public void CruiseControlCallback(Multiplexer.Command cmd)
{
UpdateTimer.Reset();
switch (cmd)
{
case Multiplexer.Command.Resume:
RegisterTo <SASBlocker>();
NeedCPSWhenMooving();
break;
case Multiplexer.Command.On:
var nV = VSL.HorizontalSpeed.Absolute;
if (nV > PointNavigator.C.MaxSpeed)
{
nV = PointNavigator.C.MaxSpeed;
}
var nVdir = nV > C.MaxIdleSpeed?
(Vector3)VSL.HorizontalSpeed.Vector.normalized :
VSL.OnPlanetParams.Fwd;
CFG.BR.OnIfNot(BearingMode.User);
BRC.UpdateBearing((float)VSL.Physics.Bearing(nVdir));
VSL.HorizontalSpeed.SetNeeded(nVdir * nV);
CFG.MaxNavSpeed = needed_velocity = nV;
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
VSL.HorizontalSpeed.SetNeeded(Vector3d.zero);
UnregisterFrom <SASBlocker>();
ReleaseCPS();
CFG.BR.OffIfOn(BearingMode.User);
break;
}
}
public void ControlCallback(Multiplexer.Command cmd)
{
translation_pid.Reset();
needed_thrust_pid.Reset();
switch (cmd)
{
case Multiplexer.Command.Resume:
RegisterTo <SASBlocker>();
NeedCPSWhenMooving();
break;
case Multiplexer.Command.On:
VSL.UpdateOnPlanetStats();
if (CFG.HF[HFlight.Stop])
{
VSL.HorizontalSpeed.SetNeeded(Vector3d.zero);
CFG.Nav.Off(); //any kind of navigation conflicts with the Stop program; obviously.
}
else if (CFG.HF[HFlight.NoseOnCourse])
{
CFG.BR.OnIfNot(BearingMode.Auto);
}
CFG.AT.OnIfNot(Attitude.Custom);
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
UnregisterFrom <SASBlocker>();
ReleaseCPS();
CFG.AT.OffIfOn(Attitude.Custom);
CFG.BR.OffIfOn(BearingMode.Auto);
EnableManualThrust(false);
break;
}
}
public void ManeuverCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
case Multiplexer.Command.On:
ManeuverStage = Stage.WAITING;
if (!TCAScenario.HavePatchedConics)
{
Status("yellow", "WARNING: maneuver nodes are not yet available. Upgrade the Tracking Station.");
CFG.AP1.Off();
return;
}
if (!VSL.HasManeuverNode)
{
CFG.AP1.Off(); return;
}
VSL.Controls.StopWarp();
CFG.AT.On(Attitude.ManeuverNode);
update_maneuver_node();
THR.Throttle = 0;
CFG.DisableVSC();
break;
case Multiplexer.Command.Off:
VSL.Controls.StopWarp();
if (!CFG.WarpToNode && TimeWarp.CurrentRateIndex > 0)
{
TimeWarp.SetRate(0, false);
}
CFG.AT.On(Attitude.KillRotation);
Reset();
break;
}
}
public void RendezvousCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
if (!check_patched_conics())
{
CFG.AP2.Off();
break;
}
UseTarget();
NeedRadarWhenMooving();
switch (stage)
{
case Stage.None:
case Stage.ComputeRendezvou:
stage = Stage.Start;
break;
case Stage.Launch:
if (VSL.LandedOrSplashed)
{
stage = Stage.Start;
}
else
{
resume_to_orbit();
}
break;
case Stage.ToOrbit:
resume_to_orbit();
break;
}
if (VSL.HasManeuverNode)
{
CFG.AP1.OnIfNot(Autopilot1.Maneuver);
}
break;
case Multiplexer.Command.On:
reset();
if (setup())
{
goto case Multiplexer.Command.Resume;
}
CFG.AP2.Off();
break;
case Multiplexer.Command.Off:
CFG.AT.On(Attitude.KillRotation);
UnregisterFrom <Radar>();
StopUsingTarget();
reset();
break;
}
}
public void AnchorHereCallback(Multiplexer.Command cmd)
{
if (cmd == Multiplexer.Command.On)
{
CFG.Anchor = new WayPoint(VSL.Body.GetLatitude(VSL.Physics.wCoM),
VSL.Body.GetLongitude(VSL.Physics.wCoM));
}
AnchorCallback(cmd);
}
public void AnchorHereCallback(Multiplexer.Command cmd)
{
if (cmd == Multiplexer.Command.On)
{
CFG.Anchor = new WayPoint(VSL.Physics.wCoM, VSL.Body);
CFG.Anchor.Movable = true;
}
AnchorCallback(cmd);
}
public void RendezvousCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
// LogFST("Resuming: stage {}", stage);//debug
if (!check_patched_conics())
{
return;
}
NeedRadarWhenMooving();
switch (stage)
{
case Stage.None:
case Stage.ComputeRendezvou:
stage = Stage.Start;
break;
case Stage.Launch:
if (VSL.LandedOrSplashed)
{
stage = Stage.Start;
}
else
{
resume_to_orbit();
}
break;
case Stage.ToOrbit:
resume_to_orbit();
break;
}
if (VSL.HasManeuverNode)
{
CFG.AP1.OnIfNot(Autopilot1.Maneuver);
}
break;
case Multiplexer.Command.On:
reset();
if (setup())
{
stage = Stage.Start;
goto case Multiplexer.Command.Resume;
}
CFG.AP2.Off();
return;
case Multiplexer.Command.Off:
UnregisterFrom <Radar>();
SetTarget();
reset();
break;
}
}
public void DeorbitCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
if (stage == Stage.None && !landing)
{
goto case Multiplexer.Command.On;
}
if (!check_patched_conics())
{
return;
}
UseTarget();
NeedCPSWhenMooving();
if (trajectory == null)
{
update_trajectory();
}
if (VSL.HasManeuverNode)
{
CFG.AP1.OnIfNot(Autopilot1.Maneuver);
}
break;
case Multiplexer.Command.On:
Reset();
if (!check_patched_conics())
{
return;
}
if (!setup())
{
Disable(); return;
}
UseTarget();
NeedCPSWhenMooving();
if (VesselOrbit.PeR < Body.Radius)
{
Status("red", "Already deorbiting. Trying to correct course and land.");
fine_tune_approach();
}
else
{
compute_initial_eccentricity();
}
break;
case Multiplexer.Command.Off:
ReleaseCPS();
StopUsingTarget();
Reset();
break;
}
}
public void ToOrbitCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
if (!check_patched_conics())
{
return;
}
ToOrbit = new ToOrbitExecutor(TCA);
ToOrbit.CorrectOnlyAltitude = true;
ToOrbit.Target = Target;
break;
case Multiplexer.Command.On:
Reset();
if (!check_patched_conics())
{
return;
}
Vector3d hVdir;
if (TargetOrbit.Inclination.Range > 1e-5f)
{
var angle = Utils.Clamp((TargetOrbit.Inclination.Value - TargetOrbit.Inclination.Min) / TargetOrbit.Inclination.Range * 180, 0, 180);
if (TargetOrbit.DescendingNode)
{
angle = -angle;
}
hVdir = QuaternionD.AngleAxis(angle, VesselOrbit.pos) * Vector3d.Cross(Vector3d.forward, VesselOrbit.pos).normalized;
}
else
{
hVdir = Vector3d.Cross(VesselOrbit.pos, Body.orbit.vel).normalized;
}
if (TargetOrbit.RetrogradeOrbit)
{
hVdir *= -1;
}
var ApR0 = Utils.ClampH(ApR, MinPeR + ORB.RadiusOffset);
var ascO = AscendingOrbit(ApR0, hVdir, Mathf.Lerp(ORB.MinSlope, ORB.MaxSlope, TargetOrbit.Slope.Value / 100));
Target = ascO.getRelativePositionAtUT(VSL.Physics.UT + ascO.timeToAp);
stage = Stage.Start;
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
Reset();
break;
}
}
public void VTOLCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
RegisterTo <SASBlocker>(vsl => vsl.OnPlanet);
break;
case Multiplexer.Command.On:
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
UnregisterFrom <SASBlocker>();
break;
}
}
public void ToOrbitCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
if (!check_patched_conics())
{
return;
}
ToOrbit.CorrectOnlyAltitude = true;
break;
case Multiplexer.Command.On:
Reset();
if (!check_patched_conics())
{
return;
}
Vector3d hVdir;
if (TargetOrbit.Inclination.Range > 1e-5f)
{
var angle = Utils.Clamp((TargetOrbit.Inclination.Value - TargetOrbit.Inclination.Min) / TargetOrbit.Inclination.Range * 180, 0, 180);
if (TargetOrbit.DescendingNode)
{
angle = -angle;
}
hVdir = QuaternionD.AngleAxis(angle, VesselOrbit.pos) * Vector3d.Cross(VesselOrbit.pos, Body.zUpAngularVelocity).normalized;
}
else
{
hVdir = Vector3d.Cross(VesselOrbit.pos, Body.orbit.vel).normalized;
}
if (TargetOrbit.RetrogradeOrbit)
{
hVdir *= -1;
}
var ApR0 = Utils.ClampH(ApR, ToOrbit.MaxApR);
var ascO = AscendingOrbit(ApR0, hVdir, C.LaunchSlope);
ToOrbit.Target = ascO.getRelativePositionAtUT(VSL.Physics.UT + ascO.timeToAp);
stage = Stage.Start;
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
Reset();
break;
}
}
public void MatchVelCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
case Multiplexer.Command.On:
Working = false;
THR.Throttle = 0;
Target = VSL.TargetVessel;
CFG.AT.On(Attitude.KillRotation);
break;
case Multiplexer.Command.Off:
CFG.AT.On(Attitude.KillRotation);
reset();
break;
}
}
public void Enable(Multiplexer.Command cmd)
{
reset();
switch (cmd)
{
case Multiplexer.Command.Resume:
VSL.Controls.StopWarp();
RegisterTo <SASBlocker>();
break;
case Multiplexer.Command.On:
VSL.UpdateOnPlanetStats();
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
UnregisterFrom <SASBlocker>();
break;
}
}
public void AnchorHereCallback(Multiplexer.Command cmd)
{
if (cmd == Multiplexer.Command.On)
{
CFG.Anchor = new WayPoint(VSL.Physics.wCoM, VSL.Body);
if (Physics.Raycast(VSL.Physics.wCoM,
-VSL.Physics.Up,
out var raycast,
(float)VSL.Body.Radius,
raycastMask))
{
CFG.Anchor.Pos.Alt = VSL.Body.GetAltitude(raycast.point);
}
else
{
CFG.Anchor.Pos.SetAlt2Surface(VSL.Body);
}
CFG.Anchor.Movable = true;
}
public void BallisticJumpCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
if (!check_patched_conics())
{
return;
}
UseTarget();
NeedCPSWhenMooving();
if (VSL.HasManeuverNode)
{
CFG.AP1.OnIfNot(Autopilot1.Maneuver);
}
if (stage == Stage.None && !landing)
{
stage = Stage.Start;
}
else if (stage == Stage.Accelerate && trajectory == null)
{
compute_initial_trajectory();
}
break;
case Multiplexer.Command.On:
Reset();
if (setup())
{
SaveGame("before_jump");
goto case Multiplexer.Command.Resume;
}
Disable();
return;
case Multiplexer.Command.Off:
ReleaseCPS();
SetTarget();
Reset();
break;
}
}
public void ControlCallback(Multiplexer.Command cmd)
{
Reset();
switch (cmd)
{
case Multiplexer.Command.Resume:
case Multiplexer.Command.On:
RegisterTo <SASBlocker>();
NeedCPSWhenMooving();
ForwardDirection = VSL.OnPlanetParams.Fwd;
Bearing.Value = (float)VSL.Physics.Bearing(ForwardDirection);
break;
case Multiplexer.Command.Off:
DirectionOverride = Vector3d.zero;
UnregisterFrom <SASBlocker>();
UnregisterFrom <Radar>();
break;
}
}
public void MatchVelCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
case Multiplexer.Command.On:
Working = false;
THR.Throttle = 0;
stage = Stage.Start;
SetTarget(VSL.TargetAsWP);
CFG.AT.On(Attitude.KillRotation);
break;
case Multiplexer.Command.Off:
CFG.AT.On(Attitude.KillRotation);
StopUsingTarget();
Reset();
break;
}
}
public void FollowPathCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
case Multiplexer.Command.On:
if (CFG.Path.Count > 0)
{
start_to(CFG.Path.Peek());
}
else
{
finish();
}
break;
case Multiplexer.Command.Off:
finish();
break;
}
}
public void BallisticJumpCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
// LogFST("Resuming: stage {}, landing_stage {}, landing {}", stage, landing_stage, landing);//debug
if (!check_patched_conics())
{
return;
}
UseTarget();
NeedRadarWhenMooving();
if (VSL.HasManeuverNode)
{
CFG.AP1.OnIfNot(Autopilot1.Maneuver);
}
if (stage == Stage.None && !landing)
{
stage = Stage.Start;
}
break;
case Multiplexer.Command.On:
reset();
if (setup())
{
SaveGame("before_jump");
goto case Multiplexer.Command.Resume;
}
CFG.AP2.Off();
return;
case Multiplexer.Command.Off:
UnregisterFrom <Radar>();
SetTarget();
reset();
break;
}
}
public void AnchorCallback(Multiplexer.Command cmd)
{
pid.Reset();
switch (cmd)
{
case Multiplexer.Command.Resume:
RegisterTo <SASBlocker>();
break;
case Multiplexer.Command.On:
if (CFG.Anchor == null)
{
return;
}
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
UnregisterFrom <SASBlocker>();
CFG.Anchor = null;
break;
}
}
public void DeorbitCallback(Multiplexer.Command cmd)
{
switch(cmd)
{
case Multiplexer.Command.Resume:
if(!check_patched_conics()) return;
UseTarget();
NeedRadarWhenMooving();
if(trajectory == null) update_trajectory();
if(stage == Stage.None && !landing)
goto case Multiplexer.Command.On;
if(VSL.HasManeuverNode)
CFG.AP1.OnIfNot(Autopilot1.Maneuver);
break;
case Multiplexer.Command.On:
reset();
if(!check_patched_conics()) return;
if(!setup()) { CFG.AP2.Off(); return; }
if(VesselOrbit.PeR < Body.Radius)
{
Status("red", "Already deorbiting. Trying to correct course and land.");
fine_tune_approach();
}
else
{
eccentricity_calculator = compute_initial_eccentricity();
stage = Stage.Precalculate;
}
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
UnregisterFrom<Radar>();
StopUsingTarget();
reset();
break;
}
}
public void AltitudeControlCallback(Multiplexer.Command cmd)
{
Falling.Reset();
switch (cmd)
{
case Multiplexer.Command.Resume:
NeedCPSWhenMooving();
break;
case Multiplexer.Command.On:
VSL.Altitude.Update();
CFG.DesiredAltitude = VSL.LandedOrSplashed? -10f : VSL.Altitude.Relative;
if (!CFG.AltitudeAboveTerrain)
{
CFG.DesiredAltitude += VSL.Altitude.TerrainAltitude;
}
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
ReleaseCPS();
break;
}
}
public void Enable(Multiplexer.Command cmd)
{
Reset();
switch (cmd)
{
case Multiplexer.Command.Resume:
if (CFG.AT.Any(Attitude.AntiRelVel, Attitude.RelVel,
Attitude.Target, Attitude.TargetCorrected, Attitude.AntiTarget))
{
SetTarget(VSL.TargetAsWP);
}
RegisterTo <SASBlocker>();
break;
case Multiplexer.Command.On:
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
StopUsingTarget();
UnregisterFrom <SASBlocker>();
break;
}
}
public void LandCallback(Multiplexer.Command cmd)
{
stage = Stage.None;
scanner = null;
NextNode = null;
FlattestNodeTired = null;
Nodes = null;
StopTimer.Reset();
CutoffTimer.Reset();
switch (cmd)
{
case Multiplexer.Command.On:
case Multiplexer.Command.Resume:
if (VSL.LandedOrSplashed)
{
CFG.AP1.Off(); break;
}
CFG.HF.On(HFlight.Stop);
set_initial_altitude();
UseTarget();
TriedNodes = new HashSet <SurfaceNode>(new SurfaceNode.Comparer((VSL.Geometry.R * Mathf.Rad2Deg / VSL.Body.Radius)));
break;
case Multiplexer.Command.Off:
if (!VSL.LandedOrSplashed)
{
CFG.VF.On(VFlight.AltitudeControl);
CFG.DesiredAltitude = VSL.Altitude;
}
StartNode = null;
ClearStatus();
SetTarget();
break;
}
}
public void DeorbitCallback(Multiplexer.Command cmd)
{
switch (cmd)
{
case Multiplexer.Command.Resume:
// Utils.Log("Resuming: stage {}, landing_stage {}, landing {}", stage, landing_stage, landing);//debug
if (!check_patched_conics())
{
return;
}
NeedRadarWhenMooving();
if (stage == Stage.None && !landing)
{
goto case Multiplexer.Command.On;
}
else if (VSL.HasManeuverNode)
{
CFG.AP1.OnIfNot(Autopilot1.Maneuver);
}
break;
case Multiplexer.Command.On:
reset();
if (!check_patched_conics())
{
return;
}
if (!setup())
{
CFG.AP2.Off(); return;
}
if (VesselOrbit.PeR < Body.Radius)
{
Status("red", "Already deorbiting. Trying to correct course and land.");
fine_tune_approach();
}
else
{
// Log("Calculating initial orbit eccentricity...");//debug
var tPos = CFG.Target.RelOrbPos(Body);
var UT = VSL.Physics.UT +
AngleDelta(VesselOrbit, tPos, VSL.Physics.UT) / 360 * VesselOrbit.period;
var vPos = VesselOrbit.getRelativePositionAtUT(UT);
var dir = Vector3d.Exclude(vPos, tPos - vPos);
var ini_orb = CircularOrbit(dir, UT);
var ini_dV = ini_orb.getOrbitalVelocityAtUT(UT) - VesselOrbit.getOrbitalVelocityAtUT(UT) + dV4Pe(ini_orb, Body.Radius * 0.9, UT);
var trj = new LandingTrajectory(VSL, ini_dV, UT, CFG.Target, TargetAltitude);
var dV = 10.0;
dir = -dir.normalized;
while (trj.Orbit.eccentricity < DEO.StartEcc)
{
// Log("\ndV: {}m/s\nini trj:\n{}", dV, trj);//debug
if (trj.DeltaR > 0)
{
break;
}
trj = new LandingTrajectory(VSL, ini_dV + dir * dV, UT, CFG.Target, trj.TargetAltitude);
dV += 10;
}
if (trj.Orbit.eccentricity > DEO.StartEcc)
{
currentEcc = DEO.StartEcc;
if (Body.atmosphere)
{
currentEcc =
Utils.ClampH(currentEcc * (2.1 - Utils.ClampH(VSL.Torque.MaxPossible.AngularDragResistance / Body.atmDensityASL * DEO.AngularDragF, 1)), DEO.MaxEcc);
}
}
else
{
currentEcc = Utils.ClampL(trj.Orbit.eccentricity - DEO.dEcc, DEO.dEcc);
}
// Log("currentEcc: {}, dEcc {}", currentEcc, DEO.dEcc);//debug
if (Globals.Instance.AutosaveBeforeLanding)
{
Utils.SaveGame(VSL.vessel.vesselName.Replace(" ", "_") + "-before_landing");
}
compute_landing_trajectory();
}
goto case Multiplexer.Command.Resume;
case Multiplexer.Command.Off:
UnregisterFrom <Radar>();
reset();
break;
}
}
