re(flight): LT mirrors RT, and roll does not depend on speed
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
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1.0,1.923,-8909.505859375,881.9098510742188,1004.4060668945312
|
||||||
|
1.0,1.974,-8909.505859375,881.9098510742188,1004.4060668945312
|
||||||
|
1.0,2.024,-8926.4921875,881.9098510742188,1004.4060668945312
|
||||||
|
1.0,2.074,-8929.8876953125,881.9098510742188,1004.4060668945312
|
||||||
|
1.0,2.159,-8945.171875,881.9098510742188,1004.406005859375
|
||||||
|
1.0,2.209,-8958.7529296875,881.9098510742188,1004.406005859375
|
||||||
|
1.0,2.26,-8960.4453125,881.9098510742188,1004.406005859375
|
||||||
|
1.0,2.311,-8960.4453125,881.9098510742188,1004.406005859375
|
||||||
|
1.0,2.361,-8960.4453125,881.9098510742188,1004.406005859375
|
||||||
|
1.0,2.412,-8977.4326171875,881.9098510742188,1004.4059448242188
|
||||||
|
1.0,2.462,-8980.8271484375,881.9098510742188,1004.4059448242188
|
||||||
|
1.0,2.512,-8996.111328125,881.9098510742188,1004.4058837890625
|
||||||
|
1.0,2.562,-8999.5068359375,881.9098510742188,1004.4058837890625
|
||||||
|
1.0,2.614,-9006.296875,881.9098510742188,1004.4058837890625
|
||||||
|
1.0,2.664,-9006.296875,881.9098510742188,1004.4058837890625
|
||||||
|
1.0,2.714,-9006.296875,881.9098510742188,1004.4058837890625
|
||||||
|
1.0,2.764,-9024.9765625,881.9097900390625,1004.4058227539062
|
||||||
|
1.0,2.814,-9035.162109375,881.9097900390625,1004.4058227539062
|
||||||
|
1.0,2.865,-9035.162109375,881.9097900390625,1004.4058227539062
|
||||||
|
1.0,2.915,-9045.3486328125,881.9097900390625,1004.4058227539062
|
||||||
|
1.0,2.966,-9050.4365234375,881.9097900390625,1004.4058227539062
|
||||||
|
1.0,3.016,-9050.4365234375,881.9097900390625,1004.4058227539062
|
||||||
|
1.0,3.066,-9050.4365234375,881.9097900390625,1004.4058227539062
|
||||||
|
1.0,3.116,-9064.02734375,881.9097900390625,1004.40576171875
|
||||||
|
1.0,3.167,-9069.115234375,881.9097900390625,1004.40576171875
|
||||||
|
1.0,3.217,-9082.6962890625,881.9097900390625,1004.40576171875
|
||||||
|
1.0,3.267,-9082.6962890625,881.9097900390625,1004.40576171875
|
||||||
|
1.0,3.317,-9091.1796875,881.9097900390625,1004.4057006835938
|
||||||
|
1.0,3.367,-9092.8720703125,881.9097900390625,1004.4057006835938
|
||||||
|
1.0,3.418,-9092.8720703125,881.9097900390625,1004.4057006835938
|
||||||
|
1.0,3.468,-9092.8720703125,881.9097900390625,1004.4057006835938
|
||||||
|
1.0,3.518,-9111.5517578125,881.9097900390625,1004.4057006835938
|
||||||
|
1.0,3.568,-9118.341796875,881.9097900390625,1004.4056396484375
|
||||||
|
1.0,3.618,-9128.5283203125,881.9097900390625,1004.4056396484375
|
||||||
|
1.0,3.669,-9135.318359375,881.9097290039062,1004.4056396484375
|
||||||
|
1.0,3.719,-9143.8017578125,881.9097290039062,1004.4056396484375
|
||||||
|
1.0,3.769,-9143.8017578125,881.9097290039062,1004.4056396484375
|
||||||
|
1.0,3.819,-9143.8017578125,881.9097290039062,1004.4056396484375
|
||||||
|
1.0,3.87,-9143.8017578125,881.9097290039062,1004.4056396484375
|
||||||
|
1.0,3.92,-9162.48046875,881.9097290039062,1004.4055786132812
|
||||||
|
1.0,3.97,-9172.6669921875,881.9097290039062,1004.4055786132812
|
||||||
|
158
docs/re/captures/turn-law-roll.csv
Normal file
158
docs/re/captures/turn-law-roll.csv
Normal 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
|
||||||
|
slow_roll,0.581,0.09389665181370353,0.3775338908873316,0.9212228720617223
|
||||||
|
slow_roll,0.631,0.09389665181370353,0.3775338908873316,0.9212228720617223
|
||||||
|
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
|
||||||
|
slow_roll,1.032,0.08855641690308262,-0.9521140126478002,0.2926374342851443
|
||||||
|
slow_roll,1.083,0.08855641690308262,-0.9521140126478002,0.2926374342851443
|
||||||
|
slow_roll,1.133,0.06314271520385657,-0.9856858587151895,-0.15632141710458003
|
||||||
|
slow_roll,1.183,0.03871241049647199,-0.8771323194061645,-0.4786859550130072
|
||||||
|
slow_roll,1.233,0.02278590617030732,-0.7469560671312695,-0.6644828336802873
|
||||||
|
slow_roll,1.283,0.0014766457114187138,-0.48236413746616297,-0.8759695533544346
|
||||||
|
slow_roll,1.333,-0.009957047288894565,-0.2732769792151122,-0.9618838546520833
|
||||||
|
slow_roll,1.383,-0.014615090702282351,-0.16289975489324235,-0.986534372933597
|
||||||
|
slow_roll,1.434,-0.014615090702282351,-0.16289975489324235,-0.986534372933597
|
||||||
|
slow_roll,1.484,-0.014615090702282351,-0.16289975489324235,-0.986534372933597
|
||||||
|
slow_roll,1.534,-0.021590294173402004,0.28521754629199986,-0.958219604519067
|
||||||
|
slow_roll,1.585,-0.018226593529973842,0.6796250267681222,-0.733333221856696
|
||||||
|
slow_roll,1.638,-0.015215515922222613,0.7588021671351416,-0.6511434244667093
|
||||||
|
slow_roll,1.688,0.007627889727199663,0.9806664264156518,-0.19553816865119905
|
||||||
|
slow_roll,1.738,0.02129921910039987,0.999324814604695,0.02993757139457134
|
||||||
|
slow_roll,1.791,0.024856976638209058,0.9959630755215296,0.0862535965053266
|
||||||
|
slow_roll,1.841,0.024856976638209058,0.9959630755215296,0.0862535965053266
|
||||||
|
slow_roll,1.891,0.024856976638209058,0.9959630755215296,0.0862535965053266
|
||||||
|
slow_roll,1.942,0.07458550391003292,0.7172507675680203,0.6928119073959196
|
||||||
|
slow_roll,1.992,0.09368970595946137,0.44068963461450666,0.8927569013682068
|
||||||
|
slow_roll,2.042,0.09891259247091141,0.3354630624781779,0.9368462161760838
|
||||||
|
slow_roll,2.092,0.11022117626527345,-7.212161947528295e-06,0.9939070843145672
|
||||||
|
slow_roll,2.142,0.1130640269505834,-0.16963542419702776,0.9789996673478557
|
||||||
|
slow_roll,2.192,0.1130640269505834,-0.16963542419702776,0.9789996673478557
|
||||||
|
slow_roll,2.242,0.1130640269505834,-0.16963542419702776,0.9789996673478557
|
||||||
|
slow_roll,2.293,0.11471063275557963,-0.5849230213172406,0.8029361928982436
|
||||||
|
slow_roll,2.343,0.11019948262240672,-0.7142827003817095,0.6911268320396532
|
||||||
|
slow_roll,2.426,0.10141341251295233,-0.8534859365604823,0.5111526932883697
|
||||||
|
slow_roll,2.477,0.07595491159352484,-0.9936428121723654,0.08309520577634615
|
||||||
|
slow_roll,2.527,0.06448994421768593,-0.9941772535855863,-0.08632864847674089
|
||||||
|
slow_roll,2.577,0.06448994421768593,-0.9941772535855863,-0.08632864847674089
|
||||||
|
slow_roll,2.627,0.06448994421768593,-0.9941772535855863,-0.08632864847674089
|
||||||
|
slow_roll,2.678,0.06448994421768593,-0.9941772535855863,-0.08632864847674089
|
||||||
|
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
|
||||||
|
slow_roll,2.929,-0.024032596122042907,0.22242838263297865,-0.9746527837763107
|
||||||
|
slow_roll,2.979,-0.024032596122042907,0.22242838263297865,-0.9746527837763107
|
||||||
|
slow_roll,3.03,-0.024032596122042907,0.22242838263297865,-0.9746527837763107
|
||||||
|
slow_roll,3.08,-0.016998113363041106,0.6714604955713218,-0.7408453732252177
|
||||||
|
slow_roll,3.132,-0.01247060336728103,0.7881419301563627,-0.6153671928052867
|
||||||
|
slow_roll,3.182,0.0017347782937767963,0.9491205263327873,-0.31490826765590657
|
||||||
|
slow_roll,3.232,0.007717609638179204,0.97873380750562,-0.20498920104977397
|
||||||
|
slow_roll,3.282,0.03587973910508903,0.9687888154822927,0.24527713981977012
|
||||||
|
slow_roll,3.334,0.03587973910508903,0.9687888154822927,0.24527713981977012
|
||||||
|
slow_roll,3.384,0.03587973910508903,0.9687888154822927,0.24527713981977012
|
||||||
|
slow_roll,3.434,0.03587973910508903,0.9687888154822927,0.24527713981977012
|
||||||
|
slow_roll,3.486,0.0773596494901135,0.6831469198642757,0.726171997883917
|
||||||
|
slow_roll,3.536,0.08396325243571906,0.5951635161658628,0.7992062069738338
|
||||||
|
slow_roll,3.586,0.10665408569280613,0.12264052944652912,0.9867037075749268
|
||||||
|
slow_roll,3.637,0.10964775782794625,0.008981705283138778,0.9939299261887182
|
||||||
|
slow_roll,3.687,0.11339630501426597,-0.27174721513415995,0.955664548403853
|
||||||
|
slow_roll,3.737,0.11339630501426597,-0.27174721513415995,0.955664548403853
|
||||||
|
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
|
||||||
|
fast_roll,0.0,-0.008855284367132087,-0.1892332671169339,-0.9818922316400249
|
||||||
|
fast_roll,0.07,-0.009079338778959034,-0.18350878730578224,-0.9829761393792313
|
||||||
|
fast_roll,0.12,-0.010844887563568405,-0.13094766470039781,-0.9913299639994979
|
||||||
|
fast_roll,0.171,-0.011626663266558038,-0.1013832901335635,-0.9947794977697217
|
||||||
|
fast_roll,0.221,-0.013588458181442458,0.11000248694105531,-0.9938384208064378
|
||||||
|
fast_roll,0.271,-0.013553649516693318,0.13987046820323737,-0.9900770428150457
|
||||||
|
fast_roll,0.321,-0.013553649516693318,0.13987046820323737,-0.9900770428150457
|
||||||
|
fast_roll,0.371,-0.013553649516693318,0.13987046820323737,-0.9900770428150457
|
||||||
|
fast_roll,0.421,-0.006220758125301114,0.49530507440045424,-0.8686968317206567
|
||||||
|
fast_roll,0.472,-0.003314405697850606,0.5920532974235793,-0.8058919950742387
|
||||||
|
fast_roll,0.522,0.00441828382207292,0.7619502753296359,-0.647620457284326
|
||||||
|
fast_roll,0.574,0.007511079032515748,0.810291021781891,-0.5859795591242294
|
||||||
|
fast_roll,0.624,0.024014725961227404,0.9631712904402981,-0.2678140366160408
|
||||||
|
fast_roll,0.675,0.02597855007862328,0.9728863746848865,-0.22981996625252366
|
||||||
|
fast_roll,0.725,0.02597855007862328,0.9728863746848865,-0.22981996625252366
|
||||||
|
fast_roll,0.776,0.02597855007862328,0.9728863746848865,-0.22981996625252366
|
||||||
|
fast_roll,0.826,0.04868464141203835,0.9861706433133424,0.15842117269332898
|
||||||
|
fast_roll,0.876,0.05286310421905672,0.9703418261427044,0.2358860586180681
|
||||||
|
fast_roll,0.926,0.06484538276965729,0.8874555771771414,0.456308749500427
|
||||||
|
fast_roll,0.977,0.07218322140163734,0.8043338636706839,0.589776752933406
|
||||||
|
fast_roll,1.027,0.08026447949825838,0.6727395105986717,0.7355128579503784
|
||||||
|
fast_roll,1.079,0.08167273377955657,0.6434443447451975,0.761123472093981
|
||||||
|
fast_roll,1.129,0.08167273377955657,0.6434443447451975,0.761123472093981
|
||||||
|
fast_roll,1.179,0.08167273377955657,0.6434443447451975,0.761123472093981
|
||||||
|
fast_roll,1.229,0.09611703670528068,0.26936935196850487,0.9582284004740538
|
||||||
|
fast_roll,1.28,0.09757823976817694,0.15352635522555744,0.9833148760061042
|
||||||
|
fast_roll,1.33,0.09823604865691905,-0.08212983146319404,0.9917683043574758
|
||||||
|
fast_roll,1.38,0.09694679551098685,-0.23748907927294635,0.9665403540805936
|
||||||
|
fast_roll,1.43,0.09341384952042775,-0.4228500863358093,0.9013720969741483
|
||||||
|
fast_roll,1.481,0.0924495732731865,-0.4577981398954497,0.8842363595271753
|
||||||
|
fast_roll,1.567,0.0924495732731865,-0.4577981398954497,0.8842363595271753
|
||||||
|
fast_roll,1.617,0.0924495732731865,-0.4577981398954497,0.8842363595271753
|
||||||
|
fast_roll,1.671,0.07640115459065343,-0.8308754661661121,0.5511885551247062
|
||||||
|
fast_roll,1.721,0.06860250673497353,-0.9076870847962724,0.4140022369066653
|
||||||
|
fast_roll,1.771,0.06444845651060765,-0.9377356503677196,0.3413183945860967
|
||||||
|
fast_roll,1.821,0.04452538840952553,-0.9989901855288692,-0.0060082446668173126
|
||||||
|
fast_roll,1.872,0.03992449458605998,-0.9956634626810288,-0.08402561403566944
|
||||||
|
fast_roll,1.923,0.03992449458605998,-0.9956634626810288,-0.08402561403566944
|
||||||
|
fast_roll,1.973,0.03992449458605998,-0.9956634626810288,-0.08402561403566944
|
||||||
|
fast_roll,2.024,0.022197751797496647,-0.9075294163332098,-0.41940150012254407
|
||||||
|
fast_roll,2.075,0.015937330627194494,-0.8519898088332791,-0.52331574325326
|
||||||
|
fast_roll,2.125,0.004667849544530708,-0.7060150524798743,-0.7081814434539146
|
||||||
|
fast_roll,2.175,0.0013530555546399704,-0.648155304131301,-0.761506973682531
|
||||||
|
fast_roll,2.226,-0.010055305667179194,-0.34305984964047753,-0.9392597246728897
|
||||||
|
fast_roll,2.278,-0.010975597965093486,-0.3059300411291784,-0.9519907279926669
|
||||||
|
fast_roll,2.328,-0.010975597965093486,-0.3059300411291784,-0.9519907279926669
|
||||||
|
fast_roll,2.379,-0.010975597965093486,-0.3059300411291784,-0.9519907279926669
|
||||||
|
fast_roll,2.429,-0.013147653645135052,0.04085678327034154,-0.9990785066572235
|
||||||
|
fast_roll,2.479,-0.013055267066359103,0.15918016034161872,-0.9871632269059877
|
||||||
|
fast_roll,2.568,-0.010483057404651826,0.38589633572112736,-0.922482587144309
|
||||||
|
fast_roll,2.618,-0.0025064649020058844,0.652755248321719,-0.7575647189660735
|
||||||
|
fast_roll,2.669,0.0016507506674964703,0.7373859422292015,-0.6754696493736685
|
||||||
|
fast_roll,2.719,0.0016507506674964703,0.7373859422292015,-0.6754696493736685
|
||||||
|
fast_roll,2.769,0.0016507506674964703,0.7373859422292015,-0.6754696493736685
|
||||||
|
fast_roll,2.82,0.0016507506674964703,0.7373859422292015,-0.6754696493736685
|
||||||
|
fast_roll,2.87,0.023670912467358265,0.9516266261089918,-0.30634368343966173
|
||||||
|
fast_roll,2.92,0.03612722161345726,0.9965580319340878,-0.07461174737365275
|
||||||
|
fast_roll,2.97,0.040383366447819695,0.9991763265386772,0.00398148201251869
|
||||||
|
fast_roll,3.02,0.05312824253858915,0.9699096092023001,0.23759785315065957
|
||||||
|
fast_roll,3.071,0.059284390015703244,0.9348424830246419,0.3500784098352654
|
||||||
|
fast_roll,3.121,0.059284390015703244,0.9348424830246419,0.3500784098352654
|
||||||
|
fast_roll,3.171,0.059284390015703244,0.9348424830246419,0.3500784098352654
|
||||||
|
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
|
||||||
|
@@ -159,8 +159,7 @@ endpoints land on the definition's own numbers — 438/1.2 ≈ **365** against
|
|||||||
target speed = CruisingVelocity + RT · (MaximumVelocity − CruisingVelocity)
|
target speed = CruisingVelocity + RT · (MaximumVelocity − CruisingVelocity)
|
||||||
```
|
```
|
||||||
|
|
||||||
with `LT` presumably mirroring it down to `MinimumVelocity` (measured only at full
|
and `LT` mirrors it down to `MinimumVelocity` — **measured**, see below.
|
||||||
deflection so far: ~125 against 100).
|
|
||||||
|
|
||||||
**This also refutes a live hypothesis about the afterburner.** Full `RT` producing
|
**This also refutes a live hypothesis about the afterburner.** Full `RT` producing
|
||||||
more than `MaximumVelocity` looked like it might *be* the burner; it is not — the
|
more than `MaximumVelocity` looked like it might *be* the burner; it is not — the
|
||||||
@@ -169,7 +168,57 @@ Full throttle is simply full throttle.
|
|||||||
|
|
||||||
Raw samples: [`captures/throttle-curve-rt.csv`](captures/throttle-curve-rt.csv).
|
Raw samples: [`captures/throttle-curve-rt.csv`](captures/throttle-curve-rt.csv).
|
||||||
|
|
||||||
⏳ The `LT` half of the curve is **not measured**: the entity scan that locks onto
|
(The entity scan that locks onto the player searches *changing* position triples, so
|
||||||
the player needs the craft to be *moving* when it runs (it searches changing position
|
it only sees the craft while it still has speed — bind early, or a mission left
|
||||||
triples), and a mission left idling long enough for the craft to slow or die drops
|
idling drops out of the scan entirely and every tool reports "player entity not
|
||||||
out of the scan. Bind early, while the craft still has speed.
|
found" while the game is visibly flying.)
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
# `LT` mirrors `RT`, and roll does NOT depend on speed
|
||||||
|
|
||||||
|
One flight, both measurements
|
||||||
|
([`tools/re-capture/flight_law2.py`](../../tools/re-capture/flight_law2.py)).
|
||||||
|
|
||||||
|
## The braking half of the curve
|
||||||
|
|
||||||
|
| `LT` | 0.00 | 0.25 | 0.50 | 0.75 | 1.00 |
|
||||||
|
|---|---|---|---|---|---|
|
||||||
|
| speed | 436 | 379 | 289 | 209 | **126** |
|
||||||
|
|
||||||
|
A straight ramp down from cruise to ~126, and dividing by the ~1.2 time-base factor
|
||||||
|
the endpoints are the definition's own numbers again — 363 against
|
||||||
|
`CruisingVelocity` **350** and 105 against `MinimumVelocity` **100**. So the throttle
|
||||||
|
law is symmetric:
|
||||||
|
|
||||||
|
```
|
||||||
|
RT held: target = Cruising + RT · (Maximum − Cruising)
|
||||||
|
LT held: target = Cruising − LT · (Cruising − Minimum)
|
||||||
|
```
|
||||||
|
|
||||||
|
## Roll
|
||||||
|
|
||||||
|
Roll turns the craft about its own forward axis, so it has to be measured on a
|
||||||
|
different row of the rotation matrix than pitch was:
|
||||||
|
|
||||||
|
| phase | rate per 1 s window | mean |
|
||||||
|
|---|---|---|
|
||||||
|
| minimum speed + full roll | 171 · 103 · 157 | **~144 °/s** |
|
||||||
|
| maximum speed + full roll | 140 · 145 · 164 | **~150 °/s** |
|
||||||
|
|
||||||
|
**Roll shows no speed dependence** — the two regimes agree inside the noise, where
|
||||||
|
pitch dropped by a third to a half between them. Against the definition
|
||||||
|
(`AV_Roll_Min` 200, `AV_Roll_Max` 125) the measured ~145 °/s is ~121 after the
|
||||||
|
time-base factor, i.e. **the `Max` value in both regimes**.
|
||||||
|
|
||||||
|
So the `_Min`/`_Max` pair does *not* mean the same thing for every axis: pitch
|
||||||
|
interpolates between them with speed, roll appears pinned at `Max`. A
|
||||||
|
reimplementation that applies one rule to all axes would get roll wrong at low
|
||||||
|
speed by ~60 %.
|
||||||
|
|
||||||
|
🟡 Caveat kept: the roll phases were 2 s of settling apart, which is marginal for a
|
||||||
|
full 126 → 1 342 speed change, so "no dependence" is a measurement over a real but
|
||||||
|
not perfectly separated pair of regimes.
|
||||||
|
|
||||||
|
Raw samples: [`captures/throttle-curve-lt.csv`](captures/throttle-curve-lt.csv) ·
|
||||||
|
[`captures/turn-law-roll.csv`](captures/turn-law-roll.csv).
|
||||||
|
|||||||
89
tools/re-capture/flight_law2.py
Normal file
89
tools/re-capture/flight_law2.py
Normal file
@@ -0,0 +1,89 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""Two measurements the first flight-model pass left open, in ONE flight.
|
||||||
|
|
||||||
|
1. **The `LT` half of the throttle curve** — `RT` was walked 0→1 and gave
|
||||||
|
`target = CruisingVelocity + RT·(MaximumVelocity − CruisingVelocity)`; `LT`
|
||||||
|
should mirror it down to `MinimumVelocity`.
|
||||||
|
2. **Roll rate** vs `AV_Roll_{Min,Max}` (200 / 125 °/s). Roll turns the craft about
|
||||||
|
its own forward axis, so the forward vector barely moves (3–5 °/s residual, which
|
||||||
|
is how `LX` was identified as roll at all) — measure a DIFFERENT matrix row.
|
||||||
|
|
||||||
|
Binding happens first and fast: the entity scan searches *changing* position
|
||||||
|
triples, so it only sees the craft while it still has speed. A mission left idling
|
||||||
|
drops out of the scan entirely.
|
||||||
|
|
||||||
|
Usage: flight_law2.py <out-prefix> [dwell_s]
|
||||||
|
"""
|
||||||
|
import json, math, os, struct, subprocess, sys, time
|
||||||
|
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
|
||||||
|
import speed_law
|
||||||
|
|
||||||
|
def pad(*a):
|
||||||
|
subprocess.run(["vgamepad", *a], capture_output=True)
|
||||||
|
|
||||||
|
def row_at(fd, off, cfg, row):
|
||||||
|
at = off + cfg["rot_delta"] + row * cfg["rot_stride"]
|
||||||
|
v = struct.unpack(">3f", os.pread(fd, 12, at))
|
||||||
|
n = math.sqrt(sum(c * c for c in v)) or 1.0
|
||||||
|
return tuple(c / n for c in v)
|
||||||
|
|
||||||
|
def ang(a, b):
|
||||||
|
d = max(-1.0, min(1.0, sum(a[i] * b[i] for i in range(3))))
|
||||||
|
return math.degrees(math.acos(d))
|
||||||
|
|
||||||
|
def main():
|
||||||
|
prefix = sys.argv[1]
|
||||||
|
dwell = float(sys.argv[2]) if len(sys.argv) > 2 else 4.0
|
||||||
|
cfg = json.load(open("/tmp/nav-live.json"))
|
||||||
|
w, off, nm = speed_law.find_player()
|
||||||
|
if not w:
|
||||||
|
sys.exit("player entity not found after retries")
|
||||||
|
print(f"# locked on {nm}")
|
||||||
|
|
||||||
|
# ── 1. LT curve (speed from position) ─────────────────────────────────────
|
||||||
|
lt_rows = []
|
||||||
|
for v in (0.0, 0.25, 0.5, 0.75, 1.0):
|
||||||
|
pad("trig", "RT", "0.0"); pad("trig", "LT", str(v))
|
||||||
|
time.sleep(2.0)
|
||||||
|
seq, t0 = [], time.time()
|
||||||
|
while time.time() - t0 < dwell:
|
||||||
|
seq.append((round(time.time() - t0, 3), *speed_law.pos_at(w.fd, off)))
|
||||||
|
time.sleep(0.05)
|
||||||
|
lt_rows += [(v, *s) for s in seq]
|
||||||
|
a, b = seq[0], seq[-1]
|
||||||
|
print(f"# LT={v:<5} speed {math.dist(a[1:], b[1:]) / (b[0] - a[0]):7.0f}/s")
|
||||||
|
|
||||||
|
# ── 2. Roll rate, measured on a non-forward row ───────────────────────────
|
||||||
|
roll_rows = []
|
||||||
|
other = 1 if cfg.get("fwd_row", 0) != 1 else 2
|
||||||
|
for label, trig in (("slow_roll", "LT"), ("fast_roll", "RT")):
|
||||||
|
pad("trig", "RT", "0.0"); pad("trig", "LT", "0.0")
|
||||||
|
pad("trig", trig, "1.0")
|
||||||
|
time.sleep(2.0)
|
||||||
|
pad("axis", "LX", "1.0")
|
||||||
|
seq, t0 = [], time.time()
|
||||||
|
while time.time() - t0 < dwell:
|
||||||
|
seq.append((round(time.time() - t0, 3), *row_at(w.fd, off, cfg, other)))
|
||||||
|
time.sleep(0.05)
|
||||||
|
pad("axis", "LX", "0.0")
|
||||||
|
roll_rows += [(label, *s) for s in seq]
|
||||||
|
rates = []
|
||||||
|
for t in range(int(dwell) - 1):
|
||||||
|
a = [s for s in seq if s[0] >= t][0]
|
||||||
|
b = [s for s in seq if s[0] <= t + 1][-1]
|
||||||
|
rates.append(ang(a[1:], b[1:]) / (b[0] - a[0]))
|
||||||
|
print(f"# {label:<10} row {other} turn rate: " + " ".join(f"{r:6.1f}" for r in rates) + " deg/s")
|
||||||
|
pad("trig", "RT", "0.0"); pad("trig", "LT", "0.0"); pad("reset")
|
||||||
|
|
||||||
|
with open(prefix + "-lt.csv", "w") as f:
|
||||||
|
f.write("lt,t,x,y,z\n")
|
||||||
|
for r in lt_rows:
|
||||||
|
f.write(",".join(str(x) for x in r) + "\n")
|
||||||
|
with open(prefix + "-roll.csv", "w") as f:
|
||||||
|
f.write("phase,t,ux,uy,uz\n")
|
||||||
|
for r in roll_rows:
|
||||||
|
f.write(",".join(str(x) for x in r) + "\n")
|
||||||
|
print(f"# wrote {prefix}-lt.csv and {prefix}-roll.csv")
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
Reference in New Issue
Block a user