Refactor and clean up lots of code.

boot/helicopter.ks

@@ -1,8 +1,7 @@
 deletepath("/boot/helicopter").
 
-copypath("0:/lib/control", "1:/lib/control").
-copypath("0:/helicopter/hover", "1:/hover").
-copypath("0:/helicopter/init", "1:/init").
+compile "0:/lib/stabilize_helicopter" to "1:/lib/".
+comiple "0:/init/helicopter" to "1:/init".
 
 // Set OS to boot and restart.
 set core:bootfilename to "/init".

boot/helicopter_debug.ks

@@ -1,6 +1,5 @@
-copypath("0:/lib/control", "1:/lib/control").
-copypath("0:/helicopter/hover", "1:/hover").
-copypath("0:/helicopter/init", "1:/init").
+copypath("0:/lib/stabilize_helicopter", "1:/lib/stabilize_helicopter").
+copypath("0:/init/helicopter", "1:/init").
 
 CORE:PART:GETMODULE("kOSProcessor"):DOEVENT("Open Terminal").
 run "1:/init".

boot/rocket.ks

@@ -5,10 +5,10 @@
 deletepath("/boot/rocket").
 
 // Install software.
-compile "0:/lib/navigation" to "1:/lib/navigation".
-compile "0:/lib/throttle" to "1:/lib/throttle".
-compile "0:/lib/stabilize_rocket" to "1:/lib/stabilize_rocket".
-compile "0:/rocket/init" to "1:/init".
+compile "0:/lib/navigation" to "1:/lib/".
+compile "0:/lib/throttle" to "1:/lib/".
+compile "0:/lib/stabilize_rocket" to "1:/lib/".
+compile "0:/init/rocket" to "1:/init".
 compile "0:/rocket/launch" to "1:/launch".
 copypath("0:/rocket/execnode", "1:/execnode").
 

boot/rocket_debug.ks

@@ -2,8 +2,9 @@
 copypath("0:/lib/navigation", "1:/lib/navigation").
 copypath("0:/lib/throttle", "1:/lib/throttle").
 copypath("0:/lib/stabilize_rocket", "1:/lib/stabilize_rocket").
-copypath("0:/rocket/init", "1:/init").
+copypath("0:/init/rocket", "1:/init").
 copypath("0:/rocket/launch", "1:/launch").
 copypath("0:/rocket/execnode", "1:/execnode").
 
-run "init".
+CORE:PART:GETMODULE("kOSProcessor"):DOEVENT("Open Terminal").
+run "1:/init".

helicopter/hover.ks

@@ -1,4 +0,0 @@
-// This script assumes you have bound collective (aka deploy angle) to main throttle.
-runoncepath("lib/control").
-
-PointStabilizeH().

init/helicopter.ks

@@ -3,9 +3,15 @@
 // * AG9 is unmapped.
 // * Main throttle controls collective.
 
-runoncepath("lib/control").
+runoncepath("lib/stabilize_helicopter").
 
 global done is false.
+on AG9 {
+  set done to true.
+  return true.
+}
+
+clearguis().
 
 // Main UI.
 local interface is gui(250, 300).
@@ -32,12 +38,6 @@ set x:AddButton("LAND"):onClick to {
   PointStabilizeH(-5).
 }.
 
-
-on AG9 {
-  set done to true.
-  return true.
-}
-
 interface:show().
 
 wait until false.

lib/stabilize_helicopter.ks

@@ -1,14 +1,15 @@
-// functions that execute comprehensive control schemes.
+// Provides stabilization functions, including Hover.
 //
-// These typically assume a global variable 'done' that will be
-// set externally when they should return.
-
+// Must define a global variable 'done', which can be set to true to cancel
+// control functions.
+//
+// Do not include both this and stabilize_rocket.ks in one program.
 
 // Helicopter-style point stability control.
 // Hover, ascend, or descend at a fixed rate.
 // Adjusts the throttle to control ascent or descent.
 // Adjusts pitch and roll to maintain zero lateral velocity.
-function PointStabilizeH {
+function Hover {
   parameter vertSpeed is 0.0.
 
   set done to false.

lib/stabilize_rocket.ks

@@ -1,10 +1,12 @@
 // Provides stabilization functions, including Hover.
-// Control functions can be canceled by actuating Action Group 9.
-
+//
+// Must define a global variable 'done', which can be set to true to cancel
+// control functions.
+//
+// Do not include both this and stabilize_helicopter.ks in one program.
 
 // Stabilizes a rocket relative to the surface, with optional vertical
-// velocity. Do not include both this and stabilize_helicopter.ks in one
-// program.
+// velocity.
 function Hover {
   parameter vertSpeed is 0.0.