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Fix up hover script and improve bootloading.

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This commit is contained in:
Anna Rose Wiggins 2021-08-06 04:57:07 -04:00
parent 75a7dfec22
commit 2099d0a284
6 changed files with 105 additions and 61 deletions
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97
lib/stabilize_rocket.ks
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@ -5,6 +5,24 @@
//
// Do not include both this and stabilize_helicopter.ks in one program.
runoncepath("/lib/sensors").
// Convenience function for landing operations. Hover over a point with a negative velocity, shutting down on landing.
function Land {
set done to false.
alignForHover().
local pid is hoverPID().
lock THROTTLE to pid:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
until done or SHIP:STATUS = "LANDED" {
set pid:SETPOINT to (-1 * (SHIP:ALTITUDE - SHIP:GEOPOSITION:TERRAINHEIGHT) / 10) - 5.
wait 0.001.
}
set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.0.
set done to false.
}
// Stabilizes a rocket relative to the surface, with optional vertical
// velocity.
function Hover {
@ -12,33 +30,47 @@ function Hover {
set done to false.
SAS off.
lock THROTTLE to 0.0.
if SHIP:SENSORS:PRES = 0 {
lock STEERING to SHIP:SRFRETROGRADE.
wait until VAng(SHIP:FACING:FOREVECTOR, SHIP:SRFRETROGRADE:FOREVECTOR) < 10.
} else {
// debug
print "Making vector visualization.".
local d1 is VecDraw(V(0,0,0), V(0,0,0), BLUE, "", 1.0, true).
set d1:VECUPDATER to {
return atmoSafeRetrograde() * 100.
}.
print "Vector visualization created.".
// end debug
alignForHover().
local throttlePID is hoverPID(vertSpeed).
lock THROTTLE to throttlePID:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
wait until done.
lock STEERING to atmoSafeRetrograde().
wait until done or VAng(SHIP:FACING:FOREVECTOR, atmoSafeRetrograde()) < 10.
}
local throttlePID is PIDLoop(0.1, 0.1, 0.001, 0, 1).
set throttlePID:SETPOINT to vertSpeed.
lock THROTTLE to throttlePID:Update(TIME:SECONDS, -SHIP:VELOCITY:SURFACE:MAG). // this is still wrong, we just burn hard and spin out of control.
// Unwind everything.
restoreControls().
}
function hoverPID {
parameter initSetpoint is 0.
local pid is PIDLoop(0.01, 0.01, 0.001, 0, 1).
set pid:SETPOINT to initSetpoint.
return pid.
}
function alignForHover {
if ReadSensor("pres") = 0 {
// if we're in a vacuum, cancel all velocity first...
lock STEERING to SHIP:SRFRETROGRADE.
print "Aligning with retrograde.".
wait until done or VAng(SHIP:FACING:FOREVECTOR, SHIP:SRFRETROGRADE:FOREVECTOR) < 0.1.
if done {
restoreControls().
return.
}
} else {
// ... otherwise just cancel vertical velocity
lock STEERING to SHIP:UP.
print "Aligning vertical.".
wait until done or VAng(SHIP:FACING:FOREVECTOR, SHIP:UP:FOREVECTOR) < 1.
if done {
restoreControls().
return.
}
}
}
function restoreControls {
set SHIP:CONTROL:PILOTMAINTHROTTLE to THROTTLE.
unlock THROTTLE.
unlock STEERING.
@ -46,22 +78,3 @@ function Hover {
print "Stabilized operation ended. Returning control to pilot.".
set done to false.
}
// Convenience function for landing operations. Hover over a point with a negative velocity, shutting down on landing.
function Land {
set done to false.
when SHIP:STATUS = "LANDED" then {
set done to true.
}
Hover(-4).
set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.0.
set done to false.
}
function atmoSafeRetrograde {
if VAng(SHIP:SRFRETROGRADE:FOREVECTOR, SHIP:UP:FOREVECTOR) < 45 {
return SHIP:SRFRETROGRADE:FOREVECTOR.
}
local planeRetro is VXCL(SHIP:UP:FOREVECTOR, SHIP:SRFRETROGRADE:FOREVECTOR).
return AngleAxis(45, SHIP:FACING:STARVECTOR) * planeRetro.
}