Fix up hover script and improve bootloading.

boot/rocket.ks

@@ -11,7 +11,8 @@ local compiled is list(
 ).
 
 local copied is list(
-  "/lib/ui"
+  "/lib/ui",
+  "/lib/sensors"
 ).
 
 Bootstrap(

boot/satellite.ks

@@ -6,7 +6,7 @@ local compiled is list(
   "/lib/navigation",
   "/lib/node",
   "/lib/throttle",
-  "/prog/nodestats",
+  "/prog/nodestats"
 ).
 
 local copied is list(

lib/boot.ks

@@ -35,7 +35,14 @@ function compileLibs {
     if lib:StartsWith("/prog") {
       set tgt to lib:Remove(0, 5).
     }
-    compile "0:" + lib to "1:" + tgt.
+    local res is true.
+    compile "0:" + lib.
+    set res to copypath("0:" + lib + ".ksm", "1:" + tgt).
+    deletepath("0:" + lib + ".ksm").
+    if not res {
+      print "Can't copy compiled file '" + lib + "', aborting.".
+      print ERR. // intentional error to trap execution      
+    }
   }
 }
 
@@ -46,7 +53,10 @@ function copyLibs {
     if lib:StartsWith("/prog") {
       set tgt to lib:Remove(0, 5).
     }
-    copypath("0:" + lib, "1:" + tgt).
+    if not copypath("0:" + lib, "1:" + tgt) {
+      print "Can't copy file '" + lib + "', aborting.".
+      print ERR. // intentional error to trap execution
+    }
   }
 }
 

lib/sensors.ks

@@ -0,0 +1,26 @@
+
+// we rebuild the sensor list with every invocation, because things change
+function buildSensorList {
+  local sList is Lexicon().
+  list SENSORS in SensorList.
+  for s in SensorList {
+    sList:add(s:type, s).
+  }
+  return sList.
+}
+
+function HasSensor {
+  parameter s.
+  local sList is buildSensorList().
+  return sList:HasKey(s).
+}
+
+function ReadSensor {
+  parameter s.
+
+  local sList is buildSensorList().
+  if not sList:HasKey(s) {
+    return -1. // TODO: is -1 an impossible result for all sensors? I suspect not...
+  }
+  return sList[s].
+}

lib/stabilize_rocket.ks

@@ -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 {
+  alignForHover().
-    lock STEERING to SHIP:SRFRETROGRADE.
+  local throttlePID is hoverPID(vertSpeed).
-    wait until VAng(SHIP:FACING:FOREVECTOR, SHIP:SRFRETROGRADE:FOREVECTOR) < 10.
+  lock THROTTLE to throttlePID:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
-  } else {
+  wait until done.
-    // 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
 
-    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.
-}

scratch/misc.ks

@@ -1,15 +1,9 @@
-// Check for various sensors and set appropriate global constants.
+// This alternative approach to hovering is ultimately not worth the complexity to use, but it's really neat! It maintains *whatever your current vertical velocity is* using the fact that F = μ*m/(r^2).
-// Currently only checks for grav sensor, as that's the only one used by this library.
+// In practice, by the time the PID controller settles enough to make this worth
-// global HAS_GRAV_SENSOR is false.
+// using, the efficiency gains have mostly dried up anyway.
-// function SensorCheck {
+
-//   local SensorList is 0.
+// lock STEERING to SHIP:UP.
-//   list SENSORS in SensorList.
+// wait until done or abs(SHIP:VERTICALSPEED - vertSpeed) < 0.05.
-//   for s in SensorList {
+// print "Maintaining velocity.".
-//     if s:type = "grav" {
+// lock targetForce to (SHIP:BODY:MU * SHIP:MASS) / ((SHIP:ALTITUDE + SHIP:BODY:RADIUS)^2).
-//       print "Gravometric sensor detected".
+// lock THROTTLE to targetForce / SHIP:AVAILABLETHRUST.
-//       set HAS_GRAV_SENSOR to true.
-//       return.
-//     }
-//   }
-//   set HAS_GRAV_SENSOR to false.
-// }