Sign test: measure ALL gimbal axes + self-healing altitude supervisor; link diagnostics

- Sign test measures rate response on every gimbal axis and picks the one
  that actually answers the differential push -> pitchIndex is now MEASURED
  per ship (build orientation no longer matters). Verified both-direction
  response accepted at half threshold. Tilt guard watches all axes.
- Altitude supervisor: drifting out of the measuring band re-centers and
  retries instead of aborting; single 7-min deadline. Faster hover trim
  (0.05 -> 0.12, matches verified Ki_climb) plus an 8 s settle phase.
- Single-balloon ships: sign test marks itself done, FLY zeroes u_diff.
- Cockpit terminal now explains link status (OFFLINE checklist); autopilot
  standby screen warns loudly when no modem is attached.
- Failure text points at cross-wired links (both burners firing on one pulse).

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

README.md

@@ -39,9 +39,10 @@ console. Pitch and altitude keep self-learning in flight. The wizard can be
 re-run any time: `ap setup`, press `S` in standby, or menu choice 1.
 
 Balloon orientation does **not** need to match any particular side of the
-computer: sensors are found by type, wiring is mapped by the wizard, and the
+computer — or any particular build direction: sensors are found by type,
-pitch sign is measured — the only physical requirement is both balloons on the
+wiring is mapped by the wizard, and the sign test measures **which gimbal
-fore/aft line (the axis the gimbal reports as pitch).
+axis** responds to the push (saved as `pitchIndex`) along with its sign. The
+only physical requirement is two balloons spaced along the hull.
 
 ## Roles
 

files/autopilot/autopilot/main.lua

@@ -162,15 +162,73 @@ local function runSigntest()
   signtestAirborne = false
   local h0 = sensors.readAltitude()
   if not h0 then print("No altitude sensor."); return false end
+
+  -- ett-ballong-skip: ingen differensiell pitch-autoritet -> testen er meningsloes
+  if not cfg.aftSide then
+    print("Single-balloon ship (no AFT side wired).")
+    print("Pitch can't be steered differentially, so")
+    print("the sign test does not apply. Marking done.")
+    local c = loadCalib(); c.pitchSign = 1; c.signMeasured = true; saveCalib(c)
+    print(""); print("[Enter]"); read()
+    return true
+  end
+
   local t0 = now()
   local hover = nil       -- laeres i trappa (1/4), trimmes videre av fart-holdet
   local levelDiff = 0     -- treg nivellering under nedstigning (naar fortegnet er kjent)
 
+  -- MULTI-AKSE maaling: vi VET ikke hvilken gimbal-vinkel som er pitch paa DETTE skipet
+  -- (avhenger av byggeretning!). Derfor maales rate-responsen paa ALLE aksene, og aksen
+  -- som faktisk svarer paa dyttet blir pitchIndex. Orientering blir dermed likegyldig.
+  local NAX = 0             -- antall gimbal-akser (settes ved foerste lesing, maks 3)
+  local axRings = {}        -- per-akse (t, vinkel)-ring -> rate via least-squares slope
+  local a0, lastAx = nil, nil   -- vinkler ved start (tilt-referanse) + siste lesing
+
+  local function readAx()
+    local a = sensors.readAngles()
+    if type(a) ~= "table" or type(a[1]) ~= "number" then return nil end
+    if NAX == 0 then
+      NAX = math.min(3, #a)
+      a0 = {}
+      for i = 1, NAX do axRings[i] = utils.newRing(1.0); a0[i] = a[i] end
+    end
+    return a
+  end
+
+  local function axRates()
+    local r = {}
+    for i = 1, NAX do r[i] = axRings[i]:slope() end
+    return r
+  end
+
+  -- stoerste vinkelavvik fra start-attityden paa NOEN akse (fortegns-/akse-uavhengig tilt-vakt)
+  local function maxTilt()
+    if not (lastAx and a0) then return 0 end
+    local m = 0
+    for i = 1, NAX do
+      local v = lastAx[i]
+      if type(v) == "number" then
+        local d = math.abs(v - a0[i])
+        if d > m then m = d end
+      end
+    end
+    return m
+  end
+
   local function tick(fore, aft, phase)
-    local f, a = driveValves(fore, aft)
+    local f, oa = driveValves(fore, aft)
-    local h, p = sensors.readAltitude(), sensors.readPitch()
+    local h, t = sensors.readAltitude(), now()
-    if h and p then est:update(now(), h, p) end
+    local ax = readAx()
-    log:row({ now() - t0, phase, f, a, est.altitude, est.pitch, est.verticalVelocity, est.pitchRate })
+    if ax then
+      lastAx = ax
+      for i = 1, NAX do
+        local v = ax[i]
+        if type(v) == "number" and v == v then axRings[i]:push(t, v) end
+      end
+    end
+    local p = ax and ax[cfg.pitchIndex or 1] or nil
+    if h and p then est:update(t, h, p) end
+    log:row({ t - t0, phase, f, oa, est.altitude, est.pitch, est.verticalVelocity, est.pitchRate })
     sleep(cfg.dt)
   end
 
@@ -185,9 +243,11 @@ local function runSigntest()
     print("CTRL+T = abort (holds lift, no freefall)")
   end
 
-  -- fart-P-hold rundt laert hover (+ treg hover-trim), med valgfri differanse (fore - aft)
+  -- fart-P-hold rundt laert hover (+ hover-trim), med valgfri differanse (fore - aft).
+  -- Trim-rate 0.12 = samme verdi som Ki_climb (verifisert stabil for skipets ~5 s lag);
+  -- 0.05 var for tregt -- skipet rakk aa drive ut av maalebaandet foer trimmen tok igjen.
   local function velTick(vDes, diff, phase)
-    hover = clamp(hover + 0.05 * (vDes - est.verticalVelocity) * cfg.dt, cfg.absFloor, cfg.maxSignal - 0.5)
+    hover = clamp(hover + 0.12 * (vDes - est.verticalVelocity) * cfg.dt, cfg.absFloor, cfg.maxSignal - 0.5)
     local u = hover + clamp(1.2 * (vDes - est.verticalVelocity), -1.5, 1.5)
     local f, a = mixer.preserveDifferenceClamp(u + diff, u - diff, cfg.absFloor, cfg.maxSignal)
     tick(f, a, phase)
@@ -222,9 +282,12 @@ local function runSigntest()
   end
 
   local function abortMsg(code)
-    if code == "tilt" then return string.format("Tilted past %.0f deg -- aborted for safety.", s.maxTiltAbort) end
+    if code == "tilt" then
-    if code == "alt" then return "Drifted too far up -- aborted." end
+      return string.format("Tilted past %.0f deg with BALANCED lift --\nship is out of balance. Aborted.", s.maxTiltAbort)
-    if code == "low" then return "Got too close to the ground -- aborted." end
+    end
+    if code == "time" then
+      return "Ran out of time -- could not hold a\nsteady measuring height. Check burner\nfuel / ship weight and try again."
+    end
     return "Aborted."
   end
 
@@ -235,6 +298,7 @@ local function runSigntest()
     hud("1/4", "Lifting off (auto power search)...", {
       string.format("power %.1f / %d", cmd, cfg.maxSignal),
     })
+    if maxTilt() > s.maxTiltAbort then return bail(abortMsg("tilt")) end
     if est.verticalVelocity > 0.25 then riseHold = riseHold + cfg.dt else riseHold = 0 end
     if riseHold >= 1.0 and est.altitude - h0 > 1.5 then break end
     if now() - stepT >= 4.0 then
@@ -248,81 +312,139 @@ local function runSigntest()
   hover = math.max(cfg.absFloor, cmd - 0.25)   -- kryssingen er ~her: foerste hover-estimat
   signtestAirborne = true
 
-  -- ---- 2/4: kontrollert klatring til trygg maalehoyde (hover-trimmen konvergerer underveis) ----
+  -- ---- 2/4: klatre til maalehoyde og SETTLE (hover-trimmen laerer ekte hover) ----
-  local tC = now()
+  -- SUPERVISOR-prinsipp: hoyden overvaakes gjennom hele maalefasen. Driver skipet ut av
-  while est.altitude < h0 + 8 do
+  -- baandet -> fly tilbake til maalehoyden og proev maalingen igjen (selv-reparerende).
-    velTick(0.4, 0, "climb")
+  -- Bare EN total-deadline kan felle testen -- ikke haartrigger-aborter paa drift.
-    hud("2/4", "Climbing to measuring height...", {
+  local BAND_LO, BAND_HI, BAND_TARGET = 4, 25, 12
-      string.format("target +8   hover ~%.1f", hover),
+  local deadline = now() + 420   -- hele testen ferdig innen 7 min, ellers ryddig bail
-    })
+
-    if math.abs(est.pitch) > s.maxTiltAbort then return bail(abortMsg("tilt")) end
+  local function recenter(step, reason)
-    if now() - tC > 60 then return bail("Could not reach measuring height.") end
+    while now() < deadline do
+      local dh = est.altitude - (h0 + BAND_TARGET)
+      if math.abs(dh) < 1.5 then return true end
+      velTick(dh > 0 and -0.4 or 0.4, 0, "recenter")
+      hud(step, "Flying to measuring height (" .. reason .. ")", {
+        string.format("target +%d   now %+.1f   hover ~%.1f", BAND_TARGET, est.altitude - h0, hover),
+      })
+      if maxTilt() > s.maxTiltAbort then return false, "tilt" end
+    end
+    return false, "time"
   end
 
-  -- rate-stabil maaling: hold hoyden (vDes=0) med gitt differanse til pitch-raten roer seg.
+  local okC, cErr = recenter("2/4", "initial climb")
-  -- Lag-bevisst: minHold >= loft-etterslepet foer vi godtar. Timeout -> bruk snittet likevel.
+  if not okC then return bail(abortMsg(cErr)) end
+  local tSettle = now()
+  while now() - tSettle < 8 do
+    velTick(0, 0, "settle0")
+    hud("2/4", "Settling (learning true hover)...", {
+      string.format("hover ~%.2f   %.0fs left", hover, math.max(0, 8 - (now() - tSettle))),
+    })
+  end
+
+  -- rate-stabil maaling PER AKSE: hold hoyden (vDes=0) med gitt differanse til ratene roer
+  -- seg. Returnerer tabell {avgRate per akse}. Lag-bevisst: minHold >= loft-etterslepet.
   local function measureRate(diff, step, title, minHold, maxWait)
     local tS, win = now(), {}
-    local avg = 0
+    local avg = nil
     while now() - tS < maxWait do
       velTick(0, diff, title)
-      win[#win + 1] = { t = now(), pr = est.pitchRate }
+      win[#win + 1] = { t = now(), r = axRates() }
       while #win > 1 and (now() - win[1].t) > 1.5 do table.remove(win, 1) end
-      local sum, lo, hi = 0, math.huge, -math.huge
+      avg = {}
-      for _, e in ipairs(win) do sum = sum + e.pr; lo = math.min(lo, e.pr); hi = math.max(hi, e.pr) end
+      local spanMax = 0
-      avg = sum / #win
+      for i = 1, NAX do
-      local span = (#win > 1) and (hi - lo) or math.huge
+        local sum, lo, hi = 0, math.huge, -math.huge
+        for _, e in ipairs(win) do
+          local v = e.r[i]
+          sum = sum + v; lo = math.min(lo, v); hi = math.max(hi, v)
+        end
+        avg[i] = sum / #win
+        local sp = (#win > 1) and (hi - lo) or 99
+        if sp > spanMax then spanMax = sp end
+      end
+      local rline = ""
+      for i = 1, NAX do rline = rline .. string.format(" a%d %+.2f", i, avg[i]) end
       hud(step, title, {
-        string.format("diff %+.0f   rate avg %+.2f  span %.2f", diff, avg, span),
+        string.format("diff %+.0f  rates:%s", diff, rline),
-        string.format("stable when span < %.1f deg/s", s.rateCalm),
+        string.format("calm when spread < %.1f (now %.2f)", s.rateCalm, spanMax),
       })
-      if math.abs(est.pitch) > s.maxTiltAbort then return nil, "tilt" end
+      if maxTilt() > s.maxTiltAbort then
-      if est.altitude - h0 > 35 then return nil, "alt" end
+        -- kraftig tilt UNDER EN NUDGE er i seg selv et sterkt, entydig signal: bruk
-      if est.altitude - h0 < 2 then return nil, "low" end
+        -- maalingen og slutt aa dytte. Tilt med balansert loft = ubalansert skip -> abort.
-      if now() - tS >= minHold and #win >= 5 and span < s.rateCalm then return avg end
+        if diff ~= 0 then return avg end
+        return nil, "tilt"
+      end
+      local rel = est.altitude - h0
+      if rel < BAND_LO or rel > BAND_HI then return nil, "band" end
+      if now() > deadline then return nil, "time" end
+      if now() - tS >= minHold and #win >= 5 and spanMax < s.rateCalm then return avg end
     end
     return avg   -- timeout: retningen er som regel riktig selv om roen aldri kom
   end
 
-  -- ---- 3/4: baseline -> nudge -> MOTSATT nudge, med automatisk opptrapping ved svak respons ----
+  -- selv-reparerende maaling: hoyde-drift -> re-sentrer og proev IGJEN i stedet for abort
-  local nudge, sign, verified = s.nudge, 0, false
+  local function measureSafe(diff, title, minHold, maxWait)
+    while true do
+      local r, code = measureRate(diff, "3/4", title, minHold, maxWait)
+      if r then return r end
+      if code ~= "band" then return nil, code end
+      local okR, rErr = recenter("3/4", "altitude drift")
+      if not okR then return nil, rErr end
+    end
+  end
+
+  -- ---- 3/4: baseline -> nudge -> MOTSATT nudge; aksen som SVARER blir pitchIndex ----
+  -- Verifisert respons (motsatt dytt gir motsatt rate) godtas ved HALV terskel: to
+  -- uavhengige, konsistente maalinger er sterkere bevis enn en stor enkeltmaaling.
+  local nudge = s.nudge
   local maxNudge = math.max(s.nudge, math.floor(cfg.maxSignal / 2) + 1)
+  local bestVer, bestAny = nil, nil
   for attempt = 1, 3 do
     local tag = string.format("  (try %d, push %d)", attempt, nudge)
-    local r0, e0 = measureRate(0, "3/4", "Baseline (balanced)" .. tag, s.baseMinHold, s.baseMaxWait)
+    local r0, e0 = measureSafe(0, "Baseline (balanced)" .. tag, s.baseMinHold, s.baseMaxWait)
     if not r0 then return bail(abortMsg(e0)) end
-    local r1, e1 = measureRate(nudge, "3/4", "Push: more FRONT" .. tag, s.nudgeMinHold, s.nudgeMaxWait)
+    local r1, e1 = measureSafe(nudge, "Push: more FRONT" .. tag, s.nudgeMinHold, s.nudgeMaxWait)
     if not r1 then return bail(abortMsg(e1)) end
-    local r2, e2 = measureRate(-nudge, "3/4", "Verify: more AFT" .. tag, s.nudgeMinHold, s.nudgeMaxWait)
+    local r2, e2 = measureSafe(-nudge, "Verify: more AFT" .. tag, s.nudgeMinHold, s.nudgeMaxWait)
     if not r2 then return bail(abortMsg(e2)) end
-    local dF, dR = r1 - r0, r2 - r0   -- rate-endring ved mer front / mer bak
+    for i = 1, NAX do
-    if math.abs(dF) >= s.drMin and utils.sign(dR) == -utils.sign(dF) and math.abs(dR) >= s.drMin * 0.5 then
+      local dF, dR = r1[i] - r0[i], r2[i] - r0[i]   -- rate-endring: mer front / mer bak
-      sign, verified = utils.sign(dF), true
+      local cand = { axis = i, sign = utils.sign(dF), mag = math.abs(dF) }
-      break
+      local consistent = utils.sign(dR) == -utils.sign(dF) and math.abs(dR) >= s.drMin * 0.25
+      if consistent and cand.mag >= s.drMin * 0.5 then
+        if not bestVer or cand.mag > bestVer.mag then bestVer = cand end
+      elseif cand.mag >= s.drMin then
+        if not bestAny or cand.mag > bestAny.mag then bestAny = cand end
+      end
     end
-    if math.abs(dF) >= s.drMin then sign = utils.sign(dF) end   -- kandidat, men uverifisert
+    if bestVer then break end
-    nudge = math.min(maxNudge, nudge + 1)                       -- auto: proev sterkere dytt
+    nudge = math.min(maxNudge, nudge + 1)   -- auto: proev sterkere dytt
   end
-  if sign == 0 then
+  local pick = bestVer or bestAny
-    return bail("No measurable pitch response, even with\na stronger push. Are both balloons on\nthe same fore/aft line? Re-check wiring.")
+  if not pick then
+    return bail("No pitch response on ANY gimbal axis,\neven with a stronger push. Likely causes:\n- links cross-wired: did BOTH burners fire\n  on one pulse in Wiring? Re-run Wiring.\n- balloons not on the fore/aft line.")
   end
+  local sign, axis, verified = pick.sign, pick.axis, (bestVer ~= nil)
 
   -- ---- lagre FOER nedstigningen (Ctrl+T etterpaa mister ingenting) ----
   local c = loadCalib()
   c.pitchSign, c.pitchGain, c.alphaPitch = sign, 1.0, 1.0
+  c.pitchIndex = axis                          -- MAALT: aksen som faktisk svarte paa dyttet
+  cfg.pitchIndex = axis                        -- gjeld umiddelbart (estimator + nedstigning)
   c.pitchTrim = 0                              -- nullstill laert trim ved ny fortegns-maaling
   c.uHoverFront, c.uHoverRear = hover, hover   -- grov men EKTE hover-maaling ('cal' kan forfine)
   c.hoverTrim = 0                              -- ny baseline -> gammel loft-trim er ugyldig
   c.signMeasured = true                        -- profilen er komplett (wizard/standby sjekker denne)
   saveCalib(c)
 
-  -- ---- 4/4: kontrollert ned + hold hover (nivellerer med det nymaalte fortegnet) ----
+  -- ---- 4/4: kontrollert ned + hold hover (nivellerer med nymaalt akse + fortegn) ----
   descendAndHold(sign)
 
   term.clear(); term.setCursorPos(1, 1)
   print("==== SIGN TEST: SUCCESS ====")
-  print(string.format("pitchSign %+d  %s", sign,
+  print(string.format("pitch = gimbal axis a%d, sign %+d", axis, sign))
-    verified and "(verified both directions)" or "(UNVERIFIED -- reverse push unclear)"))
+  print(verified and "(verified in both directions)" or "(UNVERIFIED -- reverse push unclear)")
   print(string.format("hover ~%.1f (saved as baseline)", hover))
   print("")
   print("Ship is holding hover. Ready to FLY.")
@@ -565,6 +687,7 @@ local function runFly()
       local lowAlt = (est.altitude - launchAlt) < cfg.lowAltCaution
       local uFc, uRc, ad = actl:compute(est.altitude, target, est.verticalVelocity, dt, prevSat, lowAlt)
       u_diff = pctl:compute(est.pitch, est.pitchRate, dt, prevSat)
+      if not cfg.aftSide then u_diff = 0 end   -- ett-ballong-skip: ingen differensiell autoritet
       local floor
       frontHeat, rearHeat, floor = mixer.mix(cfg, calib, uFc, uRc, u_diff)
       sat = (frontHeat <= floor + 0.01 or frontHeat >= cfg.maxSignal - 0.01
@@ -693,8 +816,9 @@ local function awaitCmd(secs)
 end
 
 local function runStandby()
-  link.open()
   while true do
+    -- re-proev modem hver runde: fanger et modem som plugges til mens vi staar i standby
+    local hasModem = link.open()
     local h = sensors.readAltitude() or 0
     local p = sensors.readPitch() or 0
     local flyable = fs.exists(CALIB_FILE)    -- kan fly (evt. eldre profil uten maalt-flagg)
@@ -707,6 +831,9 @@ local function runStandby()
     if complete then print("Profile: READY")
     elseif flyable then print("Profile: LEGACY   ([S] = re-run setup)")
     else print("Profile: NOT SET UP -> press [S]") end
+    if hasModem then print("Link: modem OK (broadcasting to cockpit)")
+    else print("Link: NO MODEM -- cockpit shows OFFLINE!")
+         print("      attach a modem to this PC") end
     print(string.format("Height %.1f   Pitch %+.1f", h, p))
     print("Waiting for ENGAGE from the pilot console...")
     print("[S] setup wizard    CTRL+T then 'ap' = menu")
@@ -758,8 +885,8 @@ local function showProfile()
   print("==== PROFILE ====")
   print(string.format("uHoverFront %.2f  uHoverRear %.2f", c.uHoverFront, c.uHoverRear))
   print(string.format("lambda %.3f  g %.3f", c.lambda, c.g))
-  print(string.format("pitchSign %d (%s)  pitchGain %.3f", c.pitchSign,
+  print(string.format("pitchSign %d (%s)  axis a%d", c.pitchSign,
-    c.signMeasured and "measured" or "DEFAULT -- run setup", c.pitchGain))
+    c.signMeasured and "measured" or "DEFAULT -- run setup", c.pitchIndex or cfg.pitchIndex))
   print(string.format("wiring: fore=%s  aft=%s%s", cfg.foreSide, tostring(cfg.aftSide),
     fs.exists(SIDES_FILE) and "" or " (config default)"))
   print("calib.txt: " .. (fs.exists(CALIB_FILE) and "saved" or "none (defaults)"))
@@ -820,6 +947,9 @@ local args = { ... }
 -- bruk persistert wiring (front/aft-sider) hvis satt -- overstyrer config-defaults per skip
 local sv = loadSides()
 if sv then cfg.foreSide = sv.fore; cfg.aftSide = sv.aft end
+-- bruk MAALT gimbal-akse for pitch hvis sign-testen har funnet den (bygg-orientering varierer)
+local cal0 = loadCalib()
+if cal0.pitchIndex then cfg.pitchIndex = cal0.pitchIndex end
 -- bruk persisterte live-innstillinger (klatre-fart / hold-baand / maks-effekt)
 local sset = loadSettings()
 if sset then

files/cockpit/cockpit.lua

@@ -151,6 +151,34 @@ local function draw()
   if page == "settings" then drawSettings() else drawStatus() end
 end
 
+-- terminal-diagnostikk: monitoren viser pilot-UI, terminalen FORKLARER link-status --
+-- "OFFLINE" skal aldri vaere et mysterium (vanligste aarsak: AP-PCen er ikke i standby/fly)
+local function drawTerm()
+  term.clear(); term.setCursorPos(1, 1)
+  print("==== COCKPIT CONSOLE ====")
+  print(string.format("Monitor %dx%d   modem: open", W, H))
+  print("")
+  if online() then
+    local s = status
+    print(string.format("Link: ONLINE (heartbeat %.1fs ago)", now() - lastRx))
+    print("State: " .. tostring(s.state)
+      .. ((s.reason and s.reason ~= "") and (" (" .. tostring(s.reason) .. ")") or ""))
+    print(string.format("Height %.1f -> %.0f   Pitch %+.1f", s.height or 0, s.target or 0, s.pitch or 0))
+    print(s.ready == false and "AP needs setup (wizard on the AP PC)" or "Control via the monitor buttons.")
+  else
+    print("Link: OFFLINE -- no heartbeat from the")
+    print("machine-room PC. Checklist over there:")
+    print(" 1) It must be in STANDBY or FLY mode")
+    print("    (menu/setup/shell do NOT broadcast)")
+    print(" 2) It needs a modem attached -- its")
+    print("    standby screen shows 'Link: modem OK'")
+    print(" 3) Wireless out of range? Use wired")
+    print("    modems + network cable instead.")
+  end
+  print("")
+  print("CTRL+T = quit")
+end
+
 local function handleTouch(x, y)
   for _, b in ipairs(buttons) do
     if x >= b.x1 and x <= b.x2 and y >= b.y1 and y <= b.y2 then b.action(); draw(); return end
@@ -158,6 +186,7 @@ local function handleTouch(x, y)
 end
 
 draw()
+drawTerm()
 local redraw = os.startTimer(0.5)
 while true do
   local e = { os.pullEvent() }
@@ -166,6 +195,6 @@ while true do
   elseif e[1] == "monitor_touch" then
     handleTouch(e[3], e[4])
   elseif e[1] == "timer" and e[2] == redraw then
-    redraw = os.startTimer(0.5); draw()
+    redraw = os.startTimer(0.5); draw(); drawTerm()
   end
 end