Add autostage option, fix bugs, tune things.

lib/launch_rocket.ks

@@ -28,6 +28,7 @@ function Launch {
   parameter LEAD_ANGLE is 5.
 //  parameter INITIAL_PITCH is 85.
   parameter MINIMUM_PITCH is 5.
+  parameter AUTOSTAGE is true.
 
   // Configure subsystems.
   RCS off.
@@ -42,12 +43,14 @@ function Launch {
 
   // staging logic. Stage as many times as needed until we finish ascent.
   // Once Apo target is attained just drop this trigger.
-  when FlameOut() or SHIP:ORBIT:APOAPSIS > APOAPSIS_TARGET then {
-    if SHIP:ORBIT:APOAPSIS > APOAPSIS_TARGET {
-      return false.
+  if AUTOSTAGE {
+    when FlameOut() or SHIP:ORBIT:APOAPSIS > APOAPSIS_TARGET then {
+      if SHIP:ORBIT:APOAPSIS > APOAPSIS_TARGET {
+        return false.
+      }
+      stage.
+      return true.
     }
-    stage.
-    return true.
   }
 
   // Hold throttle to maintain target TWR.

lib/stabilize_rocket.ks

@@ -13,6 +13,10 @@ function Land {
 
   assumeControl().
   alignForHover().
+  if done {
+    restoreControl().
+    return.
+  }
   local pid is PIDLoop(0.1, 0.01, 0.01, 0, 1).
   
   lock THROTTLE to pid:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
@@ -34,6 +38,10 @@ function Hover {
 
   assumeControl().
   alignForHover().
+  if done {
+    restoreControl().
+    return.
+  }
   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).
@@ -43,24 +51,30 @@ function Hover {
   restoreControl().
 }
 
+function hoverVectorVac {
+  parameter top.
+  if SHIP:VERTICALSPEED > 0 {
+    return SHIP:UP.
+  }
+  return LookDirUp(SHIP:SRFRETROGRADE:FOREVECTOR, top).
+}
+
 function alignForHover {
-  set cRot to SHIP:FACING:FOREVECTOR.
+  set top to SHIP:FACING:FOREVECTOR.
   if ReadSensor("PRES") = 0 {
     // if we're in a vacuum, align with retrograde for smoother horizontal control.
-    lock STEERING to LookDirUp(SHIP:SRFRETROGRADE:FOREVECTOR, cRot).
+    lock STEERING to hoverDirVac(top).
     print "Aligning with retrograde.".
-    wait until done or VAng(SHIP:FACING:FOREVECTOR, SHIP:SRFRETROGRADE:FOREVECTOR) < 1.
+    wait until done or VAng(SHIP:FACING:FOREVECTOR, hoverDirVac():FOREVECTOR) < 1.
     if done {
-      restoreControl().
       return.
     }
   } else {
     // ... otherwise just align vertically.
-    lock STEERING to LookDirUp(SHIP:UP:FOREVECTOR, cRot).
+    lock STEERING to LookDirUp(SHIP:UP:FOREVECTOR, top).
     print "Aligning vertical.".
     wait until done or VAng(SHIP:FACING:FOREVECTOR, SHIP:UP:FOREVECTOR) < 1.
     if done {
-      restoreControl().
       return.
     }
   }