Claude (auto-RE)
0a84c1358e
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.
749 B
749 B
| 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 |