SpawnCity · engineering

Phone 1 is the simulation/view station. Phone 2 is the dedicated remote controller. In SIM mode the exact shared C++ fc::Runtime executes as WebAssembly. The two phones talk directly over WebRTC; GitHub Pages remains purely static.

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Two-phone control · serverless P2P

Input source

Open controller page

P2P disconnected. Missing/stale control always forces throttle 0 and ARM OFF.

Local fallback keyboard

W/S pitch · A/D roll · Q/E yaw · R/F throttle · Space arm request. Select LOCAL FALLBACK above to use it.

Physical airframe model · component derived

Derived mass kgMotor span mmProp diameter inMotor Kv rpm/VMotor R ΩMotor current max AESC current max ARotor inertia kg·m²Prop CtProp CqBattery cells SBattery AhBattery R ΩBattery current max ADerived Ixx kg·m²Derived Iyy kg·m²Derived Izz kg·m²Air densityLinear drag scaleGround effect

Component bill of mass / placement

Frame gEach motor gEach prop gBattery gESC gFC + RX gCamera + VTX gWiring + hardware gBattery X mmBattery Z mmCamera X mmCamera Z mm

These are explicit nominal BOM inputs, not hidden fitted mass/inertia. Replace them with measured component values; motor/prop positions derive from motor span.

UNVALIDATED · nominal coefficients; no independent real-flight holdout evidence

Mass, center of mass and the complete inertia tensor are derived from the component BOM. Electrical authority comes from battery sag/current limits → motor Kv/R/back-EMF → prop Ct/Cq → Box3D forces. REAL LOG fitting still reserves the final 30% as unseen holdout.

Environment / faults

Wind X m/sWind Y m/sFailed motorIMU

REAL flight log / digital-twin calibration

CSV or JSON. Required: time_s and motor1_us..motor4_us. Identification also consumes x,y,z, vx,vy,vz, roll_deg,pitch_deg,yaw_deg, battery_v and current_a whenever present. Inputs are applied as zero-order holds over their actual logged time intervals.

No real log loaded.