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Add autostage option, fix bugs, tune things.

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This commit is contained in:
Anna Rose Wiggins 2021-08-12 19:14:20 -04:00
parent 0481123487
commit bbf1d118e3
3 changed files with 32 additions and 13 deletions
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26
lib/stabilize_rocket.ks
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@ -13,6 +13,10 @@ function Land {
assumeControl().
alignForHover().
if done {
restoreControl().
return.
}
local pid is PIDLoop(0.1, 0.01, 0.01, 0, 1).
lock THROTTLE to pid:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
@ -34,6 +38,10 @@ function Hover {
assumeControl().
alignForHover().
if done {
restoreControl().
return.
}
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:VERTICALSPEED).
@ -43,24 +51,30 @@ function Hover {
restoreControl().
}
function hoverVectorVac {
parameter top.
if SHIP:VERTICALSPEED > 0 {
return SHIP:UP.
}
return LookDirUp(SHIP:SRFRETROGRADE:FOREVECTOR, top).
}
function alignForHover {
set cRot to SHIP:FACING:FOREVECTOR.
set top to SHIP:FACING:FOREVECTOR.
if ReadSensor("PRES") = 0 {
// if we're in a vacuum, align with retrograde for smoother horizontal control.
lock STEERING to LookDirUp(SHIP:SRFRETROGRADE:FOREVECTOR, cRot).
lock STEERING to hoverDirVac(top).
print "Aligning with retrograde.".
wait until done or VAng(SHIP:FACING:FOREVECTOR, SHIP:SRFRETROGRADE:FOREVECTOR) < 1.
wait until done or VAng(SHIP:FACING:FOREVECTOR, hoverDirVac():FOREVECTOR) < 1.
if done {
restoreControl().
return.
}
} else {
// ... otherwise just align vertically.
lock STEERING to LookDirUp(SHIP:UP:FOREVECTOR, cRot).
lock STEERING to LookDirUp(SHIP:UP:FOREVECTOR, top).
print "Aligning vertical.".
wait until done or VAng(SHIP:FACING:FOREVECTOR, SHIP:UP:FOREVECTOR) < 1.
if done {
restoreControl().
return.
}
}