Fix staging and burn angle.

boot/aircraft.ks

@@ -4,7 +4,6 @@ parameter debug is false.
 
 Bootstrap(
 "/boot/aircraft",
-"/prog/aircraft",
-List(), // no additional program files
+List("/prog/aircraft"),
 debug
 ).

boot/helicopter.ks

@@ -4,7 +4,6 @@ parameter debug is false.
 
 Bootstrap(
 "/boot/helicopter",
-"/prog/helicopter",
-List(), // no additional program files
+List("/prog/helicopter"),
 debug
 ).

boot/launchpad.ks

@@ -4,7 +4,6 @@ parameter debug is false.
 
 Bootstrap(
   "/boot/launchpad",
-  "/prog/launchpad",
-  List(),
+  List("/prog/launchpad"),
   debug
 ).

boot/rocket.ks

@@ -4,7 +4,6 @@ parameter debug is false.
 
 Bootstrap(
   "/boot/rocket",
-  "/prog/rocket",
-  List(),
+  List("/prog/rocket"),
   debug
 ).

boot/satellite.ks

@@ -4,12 +4,12 @@ parameter debug is false.
 
 Bootstrap(
   "/boot/satellite",
-  "",
   List(
     "/prog/execnode",
     "/prog/circ",
     "/prog/satdeploy",
     "/prog/nodestats"
   ),
-  debug
+  debug,
+  false
 ).

boot/science.ks

@@ -4,12 +4,12 @@ parameter debug is false.
 
 Bootstrap(
   "/boot/science",
-  "",
   List(
     "/prog/circ",
     "/prog/execnode",
     "/prog/nodestats",
     "/prog/reentry"
   ),
-  debug
+  debug,
+  false
 ).

lib/boot.ks

@@ -1,20 +1,24 @@
 
+// "bootfile" should be the path to the bootfile, so it can be deleted.
+// "programs" is a List() of programs to install in the CPU root.
+// "debug" will skip compiling if enabled, and only copy files.
+// if "init" is true, the first program in the programs List will become the new boot file.
+//   pass false in here if you want CPU control from the terminal.
 function Bootstrap {
-  parameter bootFile, init, programs, debug.
+  parameter bootFile, programs, debug, init is true.
+
+  local initProgram is "".
+  if init {
+    set initProgram to programs[0]:Replace("/prog", "").
+  }
 
   // create a list of libraries that we need to compile
   local libs is UniqueSet().
-  if init <> "" {
-    addLibs(libs, init).
-  }
   for program in programs {
     addLibs(libs, program).
   }
 
   // compile the main program files
-  if init <> "" {
-    compileFile(init, "/init", debug).
-  }
   for program in programs {
     compileFile(program, program:Replace("/prog", ""), debug).
   }
@@ -29,18 +33,13 @@ function Bootstrap {
     // Open a terminal and run init.
     CORE:PART:GETMODULE("kOSProcessor"):DOEVENT("Open Terminal").
     if init <> "" {
-      run "/init".
+      RunPath(initProgram).
     }
-  // ... or delete the bootstrapping file, set init to the bootfile,
+  // ... or delete the bootstrapping file, configure to boot from the init program,
   // and reboot.
   } else {
     DeletePath("1:" + bootfile).
-    // Set OS to boot and restart.
-    if init = "" {
-      set CORE:BOOTFILENAME to "".
-    } else {
-      set CORE:BOOTFILENAME to "/init".
-    }
+    set CORE:BOOTFILENAME to initProgram.
     reboot.
   }
 }

lib/launch_rocket.ks

@@ -30,14 +30,12 @@ function pitchProgram {
 function Launch {
   parameter apoapsisTarget is 80000.
   parameter atmoTWR is 2.0.
-  // parameter leadAngle is 2.
   parameter minPitch is 5.
-  parameter initialPitch is 20.
-  parameter pitchTime is 30.
+  parameter kickAngle is 20.
+  parameter kickTime is 30.
+  parameter kickStart is 100.
   parameter autoStage is true.
 
-  NoFuelResources(true).
-
   // Configure subsystems.
   RCS off.
   SAS off.
@@ -72,17 +70,18 @@ function Launch {
     }
   }
 
-  
   print "Phase 1: Vertical Ascent.".
   lock THROTTLE to 1.0.
   lock STEERING to Heading(90,90,270).
+  NoFuelResources(true).
+  PreLaunchCrossfeed(false).
   stage.
-  wait until SHIP:VERTICALSPEED > 100.
+  wait until SHIP:VERTICALSPEED > kickStart.
   
   print "Phase 2: Initial Pitch.".
   local startTime is TIME:SECONDS.
-  lock STEERING to pitchProgram(initialPitch, pitchTime, startTime).
-  wait pitchTime.
+  lock STEERING to pitchProgram(kickAngle, kickTime, startTime).
+  wait kickTime.
 
   print "Phase 3: Stable Prograde Boost.".
   lock STEERING to getClampedDir(minPitch).
@@ -93,8 +92,8 @@ function Launch {
   lock THROTTLE to 0.0.
   set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.
   wait 0.001. // make sure these control updates get applied
-  add CreateCircularizationNode().
-  ExecNode().
+
+  insertionBurn(apoapsisTarget).
 
   print "Ascent Complete.".
   set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.
@@ -102,3 +101,54 @@ function Launch {
   unlock STEERING.
   SAS on.
 }
+
+// Calculate and perform the insertion burn for orbit.
+// The reason to prefer this over CreateCircularizationNode() and ExecNode() is that the amount of RCS needed
+// to vector into position during launch adjusts our orbit significantly. This gives us a "wait until" that
+// serves the specific needs of launch.
+// It also makes automated launches possible before maneuver nodes are unlocked.
+//
+// TODO: Refactor code reuse between this function and ExecNode().
+//
+// prerequisites:
+//   * Vessel is still behind the Apoapsis
+//   * Apoapsis is at the target height
+function insertionBurn {
+  parameter apoapsisTarget.
+
+  // vector is prograde but only on the horizonal plane
+  print "Adjusting heading.".
+  local lock horizon is Vxcl(SHIP:UP:FOREVECTOR, SHIP:PROGRADE:FOREVECTOR).
+  lock STEERING to LookDirUp(horizon, SHIP:FACING:TOPVECTOR).
+
+  // calculate the deltaV to get us to the target velocity, for calculating burn start time.
+  local t is TIME + SHIP:ORBIT:ETA:APOAPSIS.
+  local Vc is sqrt(SHIP:BODY:MU/(PositionAt(SHIP, t) - SHIP:BODY:POSITION):MAG).
+  local dV is Vc - VelocityAt(SHIP, t):ORBIT:MAG.
+
+  if WillStage(dV) {
+    when FlameOut() then {
+      print "Flameout detected. Staging.".
+      stage.
+    }
+  }
+  
+  // calculate the total burn time (Tb) and the burn start time (Ts)
+  local Tb is BurnTime(dV).
+  local Ts is TIME + SHIP:OBT:ETA:APOAPSIS - BurnTime(dV / 2).
+
+  // warp to the burn point
+  print "Waiting for burn window.".
+  wait until (VAng(SHIP:FACING:FOREVECTOR, STEERINGMANAGER:TARGET:FOREVECTOR) <= 0.5) OR (TIME > Ts).
+  if TIME < Ts - 2 {
+    KUNIVERSE:TIMEWARP:WarpTo(Ts:SECONDS - 2).
+  }
+  wait until SHIP:UNPACKED.
+  wait until TIME > Ts.
+
+  // burn until periapsis is clear
+  print "Circularizing orbit.".
+  lock THROTTLE to 1.0.
+  wait until SHIP:OBT:PERIAPSIS > apoapsisTarget.
+  lock THROTTLE to 0.0.
+}

lib/navigation.ks

@@ -102,6 +102,9 @@ function BurnTime {
   local lastStage is false.
   // We allow a small tolerance to deal with potential floating point errors.
   until totaldV <= 0.001 {
+    if s < 0 {
+      print "Ran out of fuel with " + totaldV + " dV remaining".
+    }
     local F is stageThrust(s).
     local Isp is stageISP(s).
     local m is stageMass(s).

lib/systems.ks

@@ -33,3 +33,20 @@ function NoFuelResources {
     }
   }
 }
+
+function PreLaunchCrossfeed {
+  parameter enable is true.
+
+  local eventName is "Disable Crossfeed".
+  if enable {
+    set eventName to "Enable Crossfeed".
+  }
+  
+  for part in SHIP:PartsTagged("prelaunch") {
+    if part:MODULES:Find("ModuleToggleCrossfeed") = -1 {
+      print "Prelaunch part does not have crossfeed module. skipping.".
+    } else if part:GetModule("ModuleToggleCrossfeed"):ALLEVENTNAMES:Find(eventName) > -1 {
+      part:GetModule("ModuleToggleCrossfeed"):DoEvent(eventName).
+    }
+  }
+}

prog/launchpad.ks

@@ -3,11 +3,20 @@
 // stages, spools up the engines, and then "releases control"
 // to the main ship computer.
 //
+// *** CONSTRUCTION NOTES ***
+// If using this script, put the annabuncheskOS-launchpad.cfg file from the patches/ directory into your GameData/
+//   directory. This will ensure the launchpad has a high enough fuel flow rate for the spool-up sequence.
+// If your lower stage uses engine plates, be sure to attach the launch pad to one of the *engine* bottom nodes,
+//   not the Engine Plate's bottom node. Otherwise fuel delivery won't work.
+//
+// *** TAGGING REQUIREMENTS ***
 // The launchpad object should have the "launchpad" tag.
 // The ship's main CPU (the one with launch functionality" should be tagged "shipcpu".
-// Fuel tanks with the "nofuel" tag will have *all* resources temporarily disabled during this
-// sequence. The main ship computer must re-enable them after staging. NoFuelResources in lib/systems is ideal
-// for this.
+// Fuel tanks with the "nofuel" tag will have *all* resources temporarily disabled during the pre-launch
+//   sequence. The main ship computer must re-enable them after staging. NoFuelResources() in lib/systems is ideal
+//   for this.
+// Similarly, any crossfeed-capable decouplers tagged "prelaunch" will have crossfeed ENABLED during pre-launch.
+//   MainCPU should, again, disable these once it stages. PreLaunchCrossfeed() in lib/systems is your friend.
 
 RunOncePath("/lib/systems").
 RunOncePath("/lib/ui").
@@ -35,6 +44,7 @@ function preLaunch {
 
   print "Beginning pre-launch sequence.".
   NoFuelResources(false).
+  PreLaunchCrossfeed(true).
 
   // turn on generator and fuel flow
   enableLaunchpadFlow().
@@ -56,7 +66,8 @@ function preLaunch {
   local msg is Lex(
     "command", "launch",
     "angle", options["Kick Angle"]:TEXT:ToNumber(),
-    "time", options["Kick Time"]:TEXT:ToNumber()
+    "time", options["Kick Time"]:TEXT:ToNumber(),
+    "start", options["Kick Start"]:TEXT:ToNumber()
     ).
   Processor("shipcpu"):CONNECTION:SendMessage(msg).
   iface:Hide().
@@ -76,7 +87,8 @@ MakeMenu(
   List(
     List("Spool-up Time", "SCALAR", "15"),
     List("Kick Angle", "SCALAR", "30"),
-    List("Kick Time", "SCALAR", "45")
+    List("Kick Time", "SCALAR", "45"),
+    List("Kick Start", "SCALAR", "100")
   ),
   "Execute",
   preLaunch@

prog/rocket.ks

@@ -20,9 +20,9 @@ on AG9 {
 // Top-level menu structure.
 local iface is gui(250, 300).
 set iface:X to 200.
-set iface:Y to 700.
+set iface:Y to 750.
 local top is iface:AddVLayout().
-local rows is list(MakeRow(top), MakeRow(top), MakeRow(top)).
+local rows is list(MakeRow(top), MakeRow(top), MakeRow(top), MakeRow(top)).
 local stk is iface:AddStack().
 
 // Buttons and menus.
@@ -95,8 +95,9 @@ MakeMenu(
   MakeButton(rows[2], "Launch"),
   List(
     List("Target Apoapsis", "SCALAR", "80000"),
-    List("Initial Pitch", "SCALAR", "30"),
-    List("Pitch Time", "SCALAR", "45"),
+    List("Kick Angle", "SCALAR", "30"),
+    List("Kick Time", "SCALAR", "45"),
+    List("Kick Start", "SCALAR", "100"),
     List("Atmo TWR", "SCALAR", "2.0"),
     List("Minimum Pitch", "SCALAR", "5"),
     List("Autostage", "BOOL", true)
@@ -108,8 +109,9 @@ MakeMenu(
       options["Target Apoapsis"]:TEXT:ToNumber(),
       options["Atmo TWR"]:TEXT:ToNumber(),
       options["Minimum Pitch"]:TEXT:ToNumber(),
-      options["Initial Pitch"]:TEXT:ToNumber(),
-      options["Pitch Time"]:TEXT:ToNumber(),
+      options["Kick Angle"]:TEXT:ToNumber(),
+      options["Kick Time"]:TEXT:ToNumber(),
+      options["Kick Start"]:TEXT:ToNumber(),
       options["Autostage"]:PRESSED
     ).
   }
@@ -120,7 +122,9 @@ MakeMenu(
   MakeButton(rows[2], "Node"),
   List(
     List("Node dV", "RO", "0"),
-    List("Node Burn Time", "RO", "0")
+    List("Node Burn Time", "RO", "0"),
+    List("Node Lead Time", "RO", "0"),
+    List("Burn Start ETA", "RO", "0")
   ),
   "Execute",
   {
@@ -130,11 +134,18 @@ MakeMenu(
   {
     parameter options.
     if HASNODE {
+      local burnTime is BurnTime(NEXTNODE:DELTAV:MAG).
+      local leadTime is BurnTime(NEXTNODE:DELTAV:MAG / 2).
+
       set options["Node dV"]:TEXT to NEXTNODE:DELTAV:MAG:ToString.
-      set options["Node Burn Time"]:TEXT to BurnTime(NEXTNODE:DELTAV:MAG):ToString.
+      set options["Node Burn Time"]:TEXT to burnTime:ToString.
+      set options["Node Lead Time"]:TEXT to leadTime:ToString.
+      set options["Burn Start ETA"]:TEXT to (NEXTNODE:ETA - leadTime):ToString.
     } else {
       set options["Node dV"]:TEXT to "No Node".
       set options["Node Burn Time"]:TEXT to "No Node".
+      set options["Node Lead Time"]:TEXT to "No Node".
+      set options["Burn Start ETA"]:TEXT to "No Node".
     }
   }
 ).
@@ -171,6 +182,50 @@ MakeMenu(
   }
 ).
 
+MakeButton(
+  rows[3],
+  "Pro",
+  {
+    set done to false.
+    lock STEERING to SHIP:PROGRADE.
+    wait until done.
+    set done to false.
+  }
+).
+
+MakeButton(
+  rows[3],
+  "Ret",
+  {
+    set done to false.
+    lock STEERING to SHIP:RETROGRADE.
+    wait until done.
+    set done to false.
+  }
+).
+
+MakeButton(
+  rows[3],
+  "Srf Pro",
+  {
+    set done to false.
+    lock STEERING to SHIP:SRFPROGRADE.
+    wait until done.
+    set done to false.
+  }
+).
+
+MakeButton(
+  rows[3],
+  "Srf Ret",
+  {
+    set done to false.
+    lock STEERING to SHIP:SRFRETROGRADE.
+    wait until done.
+    set done to false.
+  }
+).
+
 iface:show().
 
 until SHIP:STATUS <> "PRELAUNCH" {
@@ -184,6 +239,7 @@ until SHIP:STATUS <> "PRELAUNCH" {
         5.0,
         data["angle"],
         data["time"],
+        data["start"],
         true
       ).
     }