flyNeuralPilot

Fixed rate-bin encoding stimulates 1,024 identified native input neurons: 512 excitatory and 512 inhibitory cells across 32 channels. Signed trained synapses select corresponding transmitter sources. 128 native motor neurons form four pools: left forward/reverse and right forward/reverse. The 4×32 matrix contains 32 learned within-channel weights and 96 zero cross-channel entries, defining 16,384 added motor connections. A GPU kernel integrates actual presynaptic traces into native membranes. Wheel motion is the fixed difference of measured native motor spike rates. Native spatial wave propagation supplies navigation requests through a fixed heading/kinematic decoder. This is an engineered intervention in the fly simulation, not intact biological learning.