anna/kOS
1
0
Fork 0
Code Pull requests Releases Activity Actions

Add helicopter hovering code that works.

Browse source
This commit is contained in:
Anna Rose Wiggins 2021-07-25 17:24:34 -04:00
parent c5e26ab1ec
commit 6d9b8fc554
5 changed files with 150 additions and 67 deletions
Download patch file Download diff file Expand all files Collapse all files

48
helicopter/hover.ks
View file

@ -1,48 +1,4 @@
// This script assumes you have bound collective (aka deploy angle) to main throttle.
runoncepath("/debug/vecrender"). // debug
runoncepath("lib/control").
// SAS off. // debug: re-enable when adjusting heading
local pitchPID is PIDLoop(0.01, 0.001, 0.001, -45, 45).
set pitchPID:SETPOINT to 0.
local rollPID is PIDLoop(0.01, 0.001, 0.001, -70, 70).
set rollPID:SETPOINT to 0.
local collectivePID is PIDLoop(0.1, 0.1, 0.001, 0, 1).
set collectivePID:SETPOINT to 0.
// local x is 0. lock x to SHIP:FACING:FOREVECTOR * SHIP:VELOCITY:SURFACE.
// local y is 0. lock y to (SHIP:UP:FOREVECTOR * SHIP:VELOCITY:SURFACE) / (SHIP:VELOCITY:SURFACE:MAG * cos(VectorAngle(SHIP:UP:FOREVECTOR, SHIP:VELOCITY:SURFACE))).
// local z is 0. lock z to SHIP:FACING:RIGHTVECTOR * SHIP:VELOCITY:SURFACE.
// local spd is 0. lock spd to SHIP:VELOCITY:SURFACE:MAG.
local done is false.
on AG9 {
set done to true.
}
until done {
// local newPitch is pitchPID:Update(TIME:SECONDS, spd). // was x
// local newRoll is rollPid:Update(TIME:SECONDS, spd). // was z
local newThrot is collectivePID:Update(TIME:SECONDS, SHIP:VELOCITY:SURFACE:Y). // was y
// debug
print "Yaw = " + mod(360 - SHIP:BEARING, 360).
print "Pitch = " + newPitch.
print "Roll = " + newRoll.
print "Throt = " + newThrot.
print "Vertical Speed = " + SHIP:VELOCITY:SURFACE:Y.
DrawVectorWithComponents(SHIP:VELOCITY:SURFACE).
set SHIP:CONTROL:PILOTMAINTHROTTLE to newThrot.
// lock STEERING to Heading(
// mod(360 - SHIP:BEARING, 360),
// newPitch,
// newRoll
// ).
wait 0.001.
}
// Because helicopters can hover stably, once we achieve a hover we should be able to turn SAS on and call it good.
unlock STEERING.
SAS on.
print "Hover operation canceled. Returning control.".
Stabilize().