This is an earlier experiment. Read the amendments below before treating its findings as current.
The question
The wing's 22 m/s result came from the runs the setting was picked on, and the test sets had never been checked for close calls. Both needed settling before adoption.
What was tested
Two fresh sets of layouts on the wing crossing. All 1 935 runs of the storm and standard mixed test sets were re-flown with the close-call gauge, for the old controller and both candidates on three airframes. Then the default was switched, with proof runs.
What was found then
Fresh layouts held: at 22 m/s the new setting lost 38 and 40 craft where the old lost 102 and 116. Over five sets, wing losses were 0.21 to 0.43 of the old controller's. On the mixed set, deep time inside the old bubble fell to a third. In storms it rose slightly (1.09–1.35×), within the range agreed in advance as no real difference, and sat above the full-room version on multirotor and eVTOL. On the crossing at 22 m/s, deep stays were fewer but longer (2.3 s against 1.8 s).
What we learned later
On five sets of layouts the multirotor's storm-test gain depended on the layout: collisions were 42–83 % of the old controller's.
research/data/oos/tau_mroffsets.md
The smaller extra room, not early reaction, turned out to cause the multirotor's extra closeness in storms.
research/data/oos/mr_bubble_only.md
The room was later set per airframe: full for the slow-responding test craft (c181), multirotor (c182) and wing (c185).
research/design/tau_stage_close.md §10
What changed
Since cycle 148, slow-responding craft by default react earlier: each treats a closing neighbour as if it will pass nearer than predicted, by 5 × closing speed × its own response delay. Their extra room is set to three-quarters of the old amount. The old controller can still be selected.
Numbers and source references
- 1 935
- benchmark runs re-flown with the close-call gauge (none changed its collision count)research/data/oos/tau_adopt_j2_record.md
- 38 and 40 vs 102 and 116
- wing lost at 22 m/s on fresh offsets 300 / 400, new setting vs today'sresearch/data/oos/tau_j2edge.md
- 0.35 / 0.21 / 0.43
- five-offset loss ratio, new vs today's, at 8 / 16 / 22 m/sresearch/data/oos/tau_j2edge.md
- a third
- wing matrix deep exposure, new vs today's (0.025 / 0.075)research/data/oos/tau_sevsuites.md
- 1.09–1.35×
- storm-set deep exposure vs today's on wing / multirotor / eVTOLresearch/data/oos/tau_adopt_j2_record.md
- 2.3 vs 1.8 s
- average of run-level 90th-percentile time at depth per deep episode, wing crossing 22 m/s, new vs today's (2.27 / 1.80)research/data/oos/tau_adopt_j2_record.md
- 148
- adoption cycleresearch/data/oos/tau_adopt_j2_record.md