private void updateLandingBurn()
{
var vesselVelocity = VesselController.getVelocity();
var vesselVelocityNormalized = vesselVelocity;
vesselVelocityNormalized.Normalize();
VesselDirectionController.setTargetDirection(-vesselVelocityNormalized);
double hoverPercentage = predictThrustPercentageForAcceleration(VesselController.getGravity().Length());
double val = vesselVelocity.Length() - (5.0f + VesselController.getAltitude() * 0.09f);// - landingSpeedPID.Calculate(17.0f, vesselVelocity.Length());
if (brakeAltitudePrediction <= 0.0)
{
val = 1.0;
}
// if (vesselVelocity.Length() > VesselController.getAltitude() * 0.2f + 5.0) val = 1.0;
VesselController.setThrottle(clamp(val, 0.0, 1.0));
if (VesselController.getAltitude() < 500)
{
VesselController.setLandingGearState(true);
}
Console.WriteLine("[Landing burn] Brake prediction {0}", brakeAltitudePrediction);
}
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
});
}
public bool update()
{
var vesselVelocity = VesselController.getVelocity();
var downDirection = VesselController.getGravity();
downDirection.Normalize();
var velocity = Vector3.Dot(vesselVelocity, -downDirection);
VesselDirectionController.setTargetDirection(-downDirection);
VesselDirectionController.update();
var pidCalculatedThrottle = LandingSpeedPID.Calculate(TargetVelocity, 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);
return(false);
}
private void updateHighAltitudeCorrections()
{
var targetRelative = Target - landingPrediction.Position;
var targetRelativeNormalized = targetRelative;
targetRelativeNormalized.Normalize();
var overShootTarget = Target + targetRelativeNormalized * 1000.0f;
targetRelativeNormalized = overShootTarget - landingPrediction.Position;
targetRelativeNormalized.Normalize();
var desiredDirection = targetRelativeNormalized;// * Math.Min(1.0f, targetRelative.Length() * 0.01f);
desiredDirection.Normalize();
VesselDirectionController.setTargetDirection(desiredDirection);
var vesselVelocity = VesselController.getVelocity();
float minimalCorrectiveThrottle = (float)VesselDirectionController.getOnTargetPercentage() *
Math.Min(1.0f, targetRelative.Length() * 0.0001f) * 1.0f;// * Math.Min(1.0f, vesselVelocity.Length() * 0.005f);
VesselController.setThrottle(minimalCorrectiveThrottle);
Console.WriteLine("[High altitude pinpoint] Prediction mismatch {0}", targetRelative.Length());
/*
* var vesselVelocity = VesselController.getVelocity();
* var vesselVelocityNormalized = vesselVelocity;
* vesselVelocityNormalized.Normalize();
* VesselDirectionController.setTargetDirection(-vesselVelocityNormalized);*/
}
public bool update()
{
var orbit = Forecast.predictOrbit();
var apo = orbit.Apoapsis;
double velocityNeeded = VesselController.calculateOrbitalVelocityAtAltitude(Altitude);
double currentVelocity = VesselController.getOrbitalVelocity().Length();
double shipAcceleration = VesselController.getEnginesAcceleration();
double timeOfManouver = (velocityNeeded - currentVelocity) / shipAcceleration;
var velocityNormalized = VesselController.getVelocity();
velocityNormalized.Normalize();
float mixer = (float)(apo / Altitude);
var downDirection = VesselController.getGravity();
downDirection.Normalize();
var tangential = Vector3.Transform(-downDirection, Quaternion.RotationYawPitchRoll(MathUtil.DegreesToRadians(-25.0f), 0.0f, 0.0f));
var direction = -downDirection * (1.0f - mixer) + tangential * (mixer);
direction.Normalize();
VesselDirectionController.setTargetDirection(direction);
if (currentStage == Stage.Ascend)
{
Console.WriteLine("[Ascend] Apoapsis {0}", apo);
if (orbit.Apoapsis < Altitude)
{
VesselController.setThrottle(VesselDirectionController.getOnTargetPercentage());
}
else
{
VesselController.setThrottle(0.0f);
return(true);
}
}
VesselDirectionController.update();
return(false);
}