public void Main(string argument, UpdateType updateSource)
{
timeSinceLastUpdate += Runtime.TimeSinceLastRun;
if (isFirstUpdate || !updateFinished || timeSinceLastUpdate > TimeSpan.FromSeconds(10))
{
try { this.Update(); }
catch (Exception e) { Echo("Error: " + e.Message); }
timeSinceLastUpdate = TimeSpan.FromSeconds(0);
return;
}
Echo("Script running, next update: " + (10 - (uint)timeSinceLastUpdate.TotalSeconds).ToString());
Echo("Current Mode: " + mode);
Echo("Precision Aim: " + (enablePrecisionAim ? "enabled" : "disabled"));
Echo("Lateral Override: " + (enableLateralOverride ? "enabled" : "disabled"));
if (IsValidMode(argument))
{
SwitchToMode(argument);
}
else if (argument == "toggle_manual")
{
SwitchToMode(mode == "manual" ? "flight" : "manual");
}
else if (argument == "toggle_landing")
{
SwitchToMode(mode == "landing" ? "flight" : "landing");
}
else if (argument == "toggle_shutdown")
{
SwitchToMode(mode == "shutdown" ? "flight" : "shutdown");
}
else if (argument == "toggle_standby")
{
SwitchToMode(mode == "standby" ? "flight" : "standby");
}
else if (argument == "toggle_precision")
{
enablePrecisionAim = !enablePrecisionAim;
}
else if (argument == "toggle_lateral_dampening")
{
enableLateralOverride = !enableLateralOverride;
}
else if (argument == "toggle_lateral_override")
{
enableLateralOverride = !enableLateralOverride;
}
else if (argument == "update")
{
updateFinished = false;
return;
}
var wasd = controller.MoveIndicator;
var mouse = new Vector3(controller.RotationIndicator, controller.RollIndicator * 9);
var dampeningRotation = gyroController.CalculatePitchRollToAchiveVelocity(Vector3.Zero);
var autoStop = controller.DampenersOverride;
if (enablePrecisionAim)
{
mouse *= 1 / precisionAimFactor;
}
else
{
mouse *= mouseSpeed;
}
switch (mode)
{
case "flight":
{
var pitch = wasd.Z * maxFlightPitch * degToRad;
var roll = wasd.X * maxFlightRoll * degToRad;
dampeningRotation = Vector2.Min(dampeningRotation, new Vector2(maxFlightRoll, maxFlightPitch) * degToRad);
if ((autoStop || enableLateralOverride) && IsEqual(0, roll))
{
roll = MinAbs(dampeningRotation.X, maxFlightRoll * degToRad);
}
if (autoStop && IsEqual(0, pitch))
{
pitch = MinAbs(dampeningRotation.Y, maxFlightPitch * degToRad);
}
gyroController.SetAngularVelocity(gyroController.CalculateVelocityToAlign(pitch, roll) + mouse);
thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover());
break;
}
case "landing":
{
var pitch = wasd.Z * maxLandingPitch * degToRad;
var roll = wasd.X * maxLandingRoll * degToRad;
dampeningRotation = Vector2.Min(dampeningRotation, new Vector2(maxLandingRoll, maxLandingPitch) * degToRad);
if ((autoStop || enableLateralOverride) && IsEqual(0, roll))
{
roll = MinAbs(dampeningRotation.X, maxLandingRoll);
}
if (autoStop && IsEqual(0, pitch))
{
pitch = MinAbs(dampeningRotation.Y, maxLandingPitch);
}
gyroController.SetAngularVelocity(gyroController.CalculateVelocityToAlign(pitch, roll) + mouse);
thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover());
break;
}
case "manual":
gyroController.SetAngularVelocity(mouse); thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover());
break;
case "shutdown":
break;
case "standby":
break;
}
}
