Fig. 7. Changes in the performance of the simulated moth in hovering flight as the number of free parameters is reduced (and the number of fixed parameters increased). Performance was quantified by (A) the number of wingbeats the model executed without leaving a 4096 cm³ volume, up to a maximum of 41 wingbeats (1.5 s of flight) and (B) the mean distance from the moth to the centre of the volume. Note that the model requires 5 wingbeats to fall from its initial position to a location outside the target volume. Trends are shown as the mean ± 1 s.d., with the maximum and minimum values indicated by diamonds and circles, respectively. N=4096 trials.