Gyro: BT_GYRO_TRACE per-frame integrator trace -- oscillation verified vs authored constants (task #56)

25-hit MP autofire trace: kick -> damped oscillation -> settle, peaks well
inside clamps, no NaN/drift; measured Y:X frequency ratio 7.75x matches
sqrt(springK.y/springK.x) exactly.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

scratchpad/gtrace_plot.py

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+import re, sys
+import matplotlib
+matplotlib.use("Agg")
+import matplotlib.pyplot as plt
+
+frames, eyes, bodies = [], [], []
+hits = []   # (frame_at_hit, t, p, y, v)
+last_f = None
+for line in open("../content/gtrace_a.log", encoding="utf-8", errors="replace"):
+    m = re.match(r"\[gtrace\] g=\S+ f=(\d+) eye=(\S+) (\S+) (\S+) body=(\S+) (\S+) (\S+)", line)
+    if m:
+        last_f = int(m.group(1))
+        frames.append(last_f)
+        eyes.append(tuple(float(m.group(i)) for i in (2,3,4)))
+        bodies.append(tuple(float(m.group(i)) for i in (5,6,7)))
+        continue
+    m = re.match(r"\[gtrace\] g=\S+ HIT t=(\S+) p=(\S+) y=(\S+) v=(\S+)", line)
+    if m:
+        hits.append((last_f, *[float(m.group(i)) for i in (1,2,3,4)]))
+
+print(f"trace frames: {len(frames)}, hits: {len(hits)}")
+print(f"frame range: {frames[0]}..{frames[-1]}")
+
+# stats per volley: peak |eye|, settle
+import math
+mag = [math.sqrt(e[0]**2+e[1]**2+e[2]**2) for e in eyes]
+peak = max(mag); print(f"peak |eyePos| = {peak:.4f} u  (clamp legal range +-0.1/0.15 per axis)")
+peakY = max(abs(e[1]) for e in eyes); peakX = max(abs(e[0]) for e in eyes); peakZ = max(abs(e[2]) for e in eyes)
+print(f"peak per-axis |x|={peakX:.4f} |y|={peakY:.4f} |z|={peakZ:.4f}")
+bad = [e for e in eyes if any(x != x for x in e)]
+print(f"NaN frames: {len(bad)}")
+
+# oscillation period of Y (zero crossings) in the first big volley
+ys = [e[1] for e in eyes]
+cross = [frames[i] for i in range(1,len(ys)) if ys[i-1]*ys[i] < 0 and frames[i]-frames[i-1] == 1]
+if len(cross) > 3:
+    gaps = [b-a for a,b in zip(cross, cross[1:]) if b-a < 30]
+    if gaps: print(f"Y half-period ~{sum(gaps)/len(gaps):.1f} frames  (full period ~{2*sum(gaps)/len(gaps):.1f})")
+
+# settle check: gap in frames = eye at rest (below 1e-9 magnitude threshold not logged)
+gapct = sum(1 for a,b in zip(frames, frames[1:]) if b-a > 5)
+print(f"rest gaps (>5 frames unlogged = settled to ~0): {gapct}")
+
+fig, ax = plt.subplots(2, 1, figsize=(16, 8), sharex=True)
+ax[0].plot(frames, [e[0] for e in eyes], '.', ms=2, label='eye X (lateral)')
+ax[0].plot(frames, [e[1] for e in eyes], '.', ms=2, label='eye Y (vert)')
+ax[0].plot(frames, [e[2] for e in eyes], '.', ms=2, label='eye Z (fore/aft)')
+for h in [h for h in hits if h[0] is not None]: ax[0].axvline(h[0], color='r', alpha=.25, lw=.8)
+ax[0].legend(); ax[0].set_ylabel('eyePosition (u)'); ax[0].set_title('Gyro eye spring — red lines = hits received')
+ax[1].plot(frames, [b[0] for b in bodies], '.', ms=2, label='body X (pitch)')
+ax[1].plot(frames, [b[1] for b in bodies], '.', ms=2, label='body Y')
+ax[1].plot(frames, [b[2] for b in bodies], '.', ms=2, label='body Z (roll)')
+for h in [h for h in hits if h[0] is not None]: ax[1].axvline(h[0], color='r', alpha=.25, lw=.8)
+ax[1].legend(); ax[1].set_ylabel('bodyOrientation (rad)'); ax[1].set_xlabel('frame')
+plt.tight_layout(); plt.savefig("GYRO_TRACE.png", dpi=90)
+print("wrote GYRO_TRACE.png")

scratchpad/mp_gtrace.sh

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+#!/usr/bin/env bash
+cd /c/git/bt411/content || exit 1
+rm -f gtrace_a.log gtrace_b.log
+BT_LOG=gtrace_a.log BT_AFFINITY=0x1 BT_GYRO_LOG=1 BT_GYRO_TRACE=1 BT_START_INSIDE=1 ../build/Debug/btl4.exe -egg MP.EGG -net 1501 &
+sleep 2
+BT_LOG=gtrace_b.log BT_AFFINITY=0x2 BT_AUTOFIRE=1 ../build/Debug/btl4.exe -egg MP.EGG -net 1601 &
+sleep 8
+exec python ../tools/btconsole.py MP.EGG 127.0.0.1:1501 127.0.0.1:1601