re(flight): turn rates confirm AV_* are rate caps and _Min/_Max mean at min/max speed
turn_law.py pins the speed regime with a throttle, holds a stick axis and differentiates the craft's own forward vector over 1-second windows. slow + nose down ~87 deg/s (AV_PitchMinus_Min 75) fast + nose down ~54 (AV_PitchMinus_Max 40) slow + nose up ~175 (AV_PitchPlus_Min 150) fast + nose up ~136 (AV_PitchPlus_Max 70) So agility falls with speed (_Min/_Max are at minimum/maximum speed, not rate bounds) and pitching up is ~2x pitching down, exactly as the field pairs say. Control mapping measured: LX is roll (forward vector barely moves, 3-5 deg/s), LY is pitch (+1 = nose down per vgamepad's LY: -1 = up), and the right stick does not steer at all. The ~1.2x overshoot seen in the speed law appears again here (1.16-1.35x), and a unit scale cannot explain both m/s and deg/s — a TIME BASE can: if the guest's simulated second is shorter than the wall-clock second the probe measures against, every rate reads high by the same factor. So the definition numbers are self-consistent and these measurements confirm the shape of the law, not a scale. Recorded 🟡: no yaw input found (AV_Yaw_* exists but neither stick yaws), which with roll on LX and MaximumBank_Normal points at a bank-to-turn model. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01NptfmpjdpNCKEez6d2xvA9
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docs/re/captures/turn-law-pitch-phases.csv
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fast_down,2.114,-0.488795575431501,0.7702810463478054,-0.4095680591500243
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fast_down,2.2,-0.488795575431501,0.7702810463478054,-0.4095680591500243
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fast_down,2.25,-0.5739522440973305,0.723034797529328,-0.3844470094269976
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fast_down,2.301,-0.5844536749020949,0.7164465126356567,-0.3809439544416504
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fast_down,2.351,-0.6655292434246848,0.6590060504026063,-0.35040241391766147
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fast_down,2.401,-0.6844791420847829,0.6436963242533531,-0.3422621016028532
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fast_down,2.451,-0.7643784717763241,0.5692950061586564,-0.30270240806393794
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fast_down,2.502,-0.7725813754143398,0.560596161839983,-0.2980771069592003
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fast_down,2.654,-0.8262843180314257,0.4973219093770416,-0.264433629156572
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fast_down,2.959,-0.9198514942946016,0.3463497804526146,-0.18416041383645462
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fast_down,3.009,-0.9198514942946016,0.3463497804526146,-0.18416041383645462
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fast_down,3.059,-0.965513097061632,0.229878182640904,-0.12223125847413475
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fast_down,3.109,-0.9807575239828921,0.17237651768286696,-0.09165705266085657
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|
||||||
|
slow_up,4.101,0.9831485410797727,-0.1614092230539248,0.08582545593145892
|
||||||
|
slow_up,4.151,0.9514851776842375,-0.2716770827188241,0.14445594266967454
|
||||||
|
slow_up,4.202,0.9514851776842375,-0.2716770827188241,0.14445594266967454
|
||||||
|
slow_up,4.252,0.9514851776842375,-0.2716770827188241,0.14445594266967454
|
||||||
|
slow_up,4.302,0.817478280706118,-0.5085408943702865,0.2703986304085845
|
||||||
|
slow_up,4.352,0.6109722822106246,-0.6989862373662259,0.37165993911497514
|
||||||
|
slow_up,4.404,0.4672943504185334,-0.7806146992377567,0.4150622620774715
|
||||||
|
slow_up,4.454,0.22797412062338523,-0.859696462259006,0.45711026361846624
|
||||||
|
slow_up,4.504,0.1019805158473573,-0.8783436551347776,0.4670250505829271
|
||||||
|
slow_up,4.556,0.1019805158473573,-0.8783436551347776,0.4670250505829271
|
||||||
|
slow_up,4.606,0.1019805158473573,-0.8783436551347776,0.4670250505829271
|
||||||
|
slow_up,4.656,-0.3183559817455473,-0.8370088449547444,0.4450456856934504
|
||||||
|
slow_up,4.706,-0.47435305110652926,-0.7772894490363829,0.41329202184731645
|
||||||
|
slow_up,4.757,-0.6812740324869003,-0.6463430266112673,0.34366609464715075
|
||||||
|
slow_up,4.807,-0.7410175281701447,-0.5928870382326016,0.3152427363800513
|
||||||
|
slow_up,4.857,-0.7954006377318663,-0.5351408051556996,0.28453847569889373
|
||||||
|
slow_up,4.907,-0.7954006377318663,-0.5351408051556996,0.28453847569889373
|
||||||
|
slow_up,4.957,-0.9382737590874874,-0.3054064703788552,0.16238608579113264
|
||||||
|
slow_up,5.01,-0.9746451076223235,-0.19756585392545004,0.10504593067119374
|
||||||
|
slow_up,5.06,-0.9995555377864727,0.026321162775145374,-0.01399725939459622
|
||||||
|
slow_up,5.11,-0.9933899075837224,0.10135166986621261,-0.05389184099781622
|
||||||
|
slow_up,5.16,-0.9595584087348238,0.24855720515081176,-0.13216268760096483
|
||||||
|
slow_up,5.21,-0.9595584087348238,0.24855720515081176,-0.13216268760096483
|
||||||
|
slow_up,5.26,-0.9595584087348238,0.24855720515081176,-0.13216268760096483
|
||||||
|
slow_up,5.31,-0.9595584087348238,0.24855720515081176,-0.13216268760096483
|
||||||
|
slow_up,5.361,-0.6344321026557155,0.682498725142766,-0.3628930934839445
|
||||||
|
slow_up,5.411,-0.4933419890705726,0.7680182893224405,-0.4083645296620692
|
||||||
|
slow_up,5.461,-0.17152978632357008,0.8698608835422476,-0.4625144059236326
|
||||||
|
slow_up,5.514,-0.1291155327559682,0.8755564233177349,-0.46554283238838295
|
||||||
|
slow_up,5.6,-0.1291155327559682,0.8755564233177349,-0.46554283238838295
|
||||||
|
slow_up,5.65,0.21338902235490834,0.8626108712472731,-0.4586584894498703
|
||||||
|
slow_up,5.7,0.2968244767769392,0.8431549337904639,-0.44831349255949776
|
||||||
|
slow_up,5.75,0.5679548809958221,0.7267188547019362,-0.38640258717266307
|
||||||
|
slow_up,5.801,0.7011935122846394,0.629516423465519,-0.33471888341877687
|
||||||
|
slow_up,5.851,0.7601848090823583,0.5736576506187725,-0.30501796000722453
|
||||||
|
slow_up,5.901,0.7601848090823583,0.5736576506187725,-0.30501796000722453
|
||||||
|
slow_up,5.952,0.919381823157543,0.34732255587449573,-0.18467296886204015
|
||||||
|
fast_up,0.0,0.7436855448063273,-0.5902756462634178,0.3138574069134272
|
||||||
|
fast_up,0.05,0.7436855448063273,-0.5902756462634178,0.3138574069134272
|
||||||
|
fast_up,0.1,0.7436855448063273,-0.5902756462634178,0.3138574069134272
|
||||||
|
fast_up,0.151,0.7415339496885803,-0.5923820730917216,0.3149775879944604
|
||||||
|
fast_up,0.201,0.7251426517885042,-0.6079954954680392,0.32327946431487065
|
||||||
|
fast_up,0.251,0.6911707438303796,-0.6380976912929389,0.3392850412847302
|
||||||
|
fast_up,0.301,0.6755171522407909,-0.6510353167218098,0.34616411340493514
|
||||||
|
fast_up,0.352,0.657506379493412,-0.6652549837006473,0.353724705932335
|
||||||
|
fast_up,0.402,0.657506379493412,-0.6652549837006473,0.353724705932335
|
||||||
|
fast_up,0.452,0.657506379493412,-0.6652549837006473,0.353724705932335
|
||||||
|
fast_up,0.502,0.5133602385345539,-0.7577210603341615,0.40288963776426395
|
||||||
|
fast_up,0.552,0.43935111799574095,-0.7931645569110259,0.42173520220160454
|
||||||
|
fast_up,0.602,0.3981844308412644,-0.8099317212166465,0.43065039881864586
|
||||||
|
fast_up,0.652,0.2686492856912895,-0.8504879652558426,0.4522143100926115
|
||||||
|
fast_up,0.702,0.24641792365539766,-0.8557199718773686,0.4549961940846956
|
||||||
|
fast_up,0.752,0.24641792365539766,-0.8557199718773686,0.4549961940846956
|
||||||
|
fast_up,0.803,0.24641792365539766,-0.8557199718773686,0.4549961940846956
|
||||||
|
fast_up,0.853,0.02057293045563342,-0.8827601620250191,0.4693732532580332
|
||||||
|
fast_up,0.903,-0.07422876549978216,-0.8805113066433957,0.468177241272489
|
||||||
|
fast_up,0.953,-0.21516179433137206,-0.8622672317493021,0.4584764152183838
|
||||||
|
fast_up,1.003,-0.2615988381204001,-0.8522001917503188,0.4531234722178677
|
||||||
|
fast_up,1.053,-0.3303372482550225,-0.8333813503635584,0.4431171710524334
|
||||||
|
fast_up,1.104,-0.3303372482550225,-0.8333813503635584,0.4431171710524334
|
||||||
|
fast_up,1.154,-0.3303372482550225,-0.8333813503635584,0.4431171710524334
|
||||||
|
fast_up,1.204,-0.5438623258853152,-0.7409471258505598,0.39396843423859473
|
||||||
|
fast_up,1.254,-0.6459092452751304,-0.6740549185668148,0.3584009118626741
|
||||||
|
fast_up,1.305,-0.7188503244392938,-0.6137944456673244,0.32635960154630667
|
||||||
|
fast_up,1.355,-0.8147838758289627,-0.5119023505212549,0.2721823271631494
|
||||||
|
fast_up,1.405,-0.8290800352983082,-0.4936828909103429,0.26249475859940974
|
||||||
|
fast_up,1.455,-0.8290800352983082,-0.4936828909103429,0.26249475859940974
|
||||||
|
fast_up,1.505,-0.8290800352983082,-0.4936828909103429,0.26249475859940974
|
||||||
|
fast_up,1.555,-0.9420068922851647,-0.2963122038659241,0.15755028634491672
|
||||||
|
fast_up,1.606,-0.9590164600201834,-0.2501842140742355,0.1330236386452166
|
||||||
|
fast_up,1.656,-0.9924115082243777,-0.10856893811461031,0.05772507271958899
|
||||||
|
fast_up,1.706,-0.9999445866713543,0.009294093939699495,-0.004944027153488152
|
||||||
|
fast_up,1.757,-0.9958913420586946,0.079955429596009,-0.04251545707915836
|
||||||
|
fast_up,1.807,-0.9958913420586946,0.079955429596009,-0.04251545707915836
|
||||||
|
fast_up,1.858,-0.9958913420586946,0.079955429596009,-0.04251545707915836
|
||||||
|
fast_up,1.908,-0.9958913420586946,0.079955429596009,-0.04251545707915836
|
||||||
|
fast_up,1.959,-0.9150231402146553,0.35618113505987486,-0.1893875706036974
|
||||||
|
fast_up,2.009,-0.8604916235298544,0.4498294242203849,-0.23918121778373866
|
||||||
|
fast_up,2.059,-0.7569777758441463,0.5769527254909279,-0.3067738571434005
|
||||||
|
fast_up,2.11,-0.6531020844533343,0.6686284965867637,-0.35551877704958706
|
||||||
|
fast_up,2.16,-0.5843458023963333,0.7165152052928653,-0.38098024070272796
|
||||||
|
fast_up,2.21,-0.5843458023963333,0.7165152052928653,-0.38098024070272796
|
||||||
|
fast_up,2.287,-0.5843458023963333,0.7165152052928653,-0.38098024070272796
|
||||||
|
fast_up,2.337,-0.29759691186014037,0.8429418991475414,-0.44820199989830933
|
||||||
|
fast_up,2.387,-0.17288959048961605,0.8696507226880431,-0.46240329802943353
|
||||||
|
fast_up,2.439,0.0528426867196658,0.8817134989386609,-0.46881654860893207
|
||||||
|
fast_up,2.489,0.11750941653421512,0.8768299049337306,-0.4662197495169991
|
||||||
|
fast_up,2.54,0.3387106575899876,0.8307569097795758,-0.4417216853273653
|
||||||
|
fast_up,2.59,0.3387106575899876,0.8307569097795758,-0.4417216853273653
|
||||||
|
fast_up,2.641,0.3387106575899876,0.8307569097795758,-0.4417216853273653
|
||||||
|
fast_up,2.692,0.3387106575899876,0.8307569097795758,-0.4417216853273653
|
||||||
|
fast_up,2.742,0.6725788995836892,0.6534039040384242,-0.3474204398450665
|
||||||
|
fast_up,2.792,0.7637787136075531,0.569923763588385,-0.30303296905987287
|
||||||
|
fast_up,2.842,0.8420851195741881,0.4762135465397938,-0.25320606130919715
|
||||||
|
fast_up,2.892,0.9059572778692444,0.3738133295921229,-0.19875866093078726
|
||||||
|
fast_up,2.944,0.9320625853533521,0.319890207637745,-0.1700870131488755
|
||||||
|
fast_up,2.994,0.9320625853533521,0.319890207637745,-0.1700870131488755
|
||||||
|
fast_up,3.044,0.9320625853533521,0.319890207637745,-0.1700870131488755
|
||||||
|
fast_up,3.094,0.9995868168775316,-0.025378198850278165,0.013496019700636873
|
||||||
|
fast_up,3.145,0.9737572335070697,-0.2009484251765163,0.1068484001365312
|
||||||
|
fast_up,3.195,0.9343593809559442,-0.3146215313212742,0.16728968661779853
|
||||||
|
fast_up,3.246,0.8432265639718923,-0.47463486271897926,0.2523701822797059
|
||||||
|
fast_up,3.296,0.8245274704190423,-0.4995901221141962,0.2656391545128427
|
||||||
|
fast_up,3.346,0.8245274704190423,-0.4995901221141962,0.2656391545128427
|
||||||
|
fast_up,3.396,0.8245274704190423,-0.4995901221141962,0.2656391545128427
|
||||||
|
fast_up,3.446,0.8245274704190423,-0.4995901221141962,0.2656391545128427
|
||||||
|
fast_up,3.496,0.560559310620797,-0.7311805980446815,0.38877781870801065
|
||||||
|
fast_up,3.546,0.3167082774612079,-0.8374953553597589,0.44530595857049304
|
||||||
|
fast_up,3.598,0.18394843471814523,-0.8678802595262894,0.46146162190297557
|
||||||
|
fast_up,3.648,-0.0905296924928885,-0.8793215748514271,0.46754458907996027
|
||||||
|
fast_up,3.698,-0.15903691458437788,-0.8717096400615488,0.46349710163413776
|
||||||
|
fast_up,3.749,-0.2604128505118988,-0.8524833003013681,0.45327405616862193
|
||||||
|
fast_up,3.799,-0.2604128505118988,-0.8524833003013681,0.45327405616862193
|
||||||
|
fast_up,3.849,-0.484042556809481,-0.7726183440706232,0.4108085899818897
|
||||||
|
fast_up,3.9,-0.6263636201595283,-0.6882851615010694,0.3659674190390409
|
||||||
|
fast_up,3.95,-0.7271348616896539,-0.6061389762113589,0.32228936444290796
|
||||||
|
fast_up,4.0,-0.8335559354602529,-0.48777154516490967,0.25935192728495254
|
||||||
|
fast_up,4.05,-0.9152025193193423,-0.3558231540800539,0.18919363533705685
|
||||||
|
fast_up,4.101,-0.9152025193193423,-0.3558231540800539,0.18919363533705685
|
||||||
|
fast_up,4.151,-0.9152025193193423,-0.3558231540800539,0.18919363533705685
|
||||||
|
fast_up,4.201,-0.9152025193193423,-0.3558231540800539,0.18919363533705685
|
||||||
|
fast_up,4.251,-0.9999653794523607,-0.007347658786176997,0.0039053562011961474
|
||||||
|
fast_up,4.301,-0.9982722741623554,0.05187931833534815,-0.02758628223916066
|
||||||
|
fast_up,4.357,-0.9473362244513863,0.28275503128264595,-0.1503451699474996
|
||||||
|
fast_up,4.407,-0.8965970539364008,0.39101017281360906,-0.20790567002570753
|
||||||
|
fast_up,4.457,-0.8965970539364008,0.39101017281360906,-0.20790567002570753
|
||||||
|
fast_up,4.507,-0.8965970539364008,0.39101017281360906,-0.20790567002570753
|
||||||
|
fast_up,4.557,-0.7494544996760373,0.5845598923018723,-0.31081776851937554
|
||||||
|
fast_up,4.608,-0.6811810712116455,0.6464184443030486,-0.3437085147152765
|
||||||
|
fast_up,4.69,-0.5260437628224534,0.750908769275774,-0.39926680280275867
|
||||||
|
fast_up,4.74,-0.3515317530989304,0.8265937289313039,-0.4395090827896901
|
||||||
|
fast_up,4.79,-0.25921047650601087,0.8527686685878513,-0.45342642925223303
|
||||||
|
fast_up,4.841,-0.25921047650601087,0.8527686685878513,-0.45342642925223303
|
||||||
|
fast_up,4.891,-0.25921047650601087,0.8527686685878513,-0.45342642925223303
|
||||||
|
fast_up,4.941,0.029032410272141315,0.8825750679575304,-0.4692742999286777
|
||||||
|
fast_up,4.991,0.12468465513391183,0.87605725215134,-0.4658083594432166
|
||||||
|
fast_up,5.042,0.312103840700244,0.8388425601545466,-0.4460205733971502
|
||||||
|
fast_up,5.092,0.4601026048132257,0.7839390238700766,-0.41682754215348583
|
||||||
|
fast_up,5.142,0.5962937494197067,0.7088008659157505,-0.3768754394757906
|
||||||
|
fast_up,5.192,0.5962937494197067,0.7088008659157505,-0.3768754394757906
|
||||||
|
fast_up,5.242,0.5962937494197067,0.7088008659157505,-0.3768754394757906
|
||||||
|
fast_up,5.293,0.5962937494197067,0.7088008659157505,-0.3768754394757906
|
||||||
|
fast_up,5.343,0.8713288736836602,0.43326257799090145,-0.2303682538846054
|
||||||
|
fast_up,5.395,0.9274080640937924,0.33026837460772646,-0.17560490707202564
|
||||||
|
fast_up,5.445,0.9924918410489542,0.1079949995732303,-0.05741973108989097
|
||||||
|
fast_up,5.495,0.9983717965936116,0.050365731961324836,-0.026777767092200574
|
||||||
|
fast_up,5.546,0.9999629087894729,-0.007603720153555103,0.004045304082834395
|
||||||
|
fast_up,5.596,0.9999629087894729,-0.007603720153555103,0.004045304082834395
|
||||||
|
fast_up,5.649,0.9999629087894729,-0.007603720153555103,0.004045304082834395
|
||||||
|
fast_up,5.699,0.9319867371924816,-0.3200607761380319,0.17018173014525656
|
||||||
|
fast_up,5.749,0.8597874640302131,-0.4508780240427165,0.2397384494231805
|
||||||
|
fast_up,5.8,0.7409676384604902,-0.5929343161341589,0.3152710825699075
|
||||||
|
fast_up,5.85,0.534386630982945,-0.7463020032608736,0.39681765151704723
|
||||||
|
fast_up,5.9,0.4450856110633426,-0.7906682356171415,0.42040758795536404
|
||||||
|
fast_up,5.954,0.35082136337402364,-0.8268289378421346,0.4396342554297136
|
||||||
|
@@ -54,3 +54,49 @@ measured range rather than a pinned constant.
|
|||||||
nobody is flying it — one earlier attempt ended at `GAME OVER` mid-probe.
|
nobody is flying it — one earlier attempt ended at `GAME OVER` mid-probe.
|
||||||
|
|
||||||
Raw samples: [`captures/speed-law-throttle-phases.csv`](captures/speed-law-throttle-phases.csv).
|
Raw samples: [`captures/speed-law-throttle-phases.csv`](captures/speed-law-throttle-phases.csv).
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
# Turn rates: `AV_*` are rate caps, and `_Min`/`_Max` mean *at minimum/maximum speed*
|
||||||
|
|
||||||
|
`tools/re-capture/turn_law.py` pins the speed regime with a throttle, holds a stick
|
||||||
|
axis, and differentiates the craft's **own forward vector** over 1-second windows.
|
||||||
|
|
||||||
|
**Control mapping, measured** — `LX` is **roll** (the forward vector barely moves
|
||||||
|
under it: 3–5 °/s residual), `LY` is **pitch** (`vgamepad` documents `LY: -1 = up`,
|
||||||
|
so `+1` is nose down = the `PitchMinus` family), and the **right stick does not
|
||||||
|
steer at all** (0 °/s).
|
||||||
|
|
||||||
|
| phase | measured (1 s windows) | definition |
|
||||||
|
|---|---|---|
|
||||||
|
| slow + nose down | 85 · 96 · 82 → **~87** | `AV_PitchMinus_Min` **75** |
|
||||||
|
| fast + nose down | 55 · 45 · 63 → **~54** | `AV_PitchMinus_Max` **40** |
|
||||||
|
| slow + nose up | 181 · 164 · 181 → **~175** | `AV_PitchPlus_Min` **150** |
|
||||||
|
| fast + nose up | 103 · 130 · 175 → **~136** | `AV_PitchPlus_Max` **70** |
|
||||||
|
|
||||||
|
Two claims of the field names are confirmed:
|
||||||
|
|
||||||
|
* **Agility falls with speed** — every rate drops when the throttle goes from `LT`
|
||||||
|
to `RT`, so `_Min`/`_Max` are *at minimum / maximum speed*, not floor/ceiling of
|
||||||
|
the rate.
|
||||||
|
* **Pitching up is about twice as fast as pitching down**, exactly as the pair
|
||||||
|
150/75 (slow) and 70/40 (fast) says.
|
||||||
|
|
||||||
|
## The ~1.2× factor is a TIME BASE, not a unit scale
|
||||||
|
|
||||||
|
The speed law measured 1.21 / 1.28 / 1.32 × its definition values; the pitch rates
|
||||||
|
measure 1.16 / 1.35 / 1.17 / 1.94 × theirs. A **unit scale** would have to differ
|
||||||
|
between metres-per-second and degrees-per-second — it cannot explain both. A **time
|
||||||
|
base** does: if the guest's simulated second is shorter than the wall-clock second
|
||||||
|
this probe measures against, every rate reads high by the same factor. So the
|
||||||
|
definition numbers are self-consistent and a reimplementation should take them at
|
||||||
|
face value; these measurements confirm the **shape** of the law (which field governs
|
||||||
|
what, and how the regimes switch), not a scale correction.
|
||||||
|
|
||||||
|
🟡 **No yaw input was found.** `AV_Yaw_{Min,Max}` (45 / 25 °/s) exists, but neither
|
||||||
|
stick yaws the craft. With `MaximumBank_Normal` (60) and roll on `LX`, a
|
||||||
|
**bank-to-turn** model is the obvious reading — sustained turns come from rolling and
|
||||||
|
pitching — but the yaw fields may equally belong to the AI or to an input this probe
|
||||||
|
has not driven.
|
||||||
|
|
||||||
|
Raw samples: [`captures/turn-law-pitch-phases.csv`](captures/turn-law-pitch-phases.csv).
|
||||||
|
|||||||
87
tools/re-capture/turn_law.py
Normal file
87
tools/re-capture/turn_law.py
Normal file
@@ -0,0 +1,87 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""Measure the craft's TURN rates, and whether they depend on speed.
|
||||||
|
|
||||||
|
The unit definition carries `AA_Yaw_{Max,Min}`, `AA_PitchPlus_{Max,Min}`,
|
||||||
|
`AA_Roll_{Max,Min}` — pairs whose obvious reading is "rate at maximum speed" and
|
||||||
|
"rate at minimum speed", i.e. agility falling as the craft goes faster (for the
|
||||||
|
player: yaw 65°/s vs 120°/s, roll 475°/s vs 750°/s). That is a prediction, so
|
||||||
|
measure it: hold a throttle to pin the speed regime, hold a stick axis, and
|
||||||
|
differentiate the craft's own forward vector.
|
||||||
|
|
||||||
|
Same discipline as speed_law.py: lock onto the player object once, sample at
|
||||||
|
20 Hz, and differentiate over 1-second windows (the guest updates slower than the
|
||||||
|
sample rate).
|
||||||
|
|
||||||
|
Usage: turn_law.py <out.csv> [hold_s]
|
||||||
|
"""
|
||||||
|
import json, math, os, struct, subprocess, sys, time
|
||||||
|
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
|
||||||
|
import gworld, entities2, speed_law
|
||||||
|
|
||||||
|
def fwd_at(fd, off, cfg):
|
||||||
|
"""The craft's forward row out of its rotation matrix (entities2 `self` bound
|
||||||
|
rot_delta / rot_stride / fwd_row and validated the row against motion)."""
|
||||||
|
at = off + cfg["rot_delta"] + cfg["fwd_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
|
||||||
|
s = cfg.get("fwd_sign", 1)
|
||||||
|
return tuple(s * c / n for c in v)
|
||||||
|
|
||||||
|
def pad(*a):
|
||||||
|
subprocess.run(["vgamepad", *a], capture_output=True)
|
||||||
|
|
||||||
|
def rate(seq, lo, hi):
|
||||||
|
"""Degrees per second between the first sample at/after `lo` and the last at/before `hi`."""
|
||||||
|
a = [s for s in seq if s[0] >= lo][0]
|
||||||
|
b = [s for s in seq if s[0] <= hi][-1]
|
||||||
|
dot = max(-1.0, min(1.0, sum(a[1 + i] * b[1 + i] for i in range(3))))
|
||||||
|
return math.degrees(math.acos(dot)) / (b[0] - a[0])
|
||||||
|
|
||||||
|
def main():
|
||||||
|
out_csv = sys.argv[1]
|
||||||
|
hold = float(sys.argv[2]) if len(sys.argv) > 2 else 6.0
|
||||||
|
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}")
|
||||||
|
rows = []
|
||||||
|
# (label, throttle, axis, value) — throttle pins the speed regime, so the
|
||||||
|
# Max/Min pair in the definition can be told apart.
|
||||||
|
# LX is ROLL (the forward vector barely moves under it) and the right stick
|
||||||
|
# does not steer at all — measured. LY is pitch, and `vgamepad` documents
|
||||||
|
# `LY: -1 = up`, so LY=+1 is nose DOWN = the `PitchMinus` family.
|
||||||
|
phases = [
|
||||||
|
("slow_down", ("LT", 1.0), ("LY", 1.0)), # AV_PitchMinus_Min 75 deg/s
|
||||||
|
("fast_down", ("RT", 1.0), ("LY", 1.0)), # AV_PitchMinus_Max 40
|
||||||
|
("slow_up", ("LT", 1.0), ("LY", -1.0)), # AV_PitchPlus_Min 150
|
||||||
|
("fast_up", ("RT", 1.0), ("LY", -1.0)), # AV_PitchPlus_Max 70
|
||||||
|
]
|
||||||
|
for label, (trig, tv), (axis, av) in phases:
|
||||||
|
pad("trig", "RT", "0.0"); pad("trig", "LT", "0.0")
|
||||||
|
pad("axis", "LX", "0.0"); pad("axis", "LY", "0.0"); pad("axis", "RX", "0.0")
|
||||||
|
pad("trig", trig, str(tv))
|
||||||
|
time.sleep(1.5) # let the speed settle before turning
|
||||||
|
pad("axis", axis, str(av))
|
||||||
|
seq, t0 = [], time.time()
|
||||||
|
while time.time() - t0 < hold:
|
||||||
|
f = fwd_at(w.fd, off, cfg)
|
||||||
|
seq.append((round(time.time() - t0, 3), *f))
|
||||||
|
time.sleep(0.05)
|
||||||
|
pad("axis", axis, "0.0")
|
||||||
|
for s in seq:
|
||||||
|
rows.append((label, *s))
|
||||||
|
try:
|
||||||
|
r = [rate(seq, t, t + 1.0) for t in (1.0, 2.0, 3.0) if seq[-1][0] > t + 1.0]
|
||||||
|
print(f"# {label:<11} turn rate per 1 s window: " + " ".join(f"{x:6.1f}" for x in r) + " deg/s")
|
||||||
|
except Exception as e:
|
||||||
|
print(f"# {label:<11} rate failed: {e}")
|
||||||
|
pad("trig", "RT", "0.0"); pad("trig", "LT", "0.0"); pad("reset")
|
||||||
|
with open(out_csv, "w") as f:
|
||||||
|
f.write("phase,t,fx,fy,fz\n")
|
||||||
|
for r in rows:
|
||||||
|
f.write(",".join(str(x) for x in r) + "\n")
|
||||||
|
print(f"# wrote {out_csv} ({len(rows)} samples)")
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
Reference in New Issue
Block a user