{ "schema": "botlandscape-aerial-tuning-v1", "source_commit": "7ebad1ecabd28a7000add2d05f888aa2e837c2cc", "selection_rule": "A candidate is acceptable when, on every tuning trajectory, no motor command reaches a limit, the drone touches nothing, and its RMSE is not above the unchanged example's. Among acceptable candidates the lowest mean tuning RMSE wins; a candidate that leaves the controller gains unchanged is preferred when it is within 10 % of the best.", "candidates": { "unchanged-example": {}, "reference-velocity": { "feedforward": "velocity" }, "reference-velocity-finite-difference": { "feedforward": "velocity-finite-difference" }, "position-gain-x2": { "gains": { "P_COEFF_FOR": [ 0.8, 0.8, 1.25 ] } }, "velocity-gain-half": { "gains": { "D_COEFF_FOR": [ 0.1, 0.1, 0.5 ] } }, "position-gain-x2-velocity-gain-half": { "gains": { "P_COEFF_FOR": [ 0.8, 0.8, 1.25 ], "D_COEFF_FOR": [ 0.1, 0.1, 0.5 ] } } }, "tuning_trajectories": [ "circle-fast", "figure-eight", "line-reversal" ], "example_settings": { "trajectory": "protocol", "feedforward": "none", "gains": {}, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "candidate_summary": { "unchanged-example": { "mean_tuning_rmse_m": 0.0968787678609907, "acceptable": true, "gains_unchanged": true }, "reference-velocity": { "mean_tuning_rmse_m": 0.01726926376886171, "acceptable": true, "gains_unchanged": true }, "reference-velocity-finite-difference": { "mean_tuning_rmse_m": 0.018171276179505993, "acceptable": true, "gains_unchanged": true }, "position-gain-x2": { "mean_tuning_rmse_m": 0.04968704062146085, "acceptable": true, "gains_unchanged": false }, "velocity-gain-half": { "mean_tuning_rmse_m": 0.05581953907595843, "acceptable": true, "gains_unchanged": false }, "position-gain-x2-velocity-gain-half": { "mean_tuning_rmse_m": 0.44422384155907446, "acceptable": false, "gains_unchanged": false } }, "chosen": "reference-velocity", "authored_capture": { "trial": 2, "receipt_written_utc": "2026-10-09T18:15:54+00:00", "tracking_rmse_m": 0.010969006300649096, "tracking_maximum_error_m": 0.019169485252546647, "note": "The only flight of the chosen settings on the protocol trajectory before the robust stage. Run 31 repeats it in the harness and reproduces both figures exactly." }, "log_note": "Runs 1 to 22 were flown before the attitude-torque clip count was added to the result. The saturation stage repeats eight of them and reproduces each RMSE and maximum error exactly.", "robustness": { "flights": 16, "within_rmse_limit": 16, "worst_tracking_rmse_m": 0.021274649578161286, "worst_tracking_maximum_error_m": 0.02797250482879715, "lowest_altitude_at_control_rate_m": 0.07821995243686425, "contacts_at_control_rate": 0 }, "runs": [ { "run": 1, "stage": "diagnose", "name": "unchanged-example", "candidate": "unchanged-example", "settings": { "trajectory": "protocol", "feedforward": "none", "gains": {}, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.09097668588691611, "tracking_maximum_error_m": 0.10618539749477653, "rmse_within_gate_limit": false, "along_track_rmse_m": 0.09060114847971161, "cross_track_rmse_m": 0.00820180839671106, "altitude_rmse_m": 0.0009589620156661611, "mean_lag_s": 0.4780078570082133, "startup_rmse_m": 0.060506286325153105, "maximum_tilt_deg": 2.512435842307261, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.26735563748891544, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.09073748074564635, "finite": true }, "utc": "2026-10-09T17:52:09+00:00" }, { "run": 2, "stage": "diagnose", "name": "unchanged-example-control-240-hz", "candidate": "unchanged-example", "settings": { "trajectory": "protocol", "feedforward": "none", "gains": {}, "control_hz": 240, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.09371013358528768, "tracking_maximum_error_m": 0.10350166655544052, "rmse_within_gate_limit": false, "along_track_rmse_m": 0.09342692291823884, "cross_track_rmse_m": 0.007279989691577546, "altitude_rmse_m": 3.0995038998914447e-05, "mean_lag_s": 0.4937631240457253, "startup_rmse_m": 0.06609215749974554, "maximum_tilt_deg": 0.7372228432121033, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.41091803655919734, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.09821999903296916, "finite": true }, "utc": "2026-10-09T17:52:10+00:00" }, { "run": 3, "stage": "diagnose", "name": "unchanged-example-outer-seed-1", "candidate": "unchanged-example", "settings": { "trajectory": "protocol", "feedforward": "none", "gains": {}, "control_hz": 48, "physics": "pyb", "seed": 1, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.09097668588691611, "tracking_maximum_error_m": 0.10618539749477653, "rmse_within_gate_limit": false, "along_track_rmse_m": 0.09060114847971161, "cross_track_rmse_m": 0.00820180839671106, "altitude_rmse_m": 0.0009589620156661611, "mean_lag_s": 0.4780078570082133, "startup_rmse_m": 0.060506286325153105, "maximum_tilt_deg": 2.512435842307261, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.26735563748891544, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.09073748074564635, "finite": true }, "utc": "2026-10-09T17:52:10+00:00" }, { "run": 4, "stage": "diagnose", "name": "unchanged-example-outer-seed-2", "candidate": "unchanged-example", "settings": { "trajectory": "protocol", "feedforward": "none", "gains": {}, "control_hz": 48, "physics": "pyb", "seed": 2, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.09097668588691611, "tracking_maximum_error_m": 0.10618539749477653, "rmse_within_gate_limit": false, "along_track_rmse_m": 0.09060114847971161, "cross_track_rmse_m": 0.00820180839671106, "altitude_rmse_m": 0.0009589620156661611, "mean_lag_s": 0.4780078570082133, "startup_rmse_m": 0.060506286325153105, "maximum_tilt_deg": 2.512435842307261, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.26735563748891544, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.09073748074564635, "finite": true }, "utc": "2026-10-09T17:52:10+00:00" }, { "run": 5, "stage": "tune", "name": "unchanged-example on circle-fast", "candidate": "unchanged-example", "settings": { "trajectory": "circle-fast", "feedforward": "none", "gains": {}, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.10007018780658573, "tracking_maximum_error_m": 0.11051997034725272, "rmse_within_gate_limit": false, "along_track_rmse_m": 0.09743567705180113, "cross_track_rmse_m": 0.02279033861010051, "altitude_rmse_m": 0.0009652932919148407, "mean_lag_s": 0.46455886605866964, "startup_rmse_m": 0.07074887515803613, "maximum_tilt_deg": 2.994148282420695, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.26751838841826053, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.19073784460113952, "finite": true }, "utc": "2026-10-09T17:54:39+00:00" }, { "run": 6, "stage": "tune", "name": "reference-velocity on circle-fast", "candidate": "reference-velocity", "settings": { "trajectory": "circle-fast", "feedforward": "velocity", "gains": {}, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.01472882936221518, "tracking_maximum_error_m": 0.022406238877261276, "rmse_within_gate_limit": true, "along_track_rmse_m": 0.004125083839225647, "cross_track_rmse_m": 0.014107638600849603, "altitude_rmse_m": 0.0009469059131876342, "mean_lag_s": -0.00749898314133252, "startup_rmse_m": 0.01997999951039495, "maximum_tilt_deg": 2.935014189007015, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.2674270855670522, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.1908602673405693, "finite": true }, "utc": "2026-10-09T17:54:39+00:00" }, { "run": 7, "stage": "tune", "name": "reference-velocity-finite-difference on circle-fast", "candidate": "reference-velocity-finite-difference", "settings": { "trajectory": "circle-fast", "feedforward": "velocity-finite-difference", "gains": {}, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.014022615727847812, "tracking_maximum_error_m": 0.02350427630740528, "rmse_within_gate_limit": true, "along_track_rmse_m": 0.00440491380174777, "cross_track_rmse_m": 0.013278651958400717, "altitude_rmse_m": 0.000952831788784198, "mean_lag_s": 0.003001852888751521, "startup_rmse_m": 0.019374255410162553, "maximum_tilt_deg": 3.8166843098945034, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.26739957011048754, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.1908600728145532, "finite": true }, "utc": "2026-10-09T17:54:39+00:00" }, { "run": 8, "stage": "tune", "name": "position-gain-x2 on circle-fast", "candidate": "position-gain-x2", "settings": { "trajectory": "circle-fast", "feedforward": "none", "gains": { "P_COEFF_FOR": [ 0.8, 0.8, 1.25 ] }, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.048952434339990296, "tracking_maximum_error_m": 0.05834099146013504, "rmse_within_gate_limit": true, "along_track_rmse_m": 0.048672219670244446, "cross_track_rmse_m": 0.005142172241994378, "altitude_rmse_m": 0.0009559941507106546, "mean_lag_s": 0.23128095924193603, "startup_rmse_m": 0.04398260163883293, "maximum_tilt_deg": 3.7675029163634424, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.2673899380584542, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.19074355628079454, "finite": true }, "utc": "2026-10-09T17:54:39+00:00" }, { "run": 9, "stage": "tune", "name": "velocity-gain-half on circle-fast", "candidate": "velocity-gain-half", "settings": { "trajectory": "circle-fast", "feedforward": "none", "gains": { "D_COEFF_FOR": [ 0.1, 0.1, 0.5 ] }, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.05419361669353082, "tracking_maximum_error_m": 0.07104696723994015, "rmse_within_gate_limit": false, "along_track_rmse_m": 0.052527989618342305, "cross_track_rmse_m": 0.013298296358697313, "altitude_rmse_m": 0.0009558822819382833, "mean_lag_s": 0.2473337999286186, "startup_rmse_m": 0.05867781195914422, "maximum_tilt_deg": 3.9153043833898105, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.26756810688638266, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.19073786607178456, "finite": true }, "utc": "2026-10-09T17:54:39+00:00" }, { "run": 10, "stage": "tune", "name": "position-gain-x2-velocity-gain-half on circle-fast", "candidate": "position-gain-x2-velocity-gain-half", "settings": { "trajectory": "circle-fast", "feedforward": "none", "gains": { "P_COEFF_FOR": [ 0.8, 0.8, 1.25 ], "D_COEFF_FOR": [ 0.1, 0.1, 0.5 ] }, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.424801494198795, "tracking_maximum_error_m": 1.0728770738867304, "rmse_within_gate_limit": false, "along_track_rmse_m": 0.30268748338339896, "cross_track_rmse_m": 0.2878740348401717, "altitude_rmse_m": 0.07723429899593215, "mean_lag_s": 0.2152924182831635, "startup_rmse_m": 0.0389290967174105, "maximum_tilt_deg": 121.68344572016524, "motor_commands_at_a_limit": 175, "smallest_motor_margin_fraction": 0.0, "contacts_at_control_rate": 233, "minimum_altitude_at_control_rate_m": 0.05732247204123741, "finite": true }, "utc": "2026-10-09T17:54:39+00:00" }, { "run": 11, "stage": "tune", "name": "unchanged-example on figure-eight", "candidate": "unchanged-example", "settings": { "trajectory": "figure-eight", "feedforward": "none", "gains": {}, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.12190466055321142, "tracking_maximum_error_m": 0.18354416712305177, "rmse_within_gate_limit": false, "along_track_rmse_m": 0.1163638413833333, "cross_track_rmse_m": 0.03581998239070692, "altitude_rmse_m": 0.006093565839276049, "mean_lag_s": 0.4215646969465101, "startup_rmse_m": 0.105147480943077, "maximum_tilt_deg": 3.978093376645689, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.2665108937900608, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.22160487667039763, "finite": true }, "utc": "2026-10-09T17:54:40+00:00" }, { "run": 12, "stage": "tune", "name": "reference-velocity on figure-eight", "candidate": "reference-velocity", "settings": { "trajectory": "figure-eight", "feedforward": "velocity", "gains": {}, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.020671327097397153, "tracking_maximum_error_m": 0.03855762077811138, "rmse_within_gate_limit": true, "along_track_rmse_m": 0.012208448258941604, "cross_track_rmse_m": 0.016653634976035482, "altitude_rmse_m": 0.0009560319875920547, "mean_lag_s": 0.005669770645983284, "startup_rmse_m": 0.034956574011626176, "maximum_tilt_deg": 4.69953490189351, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.2664160621701651, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.22068827943174854, "finite": true }, "utc": "2026-10-09T17:54:40+00:00" }, { "run": 13, "stage": "tune", "name": "reference-velocity-finite-difference on figure-eight", "candidate": "reference-velocity-finite-difference", "settings": { "trajectory": "figure-eight", "feedforward": "velocity-finite-difference", "gains": {}, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.023828887961120763, "tracking_maximum_error_m": 0.03649785391069993, "rmse_within_gate_limit": true, "along_track_rmse_m": 0.013042484772547481, "cross_track_rmse_m": 0.01991638952054238, "altitude_rmse_m": 0.0010231915204607764, "mean_lag_s": 0.0043408618672065346, "startup_rmse_m": 0.0356201860096321, "maximum_tilt_deg": 4.472979583532931, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.26642588611656853, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.22062682525381203, "finite": true }, "utc": "2026-10-09T17:54:40+00:00" }, { "run": 14, "stage": "tune", "name": "position-gain-x2 on figure-eight", "candidate": "position-gain-x2", "settings": { "trajectory": "figure-eight", "feedforward": "none", "gains": { "P_COEFF_FOR": [ 0.8, 0.8, 1.25 ] }, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.06325257116362337, "tracking_maximum_error_m": 0.09038825007746328, "rmse_within_gate_limit": false, "along_track_rmse_m": 0.0625499365847272, "cross_track_rmse_m": 0.007144223605608305, "altitude_rmse_m": 0.0061117314346193505, "mean_lag_s": 0.22619848035927936, "startup_rmse_m": 0.07019450886493003, "maximum_tilt_deg": 5.687986988680929, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.2664331875153709, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.2214777101126678, "finite": true }, "utc": "2026-10-09T17:54:40+00:00" }, { "run": 15, "stage": "tune", "name": "velocity-gain-half on figure-eight", "candidate": "velocity-gain-half", "settings": { "trajectory": "figure-eight", "feedforward": "none", "gains": { "D_COEFF_FOR": [ 0.1, 0.1, 0.5 ] }, "control_hz": 48, "physics": "pyb", "seed": 0, "mass_scale": 1.0, "thrust_scale": 1.0, "start_offset_m": [ 0, 0, 0 ], "position_noise_m": 0.0 }, "result": { "tracking_rmse_m": 0.07061858864018408, "tracking_maximum_error_m": 0.10379946032212795, "rmse_within_gate_limit": false, "along_track_rmse_m": 0.06805044388215113, "cross_track_rmse_m": 0.01784560700784249, "altitude_rmse_m": 0.006136485923994181, "mean_lag_s": 0.24725164459967416, "startup_rmse_m": 0.08869853673375948, "maximum_tilt_deg": 8.804063459322647, "motor_commands_at_a_limit": 0, "smallest_motor_margin_fraction": 0.2663856667815269, "contacts_at_control_rate": 0, "minimum_altitude_at_control_rate_m": 0.22166670303398506, "finite": true }, "utc": "2026-10-09T17:54:40+00:00" }, { "run": 16, "stage": "tune", "name": 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