Lots of changes everywhere.

boot/rocket.ks

@@ -7,6 +7,7 @@ deletepath("/boot/rocket").
 // Install software.
 compile "0:/lib/navigation" to "1:/lib/navigation".
 compile "0:/lib/throttle" to "1:/lib/throttle".
+compile "0:/lib/stabilize_rocket" to "1:/lib/stabilize_rocket".
 compile "0:/rocket/init" to "1:/init".
 compile "0:/rocket/launch" to "1:/launch".
 copypath("0:/rocket/execnode", "1:/execnode").

boot/rocket_debug.ks

@@ -0,0 +1,9 @@
+// Install software.
+copypath("0:/lib/navigation", "1:/lib/navigation").
+copypath("0:/lib/throttle", "1:/lib/throttle").
+copypath("0:/lib/stabilize_rocket", "1:/lib/stabilize_rocket").
+copypath("0:/rocket/init", "1:/init").
+copypath("0:/rocket/launch", "1:/launch").
+copypath("0:/rocket/execnode", "1:/execnode").
+
+run "init".

compileall.ks

@@ -1,10 +1,29 @@
 // Intended to be run from volume 0 for checking compiled sizes.
 
-for file in FILES {
-  if file:ISFILE and file:EXTENSION = "ks" {
-    compile file:NAME.
+switch to 0.
+compileHere().
+
+function compileDir {
+  parameter dir.
+
+  cd("dir").
+  compileHere().
+  cd("..").
+}
+
+function compileHere {
+  local fileList is list().
+  list files in fileList.
+
+  for f in fileList {
+    if f:ISFILE {
+      compile f.
+    } else {
+      compileDir(f).
+    }
   }
+}
+
   // TODO: might be neat to actually do a filesize comparison and print a report or something,
   // specifically iterating files NOT to compile.
   // TODO: We could hypothetically even integrate this with the bootstrapper.
-}

debug/vecrender.ks

@@ -73,8 +73,12 @@ function RenderDirAxes {
 }
 
 if vec <> V(0,0,0) {
-   // RenderVectorShipRelative(vec).
-  RenderDirAxes(vec).
+  if vec:istype("vector") {
+    RenderVectorWithComponents(vec).
+  }
+  if vec:istype("direction") {
+    RenderDirAxes(vec).
+  }
 }
 
 function ClearRenders {

helicopter/hover.ks

@@ -1,4 +1,4 @@
 // This script assumes you have bound collective (aka deploy angle) to main throttle.
 runoncepath("lib/control").
 
-Stabilize().
+PointStabilizeH().

helicopter/init.ks

@@ -17,7 +17,7 @@ local y is interface:AddVLayout().
 local x is y:AddHLayout().
 
 set x:AddButton("HOVER"):onClick to {
-  Stabilize().
+  PointStabilizeH().
 }.
 
 set x:AddButton("LAND"):onClick to {
@@ -29,7 +29,7 @@ set x:AddButton("LAND"):onClick to {
     toggle AG10.
     BRAKES on.
   }
-  Stabilize(-5).
+  PointStabilizeH(-5).
 }.
 
 

lib/control.ks

@@ -4,10 +4,11 @@
 // set externally when they should return.
 
 
+// Helicopter-style point stability control.
 // Hover, ascend, or descend at a fixed rate.
 // Adjusts the throttle to control ascent or descent.
 // Adjusts pitch and roll to maintain zero lateral velocity.
-function Stabilize {
+function PointStabilizeH {
   parameter vertSpeed is 0.0.
 
   set done to false.

lib/stabilize_rocket.ks

@@ -0,0 +1,98 @@
+// Provides stabilization functions, including Hover.
+
+
+// Stabilizes a rocket relative to the surface, with optional vertical
+// velocity. Do not include both this and helicopter_stabilize.ks in one
+// program.
+function Hover {
+  parameter vertSpeed is 0.0.
+
+  set done to false.
+  SAS off.
+
+  lock THROTTLE to 0.0.
+
+  if SHIP:SENSORS:PRES = 0 {
+    // In a vacuum, perform a more efficient vacuum maneuver.
+    // This will call hoverAtmo after initial stabilization, to make sure
+    // we don't flip upside down.
+    hoverVac(vertSpeed).
+  } else {
+    hoverAtmo(vertSpeed).
+  }
+
+  set SHIP:CONTROL:PILOTMAINTHROTTLE to THROTTLE.
+  unlock THROTTLE.
+  unlock STEERING.
+  SAS on.
+  print "Stabilized operation ended. Returning control to pilot.".
+  set done to false.
+}
+
+function hoverAtmo {
+  parameter vertSpeed.
+
+  local headingV is V(0,0,0).
+  lock headingV to VectorExcl(SHIP:UP:FOREVECTOR, SHIP:SRFRETROGRADE).
+
+  // set up PID controllers
+  local pitchPID is PIDLoop(5, 0.1, 0.01, 0, 90).
+  set pitchPID:SETPOINT to 0.
+
+  local throttlePID is PIDLoop(0.1, 0.1, 0.001, 0, 1).
+  set throttlePID:SETPOINT to vertSpeed.
+
+  // we use the inverse of GROUNDSPEED because pitch and acceleration are
+  // inversely proportional here.
+  local newPitch is 0.0.
+  lock newPitch to pitchPID:Update(TIME:SECONDS, -SHIP:GROUNDSPEED).
+  lock STEERING to AngleAxis(-newPitch, SHIP:FACING:STARVECTOR) * headingV.
+  lock THROTTLE to throttlePID:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
+  wait until done.
+}
+
+function hoverVac {
+  parameter vertSpeed.
+  // TODO: implement me!
+  hoverAtmo(vertSpeed).
+}
+
+// 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(-0.5).
+  set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.0.
+  set done to false.
+}
+
+// Rocket-style point stability control.
+// Hover, ascend, or descend at a fixed rate.
+// Adjusts the throttle to control target vertical speed.
+// Uses retrograde lock to cancel horizontal velocity.
+// TODO: how does this work
+// function PointStabilizeR {
+//   parameter vertSpeed is 0.0.
+
+//   set done to false.
+//   SAS off.
+
+//   lock STEERING to SHIP:RETROGRADE.
+//   wait until VectorAngle(
+//     SHIP:FACING:FOREVECTOR,
+//     SHIP:SRFRETROGRADE:FOREVECTOR) < 0.05.
+
+//   local throttlePID is PIDLoop(0.1, 0.001, 0.001, 0, 1).
+//   set throttlePID:SETPOINT to vertSpeed.
+//   lock THROTTLE to throttlePID:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
+//   wait until done.
+
+//   set SHIP:CONTROL:PILOTMAINTHROTTLE to THROTTLE.
+//   unlock THROTTLE.
+//   unlock STEERING.
+//   SAS on.
+//   set done to false.
+//   print "Stabilized operation ended. Returning control to pilot.".
+// }

lib/throttle.ks

@@ -1,4 +1,5 @@
-// Functions for calculating thrust values.
+// Functions for calculating values related to throttle and thrust.
+
 @lazyglobal off.
 
 // point gravity for TWR calculations.

reinstall.ks

@@ -1,6 +1,6 @@
 parameter BOOT_FILE is "rocket".
 
 clearguis().
-copypath("0:/boot/"+BOOT_FILE+".ks", "1:/boot").
+copypath("0:/boot/"+BOOT_FILE+".ks", "1:/boot/"+BOOT_FILE+".ks").
 switch to 1.
-runpath("/boot/"+BOOT_FILE).
+runpath("/boot/"+BOOT_FILE+".ks").

rocket/init.ks

@@ -1,14 +1,14 @@
 runoncepath("/lib/navigation").
 runoncepath("/lib/throttle").
+runoncepath("/lib/stabilize_rocket").
+
+global done is false.
+on AG9 {
+  set done to true.
+  return true.
+}
 
 function launchButtonPressed {
-  // adjust torque settings here...
-  local oldEpsilon is STEERINGMANAGER:TORQUEEPSILONMAX.
-  set STEERINGMANAGER:TORQUEEPSILONMAX to maxEpsilon:TEXT:ToNumber().
-
-  local oldStopTime is STEERINGMANAGER:MAXSTOPPINGTIME.
-  set STEERINGMANAGER:MAXSTOPPINGTIME to maxStopTime:TEXT:ToNumber().
-
   run "/launch"(
     targetApo:TEXT:ToNumber(),
     gravTurnStart:TEXT:ToNumber(),
@@ -16,9 +16,6 @@ function launchButtonPressed {
     initialPitch:TEXT:ToNumber(),
     minimumPitch:TEXT:ToNumber()
   ).
-
-  set STEERINGMANAGER:TORQUEEPSILONMAX to oldEpsilon.
-  set STEERINGMANAGER:MAXSTOPPINGTIME to oldStopTime..
 }
 
 // Main UI.
@@ -48,17 +45,28 @@ set x:AddButton("CONF"):onClick to {
 
 set x to y:AddHLayout().
 
+set x:AddButton("HOVER"):onClick to {
+  Hover().
+}.
+
+set x:AddButton("LAND"):onClick to {
+  Land().
+}.
+
+set x to y:AddHLayout().
+
 set x:AddButton("LNCH"):onClick to {
     stk:ShowOnly(launchmenu).
 }.
 set x:AddButton("NODE"):onClick to {
-    run "/execnode".
+  set nodeDV:TEXT to NEXTNODE:DELTAV:MAG:ToString.
+  set nodeBT:TEXT to BurnTime(NEXTNODE:DELTAV:MAG):ToString.
+  stk:ShowOnly(nodeMenu).
 }.
 
 set x:AddButton("TWR"):onClick to {
   stk:ShowOnly(twrMenu).
 }.
-  
 
 local stk is interface:AddStack().
 
@@ -130,13 +138,33 @@ set twrMenu:AddButton("Lock TWR"):onClick to {
     set done to true.
   }
 
+  print "Locking throttle to target TWR.".
   local tgt is twrLock:TEXT:ToNumber().
   lock THROTTLE to ThrottleToTWR(tgt).
   wait until done.
+  print "Throttle unlocked.".
 }.
 
 // end twr menu
 
+// node menu
+local nodeMenu is stk:AddVLayout().
+local nodeBox is nodeMenu:AddScrollBox().
+
+set sbox to nodeBox:AddHLayout().
+sbox:AddLabel("Node dV").
+local nodeDV is sbox:AddLabel().
+
+set sbox to nodeBox:AddHLayout().
+sbox:AddLabel("Node Burn Time").
+local nodeBT is sbox:AddLabel().
+
+set nodeMenu:AddButton("Execute"):onClick to {
+  run "/execnode".
+}.
+
+// end node menu
+
 interface:show().
 
 wait until false.