The tilt abort was circular logic -- it demanded a balanced ship before it
would learn how to balance one. Removed entirely, and the test restructured
so imbalance is handled structurally rather than guarded against:
- Rocking probe: alternate front/aft pushes; sign = rate(+) - rate(-).
A constant lean appears in both terms and cancels exactly, so no balanced
baseline is needed. Alternating also keeps the ship rocking around its
start attitude instead of accumulating tilt. Two agreeing cycles verify.
- New BALANCE phase: with the sign known, an integral loop learns the
differential trim that actually levels this ship and saves it as the
pitchTrim warm-start. Not converging is a warning, not a failure.
- maxTiltAbort is now "measurement is good enough, stop pushing" -- it ends
a measurement early once the window is full, never the test.
- Only three failures remain: no lift, liftoff timeout, no response on any
gimbal axis.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Sterister
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