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Private:Winter projecten

Aran Dokoupil — Thu, 22 Oct 2026 12:20:48 GMT

Winter 2026-2027

Tuning parameters

Aran Dokoupil — Tue, 20 Oct 2026 22:02:54 GMT

Show changes

Winter projecten

Quintenlb — Tue, 20 Oct 2026 18:18:00 GMT

Quintenlb moved page Winter projecten to Private:Winter projecten without leaving a redirect

New page

Welkom op de project pagina. Hier hebben we alle projecten op een rijtje wat we graag zouden willen doen.

Vraag Aran of Stef voor meer info.

== Winter 2026-2027 ==
{| class="wikitable"
|+
!Project
!Beschrijving
!Prio
!Verantwoordelijke
|-
|Tafel
|Tafel die onder de boot past, waar de vleugels en staartstuk in vervoert kan worden.
|
|
|-
|Telefoonhouder
|Houder voor telefoon.
|
|Daan
|-
|Voorvleugel bevestiging
|Vervanging van de huidige bevestiging.
Waar de elektronica binnen de boot bevind en de bevestigingshardware flush met de romp is.
En de vermindering van de speling van de struts t.o.v. de bevestiging.
|
|Stef
|-
|Datalogger mount
|Houder waar de doos van de datalogger zo bevestigd kan worden,
zodat de schipper tijdens het varen naar het scherm kan kijken.
|
|
|-
|LCD Dataloggerscherm visualisatie app van de boot
|Voor tijdens het testvaren om het gedrag van de boot zichtbaar te maken.
|
|
|-
|Bekerhouder
|Drost
|
|Daan
|-
|Geintegreerde datalogger
|Huidige dataloggermodules integreren in een enkele PCB waar we het scherm loskoppelen van de datalogger.
|
|Floris/Quinten
|-
|Cockpitrand + zonnepanelen
|Modulair splashscreen, ruimte voor zonnepanelen
|
|
|-
|Motordriver
|More power
|
|Aran
|-
|Schroefbladen
|Meer concrete data en know-how t.o.v. ontwerp
|
|
|-
|Batterij software verbeteren
|Software in de batterij is nog een beetje flaky, aantal bugs die er nog uitgehaald dienen te worden
|1
|
|-
|MPPT fases werkend maken
|Huidige status (20-10-2026) zijn er 7 werkende, we willen meer voor backup
|
|Aran
|-
|Boot protocol voor aan en uitzetten + aansluiten
|Alleen Aran weet precies wat het protocol is van het aan en uit zetten van de boot + het aansluiten.
|
|Aran
|-
|BMS fixen voor backup
|Quinten (PCB) is zwartgeblakert en Floris (PCB) werking is unknown(gekanibaliseerd)
|
|
|-
|Cellen update batterij
|Om hogere stromen te trekken zonder dat spanning inzakt
|10
|
|-
|Whitepaper MPPTs
|Voor Rhode & Schwarz efficientie en karakteriseren van de GaN MPPTs uitvoeren en dan een paper schrijven
|1
|Aran
|-
|Stuurlagers
|Ontwerp aanpassing voor een makkelijker montage van het staartstuk
|
|Stef
|-
|Nieuw achterlijk
|Voor de nieuwe zonnepanelen zal er ook een nieuw achterlijk ontworpen moeten worden
|
|
|-
|Stuurschijfmeme
|Stuurschijf in het EoI logo
|
|
|-
|Staartstuk anodiseren
|Beginnen met iets kleiners en eventueel meer
|
|Stef
|-
|Motordriverdoos
|Metalendoos voor de motorodriver
|
|Nick
|-
|Beschermhoes voor de neus van de boot o.i.d.
|De neus van de boot is beschadigd door de stang die hem tegenhoud aan de voorkant
|
|
|-
|Kijken naar de lichtbalk
|
|
|
|-
|Bilgepomp bevestiging
|Bilgepomp zwiebert rond als een worst in de gang in de boot
|
|
|-
|Verschillende vormen vleugels
|Andere vormen vleugels voor testen
|
|
|-
|Trailer ontwerp aanpassen
|Boot op een bok en bok op de trailer
|
|
|-
|Live data homeassistant
|Homeassistant is kapot moet gefixt worden als backup
|
|
|-
|Tweede gashendel
|Handig voor testen
|
|
|-
|Gashendel IP6x maken
|Handig tegen water
|
|
|-
|USB aansluiting in de cockpit (waterdicht)
|Handig om te testen
|
|
|-
|Tweede GNSS antenne
|Met een tweede kan vanuit de GPS de heading bepaald worden van de boot
|
|
|-
|WiFi antenne
|Voor bereik van de datalogger in de boot als je naast de boot staat met een hotspot
|
|
|-
|Mobiele hotspot of geintegreerd
|Er is een 4G antenne beschikbaar op de boot, eventueel is een mobiele hotspot makkelijker te implementeren
|
|
|-
|Hoogte sensoren vervangen
|Upgraden naar een 50+GHz module om bestand te zijn tegen wateropspattend
|
|
|-
|gRPC interface
|Online maken en interfacen naar de boot toe etc. etc.
|
|
|-
|Nieuwe vlag stok
|Vlagstok is stuk
|
|
|-
|Bevestigingspunt voor de boei
|Boei ligt nu ergens in de boot geen vast plek
|
|
|-
|Nieuwe stickers
|Zoeken naar brand kleuren
|
|
|-
|Kerst dingetjes voor sponsoren
|Vorig jaar hadden we de boot op schaal geprint en opgestuurd
|
|
|}

*

Winter projecten

Quintenlb — Tue, 20 Oct 2026 18:15:47 GMT

Yay first commit

New page

First foiling day (17 October 2026)

Aran Dokoupil — Tue, 06 Oct 2026 17:05:38 GMT

On the water

@@ Line 74: / Line 74: @@
 # small throttle changes while flying;
 # a full-throttle takeoff (last).
 == Key numbers ==
@@ Line 140: / Line 138: @@
 * '''Overreacts or lags on throttle changes:''' <code>HYD_FRNTFF</code> is the live knob.
 * '''Rides steadily off target:''' let the rear-foil offload settle (about 20 s), then check <code>HYDR.Bias</code>.
 == Notes ==
 Speeds are converted from m/s at ×3.6 and rounded. Tune values are from <code>hydrofoils.lua</code> rev 27 (6 October 2026). The tuning parameters themselves, with their ranges and hotkeys, are on [[Tuning parameters]].

First foiling day (17 October 2026)

Aran Dokoupil — Tue, 06 Oct 2026 17:02:43 GMT

Created page with "The '''first foiling day''' is the hydrofoil's first time on the water under autopilot control, planned for '''17 October 2026'''. This page is the plan for the day: what to check at the dock, the four stages on the water in order, when to stop, and what to read in the logs between runs. Read the pilot guide first; this page assumes the driver knows the status light. The goal of the day is modest on purpose: check that th..."

New page

The '''first foiling day''' is the hydrofoil's first time on the water under [[Autopilot|autopilot]] control, planned for '''17 October 2026'''. This page is the plan for the day: what to check at the dock, the four stages on the water in order, when to stop, and what to read in the logs between runs. Read the [[Foiling information for pilots|pilot guide]] first; this page assumes the driver knows the status light.

The goal of the day is modest on purpose: check that the [[Height sensors|height sensors]] hold up under way, then get the first real unstick and trim. Every number below marked ''sim'' is a prediction from the software-in-the-loop simulator, not a measurement. Replacing those predictions with real numbers is the most valuable result of the day, more than a long flight.

== Stop rules ==

{| class="wikitable" style="border: 2px solid #b3261e;"
|-
! style="background:#fbeceb; color:#b3261e;" | SOLID RED LIGHT = CUT THE THROTTLE
|-
| Come off the foils first, ask why afterwards. A self-clearing alarm still means: come in and read the log before the next run.
|}

Stop the run and come off the foils on any of these:
* any alarm (steady red with a long blast), or steady red without beeps;
* a roll oscillation that grows from one swing to the next;
* ride height more than '''0.15 m''' off target, or a foil ventilating;
* blinking red with counted beeps: follow the [[Foiling information for pilots|pilot guide]]. Do not foil on 3, 4, 5 or 6 beeps.

== Before the day (at the dock) ==

* Upload <code>hydrofoils.lua</code> '''rev 27''' and <code>foil_tune.lua</code> '''protocol v11''', power-cycle for the reboot gate (2 beeps), then confirm <code>HYD_SEED</code> = 27, <code>HYD_RSCALE</code> = 1.0 and <code>HYD_FRNTFF</code> = 0.944. Update the keyboard tuner and the display at the same time, or the tuner will flag a version mismatch.
* Take a fresh parameter dump (<code>tools/fc_backup.py</code>). The backup file in the repository is from July.
* '''Sort out the compass / yaw.''' It has never been calibrated, and in the August logs the attitude estimate's heading was stuck. An unhealthy attitude estimate blocks foiling.
* Check directions with the boat on its trailer: a nose-up pitch demand gives the front foils more angle, and a roll demand moves the correct wing.
* The rear foil stepper (on the [[Rudder controller|rudder controller]]) homes, and jogging it moves the foil the way the setpoint says.
* Measure the real rear foil angle at two or three setpoints. The rear-trim logic assumes the commanded angle is the true angle.
* The height sensors read about '''0.114 m''' at rest. Transducers clean and dry (at the Hungary race 70–90 % of readings under way were missing).
* Weigh the driver and the boat. The rear-foil schedule assumes '''180 kg''' all-up.
* Logging is on: the flight controller logs HYDC, HYDR, ATT and RCOU, and the [[Datalogger|datalogger]] records the CAN bus.
* The driver knows the light: blinking green = ready, steady green = foiling, solid red = cut the throttle.
* Pre-launch check: flip the enable switch off and on and see the light change between blinking and steady. Launch only on green.
* Coordinated-turn banking stays off all day (<code>TRN_ENABLE</code> = 0).

== On the water ==

Do the stages in this order. Each one has a time box and a go / no-go check; do not start the next stage until the current one passes.

=== Stage 1: displacement, foil control off (about 30 min) ===

Speed steps at '''11, 14, 18 and 22 km/h''', about 30 s each, then one full-throttle run.

This is mainly a sensor check under way. On the Zaan the boat already reached '''26–28 km/h''' with the struts mounted, so the top speed should match that. The sim needs '''23–27 km/h''' to unstick, so the margin is real but thin.

'''Go / no-go:''' top speed close to the Zaan 26–28 km/h · height sensors give readings under way · attitude estimate healthy · no alarms.

=== Stage 2: height mode on, below 18 km/h (about 10 min) ===

Enable at the dock and run up to about '''15–17 km/h'''. Nothing can lift at this speed, so this is a free check of the whole chain: the rear foil moves with speed, the alarms stay quiet and the light stays green.

'''Go / no-go:''' rear foil follows speed · no alarms, no yellow.

=== Stage 3: wheelie (about 20 min) ===

Set <code>SCR_USER1</code> = 1 (roll-test / wheelie mode: height loop off, fixed nose-up pitch). Start around '''15 km/h''', add speed until the bow lifts, and stay below '''22 km/h'''. Give small roll steps (<code>SCR_USER3</code>) and pitch-trim steps (<code>SCR_USER2</code>); see [[Tuning parameters]].

This stage is short on purpose. It does not teach much about foiling, but it is the cheapest way to catch the errors most likely to wreck a first flight: a pitch or roll sign the wrong way round, an unstable roll loop, or pitch that does not follow its demand. All of it happens with the stern still in the water. Do not tune roll to its best wheelie value: the stern adds damping that disappears on lift-off, and the flying gains are about twice the wheelie optimum.

'''Go / no-go:''' bow goes up when asked · roll settles without growing swings. If roll oscillates, halve the roll gains.

=== Stage 4: first takeoffs (rest of the day) ===

Set <code>SCR_USER1</code> = 0. Flat water, ideally in the morning, with a chase boat and enough depth for foils hanging about '''0.6 m''' below the hull.

* Start with <code>HYD_TARGET</code> = '''0.22 m''' (the default is 0.30). Further from the struts breaching, still clear of the 0.15 m floor.
* Push gently: about '''1–2 km/h per second''', up to just above unstick. Full throttle on the Zaan was about 6 km/h per second; a slow push gives the smallest fly-up.
* Hold a few seconds, then ease off.

Change '''one''' thing per run, in this order:
# hold longer;
# target 0.26 m;
# target 0.30 m;
# a harder push;
# small throttle changes while flying;
# a full-throttle takeoff (last).

After every run: add a line to [[#Results|Results]], and read the [[#Reading the logs between runs|log checks]] before the next step.

== Key numbers ==

{| class="wikitable"
|-
! Value !! What it is
|-
| 23–27 km/h || Unstick speed (sim)
|-
| 26–28 km/h || Top speed with struts mounted (Zaan logs, August)
|-
| 18 km/h || Below this the controller treats the boat as not foiling
|-
| 0.22 → 0.30 m || Ride-height target ladder for the day
|-
| ≈ 0.56 m || Ride height where the struts breach
|-
| 0.15 m · 0.114 m || Lowest allowed target · resting height reading
|-
| 1–2 km/h per second || Gentle push for the first takeoffs
|-
| ≈ 6 km/h per second || Full-throttle push measured on the Zaan
|-
| 2 °/s || Rear foil stepper speed
|-
| 180 kg || All-up mass the rear-foil schedule assumes
|}

== Reading the logs between runs ==

Each of these checks a model assumption that cannot be verified any other way.

{| class="wikitable"
|-
! Look at !! What it tells you
|-
| Unstick speed || Whether the lift model and <code>HYD_RSCHED</code> are right
|-
| <code>HYDR.Bias</code> after a steady stretch || How far the rear-foil schedule is off on the real boat
|-
| Pitch and front-foil servo at steady trim || Whether the front foils sit near their cruise trim, as the speed feed-forward assumes
|-
| <code>HYDC.I</code> and <code>HYDC.Deg</code> against the +2 / −3° clamp || Whether the height loop is running out of authority
|-
| <code>HYDR.Lag</code> || Whether the 2 °/s rear stepper keeps up
|-
| Rangefinders against the EKF height, in flight || Whether the height estimate holds up at speed
|-
| Motor current flying vs displacing at the same speed || Drag saved by flying, and the margin for takeoff
|}

== If it won't take off ==

* More speed, or less mass.
* Lower <code>HYD_TARGET</code>; it costs nothing.
* More rear lift at low speed: raise <code>HYD_RSCHED</code>. This brings back a bigger fly-up, so push gently.
* Do not raise the height gains. In the simulator, more gain never helped the fly-up.

== If it flies badly ==

* '''Roll oscillates after lift-off:''' turn the roll gains down, and note the speed it starts at.
* '''Big fly-up:''' push more gently first, then give the height loop more nose-down authority (<code>HYD_CMDMIN</code>).
* '''Overreacts or lags on throttle changes:''' <code>HYD_FRNTFF</code> is the live knob.
* '''Rides steadily off target:''' let the rear-foil offload settle (about 20 s), then check <code>HYDR.Bias</code>.

== Results ==

Fill this in during or after the day. One line per run.

{| class="wikitable"
|-
! Run !! Time !! Stage !! Target (m) !! Top speed (km/h) !! Unstick (km/h) !! Flight (s) !! Light / alarms !! Notes
|-
| 1 || || || || || || || ||
|-
| 2 || || || || || || || ||
|-
| 3 || || || || || || || ||
|-
| 4 || || || || || || || ||
|-
| 5 || || || || || || || ||
|}

== Notes ==

Speeds are converted from m/s at ×3.6 and rounded. Tune values are from <code>hydrofoils.lua</code> rev 27 (6 October 2026). The tuning parameters themselves, with their ranges and hotkeys, are on [[Tuning parameters]].

Tuning parameters

Aran Dokoupil — Tue, 06 Oct 2026 17:00:04 GMT

← Older revision		Revision as of 17:00, 6 October 2026
Line 10:		Line 10:
	! Property !! Value		! Property !! Value
	\|-		\|-
	\| Protocol version \|\| '''9''' (both sides check it at connect; index <code>0xFE</code> returns it)		\| Protocol version \|\| '''11''' (both sides check it at connect; index <code>0xFE</code> returns it)
	\|-		\|-
	\| CAN identifiers \|\| <code>0x260</code> set · <code>0x261</code> value/ack · <code>0x262</code> request — 11-bit standard IDs		\| CAN identifiers \|\| <code>0x260</code> set · <code>0x261</code> value/ack · <code>0x262</code> request — 11-bit standard IDs
Line 16:		Line 16:
	\| Value encoding \|\| IEEE754 float32, little-endian		\| Value encoding \|\| IEEE754 float32, little-endian
	\|-		\|-
	\| Parameters \|\| 50 tunable entries (indices 1–59 with gaps; 37/38/58 retired, 59 off the grid)		\| Parameters \|\| 49 tunable entries (indices 1–59 with gaps; 37/38/54/58 retired, 59 off the grid)
	\|-		\|-
	\| Persistence \|\| All writes '''volatile''' by default — a power-cycle reverts a bad tune; persisting to flash is an explicit flag		\| Persistence \|\| All writes '''volatile''' by default — a power-cycle reverts a bad tune; persisting to flash is an explicit flag
Line 57:		Line 57:
	* '''Boot dump.''' About five seconds after every flight-controller boot, the bridge transmits one unsolicited full dump — one <code>0x261</code> per entry, then an end marker (index <code>0xFF</code>, value = entry count). A passive listener is repopulated after every power-cycle without asking, and can always re-request with <code>0x262</code>/<code>0xFF</code>.		* '''Boot dump.''' About five seconds after every flight-controller boot, the bridge transmits one unsolicited full dump — one <code>0x261</code> per entry, then an end marker (index <code>0xFF</code>, value = entry count). A passive listener is repopulated after every power-cycle without asking, and can always re-request with <code>0x262</code>/<code>0xFF</code>.
	* '''Cursor convention.''' When the helm keyboard's cursor settles on a cell, the tool ''re-requests'' that cell's parameter(s). The resulting <code>0x261</code> is read-only — no value changes — but tells the display where the cursor is: the latest solo value frame is "cursor here". During active tuning the acks serve the same purpose.		* '''Cursor convention.''' When the helm keyboard's cursor settles on a cell, the tool ''re-requests'' that cell's parameter(s). The resulting <code>0x261</code> is read-only — no value changes — but tells the display where the cursor is: the latest solo value frame is "cursor here". During active tuning the acks serve the same purpose.
	* '''Congestion is a non-issue by construction.''' CAN arbitration gives numerically ''lower'' IDs priority, so the tuning traffic (<code>0x260</code>–<code>0x262</code>) and the [[Throttle\|throttle]] beeper (<code>0x338</code>) always yield to the safety frames — rear foil <code>0x010</code>, height sensors <code>0x011</code>/<code>0x012</code> — bit-for-bit, without delaying them. A full 50-parameter restore plus its acks costs about 13 ms of wire time at 1 Mbit/s, and is paced anyway to protect the FC's receive buffer.		* '''Congestion is a non-issue by construction.''' CAN arbitration gives numerically ''lower'' IDs priority, so the tuning traffic (<code>0x260</code>–<code>0x262</code>) and the [[Throttle\|throttle]] beeper (<code>0x338</code>) always yield to the safety frames — rear foil <code>0x010</code>, height sensors <code>0x011</code>/<code>0x012</code> — bit-for-bit, without delaying them. A full 49-parameter restore plus its acks costs about 13 ms of wire time at 1 Mbit/s, and is paced anyway to protect the FC's receive buffer.

	== Safety model ==		== Safety model ==
Line 63:		Line 63:
	Two independent mechanisms protect the boat from the tuning surface itself, because the bridge is reachable from any node on a shared bus and — since the helm keyboard exists — from a single keystroke:		Two independent mechanisms protect the boat from the tuning surface itself, because the bridge is reachable from any node on a shared bus and — since the helm keyboard exists — from a single keystroke:

	* '''Whitelist and clamps (wrong values).''' Only the entries in the table below exist; everything else is refused. Every accepted value is clamped FC-side to the listed min/max, so no UI bug can write an out-of-range gain. A few floors are deliberately non-zero: the rate-loop P gains cannot go below 0.02, because <code>P = 0</code> means "inner loop off", which is not a tune and must not be one key-repeat away on a manned foiler. <code>HYD_RKP</code> was floored at 0.15 on the same reasoning until 2026-08-24~~; it now reaches~~ 0, ~~because~~ the term ~~is computed~~ in the Lua script and so never provided the passive stability the floor was protecting, while the front elevons are closed by FBWA ~20× faster than the boat's divergent pitch root. Its default is still 0.4.		* '''Whitelist and clamps (wrong values).''' Only the entries in the table below exist; everything else is refused. Every accepted value is clamped FC-side to the listed min/max, so no UI bug can write an out-of-range gain. A few floors are deliberately non-zero: the rate-loop P gains cannot go below 0.02, because <code>P = 0</code> means "inner loop off", which is not a tune and must not be one key-repeat away on a manned foiler. (<code>HYD_RKP</code>, the rear pitch term, was floored at 0.15 on the same reasoning until 2026-08-24, then 0, and was retired with the term in 2026-09.)
	* '''In-flight locks (wrong moments).''' Some entries are refused outright (status 5) whenever the enable pin says the autopilot is controlling the boat. These are the entries that are ''not tuning at all'': they change what the system is doing rather than how well it does it. A wrong gain degrades gradually; these act instantly. The attitude '''envelope''' (<code>ROLL_LIMIT_DEG</code>, <code>PTCH_LIM_*</code>) defines what the boat is ever allowed to do — its whole legal range contains capsize territory, so changing it is an ashore decision. The '''mode knobs''' <code>SCR_USER1</code> (flips to roll-test mode, dropping the height loop on the very next 10 Hz iteration) and <code>SCR_USER4</code> (open-loop rear-foil jog, a bench calibration function) are flight-mode changes, not parameter tweaks. <code>TRN_REV</code> flips the steering sense — mid-turn that would drive the bank to the opposite stop. To change any of them: enable off, write, re-enable — a deliberate two-hand action.		* '''In-flight locks (wrong moments).''' Some entries are refused outright (status 5) whenever the enable pin says the autopilot is controlling the boat. These are the entries that are ''not tuning at all'': they change what the system is doing rather than how well it does it. A wrong gain degrades gradually; these act instantly. The attitude '''envelope''' (<code>ROLL_LIMIT_DEG</code>, <code>PTCH_LIM_*</code>) defines what the boat is ever allowed to do — its whole legal range contains capsize territory, so changing it is an ashore decision. The '''mode knobs''' <code>SCR_USER1</code> (flips to roll-test mode, dropping the height loop on the very next 10 Hz iteration) and <code>SCR_USER4</code> (open-loop rear-foil jog, a bench calibration function) are flight-mode changes, not parameter tweaks. <code>TRN_REV</code> flips the steering sense — mid-turn that would drive the bank to the opposite stop. To change any of them: enable off, write, re-enable — a deliberate two-hand action.

Line 188:		Line 188:
	=== Rear-foil schedule ===		=== Rear-foil schedule ===

	The rear foil's static trim and speed schedule, also in <code>hydrofoils.lua</code>. ~~This group~~ is ~~what makes the boat statically stable~~ in ~~pitch, so it has the map's most protective floor~~.		The rear foil's static trim and speed schedule, also in <code>hydrofoils.lua</code>. The rear is trim only: it takes no part in attitude or height control.

	{\| class="wikitable sortable"		{\| class="wikitable sortable"
Line 194:		Line 194:
	! Idx !! Hotkey !! Parameter !! Min !! Max !! Fine !! Coarse !! Locked !! Description		! Idx !! Hotkey !! Parameter !! Min !! Max !! Fine !! Coarse !! Locked !! Description
	\|-		\|-
	\| 54 \|\| ~~<code>K</code>~~ \|\| ~~<code>HYD_RKP</code>~~ \|\| 0 \|\| ~~1.2~~ \|\| ~~0.02~~ \|\| ~~0.1~~ \|\| \|\| ~~The~~ rear foil's ~~'''~~pitch-error~~''' gain. Floored at~~ 0 ~~since 2026-08-24 (was 0.15). K = 0.059 neutralises the natural −59 mm static margin~~, ~~but~~ the term ~~runs in the Lua script and so was never the passive stability it was described as; the front elevons are closed by FBWA~~ at ~~TCONST 0.5 s, ~20× faster than the 9.9 s divergent root. SITL measures it as harmful in normal operation (ride-height sd 29.6 → 18.1 mm in chop as 0.4 → 0, monotone). Default 0 since tune~~ rev ~~22:~~ the rear is ~~a 2 °/s stepper, and through it the term is a second, laggy pitch loop that also dithers the stepper on pitch noise~~		\| 54 \|\| — \|\| ''retired'' \|\| \|\| \|\| \|\| \|\| \|\| Was <code>HYD_RKP</code> (the rear foil's pitch-error term: 0 from tune rev 22, removed with the term at rev 23 / protocol v10 — the rear is trim only). Reserved forever
	\|-		\|-
	\| 55 \|\| <code>W</code> \|\| <code>HYD_RSCALE</code> \|\| 0.5 \|\| 1.2 \|\| 0.02 \|\| 0.1 \|\| \|\| Rear ~~decalage~~ scale — the ~~rear foil runs shallower than~~ the ~~fronts; the floor keeps it from being scheduled to nothing~~		\| 55 \|\| <code>W</code> \|\| <code>HYD_RSCALE</code> \|\| 0.5 \|\| 1.2 \|\| 0.02 \|\| 0.1 \|\| \|\| Rear schedule scale. 1.0 (since rev 27): anything else does not change the foils' flying angles, it only tilts the boat's trim attitude
	\|-		\|-
	\| 56 \|\| <code>Y</code> \|\| <code>HYD_RSCHED</code> \|\| 0 \|\| 1200 \|\| 5 \|\| 25 \|\| \|\| Speed-schedule strength (deg·m²/s²)		\| 56 \|\| <code>Y</code> \|\| <code>HYD_RSCHED</code> \|\| 0 \|\| 1200 \|\| 5 \|\| 25 \|\| \|\| Speed-schedule strength (deg·m²/s²)
	\|-		\|-
	\| 57 \|\| <code>V</code> \|\| <code>HYD_FRNTFF</code> \|\| 0 \|\| 0.5 \|\| 0.01 \|\| 0.05 \|\| \|\| Fraction of the rear schedule fed forward to the front-foil trims		\| 57 \|\| <code>V</code> \|\| <code>HYD_FRNTFF</code> \|\| 0 \|\| 1.2 \|\| 0.01 \|\| 0.05 \|\| \|\| Fraction of the rear schedule's change from its 9 m/s (cruise) angle fed forward to the front-foil trims. 0.944 = moment balance (rev 27): the fronts move with speed at once instead of waiting for the pitch integrator
	\|-		\|-
	\| 58 \|\| — \|\| ''retired'' \|\| \|\| \|\| \|\| \|\| \|\| Was <code>HYD_IGATE</code> (integrator-gating bitmask, added to measure what the two integrator gates were worth and removed once measured). Reserved forever		\| 58 \|\| — \|\| ''retired'' \|\| \|\| \|\| \|\| \|\| \|\| Was <code>HYD_IGATE</code> (integrator-gating bitmask, added to measure what the two integrator gates were worth and removed once measured). Reserved forever
Line 251:		Line 251:
	! Index !! Meaning		! Index !! Meaning
	\|-		\|-
	\| <code>0xFE</code> \|\| Protocol-version query: the reply's value is the version (currently '''9'''). Any tool should check this before trusting its own copy of this map		\| <code>0xFE</code> \|\| Protocol-version query: the reply's value is the version (currently '''11'''). Any tool should check this before trusting its own copy of this map
	\|-		\|-
	\| <code>0xFF</code> \|\| As a request: dump the whole table (one <code>0x261</code> per entry, paced). As a reply: the end-of-dump marker, value = number of entries sent		\| <code>0xFF</code> \|\| As a request: dump the whole table (one <code>0x261</code> per entry, paced). As a reply: the end-of-dump marker, value = number of entries sent