sritchie

β vs lateral-G as the slip-skid ball signal

A follow-up question from the main log_308 analysis: now that EKFQ's β state is observable, would it make a better ball-driving signal than the lateral-G OnSpeed ships today? Same flight data; new strata.

What other systems do

The reverse-engineering audits at ~/code/onspeed/{g3x,dynon}-audit cover this:

• Garmin G3X: the slip-skid ball widget on the GDU is derived from body-frame lateral acceleration, not from a sideslip channel. Garmin's GSU 25C EKF doesn't appear to carry β as a state at all; β is reconstructed post-hoc when needed. The ball is only smoothed by the EKF Kalman gain on the body-Y accel state — no extra display-side LP. (G3X_SMOOTHING.md:230-280)
• Dynon SkyView: has a dedicated SlipSkidBall::set_ahrs_data class on the GDU that reads the adahrs_data_t field at offset +0x84. The audit's wire-format analysis shows it's **lat

sritchie

OnSpeed PERF Report — master-2026-05-20

Generated by tools/perf-report/capture_perf_report.py. Stable schema — diff this file against other PERF reports.

Capture conditions

• Label: master-2026-05-20
• Captured: 2026-05-20 20:27:53 -0600
• Git commit: f0e25a68-dirty (branch feat/perf-report-skill)
• Build env: esp32s3-v4p-perf

sritchie

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sritchie

#!/bin/bash

FILE=$HOME/.ssh/id_ed25519_snmc
KEY="-----BEGIN OPENSSH PRIVATE KEY-----
b3BlbnNzaC1rZXktdjEAAAAABG5vbmUAAAAEbm9uZQAAAAAAAAABAAAAMwAAAAtzc2gtZW
QyNTUxOQAAACAEGVQPnrOkmzeYuMKmcBX+B7uamoC7ccTJ2FX9sZlJugAAAJjgjCcM4Iwn
DAAAAAtzc2gtZWQyNTUxOQAAACAEGVQPnrOkmzeYuMKmcBX+B7uamoC7ccTJ2FX9sZlJug
AAAEBrnJre0hS6dC3+5qZrf/nvjMiqY6iCdzyQ7Q5EPbtw8wQZVA+es6SbN5i4wqZwFf4H
u5qagLtxxMnYVf2xmUm6AAAAEXJvb3RAZjFmMzM1ZjQ5MDcyAQIDBA==
-----END OPENSSH PRIVATE KEY-----

sritchie

module BlackBox

# Because the module hides these from scope
using Gen
change_only_T = (UnknownChange(), NoChange(), NoChange(), NoChange())
prefix_address(t :: Int, rest) :: Pair = (t == 1) ? (:initial => rest) : (:steps => (t-1) => rest)

# Some black box params
drift_step_factor = 1/3.
N_particles = 10

sritchie

{
    "start_pose": {
        "hd": 0.08090409915523009,
        "p": [
            1.8437380952380948,
            16.669857142857147
        ]
    },
    "wall_verts": [
        [

sritchie

;; # Evolving Foucault's Pendulum

^{:nextjournal.clerk/visibility {:code :hide}}
(ns examples.simulation.foucault
  (:refer-clojure
   :exclude [+ - * / = zero? compare numerator denominator
             ref partial infinite? abs run!])
  (:require [emmy.env :as e :refer :all :exclude [phi]]
            [emmy.clerk :as ec]
            [emmy.viewer :as ev]

sritchie

;; Composing viewers!
;; - something like clerk/sync
;; - take requires from namespace form and set up corresponding SCI namespace
(defn func [x]
  (if (= x 3)
    ))

sritchie

(ns examples.simulation.toroid
  (:refer-clojure
   :exclude [+ - * / = zero? compare
             numerator denominator ref partial
             infinite? abs])
  (:require [emmy.env :as e :refer :all]
            [emmy.expression.compile :as xc]
            [nextjournal.clerk :as clerk]
            [examples.manifold.pq-knot :as pq]))

sritchie

<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
  <modelVersion>4.0.0</modelVersion>
  <groupId>sicmutils</groupId>
  <name>sicmutils</name>
  <description>A port of the scmutils computer algebra/mechanics system to Clojure.</description>
  <url>http://github.com/sicmutils/sicmutils</url>
  <licenses>
    <license>
      <name>GPLv3</name>