private void DistanceHeading(DriveCommand dc, FlightCtrlState fs)
{
if (Vector3.Distance(RoverOrigPos, mVessel.CoM) < Math.Abs(dc.target))
{
fs.wheelThrottle = mThrottlePID.Control(dc.speed - RoverSpeed);
fs.wheelSteer = mWheelPID.Control(RTUtil.ClampDegrees180(RoverHDG - dc.target2));
}
else
{
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = DriveCommand.DriveMode.Off;
dc = null;
}
}
private void Coord(DriveCommand dc, FlightCtrlState fs)
{
float
dist = Vector3.Distance(mVessel.CoM, TargetPos),
deg = RTUtil.ClampDegrees180(RoverHDG - TargetHDG);
if (dist > Math.Abs(deg) / 36)
{
fs.wheelThrottle = mThrottlePID.Control(dc.speed - RoverSpeed);
fs.wheelSteer = mWheelPID.Control(deg);
}
else
{
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = DriveCommand.DriveMode.Off;
dc = null;
}
}
