Each panel represents a single obstacle test flight and plots the hawk’s measured flight trajectory (dark blue) in pursuit of the lure (dark red) up to the point of capture (black dot). The measured data are compared to a simulation of the hawk’s trajectory (light blue) under the refined mixed guidance law (Equation 1) with best-fitting parameters N=0.75, K=1.25s-1, and tau=0.01s fitted to the union of the test flights with and without obstacles. The displayed values of epsilon_bar show the mean prediction error for each simulation. The lefthand panels show the four longest obstacle test flights; the righthand panels show the four obstacle test flights with the lowest mean prediction error relative to the total distance flown, for flights >9 m in length. Grid spacing: 1 m. See also Figure S1.
