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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co-authored by
Claude Opus 4.8
parent
a9ab3db952
commit
3792a04661
@@ -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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