public override void ResetConfig()
{
TfV = defaultTfV;
TfMin = 0.1;
TfMax = 0.5;
kpFactor = 3;
kiFactor = 6;
kdFactor = 0.5;
deadband = 0.0001;
kWlimit = 0.15;
}
public override void OnStart()
{
pid = new PIDControllerV3(Vector3d.zero, Vector3d.zero, Vector3d.zero, 1, -1);
setPIDParameters();
lastAct = Vector3d.zero;
UI_TfX = new EditableDouble(TfV.x);
UI_TfY = new EditableDouble(TfV.y);
UI_TfZ = new EditableDouble(TfV.z);
UI_TfMin = new EditableDouble(TfMin);
UI_TfMax = new EditableDouble(TfMax);
UI_kpFactor = new EditableDouble(kpFactor);
UI_kiFactor = new EditableDouble(kiFactor);
UI_kdFactor = new EditableDouble(kdFactor);
UI_deadband = new EditableDouble(deadband);
}
public override void GUI()
{
if (GUILayout.Button(Localizer.Format("#MechJeb_adv_reset_button")))//"Reset"
{
ResetConfig();
}
Tf_autoTune = GUILayout.Toggle(Tf_autoTune, Localizer.Format("#MechJeb_AttitudeController_checkbox1"));//" Auto-tuning"
GUILayout.BeginHorizontal();
GUILayout.Space(20);
GUILayout.BeginVertical();
if (!Tf_autoTune)
{
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label1"));//"Larger ship do better with a larger Tf"
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label2"), GUILayout.ExpandWidth(true)); //"Tf (s)"
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label3"), GUILayout.ExpandWidth(false)); //"P"
UI_TfX.text = GUILayout.TextField(UI_TfX.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label4"), GUILayout.ExpandWidth(false)); //"Y"
UI_TfY.text = GUILayout.TextField(UI_TfY.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label5"), GUILayout.ExpandWidth(false)); //"R"
UI_TfZ.text = GUILayout.TextField(UI_TfZ.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.EndHorizontal();
UI_TfX = Math.Max(0.01, UI_TfX);
UI_TfY = Math.Max(0.01, UI_TfY);
UI_TfZ = Math.Max(0.01, UI_TfZ);
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label6"), GUILayout.ExpandWidth(true));//"Tf"
GUILayout.Label(MuUtils.PrettyPrint(TfV), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label7"), GUILayout.ExpandWidth(true)); //"Tf range"
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_AttitudeController_label8"), UI_TfMin, "", 50); //"min"
UI_TfMin = Math.Max(UI_TfMin, 0.01);
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_AttitudeController_label9"), UI_TfMax, "", 50); //"max"
UI_TfMax = Math.Max(UI_TfMax, 0.01);
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
GUILayout.EndHorizontal();
bool newLowPassFilter = GUILayout.Toggle(lowPassFilter, Localizer.Format("#MechJeb_AttitudeController_checkbox2"));//" Low Pass Filter"
if (lowPassFilter != newLowPassFilter)
{
setPIDParameters();
lowPassFilter = newLowPassFilter;
}
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_PIDF")); //"PID factors"
GuiUtils.SimpleTextBox("Kd = ", UI_kdFactor, " / Tf", 50); //
UI_kdFactor = Math.Max(UI_kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", UI_kpFactor, " * Math.Sqrt(2) * Tf)", 50);
UI_kpFactor = Math.Max(UI_kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", UI_kiFactor, " * Math.Sqrt(2) * Tf)", 50);
UI_kiFactor = Math.Max(UI_kiFactor, 0.01);
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_AttitudeController_PIDFactor1"), UI_deadband, "", 50);//"Deadband = "
deadband = Math.Max(UI_deadband, 0.0);
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_AttitudeController_label11"), kWlimit, "%");//"Maximum Relative Angular Velocity"
double tmp_kWlimit = kWlimit;
tmp_kWlimit = (EditableDouble)GUILayout.HorizontalSlider((float)tmp_kWlimit, 0.0F, 1.0F);
const int sliderPrecision = 3;
if (Math.Round(Math.Abs(tmp_kWlimit - kWlimit), sliderPrecision) > 0)
{
kWlimit = Math.Round(tmp_kWlimit, sliderPrecision);
}
//showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
//if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label12"), GUILayout.ExpandWidth(true));//"Kp"
GUILayout.Label(MuUtils.PrettyPrint(pid.Kp), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label13"), GUILayout.ExpandWidth(true));//"Ki"
GUILayout.Label(MuUtils.PrettyPrint(pid.Ki), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label14"), GUILayout.ExpandWidth(true));//"Kd"
GUILayout.Label(MuUtils.PrettyPrint(pid.Kd), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label15"), GUILayout.ExpandWidth(true));//"Error"
GUILayout.Label(MuUtils.PrettyPrint(error * Mathf.Rad2Deg), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label16"), GUILayout.ExpandWidth(true));//"prop. action."
GUILayout.Label(MuUtils.PrettyPrint(pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label17"), GUILayout.ExpandWidth(true));//"deriv. action"
GUILayout.Label(MuUtils.PrettyPrint(pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label18"), GUILayout.ExpandWidth(true));//"integral action."
GUILayout.Label(MuUtils.PrettyPrint(pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label19"), GUILayout.ExpandWidth(true));//"PID Action"
GUILayout.Label(MuUtils.PrettyPrint(pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeController_label20"), GUILayout.ExpandWidth(true));//"Inertia"
GUILayout.Label("|" + ac.inertia.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(ac.inertia),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
if (!Tf_autoTune)
{
if (TfV.x != UI_TfX || TfV.y != UI_TfY || TfV.z != UI_TfZ)
{
TfV.x = UI_TfX;
TfV.y = UI_TfY;
TfV.z = UI_TfZ;
setPIDParameters();
}
}
else
{
if (TfMin != UI_TfMin || TfMax != UI_TfMax)
{
TfMin = UI_TfMin;
TfMax = UI_TfMax;
setPIDParameters();
}
}
if (kpFactor != UI_kpFactor || kiFactor != UI_kiFactor || kdFactor != UI_kdFactor)
{
kpFactor = UI_kpFactor;
kiFactor = UI_kiFactor;
kdFactor = UI_kdFactor;
setPIDParameters();
}
}
public override void GUI()
{
if (GUILayout.Button("Reset"))
{
ResetConfig();
}
Tf_autoTune = GUILayout.Toggle(Tf_autoTune, " Auto-tuning");
GUILayout.BeginHorizontal();
GUILayout.Space(20);
GUILayout.BeginVertical();
if (!Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GUILayout.BeginHorizontal();
GUILayout.Label("Tf (s)", GUILayout.ExpandWidth(true));
GUILayout.Label("P", GUILayout.ExpandWidth(false));
UI_TfX.text = GUILayout.TextField(UI_TfX.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("Y", GUILayout.ExpandWidth(false));
UI_TfY.text = GUILayout.TextField(UI_TfY.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("R", GUILayout.ExpandWidth(false));
UI_TfZ.text = GUILayout.TextField(UI_TfZ.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.EndHorizontal();
UI_TfX = Math.Max(0.01, UI_TfX);
UI_TfY = Math.Max(0.01, UI_TfY);
UI_TfZ = Math.Max(0.01, UI_TfZ);
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(TfV), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range", GUILayout.ExpandWidth(true));
GuiUtils.SimpleTextBox("min", UI_TfMin, "", 50);
UI_TfMin = Math.Max(UI_TfMin, 0.01);
GuiUtils.SimpleTextBox("max", UI_TfMax, "", 50);
UI_TfMax = Math.Max(UI_TfMax, 0.01);
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
GUILayout.EndHorizontal();
bool newLowPassFilter = GUILayout.Toggle(lowPassFilter, " Low Pass Filter");
if (lowPassFilter != newLowPassFilter)
{
setPIDParameters();
lowPassFilter = newLowPassFilter;
}
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", UI_kdFactor, " / Tf", 50);
UI_kdFactor = Math.Max(UI_kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", UI_kpFactor, " * Math.Sqrt(2) * Tf)", 50);
UI_kpFactor = Math.Max(UI_kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", UI_kiFactor, " * Math.Sqrt(2) * Tf)", 50);
UI_kiFactor = Math.Max(UI_kiFactor, 0.01);
GuiUtils.SimpleTextBox("Deadband = ", UI_deadband, "", 50);
deadband = Math.Max(UI_deadband, 0.0);
GuiUtils.SimpleTextBox("Maximum Relative Angular Velocity", kWlimit, "%");
double tmp_kWlimit = kWlimit;
tmp_kWlimit = (EditableDouble)GUILayout.HorizontalSlider((float)tmp_kWlimit, 0.0F, 1.0F);
const int sliderPrecision = 3;
if (Math.Round(Math.Abs(tmp_kWlimit - kWlimit), sliderPrecision) > 0)
{
kWlimit = Math.Round(tmp_kWlimit, sliderPrecision);
}
//showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
//if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Kp", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(pid.Kp), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Ki", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(pid.Ki), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(pid.Kd), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Error", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(error * Mathf.Rad2Deg), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Inertia", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + ac.inertia.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(ac.inertia),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
if (!Tf_autoTune)
{
if (TfV.x != UI_TfX || TfV.y != UI_TfY || TfV.z != UI_TfZ)
{
TfV.x = UI_TfX;
TfV.y = UI_TfY;
TfV.z = UI_TfZ;
setPIDParameters();
}
}
else
{
if (TfMin != UI_TfMin || TfMax != UI_TfMax)
{
TfMin = UI_TfMin;
TfMax = UI_TfMax;
setPIDParameters();
}
}
if (kpFactor != UI_kpFactor || kiFactor != UI_kiFactor || kdFactor != UI_kdFactor)
{
kpFactor = UI_kpFactor;
kiFactor = UI_kiFactor;
kdFactor = UI_kdFactor;
setPIDParameters();
}
}
