Fix throttle-detent Abs() macro bug + KB analog-throttle + slide diagnostics (task #50)
Uncommitted work from the speed-model + peer-motion investigation: - btl4mppr.cpp: the L4MechControlsMapper full-throttle detent used the unparenthesized Abs() macro (STYLE.H:118) on an expression -- Abs(throttlePos - 1.0f) mis-expands to -(throttlePos + 1.0f), always <= 0.05, so the detent snapped throttle to full EVERY frame. Diff into a temp first (same class as the7615ecdangular-resync Abs fix). - context/pod-hardware.md: document the decomp-verified analog-continuous pod throttle path (RIO Ranger 0-800 counts, 0.05 deadband, no notching; '5 speeds' is false) from workflow w0odszxro. - mech4.cpp: BT_SLIDE/[mslide] per-frame slide diagnostics (peer position moving while legs in stand; master decel profile) -- used to prove the stop-slide is a peer leg-SM-winds-down-early desync, not master momentum. Env-gated. The 'pretty good' coupled-motion gameplay state is already shipped (a9ab3db). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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arcattack
co-authored by
Claude Opus 4.8
Claude Opus 4.8
parent
a9ab3db952
commit
3792a04661
@@ -25,6 +25,36 @@ to keyboard/gamepad on a dev box; real wiring is a pod bring-up task (Phase 8).
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model — `LBE4ControlsManager` groups are fed by all devices (RIO on the pod, DirectInput on dev);
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the `MechControlsMapper` interprets them ([[locomotion]]). [T2]
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### The pod throttle is ANALOG-CONTINUOUS, not notched (verified end-to-end) [T1]
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The authentic pod throttle path — traced 2026-07 (task #50 throttle-fidelity question):
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1. **Hardware → RIO:** serial `AnalogReply` packet → `Ranger("Throttle", 0, 800, .05)` — raw counts
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0–800, 5% deadband, auto-ranging offset, output a CONTINUOUS Scalar; the sign is inverted
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("Throttle counts BACKWARDS", `engine/MUNGA_L4/L4RIO.cpp:1374-1377`, Ranger @L4RIO.cpp:461-701).
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No quantization/notching anywhere in `Ranger::Update`.
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2. **Manager:** `LBE4ControlsManager::Execute` → `scalarGroup[ScalarThrottle].Update(&rioPointer->
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Throttle, mode_mask)` on every AnalogReply (`L4CTRL.cpp:1379-1382`). ScalarThrottle = index 0 →
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manager+0x24 (scalarGroup base 0x24, 0x20/entry; buttonGroup base 0x1c0, keyboardGroup 0x160).
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3. **Streamed `.CTL` mapping (the "handled elsewhere"):** `MechRIOMapper`'s ctor @004d266c binds NO
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throttle — the bind comes from the type-19 `ControlMappingStream` resource named **"L4"** (child
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of the per-mech type-6 `ControlMappingsList`; installed by `BTL4APP MakeViewpointEntity` via
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`CreateStreamedMappings` @0047703c). BTL4.RES "L4" record [1]:
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`Scalar Throttle → subsystemID 0 (ControlsMapper slot), DirectMapping, attr 4, mask 0xffffffff`.
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Attr 4 = "ThrottlePosition" @ mapper+0x11c (binary IndexEntry table @0050efd8: id 4 → offset
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0x11d-1 = 0x11c, name "ThrottlePosition" @0050f28f). Reverse = record [2]: `Button Throttle1
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(0x3F, on the throttle handle) → attr 6 ReverseThrust@0x124`. Turn = pedals value-bound in the
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ctor (manager+0x44/+0x64 → mapper+0x1b4/+0x1b8).
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4. **Interpretation:** `L4MechControlsMapper::InterpretControls` @004d196c applies the ONLY software
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detent — snap to 1.0 when |t−1.0| ≤ 0.05 — then `MechControlsMapper::InterpretControls` @004afd10
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computes `speedDemand@0x128 = maxSpeed(mech+0x34c) × throttlePosition(0x11c) × scale(mech+0x5c0)`
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(forward) or `−maxSpeed × throttlePosition` (reverse flag 0x124).
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**Consequence:** the original pod produced a continuously varying speedDemand while the lever moved
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(updated per serial AnalogReply, NOT per render frame). There are NO "5 throttle notches" anywhere
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in the software path. (Keyboard keys '1'-'5' in @004d1bf0 set controls-manager MODE masks; the
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'+'/'-' pair steps a [0,5] value that drives `pow(2,x)` into mech+0x404 = HUD zoom 1×–32× — neither
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is a speed setting.) The mech's `throttleState@0x4a4` writer remains un-exported (likely in the
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0x4a9b5a–0x4ab188 gap) — [[open-questions]].
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## Multi-surface gauge path (intact, pod-only by default)
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The pod multi-surface path EXISTS and is intact: `DPLRenderer::FindBestAdapterIndices` (multi-
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adapter selector, honors PRIMGAUGE/SECGAUGE/MFDGAUGE/SPANDISABLE), `SVGA16::BuildWindows` (a
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@@ -349,7 +349,12 @@ L4MechControlsMapper::MessageHandlerSet&
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//
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// (1) Full-throttle detent.
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//
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if (Abs(throttlePosition - 1.0f) <= 0.05f) // _DAT_004d1ac0 / _DAT_004d1ac4
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// NB: the Abs() macro (STYLE.H:118) is unparenthesized -- Abs(throttlePosition
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// - 1.0f) mis-expands to -(throttlePosition + 1.0f) on the false branch (always,
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// since throttle <= 1), which is <= 0.05 UNCONDITIONALLY -> the detent used to
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// snap throttle to full every frame. Diff into a temp so the macro sees one token.
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const Scalar _thrOff = throttlePosition - 1.0f;
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if (((_thrOff < 0.0f) ? -_thrOff : _thrOff) <= 0.05f) // _DAT_004d1ac0 / _DAT_004d1ac4
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{
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throttlePosition = 1.0f; // @0x11c
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}
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@@ -2189,6 +2189,30 @@ void
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localToWorld = localOrigin; // refresh with the coupled position
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}
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// SLIDE probe (BT_SLIDE): per-frame, log when the peer position MOVES
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// while its legs are in STAND (legState 0) -- the user's "sliding after
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// legs stopped". Reports move magnitude, offset to authority, leg state.
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if (getenv("BT_SLIDE"))
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{
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static Point3D s_slPrev; static int s_slInit = 0;
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const int ls = (int)legStateAlarm.GetLevel();
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if (s_slInit)
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{
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const float dx = (float)(localOrigin.linearPosition.x - s_slPrev.x);
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const float dz = (float)(localOrigin.linearPosition.z - s_slPrev.z);
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const float mv = sqrtf(dx * dx + dz * dz);
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if (ls == 0 && mv > 0.02f) // standing but moving = slide
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{
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Vector3D off; off.Subtract(updateOrigin.linearPosition, localOrigin.linearPosition);
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DEBUG_STREAM << "[slide] move=" << mv
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<< " legAdv=" << replLegAdv
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<< " offToAuth=" << (float)off.Length()
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<< " legState=" << ls << "\n" << std::flush;
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}
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}
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s_slPrev = localOrigin.linearPosition; s_slInit = 1;
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}
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// PEER-DRIFT probe (BT_MIRDIV, 1s max): how far the peer's coupled
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// position wanders from the last-received authority (updateOrigin)
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// before a record re-anchors it -- the other end of the snap.
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@@ -3422,6 +3446,21 @@ void
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// impact freezes travel as before.)
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const Scalar travelAdv = s_realControls ? legAdv : adv;
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const Scalar localAdv = travelAdv * dir;
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// MASTER-SLIDE probe (BT_SLIDE): does the MASTER itself advance while its
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// legs are in STAND (legState 0)? If yes -> authentic momentum coast, the
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// peer correctly mirrors it. If the master travelAdv reaches 0 exactly
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// when legState reaches 0 -> the master stops clean and the peer's stand-
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// slide is a peer leg-SM-too-fast desync. Logs the decel profile.
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if (getenv("BT_SLIDE"))
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{
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const int mls = (int)legStateAlarm.GetLevel();
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const float ta = (float)(travelAdv < 0 ? -travelAdv : travelAdv);
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if (ta > 0.005f) // master still moving
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DEBUG_STREAM << "[mslide] travelAdv=" << travelAdv
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<< " legState=" << mls
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<< " legCycle=" << legCycleSpeed
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<< " thr=" << throttle << "\n" << std::flush;
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}
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linearSpeed = (localAdv < 0.0f ? -localAdv : localAdv) * invDt; // forward ground speed -> LinearSpeed gauge
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Vector3D localVel(0.0f, 0.0f, -localAdv * invDt); // exact frame distance as velocity
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Matrix34 orient; // rotation from the heading (set @ line ~626)
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