35 lines
913 B
Plaintext
35 lines
913 B
Plaintext
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RunOncePath("lib/navball").
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// Fly level toward the current compass heading.
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function HoldHorizon {
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parameter Kp is 0.02.
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parameter Ki is 0.04.
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parameter Kd is 0.0066.
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SAS off.
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local pitchPID is PidLoop(Kp, Ki, Kd).
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// local rollPID is PidLoop(Kp, Ki, Kd).
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// lock rollVec to VXCL(SHIP:FACING:FOREVECTOR, SHIP:FACING:TOPVECTOR).
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// lock upVec to VXCL(SHIP:FACING:FOREVECTOR, SHIP:UP:FOREVECTOR).
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local h is GetHeading().
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local p is 0.
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lock p to pitchPID:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
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lock STEERING to Heading(h, p, 0).
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// until done {
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// set SHIP:CONTROL:PITCH to pitchPID:Update(TIME:SECONDS, GetPitch(SHIP:SRFPROGRADE:FOREVECTOR)).
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// set SHIP:CONTROL:ROLL to rollPID:Update(TIME:SECONDS, VAng(rollVec, upVec)).
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// }
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wait until done.
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set done to false.
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unlock STEERING.
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SAS on.
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// set SHIP:CONTROL:PITCH to 0.
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// set SHIP:CONTROL:ROLL to 0.
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}
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