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More work on rocket stabilization. Still not quite working though.

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This commit is contained in:
Anna Rose 2021-08-01 17:46:28 -04:00
parent 13018f75aa
commit 94c374fcf4
2 changed files with 32 additions and 63 deletions
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93
lib/stabilize_rocket.ks
View File

@ -1,8 +1,9 @@
// Provides stabilization functions, including Hover. // Provides stabilization functions, including Hover.
// Control functions can be canceled by actuating Action Group 9.
// Stabilizes a rocket relative to the surface, with optional vertical // Stabilizes a rocket relative to the surface, with optional vertical
// velocity. Do not include both this and helicopter_stabilize.ks in one // velocity. Do not include both this and stabilize_helicopter.ks in one
// program. // program.
function Hover { function Hover {
parameter vertSpeed is 0.0. parameter vertSpeed is 0.0.
@ -13,14 +14,29 @@ function Hover {
lock THROTTLE to 0.0. lock THROTTLE to 0.0.
if SHIP:SENSORS:PRES = 0 { if SHIP:SENSORS:PRES = 0 {
// In a vacuum, perform a more efficient vacuum maneuver. lock STEERING to SHIP:SRFRETROGRADE.
// This will call hoverAtmo after initial stabilization, to make sure wait until VAng(SHIP:FACING:FOREVECTOR, SHIP:SRFRETROGRADE:FOREVECTOR) < 10.
// we don't flip upside down.
hoverVac(vertSpeed).
} else { } else {
hoverAtmo(vertSpeed). // 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.
set SHIP:CONTROL:PILOTMAINTHROTTLE to THROTTLE. set SHIP:CONTROL:PILOTMAINTHROTTLE to THROTTLE.
unlock THROTTLE. unlock THROTTLE.
unlock STEERING. unlock STEERING.
@ -29,70 +45,21 @@ function Hover {
set done to false. 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. // Convenience function for landing operations. Hover over a point with a negative velocity, shutting down on landing.
function Land { function Land {
set done to false. set done to false.
when SHIP:STATUS = "LANDED" then { when SHIP:STATUS = "LANDED" then {
set done to true. set done to true.
} }
Hover(-0.5). Hover(-4).
set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.0. set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.0.
set done to false. set done to false.
} }
// Rocket-style point stability control. function atmoSafeRetrograde {
// Hover, ascend, or descend at a fixed rate. if VAng(SHIP:SRFRETROGRADE:FOREVECTOR, SHIP:UP:FOREVECTOR) < 45 {
// Adjusts the throttle to control target vertical speed. return SHIP:SRFRETROGRADE:FOREVECTOR.
// Uses retrograde lock to cancel horizontal velocity. }
// TODO: how does this work local planeRetro is VXCL(SHIP:UP:FOREVECTOR, SHIP:SRFRETROGRADE:FOREVECTOR).
// function PointStabilizeR { return AngleAxis(45, SHIP:FACING:STARVECTOR) * planeRetro.
// 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.".
// }

2
rocket/init.ks
View File

@ -2,6 +2,8 @@ runoncepath("/lib/navigation").
runoncepath("/lib/throttle"). runoncepath("/lib/throttle").
runoncepath("/lib/stabilize_rocket"). runoncepath("/lib/stabilize_rocket").
clearguis().
global done is false. global done is false.
on AG9 { on AG9 {
set done to true. set done to true.