68 lines
2.0 KiB
Plaintext
68 lines
2.0 KiB
Plaintext
// Provides stabilization functions, including Hover.
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//
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// Must define a global variable 'done', which can be set to true to cancel
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// control functions.
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//
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// Do not include both this and stabilize_helicopter.ks in one program.
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// Stabilizes a rocket relative to the surface, with optional vertical
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// velocity.
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function Hover {
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parameter vertSpeed is 0.0.
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set done to false.
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SAS off.
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lock THROTTLE to 0.0.
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if SHIP:SENSORS:PRES = 0 {
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lock STEERING to SHIP:SRFRETROGRADE.
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wait until VAng(SHIP:FACING:FOREVECTOR, SHIP:SRFRETROGRADE:FOREVECTOR) < 10.
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} else {
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// debug
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print "Making vector visualization.".
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local d1 is VecDraw(V(0,0,0), V(0,0,0), BLUE, "", 1.0, true).
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set d1:VECUPDATER to {
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return atmoSafeRetrograde() * 100.
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}.
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print "Vector visualization created.".
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// end debug
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lock STEERING to atmoSafeRetrograde().
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wait until done or VAng(SHIP:FACING:FOREVECTOR, atmoSafeRetrograde()) < 10.
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}
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local throttlePID is PIDLoop(0.1, 0.1, 0.001, 0, 1).
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set throttlePID:SETPOINT to vertSpeed.
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lock THROTTLE to throttlePID:Update(TIME:SECONDS, -SHIP:VELOCITY:SURFACE:MAG). // this is still wrong, we just burn hard and spin out of control.
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// Unwind everything.
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set SHIP:CONTROL:PILOTMAINTHROTTLE to THROTTLE.
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unlock THROTTLE.
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unlock STEERING.
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SAS on.
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print "Stabilized operation ended. Returning control to pilot.".
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set done to false.
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}
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// Convenience function for landing operations. Hover over a point with a negative velocity, shutting down on landing.
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function Land {
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set done to false.
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when SHIP:STATUS = "LANDED" then {
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set done to true.
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}
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Hover(-4).
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set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.0.
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set done to false.
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}
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function atmoSafeRetrograde {
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if VAng(SHIP:SRFRETROGRADE:FOREVECTOR, SHIP:UP:FOREVECTOR) < 45 {
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return SHIP:SRFRETROGRADE:FOREVECTOR.
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}
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local planeRetro is VXCL(SHIP:UP:FOREVECTOR, SHIP:SRFRETROGRADE:FOREVECTOR).
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return AngleAxis(45, SHIP:FACING:STARVECTOR) * planeRetro.
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}
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