// -----------------------------------------------------------------------
public Program()
{
List <Configuration.Option> optionHandlers = new List <Configuration.Option>();
Runtime.UpdateFrequency = UpdateFrequency.Update1;
fc = new FlightComputer(this);
attc = new AttitudeController(this, fc);
thrc = new ThrustController(this, fc);
optionHandlers.AddRange(attc.hanlders);
optionHandlers.AddRange(thrc.hanlders);
cfg = new Configuration(this, optionHandlers.ToArray());
}
public void Main(string args = "START")
{
Config config = new Config(Me.CustomData);
config.Set(ref thrustersGroupName, "thrustersGroupName");
config.Set(ref referenceBlockName, "referenceBlockName");
config.Set(ref lcdSearchName, "lcdSearchName");
config.Set <double>(ref marginOfErrorThrust, "marginOfErrorThrust");
config.Set <double>(ref targetSpeed, "targetSpeed");
config.Set <double>(ref targetSpeedVariation, "targetSpeedVariation");
config.Set <double>(ref gravityTreshold, "gravityTreshold");
controlBlock = GridTerminalSystem.GetBlockWithName(referenceBlockName) as IMyShipController;
lcds = SearchBlocksWithName <IMyTextPanel>(lcdSearchName);
if (args == "START")
{
Runtime.UpdateFrequency = UpdateFrequency.Update10;
reachedTopSpeedOnce = false;
turnAndBurn = null;
}
lcds.ForEach(lcd => {
lcd.WritePublicTitle("Launch control");
lcd.WritePublicText(""); // Clear LCD
});
if (controlBlock == null)
{
WriteLine("No control block found on grid.");
WriteLine("Terminating script.");
return;
}
thrusters = GetBlocksInGroup <IMyThrust>(thrustersGroupName);
thrustController = new ThrustController(thrusters);
gyros = GetBlocksOfType <IMyGyro>();
gyroController = new GyroController(controlBlock, gyros, Base6Directions.Direction.Down, 0.8);
gravity = controlBlock.GetNaturalGravity();
gravityStrength = gravity.Length();
var escaped = gravityStrength <= gravityTreshold;
gravity.Normalize();
if (gravityStrength != 0)
{
lastObservedGravity = gravity;
}
if (thrusters == null || thrusters.Count == 0)
{
WriteLine($"No thrusters found in \"{thrustersGroupName}\" group.");
WriteLine("Terminating script.");
return;
}
speed = controlBlock.GetShipSpeed();
if (speed > targetSpeed)
{
reachedTopSpeedOnce = true;
}
WriteLine($"Ship speed: {Math.Round(speed, 1)} m/s");
WriteLine($"Target: {Math.Round(targetSpeed, 1)} m/s");
if (!escaped)
{
ApplyThrust();
gyroController.Align(gravity);
angle = Math.Acos(
Vector3D.Dot(
Vector3D.Normalize(controlBlock.GetNaturalGravity()),
Vector3D.Normalize(-controlBlock.GetShipVelocities().LinearVelocity)
)
) * 180 / Math.PI;
WriteLine($"Angle deviation: {Math.Round(angle)}°");
}
if (escaped)
{
if (turnAndBurn == null)
{
thrustController.Stop();
SetDampeners(false);
}
turnAndBurn = gyroController.Align(lastObservedGravity, Base6Directions.Direction.Up) ? "aligned" : "started";
WriteLine($"Turn and burn: {turnAndBurn}");
}
if (args == "STOP" || (escaped && turnAndBurn == "aligned"))
{
thrustController.Stop();
gyroController.Stop();
SetDampeners(true);
Runtime.UpdateFrequency = UpdateFrequency.None;
ClearOutput();
WriteLine("Launch control ended.");
}
}
public void Main(string input)
{
lcds = SearchBlocksWithName <IMyTextPanel>(lcdSearchName);
ClearOutput();
if (input == "start")
{
Runtime.UpdateFrequency = UpdateFrequency.Update10;
Autopilot = true;
}
IMyShipController controlBlock = (IMyShipController)GridTerminalSystem.GetBlockWithName(ShipControllerName);
double altitude = 0;
bool InsideNaturalGravity = controlBlock.TryGetPlanetElevation(MyPlanetElevation.Surface, out altitude);
Vector3D velocity3D = controlBlock.GetShipVelocities().LinearVelocity;
if (!InsideNaturalGravity)
{
if (Autopilot)
{
WriteLine("Waiting for entering natural gravity");
if (input == "stop")
{
Autopilot = false;
WriteLine("Autopilot deactivated (manually)");
}
}
return;
}
else
{
if (Autopilot && AutoFall)
{
if (!AutoFallUsed)
{
input = "fall";
AutoFallUsed = true;
}
}
}
List <IMyThrust> thrusters = GetBlocksInGroup <IMyThrust>(HydrogenThrustersGroupName);
ThrustController thrustController = new ThrustController(thrusters);
gyros = GetBlocksOfType <IMyGyro>();
gyroController = new GyroController(controlBlock, gyros, Base6Directions.Direction.Down, RotationSpeedLimit);
Vector3D gravity = controlBlock.GetNaturalGravity();
Vector3D position = controlBlock.GetPosition(); // ship coords
double gravityStrength = gravity.Length(); // gravity in m/s^2
double totalMass = controlBlock.CalculateShipMass().TotalMass; // ship total mass including cargo mass
double baseMass = controlBlock.CalculateShipMass().BaseMass; // mass of the ship without cargo
double cargoMass = totalMass - baseMass; // mass of the cargo
double actualMass = baseMass + (cargoMass / InventoryMultiplier); // the mass the game uses for physics calculation
double shipWeight = actualMass * gravityStrength; // weight in newtons of the ship
double velocity = controlBlock.GetShipSpeed(); // ship velocity
double brakeDistance = CalculateBrakeDistance(gravityStrength, actualMass, altitude, thrustController.availableThrust, velocity);
double brakeAltitude = StopAltitude + brakeDistance; // at this altitude the ship will start slowing Down
if (Autopilot)
{
gyroController.Align(gravity);
if (input == "fall")
{
// This is a workaround to a game bug (ship speed greater than speed limit when free falling in natural gravity)
// Pros: your ship will not crash. Cons: you will waste a tiny amount of hydrogen.
thrustController.ApplyThrust(1);
}
if (altitude <= (brakeAltitude + AltitudeMargin))
{
// BRAKE!!!
thrustController.ApplyFullThrust(); // Maybe just enable dampeners
}
if (altitude <= (StopAltitude + DisableMargin + AltitudeMargin))
{
if (velocity < StopSpeed)
{
gyroController.Stop();
WriteLine("Autopilot deactivated (automatically)");
}
if (SmartDeactivation)
{
if (OldVelocity3D.X * velocity3D.X < 0 || OldVelocity3D.Y * velocity3D.Y < 0 || OldVelocity3D.Z * velocity3D.Z < 0)
{
gyroController.Stop();
WriteLine("Autopilot deactivated (automatically)");
}
}
}
}
OldVelocity3D = velocity3D;
if (input == "stop")
{
Runtime.UpdateFrequency = UpdateFrequency.None;
gyroController.Stop();
thrustController.Stop();
WriteLine("Autopilot deactivated (manually)");
}
}
