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.
6.2 KiB
6.2 KiB
| 1 | t | speed_units_per_wall_s | rate_deg_per_wall_s |
|---|---|---|---|
| 2 | 0.05 | 0.0 | 0.0 |
| 3 | 0.101 | 4682.4 | 0.0 |
| 4 | 0.154 | 1865.9 | 8.21 |
| 5 | 0.205 | 1915.4 | 22.53 |
| 6 | 0.273 | 1722.2 | 32.72 |
| 7 | 0.323 | 2309.7 | 64.27 |
| 8 | 0.374 | 0.0 | 0.0 |
| 9 | 0.426 | 0.0 | 0.0 |
| 10 | 0.476 | 0.0 | 0.0 |
| 11 | 0.526 | 3781.4 | 166.09 |
| 12 | 0.576 | 1133.2 | 56.22 |
| 13 | 0.626 | 2228.8 | 125.61 |
| 14 | 0.676 | 735.8 | 46.29 |
| 15 | 0.726 | 2161.2 | 150.9 |
| 16 | 0.777 | 0.0 | 0.0 |
| 17 | 0.827 | 0.0 | 0.0 |
| 18 | 0.877 | 0.0 | 0.0 |
| 19 | 0.927 | 4795.2 | 363.58 |
| 20 | 0.978 | 1400.3 | 105.58 |
| 21 | 1.028 | 2080.9 | 159.73 |
| 22 | 1.078 | 688.0 | 53.58 |
| 23 | 1.129 | 1018.2 | 79.65 |
| 24 | 1.179 | 0.0 | 0.0 |
| 25 | 1.229 | 0.0 | 0.0 |
| 26 | 1.279 | 3169.4 | 272.63 |
| 27 | 1.332 | 1891.3 | 159.33 |
| 28 | 1.382 | 656.8 | 55.51 |
| 29 | 1.432 | 1958.3 | 167.87 |
| 30 | 1.485 | 311.4 | 26.7 |
| 31 | 1.535 | 0.0 | 0.0 |
| 32 | 1.585 | 0.0 | 0.0 |
| 33 | 1.637 | 2189.9 | 217.26 |
| 34 | 1.687 | 1470.3 | 152.38 |
| 35 | 1.737 | 1832.8 | 178.53 |
| 36 | 1.788 | 611.6 | 57.44 |
| 37 | 1.838 | 311.7 | 29.03 |
| 38 | 1.889 | 0.0 | 0.0 |
| 39 | 1.939 | 0.0 | 0.0 |
| 40 | 1.989 | 2568.6 | 290.03 |
| 41 | 2.039 | 1303.4 | 156.28 |
| 42 | 2.09 | 1571.3 | 188.96 |
| 43 | 2.173 | 987.0 | 114.66 |
| 44 | 2.223 | 1389.3 | 157.19 |
| 45 | 2.274 | 0.0 | 0.0 |
| 46 | 2.324 | 0.0 | 0.0 |
| 47 | 2.374 | 0.0 | 0.0 |
| 48 | 2.425 | 3014.5 | 437.25 |
| 49 | 2.476 | 851.8 | 137.78 |
| 50 | 2.526 | 1720.0 | 282.99 |
| 51 | 2.576 | 855.8 | 142.04 |
| 52 | 2.626 | 1272.7 | 213.71 |
| 53 | 2.676 | 420.4 | 71.25 |
| 54 | 2.726 | 0.0 | 0.0 |
| 55 | 2.776 | 0.0 | 0.0 |
| 56 | 2.827 | 2337.7 | 393.95 |
| 57 | 2.879 | 605.4 | 103.05 |
| 58 | 2.929 | 1229.4 | 216.06 |
| 59 | 2.979 | 798.9 | 145.37 |
| 60 | 3.029 | 1356.7 | 257.13 |
| 61 | 3.081 | 183.1 | 35.66 |
| 62 | 3.131 | 0.0 | 0.0 |
| 63 | 3.181 | 0.0 | 0.0 |
| 64 | 3.231 | 1858.0 | 372.22 |
| 65 | 3.281 | 541.0 | 112.82 |
| 66 | 3.332 | 1372.1 | 301.88 |
| 67 | 3.382 | 335.4 | 76.89 |
| 68 | 3.432 | 658.3 | 154.84 |
| 69 | 3.482 | 162.0 | 38.8 |
| 70 | 3.536 | 0.0 | 0.0 |
| 71 | 3.586 | 0.0 | 0.0 |
| 72 | 3.636 | 1591.8 | 390.72 |
| 73 | 3.686 | 311.3 | 78.69 |
| 74 | 3.736 | 1215.5 | 316.75 |
| 75 | 3.786 | 602.4 | 159.01 |
| 76 | 3.839 | 429.8 | 113.96 |
| 77 | 3.889 | 0.0 | 0.0 |
| 78 | 3.939 | 0.0 | 0.0 |
| 79 | 3.989 | 0.0 | 0.0 |
| 80 | 4.04 | 1835.6 | 469.81 |
| 81 | 4.09 | 311.3 | 78.92 |
| 82 | 4.14 | 1251.2 | 315.27 |
| 83 | 4.19 | 317.9 | 78.47 |
| 84 | 4.24 | 320.5 | 78.42 |
| 85 | 4.29 | 0.0 | 0.0 |
| 86 | 4.341 | 0.0 | 0.0 |
| 87 | 4.391 | 1352.5 | 313.43 |
| 88 | 4.441 | 850.5 | 192.03 |
| 89 | 4.492 | 1033.9 | 227.09 |
| 90 | 4.542 | 1073.0 | 227.87 |
| 91 | 4.592 | 551.1 | 113.43 |
| 92 | 4.642 | 0.0 | 0.0 |
| 93 | 4.692 | 0.0 | 0.0 |
| 94 | 4.743 | 1735.5 | 337.79 |
| 95 | 4.793 | 779.7 | 147.59 |
| 96 | 4.843 | 1186.4 | 220.17 |
| 97 | 4.893 | 808.4 | 146.17 |
| 98 | 4.943 | 1018.0 | 181.41 |
| 99 | 4.993 | 204.4 | 36.08 |
| 100 | 5.043 | 0.0 | 0.0 |
| 101 | 5.093 | 0.0 | 0.0 |
| 102 | 5.144 | 0.0 | 0.0 |
| 103 | 5.194 | 3438.2 | 575.96 |
| 104 | 5.244 | 853.2 | 142.26 |
| 105 | 5.294 | 1685.8 | 285.28 |
| 106 | 5.344 | 1250.1 | 215.19 |
| 107 | 5.394 | 825.0 | 144.01 |
| 108 | 5.445 | 202.2 | 35.56 |
| 109 | 5.495 | 0.0 | 0.0 |
| 110 | 5.545 | 0.0 | 0.0 |
| 111 | 5.596 | 2042.5 | 361.76 |
| 112 | 5.674 | 762.2 | 138.77 |
| 113 | 5.725 | 1171.7 | 219.95 |
| 114 | 5.775 | 384.3 | 73.55 |
| 115 | 5.826 | 0.0 | 0.0 |
| 116 | 5.877 | 0.0 | 0.0 |
| 117 | 5.927 | 0.0 | 0.0 |
| 118 | 5.977 | 1528.0 | 296.2 |
| 119 | 6.028 | 1281.9 | 256.26 |
| 120 | 6.078 | 365.6 | 75.03 |
| 121 | 6.128 | 1073.3 | 226.52 |
| 122 | 6.178 | 176.0 | 37.88 |
| 123 | 6.231 | 0.0 | 0.0 |
| 124 | 6.281 | 0.0 | 0.0 |
| 125 | 6.332 | 1720.1 | 372.76 |
| 126 | 6.382 | 518.3 | 114.37 |
| 127 | 6.432 | 1009.5 | 230.82 |
| 128 | 6.484 | 480.0 | 112.96 |
| 129 | 6.534 | 807.9 | 194.56 |
| 130 | 6.584 | 159.3 | 38.98 |
| 131 | 6.675 | 0.0 | 0.0 |
| 132 | 6.725 | 1449.1 | 352.93 |
| 133 | 6.775 | 477.0 | 117.26 |
| 134 | 6.826 | 927.2 | 232.38 |
| 135 | 6.877 | 306.8 | 77.6 |
| 136 | 6.927 | 928.5 | 236.59 |
| 137 | 6.977 | 154.5 | 39.37 |
| 138 | 7.027 | 0.0 | 0.0 |
| 139 | 7.077 | 0.0 | 0.0 |
| 140 | 7.131 | 1353.2 | 333.31 |
| 141 | 7.181 | 963.9 | 234.69 |
| 142 | 7.231 | 1304.5 | 311.86 |
| 143 | 7.281 | 332.6 | 77.62 |
| 144 | 7.331 | 506.1 | 116.36 |
| 145 | 7.381 | 0.0 | 0.0 |
| 146 | 7.432 | 0.0 | 0.0 |
| 147 | 7.482 | 0.0 | 0.0 |
| 148 | 7.534 | 2615.1 | 556.47 |
| 149 | 7.584 | 1101.8 | 225.72 |
| 150 | 7.634 | 1108.3 | 222.17 |
| 151 | 7.686 | 929.5 | 182.14 |
| 152 | 7.736 | 576.3 | 111.11 |
| 153 | 7.786 | 0.0 | 0.0 |
| 154 | 7.836 | 0.0 | 0.0 |
| 155 | 7.886 | 0.0 | 0.0 |
| 156 | 7.936 | 2840.4 | 515.81 |
| 157 | 7.987 | 807.7 | 144.56 |
| 158 | 8.037 | 1214.6 | 217.75 |
| 159 | 8.087 | 809.7 | 145.24 |
| 160 | 8.137 | 606.3 | 108.89 |
| 161 | 8.187 | 0.0 | 0.0 |
| 162 | 8.237 | 0.0 | 0.0 |
| 163 | 8.288 | 0.0 | 0.0 |
| 164 | 8.339 | 2628.6 | 463.46 |
| 165 | 8.389 | 811.4 | 144.9 |
| 166 | 8.439 | 1198.5 | 218.35 |
| 167 | 8.489 | 392.4 | 72.53 |
| 168 | 8.539 | 784.5 | 146.63 |
| 169 | 8.59 | 0.0 | 0.0 |
| 170 | 8.64 | 0.0 | 0.0 |
| 171 | 8.69 | 0.0 | 0.0 |
| 172 | 8.741 | 2111.3 | 400.11 |
| 173 | 8.791 | 946.6 | 185.46 |
| 174 | 8.841 | 1110.6 | 224.19 |
| 175 | 8.891 | 364.4 | 75.15 |
| 176 | 8.941 | 720.3 | 150.86 |
| 177 | 8.991 | 0.0 | 0.0 |
| 178 | 9.042 | 0.0 | 0.0 |
| 179 | 9.092 | 1792.7 | 378.77 |
| 180 | 9.142 | 529.6 | 113.67 |
| 181 | 9.193 | 1022.7 | 226.47 |
| 182 | 9.273 | 624.6 | 143.36 |
| 183 | 9.325 | 644.6 | 151.82 |
| 184 | 9.375 | 0.0 | 0.0 |
| 185 | 9.425 | 0.0 | 0.0 |
| 186 | 9.476 | 1289.1 | 307.07 |
| 187 | 9.526 | 1122.5 | 273.41 |
| 188 | 9.577 | 311.7 | 76.8 |
| 189 | 9.627 | 789.7 | 196.14 |
| 190 | 9.677 | 156.4 | 38.99 |
| 191 | 9.727 | 0.0 | 0.0 |
| 192 | 9.778 | 0.0 | 0.0 |
| 193 | 9.828 | 2131.2 | 510.02 |
| 194 | 9.878 | 653.9 | 155.64 |
| 195 | 9.928 | 983.1 | 233.48 |
| 196 | 9.978 | 330.0 | 77.72 |
| 197 | 10.028 | 496.6 | 116.32 |
| 198 | 10.079 | 0.0 | 0.0 |
| 199 | 10.129 | 0.0 | 0.0 |
| 200 | 10.179 | 0.0 | 0.0 |
| 201 | 10.23 | 2470.2 | 540.62 |
| 202 | 10.282 | 672.7 | 144.51 |
| 203 | 10.333 | 1067.2 | 227.85 |
| 204 | 10.383 | 1076.8 | 227.17 |
| 205 | 10.433 | 724.0 | 150.8 |
| 206 | 10.483 | 0.0 | 0.0 |
| 207 | 10.533 | 0.0 | 0.0 |
| 208 | 10.583 | 0.0 | 0.0 |
| 209 | 10.633 | 2272.0 | 451.3 |
| 210 | 10.683 | 759.7 | 148.67 |
| 211 | 10.734 | 762.5 | 148.52 |
| 212 | 10.784 | 756.3 | 146.57 |
| 213 | 10.834 | 770.1 | 148.16 |
| 214 | 10.885 | 0.0 | 0.0 |
| 215 | 10.935 | 0.0 | 0.0 |
| 216 | 10.985 | 0.0 | 0.0 |
| 217 | 11.035 | 2168.6 | 406.08 |
| 218 | 11.085 | 984.6 | 183.61 |
| 219 | 11.136 | 1178.3 | 220.07 |
| 220 | 11.186 | 590.5 | 110.24 |
| 221 | 11.236 | 393.0 | 73.44 |
| 222 | 11.286 | 0.0 | 0.0 |
| 223 | 11.336 | 0.0 | 0.0 |
| 224 | 11.386 | 2007.6 | 367.45 |
| 225 | 11.436 | 597.4 | 109.35 |
| 226 | 11.486 | 1180.4 | 219.81 |
| 227 | 11.537 | 1160.8 | 220.86 |
| 228 | 11.587 | 575.3 | 111.02 |
| 229 | 11.639 | 368.0 | 71.56 |
| 230 | 11.689 | 0.0 | 0.0 |
| 231 | 11.739 | 0.0 | 0.0 |
| 232 | 11.789 | 2275.4 | 445.88 |
| 233 | 11.879 | 415.2 | 83.5 |
| 234 | 11.929 | 1448.9 | 300.69 |
| 235 | 11.979 | 356.5 | 75.48 |
| 236 | 12.031 | 0.0 | 0.0 |
| 237 | 12.081 | 0.0 | 0.0 |
| 238 | 12.131 | 1612.8 | 341.73 |
| 239 | 12.184 | 504.1 | 108.0 |
| 240 | 12.234 | 1042.0 | 228.85 |
| 241 | 12.284 | 683.1 | 153.38 |
| 242 | 12.334 | 674.3 | 153.83 |
| 243 | 12.386 | 0.0 | 0.0 |
| 244 | 12.473 | 0.0 | 0.0 |
| 245 | 12.524 | 1701.7 | 386.01 |
| 246 | 12.574 | 672.1 | 154.19 |
| 247 | 12.625 | 974.9 | 227.26 |
| 248 | 12.675 | 330.4 | 77.54 |
| 249 | 12.725 | 986.1 | 232.99 |
| 250 | 12.775 | 163.8 | 38.73 |
| 251 | 12.825 | 0.0 | 0.0 |
| 252 | 12.878 | 0.0 | 0.0 |
| 253 | 12.928 | 0.0 | 0.0 |
| 254 | 12.978 | 2405.7 | 542.85 |
| 255 | 13.029 | 1022.4 | 230.5 |
| 256 | 13.079 | 681.6 | 153.81 |
| 257 | 13.129 | 1354.2 | 305.37 |
| 258 | 13.179 | 343.9 | 76.77 |
| 259 | 13.229 | 692.5 | 153.38 |
| 260 | 13.28 | 0.0 | 0.0 |
| 261 | 13.33 | 0.0 | 0.0 |
| 262 | 13.38 | 0.0 | 0.0 |
| 263 | 13.43 | 2362.5 | 496.01 |
| 264 | 13.483 | 693.6 | 143.63 |
| 265 | 13.533 | 1466.7 | 300.97 |
| 266 | 13.583 | 555.0 | 112.79 |
| 267 | 13.633 | 184.3 | 37.4 |
| 268 | 13.683 | 0.0 | 0.0 |
| 269 | 13.735 | 0.0 | 0.0 |
| 270 | 13.785 | 1917.4 | 375.17 |
| 271 | 13.838 | 542.8 | 105.29 |
| 272 | 13.888 | 1144.2 | 222.78 |
| 273 | 13.938 | 1513.8 | 297.05 |
| 274 | 13.988 | 568.4 | 111.69 |
| 275 | 14.038 | 378.0 | 74.42 |
| 276 | 14.088 | 0.0 | 0.0 |
| 277 | 14.139 | 0.0 | 0.0 |
| 278 | 14.189 | 1933.6 | 372.51 |
| 279 | 14.239 | 955.5 | 184.91 |
| 280 | 14.289 | 756.9 | 148.61 |
| 281 | 14.374 | 662.1 | 132.25 |
| 282 | 14.424 | 554.7 | 112.16 |
| 283 | 14.474 | 0.0 | 0.0 |
| 284 | 14.524 | 0.0 | 0.0 |
| 285 | 14.577 | 1603.7 | 323.84 |
| 286 | 14.627 | 1276.0 | 263.01 |
| 287 | 14.677 | 542.3 | 113.23 |
| 288 | 14.727 | 714.5 | 150.87 |
| 289 | 14.777 | 354.7 | 75.59 |
| 290 | 14.83 | 0.0 | 0.0 |
| 291 | 14.88 | 0.0 | 0.0 |
| 292 | 14.93 | 1795.9 | 379.83 |
| 293 | 14.98 | 355.3 | 75.74 |
| 294 | 15.031 | 1386.0 | 301.97 |
| 295 | 15.083 | 330.9 | 73.04 |
| 296 | 15.133 | 688.3 | 153.24 |
| 297 | 15.183 | 170.9 | 38.24 |
| 298 | 15.234 | 0.0 | 0.0 |
| 299 | 15.284 | 0.0 | 0.0 |
| 300 | 15.334 | 0.0 | 0.0 |
| 301 | 15.384 | 2304.1 | 499.06 |
| 302 | 15.435 | 1027.8 | 225.69 |
| 303 | 15.485 | 1024.9 | 230.47 |
| 304 | 15.536 | 1000.9 | 229.21 |
| 305 | 15.586 | 664.6 | 153.64 |
| 306 | 15.636 | 665.2 | 154.54 |
| 307 | 15.687 | 0.0 | 0.0 |
| 308 | 15.737 | 0.0 | 0.0 |
| 309 | 15.788 | 0.0 | 0.0 |
| 310 | 15.84 | 2131.8 | 478.6 |
| 311 | 15.89 | 856.1 | 192.06 |
| 312 | 15.941 | 1025.4 | 230.39 |
| 313 | 15.991 | 342.4 | 76.74 |
| 314 | 16.043 | 663.2 | 148.34 |
| 315 | 16.093 | 0.0 | 0.0 |
| 316 | 16.143 | 0.0 | 0.0 |
| 317 | 16.193 | 0.0 | 0.0 |
| 318 | 16.246 | 2555.4 | 545.64 |
| 319 | 16.296 | 895.5 | 189.56 |
| 320 | 16.373 | 694.2 | 146.49 |
| 321 | 16.424 | 1443.5 | 302.27 |
| 322 | 16.476 | 0.0 | 0.0 |
| 323 | 16.526 | 0.0 | 0.0 |
| 324 | 16.577 | 0.0 | 0.0 |
| 325 | 16.627 | 2074.2 | 414.87 |
| 326 | 16.677 | 751.3 | 149.12 |
| 327 | 16.727 | 1123.6 | 223.97 |
| 328 | 16.777 | 374.5 | 74.66 |
| 329 | 16.827 | 1122.8 | 223.93 |
| 330 | 16.88 | 0.0 | 0.0 |
| 331 | 16.93 | 0.0 | 0.0 |
| 332 | 16.98 | 0.0 | 0.0 |
| 333 | 17.03 | 2296.0 | 447.62 |
| 334 | 17.08 | 379.9 | 74.23 |
| 335 | 17.13 | 1503.9 | 297.32 |
| 336 | 17.18 | 563.4 | 111.98 |
| 337 | 17.233 | 538.0 | 107.34 |
| 338 | 17.283 | 0.0 | 0.0 |
| 339 | 17.333 | 0.0 | 0.0 |
| 340 | 17.383 | 1890.3 | 373.65 |
| 341 | 17.433 | 1119.5 | 223.93 |
| 342 | 17.485 | 361.3 | 72.88 |
| 343 | 17.535 | 1651.2 | 337.72 |
| 344 | 17.585 | 365.1 | 75.24 |
| 345 | 17.635 | 547.2 | 113.12 |
| 346 | 17.686 | 0.0 | 0.0 |
| 347 | 17.736 | 0.0 | 0.0 |
| 348 | 17.786 | 0.0 | 0.0 |
| 349 | 17.839 | 2490.6 | 503.11 |
| 350 | 17.892 | 1033.4 | 213.33 |
| 351 | 17.942 | 1073.2 | 226.83 |
| 352 | 17.995 | 670.1 | 143.94 |
| 353 | 18.045 | 1223.2 | 266.8 |