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Tune hover and landing PID controllers.

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This commit is contained in:
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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37
lib/stabilize_rocket.ks
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@ -11,16 +11,20 @@ runoncepath("/lib/sensors").
function Land {
set done to false.
assumeControl().
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).
local targetVel is 0.
lock targetVel to Ceiling((-1 * (SHIP:ALTITUDE - SHIP:GEOPOSITION:TERRAINHEIGHT) / 10) - 5).
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.
}
restoreControl().
set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.0.
set done to false.
}
// Stabilizes a rocket relative to the surface, with optional vertical
@ -28,24 +32,15 @@ function Land {
function Hover {
parameter vertSpeed is 0.0.
set done to false.
SAS off.
lock THROTTLE to 0.0.
assumeControl().
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).
wait until done.
// 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.
restoreControl().
}
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.
unlock THROTTLE.
unlock STEERING.