public void ToggleAutoPilot(bool active)
{
if (active)
{
memoryBridge.SetBool("ClientAutoPilotActive", true);
targetVessel.vessel.gameObject.SetActive(true);
targetVessel.vessel.transform.eulerAngles = new Vector3(90, 0, 0);
controlMode = FlightControlMode.Automous;
PIDpitch.StartPID();
PIDroll.StartPID();
}
else
{
memoryBridge.SetBool("ClientAutoPilotActive", false);
}
autoPilot = active;
}
public void VesselUpdate()
{
var vesselOffst = memoryBridge.GetVector3("AdjustedVesselCOMoffset" + memoryBridge.fileName);
vessel.meshOffset.localPosition = vesselOffst;
targetVessel.vesselOffset.localPosition = vesselOffst;
var kspOffset = memoryBridge.GetQuaternion("VesselGimbleOffset" + memoryBridge.fileName);
vessel.transform.rotation = kspOffset;
adjustedGimbal.rotation = vessel.transform.rotation;
var tempRot = adjustedGimbal.localRotation;
tempRot.x = 0;
tempRot.z = 0;
adjustedGimbal.localRotation = tempRot;
float prevDeltaTime = 0;
if (controlMode == FlightControlMode.RawStick)
{
targetVessel.vessel.rotation = adjustedGimbal.rotation;
System.TimeSpan deltaTime = TimeSpan.FromSeconds(Time.fixedDeltaTime);
bool recievingPitchInput = false;
bool recievingRollInput = false;
bool recievingYawInput = false;
var rollInput = Input.GetAxis("Roll");
var pitchInput = Input.GetAxis("Pitch");
var yawInput = Input.GetAxis("Yaw");
// Debug.Log(pitcInput);
if (rollInput != 0)
{
recievingRollInput = true;
}
if (pitchInput != 0)
{
recievingPitchInput = true;
}
if (yawInput != 0)
{
recievingYawInput = true;
}
// var tempVesselRot = targetVessel.vessel.transform.rotation;
if (recievingYawInput)
{
memoryBridge.SetFloat("VesselYaw", yawInput);
// tempVesselRot.y = mirrorVessel.vessel.transform.rotation.y;
}
else
{
memoryBridge.SetFloat("VesselYaw", 1.1f);
}
if (recievingPitchInput)
{
memoryBridge.SetFloat("VesselPitch", pitchInput);
// tempVesselRot.x = mirrorVessel.vessel.transform.rotation.x;
}
else
{
memoryBridge.SetFloat("VesselPitch", 1.1f);
}
if (recievingRollInput)
{
memoryBridge.SetFloat("VesselRoll", rollInput);
// tempVesselRot.z = mirrorVessel.vessel.transform.rotation.z;
}
else
{
memoryBridge.SetFloat("VesselRoll", 1.1f);
}
// targetVessel.vessel.transform.rotation = tempVesselRot;
var targetVesselOffset = Quaternion.Inverse(targetVessel.vessel.rotation) * vessel.transform.rotation;
//if (rollInput > 0 & Math.Abs(rollInput) <= 1)
//{
// memoryBridge.SetFloat("VesselRoll", rollInput);
//}
//else
//{
// memoryBridge.SetFloat("VesselRoll", PIDroll.CalculateResult(targetVesselOffset.z * 10, deltaTime));
//}
//memoryBridge.SetFloat("VesselPitch", pitchInput);
//memoryBridge.SetFloat("VesselYaw", yawInput);
// var targetVesselOffset = targetVessel.vessel.localEulerAngles - mirrorVessel.vessel.localEulerAngles;
// Debug.Log(targetVesselOffset);
// memoryBridge.SetFloat("VesselPitch", PIDpitch.CalculateResult(targetVesselOffset.x * 10, deltaTime));
}
else if (controlMode == FlightControlMode.Automous)
{
var timeSinceLastUpdate = Time.time - prevDeltaTime;
prevDeltaTime = Time.time;
var deltaTime1 = (int)(timeSinceLastUpdate * 1000);
var telloDeltaTime = new System.TimeSpan(0, 0, 0, 0, (deltaTime1));
var pitchError = targetVessel.vessel.transform.eulerAngles.x - vessel.transform.eulerAngles.x;
var pitchInput = PIDpitch.CalculateResult(pitchError, telloDeltaTime);
var rollError = targetVessel.vessel.transform.eulerAngles.z - vessel.transform.eulerAngles.z;
var rollInput = PIDroll.CalculateResult(rollError, telloDeltaTime);
if (rollError > 180)
{
//rollError = 360 - rollError;
}
else
{
// rollError = -rollError;
}
Debug.Log(rollError);
// var yawInput = 1;
//// var pitchInput = 1f;
// var rollInput = 1f;
// memoryBridge.SetFloat("VesselYaw", yawInput);
memoryBridge.SetFloat("VesselRoll", rollInput);
memoryBridge.SetFloat("VesselPitch", pitchInput);
}
// memoryBridge.SetFloat("VesselYaw", PIDyaw.CalculateResult(targetVesselOffset.y, deltaTime));
//var rawRoll = targetVesselOffset.x;
//float rollError = 0;
//if (rawRoll > 180)
//{
// rollError = 360 - rawRoll;
//}
//else
//{
// rollError = -rawRoll;
//}
//if (autoPilot)
//{
// //Debug.Log(Quaternion.Angle(adjustedGimbal.rotation, transform.rotation));
// var targetAngle = Quaternion.Angle(adjustedGimbal.rotation, transform.rotation);
// if (targetAngle < 3 & !vesselInRange)
// {
// OnVesselEnterTargerRange();
// }
// if (targetAngle >= 3 & vesselInRange)
// {
// OnVesselExitTargetRange();
// }
//}
}
