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 bool update()
{
var landingPrediction = Forecast.predictLandPosition();
var brakeAltitudePrediction = Forecast.predictImmediateRetrogradeBurnStopAltitude();
var targetRelative = Target - landingPrediction.Position;
var targetRelativeNormalized = targetRelative;
targetRelativeNormalized.Normalize();
float minimalCorrectiveThrottle = 0.0f;
var desiredDirection = targetRelativeNormalized;
desiredDirection.Normalize();
VesselDirectionController.setTargetDirection(desiredDirection);
minimalCorrectiveThrottle = (float)VesselDirectionController.getOnTargetPercentage() *
Math.Min(1.0f, (float)Math.Pow(targetRelative.Length() * 0.0008f, 2.0f)) * 0.1f;
VesselDirectionController.update();
Console.WriteLine("Prediction mismatch {0}", targetRelative.Length());
if ((targetRelative.Length() < 1000.0 && lastMissDistance < targetRelative.Length()) || targetRelative.Length() < 10.0)
{
VesselController.setThrottle(0.0);
return(true);
}
lastMissDistance = targetRelative.Length();
VesselController.setThrottle(minimalCorrectiveThrottle);
return(false);
}
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;
float mixer = (float)(apo / Altitude);
var downDirection = VesselController.getGravity();
downDirection.Normalize();
VesselDirectionController.setTargetDirection(-downDirection);
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);
}
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);
}
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;
float mixer = (float)(apo / Altitude);
var downDirection = VesselController.getGravity();
downDirection.Normalize();
var tangential = Vector3.Transform(downDirection, Quaternion.RotationYawPitchRoll(MathUtil.DegreesToRadians(90.0f), 0.0f, 0.0f));
var direction = -downDirection * (1.0f - mixer) + tangential * (mixer);
if (mixer > 1.0)
{
float newMixer = 1.0f - (mixer - 1.0f);
direction = downDirection * (1.0f - newMixer) + tangential * (newMixer);
}
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);
currentStage = Stage.WaitForCircularize;
}
}
if (currentStage == Stage.WaitForCircularize)
{
VesselController.setThrottle(0.0f);
Console.WriteLine("[Waiting] Time left {0}", orbit.TimeToApoapsis - timeOfManouver * 0.5);
if (orbit.TimeToApoapsis < timeOfManouver * 0.5)
{
currentStage = Stage.Circularize;
}
}
if (currentStage == Stage.Circularize)
{
Console.WriteLine("[Circularize] Apoapsis {0} Periapsis {1} Delta V required {2}", apo, orbit.Periapsis, velocityNeeded - currentVelocity);
double min = Math.Min(orbit.Periapsis, orbit.Apoapsis);
if (min < Altitude)
{
VesselController.setThrottle(clamp((Altitude - min) * 0.02, 0.0, 1.0));
}
else
{
VesselController.setThrottle(0.0f);
}
}
VesselDirectionController.update();
return(false);
}
