Byte-decoded the un-exported master-perf block @0x4aad3d-0x4aaf14 (capstone;
the same gap that held the F5 footstep code) [T1]:
instab = (min(|AccelerationLastFrame| / maxUnstableAcceleration, 1)
x unstableAccelerationEffect)^2
instab += clamp((demand - legCycleSpeed)/demand, <=1) # "gun the engine"
x unstableGunTheEngineEffect # (demand clamped to
# [gimpStride(neg), runMax2])
if (legAnimationState == 4 /*turn-in-place*/) instab += unstableStopedTurnEffect
clamp to 1 -> mech+0x3F0 -> gyro->swayBias (gyro+0x3A8)
Every piece resolves to already-reconstructed structure: the model-record
tuning block rec+0x80..0x94 (ctor copy @0x4a2593 -- the six authored
Unstable* fields, previously parked in the Wword scratch bank, now real
members); AccelerationLastFrame@0x82c = the snapshot of the ring-derived
localAcceleration (copied at the perf tail @0x4ab142); CurrentSpeed@0x348 =
legCycleSpeed; the trn state 4 gate; and the gyro feed lands in the
EXISTING swayBias member + GyroscopeSimulation consumer (task #56) --
GyroFrameJointWrite's "0.0f model TBD" argument is now the live value.
UnstablePercentage (binary id 52 @0x3F0) binds the real member: the LAST
dead audio attribute is live -- the authored instability alarm (start
thresh 0.01 + volume = the fraction) sounds under hard maneuvers, and the
cockpit ambient sway now scales with reckless driving.
Live verification (30s, 0.6-throttle run): instab 0.38 during the walk->run
chase (cyc 22.2 vs demand 33.6), settling to 0.002-0.12 per-stride ripple at
steady run; attribute binds with live float values; [instab] trace under
BT_GYRO_TRACE. unstableSuperStopEffect/unstableHighVelocityEffect writers
remain unlocated (plausibly the airborne perf variant) -- noted on members.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
