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Tune hover and landing PID controllers.

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Anna Rose 2021-08-06 20:13:27 -04:00
parent 2099d0a284
commit 2a61dc6777
1 changed files with 19 additions and 18 deletions
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35
lib/stabilize_rocket.ks
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@ -11,16 +11,20 @@ runoncepath("/lib/sensors").
function Land { function Land {
set done to false. set done to false.
assumeControl().
alignForHover(). alignForHover().
local pid is hoverPID(). local pid is PIDLoop(0.1, 0.01, 0.01, 0, 1).
lock THROTTLE to pid:Update(TIME:SECONDS, SHIP:VERTICALSPEED). lock THROTTLE to pid:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
local targetVel is 0.
lock targetVel to Ceiling((-1 * (SHIP:ALTITUDE - SHIP:GEOPOSITION:TERRAINHEIGHT) / 10) - 5).
until done or SHIP:STATUS = "LANDED" { until done or SHIP:STATUS = "LANDED" {
set pid:SETPOINT to (-1 * (SHIP:ALTITUDE - SHIP:GEOPOSITION:TERRAINHEIGHT) / 10) - 5. set pid:SETPOINT to targetVel.
wait 0.001. wait 0.001.
} }
restoreControl().
set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.0. set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.0.
set done to false.
} }
// Stabilizes a rocket relative to the surface, with optional vertical // Stabilizes a rocket relative to the surface, with optional vertical
@ -28,24 +32,15 @@ function Land {
function Hover { function Hover {
parameter vertSpeed is 0.0. parameter vertSpeed is 0.0.
set done to false. assumeControl().
SAS off.
lock THROTTLE to 0.0.
alignForHover(). alignForHover().
local throttlePID is hoverPID(vertSpeed). 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). lock THROTTLE to throttlePID:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
wait until done. wait until done.
// Unwind everything. // Unwind everything.
restoreControls(). restoreControl().
}
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 { function alignForHover {
@ -70,7 +65,13 @@ function alignForHover {
} }
} }
function restoreControls { function assumeControl {
set done to false.
SAS off.
lock THROTTLE to 0.0.
}
function restoreControl {
set SHIP:CONTROL:PILOTMAINTHROTTLE to THROTTLE. set SHIP:CONTROL:PILOTMAINTHROTTLE to THROTTLE.
unlock THROTTLE. unlock THROTTLE.
unlock STEERING. unlock STEERING.