The attitude reference was captured at the first sensor read, on the ground,
where a ship built to fly typically lies over. That made every tilt reading
relative to a meaningless datum, and worse: the hull's natural righting swing
after liftoff was read both as tilt and as rate response, contaminating the
very measurement the test exists to make.
- Attitude reference is now taken in the air, after an explicit righting
phase that waits for every axis rate to steady (5 s calm, 120 s cap).
Until then maxTilt() reads 0, so nothing can trip on ground attitude.
- The settled airborne attitude is recorded and reported per axis, with a
warning if the hull settles far from level even under balanced lift.
- Wizard now says outright that a ship lying over on the ground is fine.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Sterister
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