public LandingPrediction predictLandPosition()
{
VesselController.updateBodyPosition();
var currentPosition = VesselController.getPosition();
var currentVelocity = VesselController.getVelocity();
float stepsize = 0.01f;
float time = 0.0f;
while (VesselController.getAltitudeAtPoint(currentPosition) > 0)
{
var normalizedVelocity = currentVelocity;
normalizedVelocity.Normalize();
currentPosition += currentVelocity * stepsize;
currentVelocity += -normalizedVelocity * stepsize * (float)VesselController.getDrag()
* (float)calculateDynamicPressure(VesselController.getAltitudeAtPoint(currentPosition), currentVelocity.Length());
currentVelocity += VesselController.getGravityAtPoint(currentPosition) * stepsize;
time += stepsize;
}
return(new LandingPrediction()
{
Position = currentPosition,
Velocity = currentVelocity,
TimeLeft = time
});
}
private void updateLandingBurn()
{
var targetRelative = Target - landingPrediction.Position;
var targetRelativeNormalized = targetRelative;
targetRelativeNormalized.Normalize();
var downDirection = VesselController.getGravity();
downDirection.Normalize();
var vesselVelocity = VesselController.getVelocity();
var vesselVelocityNormalized = vesselVelocity;
vesselVelocityNormalized.Normalize();
var altitude = VesselController.getAltitude();
var targetAltitude = VesselController.getAltitudeAtPoint(Target);
altitude -= targetAltitude;
float tiltMultiplier = 0.38f;
float relativeMultiplier = 0.0125f;
if (altitude < 7000)
{
tiltMultiplier = 0.18f;
relativeMultiplier = 0.0225f;
}
if (altitude < 5000)
{
tiltMultiplier = 0.08f;
relativeMultiplier = 0.0825f;
}
if (altitude < 2500)
{
tiltMultiplier = 0.0f;
}
var desiredDirection = -vesselVelocityNormalized + targetRelativeNormalized * tiltMultiplier * Math.Min(1.0f, targetRelative.Length() * relativeMultiplier);
if (vesselVelocity.Length() < 15.0)
{
bool upsidedown = Vector3.Dot(downDirection, vesselVelocityNormalized) < 0.0;
desiredDirection = -(upsidedown ? downDirection : vesselVelocityNormalized);// + targetRelativeNormalized * 0.10f * Math.Min(1.0f, targetRelative.Length() * 0.0225f);
}
VesselDirectionController.setTargetDirection(desiredDirection);
var velocity = Vector3.Dot(vesselVelocity, -downDirection);
var pidCalculatedThrottle = landingSpeedPID.Calculate(-altitude * 0.06f - 5.0f, velocity);
//Console.WriteLine("PID Result : {0}", pidCalculatedThrottle);
double hoverPercentage = predictThrustPercentageForAcceleration(VesselController.getGravity().Length()) * 2.0 - 1.0;
pidCalculatedThrottle -= hoverPercentage;
VesselController.setThrottle(clamp(pidCalculatedThrottle, -1.0, 1.0) * 0.5 + 0.5);
if (VesselController.getAltitude() < 500)
{
VesselController.setLandingGearState(true);
}
Console.WriteLine("[Landing burn] Prediction mismatch {0} Brake prediction {1}", targetRelative.Length(), brakeAltitudePrediction);
}
