roll 2.669 0.0016507506674964703 0.7373859422292015 -0.6754696493736685
133 fast_roll 2.719 0.0016507506674964703 0.7373859422292015 -0.6754696493736685
134 fast_roll 2.769 0.0016507506674964703 0.7373859422292015 -0.6754696493736685
135 fast_roll 2.82 0.0016507506674964703 0.7373859422292015 -0.6754696493736685
136 fast_roll 2.87 0.023670912467358265 0.9516266261089918 -0.30634368343966173
137 fast_roll 2.92 0.03612722161345726 0.9965580319340878 -0.07461174737365275
138 fast_roll 2.97 0.040383366447819695 0.9991763265386772 0.00398148201251869
139 fast_roll 3.02 0.05312824253858915 0.9699096092023001 0.23759785315065957
140 fast_roll 3.071 0.059284390015703244 0.9348424830246419 0.3500784098352654
141 fast_roll 3.121 0.059284390015703244 0.9348424830246419 0.3500784098352654
142 fast_roll 3.171 0.059284390015703244 0.9348424830246419 0.3500784098352654
143 fast_roll 3.221 0.059284390015703244 0.9348424830246419 0.3500784098352654
144 fast_roll 3.272 0.08072510807136501 0.70137248333348 0.708209076861836
145 fast_roll 3.322 0.08779502096077971 0.5478328579420104 0.8319682650519702
146 fast_roll 3.373 0.08779502096077971 0.5478328579420104 0.8319682650519702
147 fast_roll 3.423 0.09648741582489807 0.18419646700908573 0.9781420347417874
148 fast_roll 3.475 0.09712661424334584 0.10679261118594469 0.9895260274503708
149 fast_roll 3.525 0.09712661424334584 0.10679261118594469 0.9895260274503708
150 fast_roll 3.576 0.09712661424334584 0.10679261118594469 0.9895260274503708
151 fast_roll 3.626 0.09808125521867511 -0.276992602937651 0.9558531086378043
152 fast_roll 3.678 0.09588170136722707 -0.3885191729020873 0.9164385149208886
153 fast_roll 3.728 0.09071503326084339 -0.5619048646134545 0.822212688946248
154 fast_roll 3.78 0.08808219791306586 -0.6251522557051209 0.7755167203855778
155 fast_roll 3.83 0.07489843104312643 -0.8360677205153536 0.5434896427159753
156 fast_roll 3.881 0.0729683550057793 -0.8569144732195361 0.5102677774998492
157 fast_roll 3.931 0.0729683550057793 -0.8569144732195361 0.5102677774998492
158 fast_roll 3.982 0.0729683550057793 -0.8569144732195361 0.5102677774998492