private void KeepPosition()
{
keepAttitude = true;
pidControllerPositionX.Control(Position.X, ref pos_x_controlValue);
if (pos_x_controlValue > 25f)
{
pos_x_controlValue = 25f;
}
else if (pos_x_controlValue < -25f)
{
pos_x_controlValue = -25f;
}
pidControllerAttitudeZ.referenceValue = -pos_x_controlValue;
pidControllerPositionZ.Control(Position.Z, ref pos_z_controlValue);
if (pos_z_controlValue > 25f)
{
pos_z_controlValue = 25f;
}
else if (pos_z_controlValue < -25f)
{
pos_z_controlValue = -25f;
}
pidControllerAttitudeX.referenceValue = pos_z_controlValue;
}
private void KeepAttitude()
{
pidControllerAttitudeX.Control(globalRotation.X, ref attitude_dx);
pidControllerAttitudeZ.Control(globalRotation.Z, ref attitude_dz);
PhysicsEntity.ApplyTorque(new Vector3(attitude_dx, 0.0f, attitude_dz), false);
}
private void KeepAltitude()
{
pidControllerAltitude.Control(Position.Y, ref raw_thrust);
}
