private void setupAndStartDrone(Vector3D Target, string WP_Name, bool dockingMode)
{
RemoteControl.SetAutoPilotEnabled(false);
RemoteControl.ClearWaypoints();
RemoteControl.AddWaypoint(Target, WP_Name);
RemoteControl.ApplyAction("CollisionAvoidance_On");
RemoteControl.ApplyAction("AutoPilot_On");
RemoteControl.ApplyAction((dockingMode)? "DockingMode_On" : "DockingMode_Off");
RemoteControl.SetAutoPilotEnabled(true);
}
public void SwitchFlyMode(bool thrusterMode)
{
if (control.ControlThrusters != thrusterMode)
{
control.ApplyAction("ControlThrusters");
}
}
/**
* AreaDefenceDroneAI
* ==============================
* Copyright (c) 2015 Thomas Klose <*****@*****.**>
* Source:
*
* Summary
* ------------------------------
*
*
* Abstract
* ------------------------------
*
*
* Example
* ------------------------------
*
*/
void Main(string args)
{
IMyRemoteControl RemoteControl = GridTerminalSystem.GetBlockWithName("RC") as IMyRemoteControl;
if (RemoteControl != null)
{
//GPS: ORIGIN: -56148.91:23763.12:-2721.73:
Vector3D origin = new Vector3D(-56148.91, 23763.12, -2721.73);
RemoteControl.SetAutoPilotEnabled(false);
RemoteControl.ClearWaypoints();
RemoteControl.AddWaypoint(origin, "WP_Name");
RemoteControl.ApplyAction("CollisionAvoidance_On");
RemoteControl.ApplyAction("AutoPilot_On");
RemoteControl.ApplyAction("DockingMode_Off");
RemoteControl.SetAutoPilotEnabled(true);
// ADDAI Brain = new ADDAI(RC, GridTerminalSystem, origin, 500.0, 50.0);
// Brain.run();
}
}
//Primary Generic Functions
//==========================
//Use For General Drone Flying:
void RC_Manager(Vector3D TARGET, IMyRemoteControl RC, bool TURN_ONLY)
{
//Uses Rotation Control To Handle Max Rotational Velocity
//---------------------------------------------------------
if (RC.GetShipVelocities().AngularVelocity.AbsMax() > PrecisionMaxAngularVel)
{
print("转动速度放缓"); RC.SetAutoPilotEnabled(false); return;
}
//Setup Of Common Variables
//--------------------------------------------
Vector3D DronePosition = RC.GetPosition();
Vector3D Drone_To_Target = Vector3D.Normalize(TARGET - DronePosition);
//Override Direction Detection
//-------------------------------
double To_Target_Angle = Vector3D.Dot(Vector3D.Normalize(RC.GetShipVelocities().LinearVelocity), Drone_To_Target);
double Ship_Velocity = RC.GetShipVelocities().LinearVelocity.Length();
//Turn Only: (Will drift ship automatically)
//--------------------------------------------
/*List<MyWaypointInfo> way = new List<MyWaypointInfo>();
* RC.GetWaypointInfo(way);
* if (way.Count>0)
* {
* if (way[0].Coords!= TARGET)
* {
* //RC.ApplyAction("AutoPilot_Off");
* //RC.ClearWaypoints();
* }
* }*/
if (TURN_ONLY)
{
//if (way.Count <1)
{
RC.ClearWaypoints();
GYRO.GyroOverride = false;
RC.AddWaypoint(TARGET, "母船起点");
RC.FlightMode = FlightMode.OneWay;
RC.Direction = Base6Directions.Direction.Forward;
RC.ApplyAction("AutoPilot_On");
RC.ApplyAction("CollisionAvoidance_Off");
RC.ControlThrusters = false;
}
return;
}
//Drift Cancellation Enabled:
//-----------------------------
if (To_Target_Angle < 0.4 && Ship_Velocity > 3)
{
//Aim Gyro To Reflected Vector
Vector3D DRIFT_VECTOR = Vector3D.Normalize(RC.GetShipVelocities().LinearVelocity);
Vector3D REFLECTED_DRIFT_VECTOR = -1 * (Vector3D.Normalize(Vector3D.Reflect(DRIFT_VECTOR, Drone_To_Target)));
Vector3D AIMPINGPOS = (-1 * DRIFT_VECTOR * 500) + DronePosition;
//if (way.Count < 1 )
{
RC.ClearWaypoints();
GYRO.GyroOverride = false;
RC.AddWaypoint(AIMPINGPOS, "AIMPINGPOS");
RC.SpeedLimit = 100;
RC.FlightMode = FlightMode.OneWay;
RC.Direction = Base6Directions.Direction.Forward;
RC.ApplyAction("AutoPilot_On");
RC.ApplyAction("CollisionAvoidance_Off");
}
}
//System Standard Operation:
//---------------------------
else
{
//Assign To RC, Clear And Refresh Command
List <ITerminalAction> action = new List <ITerminalAction>();
RC.GetActions(action);
RC.ControlThrusters = true;
RC.ClearWaypoints();
GYRO.GyroOverride = false;
RC.AddWaypoint(TARGET, "目标");
RC.SpeedLimit = 100;
RC.FlightMode = FlightMode.OneWay;
RC.Direction = Base6Directions.Direction.Forward;
RC.ApplyAction("AutoPilot_On");
RC.ApplyAction("DockingMode_Off");
RC.ApplyAction("CollisionAvoidance_On");
}
}
