/// <summary>Enqueue a <see cref="FlightCtrlState"/> to the flight control queue.</summary>
/// <param name="fs">The <see cref="FlightCtrlState"/> to be queued.</param>
private void Enqueue(FlightCtrlState fs)
{
var dfs = new DelayedFlightCtrlState(fs);
dfs.TimeStamp += Delay;
if (StockAutopilotCommand.IsAutoPilotEngaged(this) && RTSettings.Instance.EnableSignalDelay) // remove the delay if the autopilot is engaged
{
var autopilotfs = new DelayedFlightCtrlState(fs); // make copy of FS and apply no delay
//nullify autopilot inputs in the delayed fs
dfs.State.roll = 0f;
dfs.State.rollTrim = 0f;
dfs.State.pitch = 0f;
dfs.State.pitchTrim = 0f;
dfs.State.yaw = 0f;
dfs.State.yawTrim = 0f;
//nullify throttle
autopilotfs.State.mainThrottle = 0f;
_flightCtrlQueue.Enqueue(autopilotfs);
}
_flightCtrlQueue.Enqueue(dfs);
}
/// <summary>Enqueue a <see cref="FlightCtrlState"/> to the flight control queue.</summary>
/// <param name="fs">The <see cref="FlightCtrlState"/> to be queued.</param>
private void Enqueue(FlightCtrlState fs)
{
var dfs = new DelayedFlightCtrlState(fs);
dfs.TimeStamp += Delay;
if (StockAutopilotCommand.IsAutoPilotEngaged(this)) // remove the delay if the autopilot is engaged
{
dfs.TimeStamp -= Delay;
}
_flightCtrlQueue.Enqueue(dfs);
}
/// <summary>Called when the flight computer is disposed. This happens when the <see cref="ModuleSPU"/> is destroyed.</summary>
public void Dispose()
{
RTLog.Notify("FlightComputer: Dispose");
GameEvents.onVesselChange.Remove(OnVesselChange);
GameEvents.onVesselSwitching.Remove(OnVesselSwitching);
GameEvents.onGameSceneSwitchRequested.Remove(OnSceneSwitchRequested);
if (Vessel != null)
{
// remove flight code controls.
Vessel.OnFlyByWire -= OnFlyByWirePre;
Vessel.OnFlyByWire -= OnFlyByWirePost;
}
_flightComputerWindow?.Hide();
// Remove RT listeners from KSP Autopilot
if (StockAutopilotCommand.UIreference != null)
{
for (var index = 0; index < StockAutopilotCommand.UIreference.modeButtons.Length; index++)
{
var buttonIndex = index; // prevent compiler optimisation from assigning static final index value
StockAutopilotCommand.UIreference.modeButtons[index].onClick.RemoveListener(delegate { StockAutopilotCommand.AutopilotButtonClick(buttonIndex, this); });
}
StockAutopilotCommand.UIreference = null;
}
}
/// <summary>Flight Computer constructor.</summary>
/// <param name="s">A signal processor (most probably a <see cref="ModuleSPU"/> instance.)</param>
public FlightComputer(ISignalProcessor s)
{
SignalProcessor = s;
Vessel = s.Vessel;
SanctionedPilots = new List <Action <FlightCtrlState> >();
LastTarget = TargetCommand.WithTarget(null);
var attitude = AttitudeCommand.Off();
_activeCommands[attitude.Priority] = attitude;
//Use http://www.ni.com/white-paper/3782/en/ to fine-tune
PIDController = new PIDController(PIDKp, PIDKi, PIDKd, 1.0, -1.0, true);
PIDController.SetVessel(Vessel);
GameEvents.onVesselChange.Add(OnVesselChange);
GameEvents.onVesselSwitching.Add(OnVesselSwitching);
GameEvents.onGameSceneSwitchRequested.Add(OnSceneSwitchRequested);
RoverComputer = new RoverComputer(this, RoverPIDKp, RoverPIDKi, RoverPIDKd);
RoverComputer.SetVessel(Vessel);
// Add RT listeners from KSP Autopilot
StockAutopilotCommand.UIreference = GameObject.FindObjectOfType <VesselAutopilotUI>();
for (var index = 0; index < StockAutopilotCommand.UIreference.modeButtons.Length; index++)
{
var buttonIndex = index; // prevent compiler optimisation from assigning static final index value
StockAutopilotCommand.UIreference.modeButtons[index].onClick.AddListener(delegate { StockAutopilotCommand.AutopilotButtonClick(buttonIndex, this); });
// bad idea to use RemoveAllListeners() since no easy way to re-add the original stock listener to onClick
}
}
