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Clean up hover code and add some vector rendering stuff.

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This commit is contained in:
Anna Rose 2021-07-23 21:57:32 +00:00
parent 0605cc4f2e
commit 659e41c80f
1 changed files with 10 additions and 16 deletions
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26
helicopter/hover.ks
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@ -1,4 +1,5 @@
// This script assumes you have bound collective (aka deploy angle) to main throttle.
runoncepath("/debug/vecrender"). // debug
// SAS off. // debug: re-enable when adjusting heading
local pitchPID is PIDLoop(0.01, 0.001, 0.001, -45, 45).
@ -9,35 +10,28 @@ local collectivePID is PIDLoop(0.1, 0.1, 0.001, 0, 1).
set collectivePID:SETPOINT to 0.
local vel is 0. lock vel to SHIP:BODY:UP * SHIP:VELOCITY:SURFACE.
set vecDraw(V(0,0,0), vel):show to true. // debug
local x is 0. lock x to SHIP:FACING:FOREVECTOR * SHIP:VELOCITY:SURFACE.
local y is 0. lock y to (SHIP:UP:FOREVECTOR * SHIP:VELOCITY:SURFACE) / (SHIP:VELOCITY:SURFACE:MAG * cos(VectorAngle(SHIP:UP:FOREVECTOR, SHIP:VELOCITY:SURFACE))).
local z is 0. lock z to SHIP:FACING:RIGHTVECTOR * SHIP:VELOCITY:SURFACE.
local spd is 0. lock spd to SHIP:VELOCITY:SURFACE:MAG.
// local x is 0. lock x to SHIP:FACING:FOREVECTOR * SHIP:VELOCITY:SURFACE.
// local y is 0. lock y to (SHIP:UP:FOREVECTOR * SHIP:VELOCITY:SURFACE) / (SHIP:VELOCITY:SURFACE:MAG * cos(VectorAngle(SHIP:UP:FOREVECTOR, SHIP:VELOCITY:SURFACE))).
// local z is 0. lock z to SHIP:FACING:RIGHTVECTOR * SHIP:VELOCITY:SURFACE.
// local spd is 0. lock spd to SHIP:VELOCITY:SURFACE:MAG.
local done is false.
on AG9 {
set done to true.
}
until done {
// debug
// print x + " " + y + " " + z.
print "Vertical Speed = " + y.
local newPitch is pitchPID:Update(TIME:SECONDS, spd). // was x
local newRoll is rollPid:Update(TIME:SECONDS, spd). // was z
local newThrot is collectivePID:Update(TIME:SECONDS, y). // was y
// local newPitch is pitchPID:Update(TIME:SECONDS, spd). // was x
// local newRoll is rollPid:Update(TIME:SECONDS, spd). // was z
local newThrot is collectivePID:Update(TIME:SECONDS, SHIP:VELOCITY:SURFACE:Y). // was y
// debug
print "Yaw = " + mod(360 - SHIP:BEARING, 360).
print "Pitch = " + newPitch.
print "Roll = " + newRoll.
print "Throt = " + newThrot.
print "Spd = " + spd.
print "Vertical Speed = " + SHIP:VELOCITY:SURFACE:Y.
DrawVectorWithComponents(SHIP:VELOCITY:SURFACE).
set SHIP:CONTROL:PILOTMAINTHROTTLE to newThrot.
// lock STEERING to Heading(