void DriveCircularizationBurn(FlightCtrlState s)
{
if (!vessel.patchedConicsUnlocked() || skipCircularization)
{
this.users.Clear();
return;
}
DriveDeployableComponents(s);
if (placedCircularizeNode)
{
if (vessel.patchedConicSolver.maneuverNodes.Count == 0)
{
MechJebModuleFlightRecorder recorder = core.GetComputerModule <MechJebModuleFlightRecorder>();
if (recorder != null)
{
launchPhaseAngle = recorder.phaseAngleFromMark;
}
if (recorder != null)
{
launchLANDifference = vesselState.orbitLAN - recorder.markLAN;
}
//finished circularize
this.users.Clear();
return;
}
}
else
{
//place circularization node
vessel.RemoveAllManeuverNodes();
double UT = orbit.NextApoapsisTime(vesselState.time);
//During the circularization burn, try to correct any inclination errors because it's better to combine the two burns.
// For example, if you're about to do a 1500 m/s circularization burn, if you combine a 200 m/s inclination correction
// into it, you actually only spend 1513 m/s to execute combined manuver. Mechjeb should also do correction burns before
// this if possible, and this can't correct all errors... but it's better then nothing.
// (A better version of this should try to match inclination & LAN if target is specified)
// FIXME? this inclination correction is unlikely to be at tha AN/DN and will throw the LAN off with anything other than high
// TWR launches from equatorial launch sites -- should probably be made optional (or clip it if the correction is too large).
Vector3d inclinationCorrection = OrbitalManeuverCalculator.DeltaVToChangeInclination(orbit, UT, Math.Abs(desiredInclination));
Vector3d smaCorrection = OrbitalManeuverCalculator.DeltaVForSemiMajorAxis(orbit.PerturbedOrbit(UT, inclinationCorrection), UT,
desiredOrbitAltitude + mainBody.Radius);
Vector3d dV = inclinationCorrection + smaCorrection;
vessel.PlaceManeuverNode(orbit, dV, UT);
placedCircularizeNode = true;
core.node.ExecuteOneNode(this);
}
if (core.node.burnTriggered)
{
status = Localizer.Format("#MechJeb_Ascent_status7"); //"Circularizing"
}
else
{
status = Localizer.Format("#MechJeb_Ascent_status8"); //"Coasting to circularization burn"
}
}
public override void OnStart(PartModule.StartState state)
{
autopilot = core.GetComputerModule <MechJebModuleAscentAutopilot>();
if (autopilot != null)
{
desiredInclination = autopilot.desiredInclination;
}
}
public override void OnStart(PartModule.StartState state)
{
if (autopilot != null)
{
desiredInclination = autopilot.desiredInclination; // FIXME: remove this indirection
}
navBall = core.GetComputerModule <MechJebModuleAscentNavBall>();
}
public override void OnStart(PartModule.StartState state)
{
autopilot = core.GetComputerModule<MechJebModuleAscentAutopilot>();
if (autopilot != null)
{
autopilot.users.Add(this);
desiredInclination = autopilot.desiredInclination;
}
}
public override void OnStart(PartModule.StartState state)
{
autopilot = core.GetComputerModule<MechJebModuleAscentAutopilot>();
if (autopilot != null)
{
desiredInclination = autopilot.desiredInclination;
}
navBall = core.GetComputerModule<MechJebModuleAscentNavBall>();
}
void DriveCircularizationBurn(FlightCtrlState s)
{
if (!vessel.patchedConicsUnlocked() || skipCircularization)
{
this.users.Clear();
return;
}
if (placedCircularizeNode)
{
if (!vessel.patchedConicSolver.maneuverNodes.Any())
{
MechJebModuleFlightRecorder recorder = core.GetComputerModule <MechJebModuleFlightRecorder>();
if (recorder != null)
{
launchPhaseAngle = recorder.phaseAngleFromMark;
}
if (recorder != null)
{
launchLANDifference = vesselState.orbitLAN - recorder.markLAN;
}
//finished circularize
this.users.Clear();
return;
}
}
else
{
//place circularization node
vessel.RemoveAllManeuverNodes();
double UT = orbit.NextApoapsisTime(vesselState.time);
//During the circularization burn, try to correct any inclination errors because it's better to combine the two burns.
// For example, if you're about to do a 1500 m/s circularization burn, if you combine a 200 m/s inclination correction
// into it, you actually only spend 1513 m/s to execute combined manuver. Mechjeb should also do correction burns before
// this if possible, and this can't correct all errors... but it's better then nothing.
// (A better version of this should try to match inclination & LAN if target is specified)
Vector3d inclinationCorrection = OrbitalManeuverCalculator.DeltaVToChangeInclination(orbit, UT, desiredInclination);
Vector3d smaCorrection = OrbitalManeuverCalculator.DeltaVForSemiMajorAxis(orbit.PerturbedOrbit(UT, inclinationCorrection), UT,
desiredOrbitAltitude + mainBody.Radius);
Vector3d dV = inclinationCorrection + smaCorrection;
vessel.PlaceManeuverNode(orbit, dV, UT);
placedCircularizeNode = true;
core.node.ExecuteOneNode(this);
}
if (core.node.burnTriggered)
{
status = "Circularizing";
}
else
{
status = "Coasting to circularization burn";
}
}
public override void OnStart(PartModule.StartState state)
{
Tf = new EditableDouble(core.attitude.Tf);
TfMin = new EditableDouble(core.attitude.TfMin);
TfMax = new EditableDouble(core.attitude.TfMax);
kpFactor = new EditableDouble(core.attitude.kpFactor);
kiFactor = new EditableDouble(core.attitude.kiFactor);
kdFactor = new EditableDouble(core.attitude.kdFactor);
base.OnStart(state);
}
public override void OnStart(PartModule.StartState state)
{
Tf = new EditableDouble(core.attitude.Tf);
TfMin = new EditableDouble(core.attitude.TfMin);
TfMax = new EditableDouble(core.attitude.TfMax);
kpFactor = new EditableDouble(core.attitude.kpFactor);
kiFactor = new EditableDouble(core.attitude.kiFactor);
kdFactor = new EditableDouble(core.attitude.kdFactor);
base.OnStart(state);
}
public override void OnStart(PartModule.StartState state)
{
Kp = new EditableDouble(core.attitude.Kp);
Ki = new EditableDouble(core.attitude.Ki);
Kd = new EditableDouble(core.attitude.Kd);
Tf = new EditableDouble(core.attitude.Tf);
Ki_limit = new EditableDouble(core.attitude.Ki_limit);
factor = new EditableDouble(core.attitude.drive_factor);
base.OnStart(state);
}
public void setPIDParameters()
{
if (Tf < 2 * TimeWarp.fixedDeltaTime)
{
Tf = 2 * TimeWarp.fixedDeltaTime;
}
pid.Kd = 0.53 / Tf;
pid.Kp = pid.Kd / (3 * Math.Sqrt(2) * Tf);
pid.Ki = pid.Kp / (12 * Math.Sqrt(2) * Tf);
}
public override void OnStart(PartModule.StartState state)
{
Kp = new EditableDouble(core.attitude.Kp);
Ki = new EditableDouble(core.attitude.Ki);
Kd = new EditableDouble(core.attitude.Kd);
Tf = new EditableDouble(core.attitude.Tf);
Ki_limit = new EditableDouble(core.attitude.Ki_limit);
factor = new EditableDouble(core.attitude.drive_factor);
base.OnStart(state);
}
public EditableAngle(double angle)
{
angle = MuUtils.ClampDegrees180(angle);
negative = (angle < 0);
angle = Math.Abs(angle);
degrees = (int)angle;
angle -= degrees;
minutes = (int)(60 * angle);
angle -= minutes / 60;
seconds = Math.Round(3600 * angle);
}
public override void OnStart(PartModule.StartState state)
{
TfX = new EditableDouble(core.attitude.TfV.x);
TfY = new EditableDouble(core.attitude.TfV.y);
TfZ = new EditableDouble(core.attitude.TfV.z);
TfMin = new EditableDouble(core.attitude.TfMin);
TfMax = new EditableDouble(core.attitude.TfMax);
kpFactor = new EditableDouble(core.attitude.kpFactor);
kiFactor = new EditableDouble(core.attitude.kiFactor);
kdFactor = new EditableDouble(core.attitude.kdFactor);
deadband = new EditableDouble(core.attitude.deadband);
base.OnStart(state);
}
override public void readModuleConfiguration()
{
deployGear = module_autopilot.deployGears;
deployChutes = module_autopilot.deployChutes;
limitChutesStage = module_autopilot.limitChutesStage;
touchdownSpeed = module_autopilot.touchdownSpeed;
if (core.target.PositionTargetExists)
{
landTarget = true;
targetLattitude = core.target.targetLatitude;
targetLongitude = core.target.targetLongitude;
}
}
public override void OnStart(PartModule.StartState state)
{
TfX = new EditableDouble(core.attitude.TfV.x);
TfY = new EditableDouble(core.attitude.TfV.y);
TfZ = new EditableDouble(core.attitude.TfV.z);
TfMin = new EditableDouble(core.attitude.TfMin);
TfMax = new EditableDouble(core.attitude.TfMax);
kpFactor = new EditableDouble(core.attitude.kpFactor);
kiFactor = new EditableDouble(core.attitude.kiFactor);
kdFactor = new EditableDouble(core.attitude.kdFactor);
deadband = new EditableDouble(core.attitude.deadband);
base.OnStart(state);
}
void DriveCircularizationBurn(FlightCtrlState s)
{
if (!vessel.patchedConicsUnlocked() || skipCircularization)
{
this.users.Clear();
return;
}
if (placedCircularizeNode)
{
if (!vessel.patchedConicSolver.maneuverNodes.Any())
{
MechJebModuleFlightRecorder recorder = core.GetComputerModule <MechJebModuleFlightRecorder>();
if (recorder != null)
{
launchPhaseAngle = recorder.phaseAngleFromMark;
}
if (recorder != null)
{
launchLANDifference = vesselState.orbitLAN - recorder.markLAN;
}
//finished circularize
this.users.Clear();
return;
}
}
else
{
//place circularization node
vessel.RemoveAllManeuverNodes();
double UT = orbit.NextApoapsisTime(vesselState.time);
//Vector3d dV = OrbitalManeuverCalculator.DeltaVToCircularize(orbit, UT);
Vector3d dV = OrbitalManeuverCalculator.DeltaVForSemiMajorAxis(orbit, UT, desiredOrbitAltitude + mainBody.Radius);
vessel.PlaceManeuverNode(orbit, dV, UT);
placedCircularizeNode = true;
core.node.ExecuteOneNode(this);
}
if (core.node.burnTriggered)
{
status = "Circularizing";
}
else
{
status = "Coasting to circularization burn";
}
}
override public void activateAction()
{
base.activateAction();
this.smartAss.mode = Target2Mode[(int)target];
this.smartAss.target = target;
this.smartAss.srfHdg = this.srfHdg;
this.smartAss.srfPit = this.srfPit;
this.smartAss.srfRol = this.srfRol;
this.smartAss.srfVelYaw = this.srfVelYaw;
this.smartAss.srfVelPit = this.srfVelPit;
this.smartAss.srfVelRol = this.srfVelRol;
this.smartAss.rol = this.rol;
this.smartAss.advReference = this.advReference;
this.smartAss.advDirection = this.advDirection;
this.smartAss.forceRol = this.forceRol;
this.smartAss.forcePitch = this.forcePitch;
this.smartAss.forceYaw = this.forceYaw;
this.smartAss.Engage();
}
public void setPIDParameters()
{
if (rcsManualPID)
{
pid.Kd = Kd;
pid.Kp = Kp;
pid.Ki = Ki;
}
else
{
Tf = Math.Max(Tf, 0.02);
pid.Kd = 0.53 / Tf;
pid.Kp = pid.Kd / (3 * Math.Sqrt(2) * Tf);
pid.Ki = pid.Kp / (12 * Math.Sqrt(2) * Tf);
Kd.val = pid.Kd;
Kp.val = pid.Kp;
Ki.val = pid.Ki;
}
}
protected override void WindowGUI(int windowID)
{
if (vessel.patchedConicSolver.maneuverNodes.Count == 0)
{
GUILayout.Label("No maneuver nodes to edit.");
RelativityModeSelectUI();
base.WindowGUI(windowID);
return;
}
GUILayout.BeginVertical();
ManeuverNode oldNode = node;
if (vessel.patchedConicSolver.maneuverNodes.Count == 1)
{
node = vessel.patchedConicSolver.maneuverNodes[0];
}
else
{
if (!vessel.patchedConicSolver.maneuverNodes.Contains(node)) node = vessel.patchedConicSolver.maneuverNodes[0];
int nodeIndex = vessel.patchedConicSolver.maneuverNodes.IndexOf(node);
int numNodes = vessel.patchedConicSolver.maneuverNodes.Count;
nodeIndex = GuiUtils.ArrowSelector(nodeIndex, numNodes, "Maneuver node #" + (nodeIndex + 1));
node = vessel.patchedConicSolver.maneuverNodes[nodeIndex];
}
if (node != oldNode)
{
prograde = node.DeltaV.z;
radialPlus = node.DeltaV.x;
normalPlus = node.DeltaV.y;
}
if (gizmo != node.attachedGizmo)
{
if (gizmo != null) gizmo.OnGizmoUpdated -= GizmoUpdateHandler;
gizmo = node.attachedGizmo;
if (gizmo != null) gizmo.OnGizmoUpdated += GizmoUpdateHandler;
}
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox("Prograde:", prograde, "m/s", 60);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
prograde -= progradeDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
progradeDelta.text = GUILayout.TextField(progradeDelta.text, GUILayout.Width(50));
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
prograde += progradeDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox("Radial+:", radialPlus, "m/s", 60);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
radialPlus -= radialPlusDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
radialPlusDelta.text = GUILayout.TextField(radialPlusDelta.text, GUILayout.Width(50));
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
radialPlus += radialPlusDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox("Normal+:", normalPlus, "m/s", 60);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
normalPlus -= normalPlusDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
normalPlusDelta.text = GUILayout.TextField(normalPlusDelta.text, GUILayout.Width(50));
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
normalPlus += normalPlusDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Set delta to:", GUILayout.ExpandWidth(true));
if (GUILayout.Button("0.01", GUILayout.ExpandWidth(true)))
progradeDelta = radialPlusDelta = normalPlusDelta = 0.01;
if (GUILayout.Button("0.1", GUILayout.ExpandWidth(true)))
progradeDelta = radialPlusDelta = normalPlusDelta = 0.1;
if (GUILayout.Button("1", GUILayout.ExpandWidth(true)))
progradeDelta = radialPlusDelta = normalPlusDelta = 1;
if (GUILayout.Button("10", GUILayout.ExpandWidth(true)))
progradeDelta = radialPlusDelta = normalPlusDelta = 10;
if (GUILayout.Button("100", GUILayout.ExpandWidth(true)))
progradeDelta = radialPlusDelta = normalPlusDelta = 100;
GUILayout.EndHorizontal();
if (GUILayout.Button("Update")) node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
GUILayout.BeginHorizontal();
GUILayout.Label("Shift time", GUILayout.ExpandWidth(true));
if (GUILayout.Button("-o", GUILayout.ExpandWidth(false)))
{
node.OnGizmoUpdated(node.DeltaV, node.UT - node.patch.period);
}
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
node.OnGizmoUpdated(node.DeltaV, node.UT - timeOffset);
}
timeOffset.text = GUILayout.TextField(timeOffset.text, GUILayout.Width(100));
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
node.OnGizmoUpdated(node.DeltaV, node.UT + timeOffset);
}
if (GUILayout.Button("+o", GUILayout.ExpandWidth(false)))
{
node.OnGizmoUpdated(node.DeltaV, node.UT + node.patch.period);
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
if (GUILayout.Button("Snap node to", GUILayout.ExpandWidth(true)))
{
Orbit o = node.patch;
double UT = node.UT;
switch (snap)
{
case Snap.PERIAPSIS:
UT = o.NextPeriapsisTime(UT - o.period / 2); //period is who-knows-what for e > 1, but this should still work
break;
case Snap.APOAPSIS:
if (o.eccentricity < 1) UT = o.NextApoapsisTime(UT - o.period / 2);
break;
case Snap.EQ_ASCENDING:
if (o.AscendingNodeEquatorialExists()) UT = o.TimeOfAscendingNodeEquatorial(UT - o.period / 2);
break;
case Snap.EQ_DESCENDING:
if (o.DescendingNodeEquatorialExists()) UT = o.TimeOfDescendingNodeEquatorial(UT - o.period / 2);
break;
case Snap.REL_ASCENDING:
if (core.target.NormalTargetExists && core.target.TargetOrbit.referenceBody == o.referenceBody)
{
if (o.AscendingNodeExists(core.target.TargetOrbit)) UT = o.TimeOfAscendingNode(core.target.TargetOrbit, UT - o.period / 2);
}
break;
case Snap.REL_DESCENDING:
if (core.target.NormalTargetExists && core.target.TargetOrbit.referenceBody == o.referenceBody)
{
if (o.DescendingNodeExists(core.target.TargetOrbit)) UT = o.TimeOfDescendingNode(core.target.TargetOrbit, UT - o.period / 2);
}
break;
}
node.OnGizmoUpdated(node.DeltaV, UT);
}
snap = (Snap)GuiUtils.ArrowSelector((int)snap, numSnaps, snapStrings[(int)snap]);
GUILayout.EndHorizontal();
RelativityModeSelectUI();
if (core.node != null)
{
if (vessel.patchedConicSolver.maneuverNodes.Count > 0 && !core.node.enabled)
{
if (GUILayout.Button("Execute next node"))
{
core.node.ExecuteOneNode(this);
}
if (vessel.patchedConicSolver.maneuverNodes.Count > 1)
{
if (GUILayout.Button("Execute all nodes"))
{
core.node.ExecuteAllNodes(this);
}
}
}
else if (core.node.enabled)
{
if (GUILayout.Button("Abort node execution"))
{
core.node.Abort();
}
}
GUILayout.BeginHorizontal();
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, "Auto-warp", GUILayout.ExpandWidth(true));
GUILayout.Label("Tolerance:", GUILayout.ExpandWidth(false));
core.node.tolerance.text = GUILayout.TextField(core.node.tolerance.text, GUILayout.Width(35), GUILayout.ExpandWidth(false));
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
if (btNormal == null)
{
btNormal = new GUIStyle(GUI.skin.button);
btNormal.normal.textColor = btNormal.focused.textColor = Color.white;
btNormal.hover.textColor = btNormal.active.textColor = Color.yellow;
btNormal.onNormal.textColor = btNormal.onFocused.textColor = btNormal.onHover.textColor = btNormal.onActive.textColor = Color.green;
//btNormal.padding = new RectOffset(8, 8, 8, 8);
btActive = new GUIStyle(btNormal);
btActive.active = btActive.onActive;
btActive.normal = btActive.onNormal;
btActive.onFocused = btActive.focused;
btActive.hover = btActive.onHover;
btGreen = new GUIStyle(btNormal);
btGreen.normal.textColor = Color.green;
btGreen.fixedWidth = 35;
btWhite = new GUIStyle(btNormal);
btWhite.normal.textColor = Color.white;
btWhite.fixedWidth = 35;
btAuto = new GUIStyle(btNormal);
btAuto.padding = new RectOffset(8, 8, 8, 8);
btAuto.normal.textColor = Color.red;
btAuto.onActive = btAuto.onFocused = btAuto.onHover = btAuto.onNormal = btAuto.active = btAuto.focused = btAuto.hover = btAuto.normal;
}
if (autopilot.enabled)
{
if (GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_button1"), btActive)) //Disengage autopilot
{
autopilot.users.Remove(this);
}
}
else if (core.attitude.enabled && core.attitude.users.Count(u => !this.Equals(u)) > 0)
{
if (core.attitude.users.Contains(this))
{
core.attitude.users.Remove(this); // so we don't suddenly turn on when the other autopilot finishes
}
GUILayout.Button("Auto", btAuto, GUILayout.ExpandWidth(true));
}
else
{
if (GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_button2"))) //Engage autopilot
{
autopilot.users.Add(this);
}
}
GUILayout.BeginHorizontal();
bool AltitudeHold = autopilot.AltitudeHoldEnabled;
autopilot.AltitudeHoldEnabled = GUILayout.Toggle(autopilot.AltitudeHoldEnabled, Localizer.Format("#MechJeb_Aircraftauto_Label1"), GUILayout.Width(140)); //Altitude Hold
if (AltitudeHold != autopilot.AltitudeHoldEnabled)
{
if (autopilot.AltitudeHoldEnabled)
{
autopilot.EnableAltitudeHold();
}
else
{
autopilot.DisableAltitudeHold();
}
}
bool change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
AltitudeTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
AltitudeTargettmp.text = GUILayout.TextField(AltitudeTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
AltitudeTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
if (AltitudeTargettmp < 0)
{
AltitudeTargettmp = 0;
}
GUILayout.Label("m", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_btnset1"), autopilot.AltitudeTarget == AltitudeTargettmp ? btWhite : btGreen)) //Set
{
autopilot.AltitudeTarget = AltitudeTargettmp;
}
GUILayout.EndHorizontal();
if (!autopilot.AltitudeHoldEnabled)
{
bool _VertSpeedHoldEnabled = autopilot.VertSpeedHoldEnabled;
GUILayout.BeginHorizontal();
autopilot.VertSpeedHoldEnabled = GUILayout.Toggle(autopilot.VertSpeedHoldEnabled, Localizer.Format("#MechJeb_Aircraftauto_Label2"), GUILayout.Width(140)); //Vertical Speed Hold
if (_VertSpeedHoldEnabled != autopilot.VertSpeedHoldEnabled)
{
if (autopilot.VertSpeedHoldEnabled)
{
autopilot.EnableVertSpeedHold();
}
else
{
autopilot.DisableVertSpeedHold();
}
}
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
VertSpeedTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
VertSpeedTargettmp.text = GUILayout.TextField(VertSpeedTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
VertSpeedTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
VertSpeedTargettmp = Math.Max(0, VertSpeedTargettmp);
GUILayout.Label("m/s", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_btnset2"), autopilot.VertSpeedTarget == VertSpeedTargettmp ? btWhite : btGreen))
{
autopilot.VertSpeedTarget = VertSpeedTargettmp;
}
GUILayout.EndHorizontal();
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Aircraftauto_VS"), GUILayout.Width(140));//" V/S ±"
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
VertSpeedTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
VertSpeedTargettmp.text = GUILayout.TextField(VertSpeedTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
VertSpeedTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
VertSpeedTargettmp = Math.Max(0, VertSpeedTargettmp);
GUILayout.Label("m/s", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_btnset6"), autopilot.VertSpeedTarget == VertSpeedTargettmp ? btWhite : btGreen))
{
autopilot.VertSpeedTarget = VertSpeedTargettmp;
}
GUILayout.EndHorizontal();
}
GUILayout.BeginHorizontal();
bool _HeadingHoldEnabled = autopilot.HeadingHoldEnabled;
autopilot.HeadingHoldEnabled = GUILayout.Toggle(autopilot.HeadingHoldEnabled, Localizer.Format("#MechJeb_Aircraftauto_Label4"), GUILayout.Width(140)); //"Heading Hold"
if (_HeadingHoldEnabled != autopilot.HeadingHoldEnabled)
{
if (autopilot.HeadingHoldEnabled)
{
autopilot.EnableHeadingHold();
}
else
{
autopilot.DisableHeadingHold();
}
}
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
HeadingTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
HeadingTargettmp.text = GUILayout.TextField(HeadingTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
HeadingTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
HeadingTargettmp = MuUtils.ClampDegrees360(HeadingTargettmp);
GUILayout.Label("°", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_btnset4"), autopilot.HeadingTarget == HeadingTargettmp ? btWhite : btGreen))
{
autopilot.HeadingTarget = HeadingTargettmp;
}
GUILayout.EndHorizontal();
if (!autopilot.HeadingHoldEnabled)
{
GUILayout.BeginHorizontal();
autopilot.RollHoldEnabled = GUILayout.Toggle(autopilot.RollHoldEnabled, Localizer.Format("#MechJeb_Aircraftauto_Label5"), GUILayout.Width(140)); //"Roll Hold"
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
RollTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
RollTargettmp.text = GUILayout.TextField(RollTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
RollTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
RollTargettmp = MuUtils.Clamp(RollTargettmp, -90, 90);
GUILayout.Label("°", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_btnset5"), autopilot.RollTarget == RollTargettmp ? btWhite : btGreen))
{
autopilot.RollTarget = RollTargettmp;
}
GUILayout.EndHorizontal();
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Aircraftauto_Label6"), GUILayout.Width(140)); //" Roll Limit ±"
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
RollMaxtmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
RollMaxtmp.text = GUILayout.TextField(RollMaxtmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
RollMaxtmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
RollMaxtmp = MuUtils.Clamp(RollMaxtmp, -60, 60);
GUILayout.Label("°", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_btnset6"), autopilot.BankAngle == RollMaxtmp ? btWhite : btGreen))
{
autopilot.BankAngle = RollMaxtmp;
}
GUILayout.EndHorizontal();
}
GUILayout.BeginHorizontal();
bool _AutoThrustCtrl = autopilot.SpeedHoldEnabled;
autopilot.SpeedHoldEnabled = GUILayout.Toggle(autopilot.SpeedHoldEnabled, Localizer.Format("#MechJeb_Aircraftauto_Label7"), GUILayout.Width(140)); //Speed Hold
if (autopilot.SpeedHoldEnabled != _AutoThrustCtrl)
{
if (autopilot.SpeedHoldEnabled)
{
autopilot.EnableSpeedHold();
}
else
{
autopilot.DisableSpeedHold();
}
}
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
SpeedTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
SpeedTargettmp.text = GUILayout.TextField(SpeedTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
SpeedTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
if (SpeedTargettmp < 0)
{
SpeedTargettmp = 0;
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_btnset7"), autopilot.SpeedTarget == SpeedTargettmp ? btWhite : btGreen)) //Set
{
autopilot.SpeedTarget = SpeedTargettmp;
}
GUILayout.EndHorizontal();
if (!showpid)
{
if (GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_button3"), GUILayout.Width(40))) //"PID"
{
showpid = true;
}
}
else
{
if (GUILayout.Button(Localizer.Format("#MechJeb_Aircraftauto_button4"), GUILayout.Width(140))) //Hide PID
{
showpid = false;
}
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Aircraftauto_Label8"), GUILayout.ExpandWidth(true)); //Accceleration
GUILayout.Label("Kp", GUILayout.ExpandWidth(false));
autopilot.AccKp.text = GUILayout.TextField(autopilot.AccKp.text, GUILayout.Width(40));
GUILayout.Label("i", GUILayout.ExpandWidth(false));
autopilot.AccKi.text = GUILayout.TextField(autopilot.AccKi.text, GUILayout.Width(40));
GUILayout.Label("d", GUILayout.ExpandWidth(false));
autopilot.AccKd.text = GUILayout.TextField(autopilot.AccKd.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
if (autopilot.SpeedHoldEnabled)
{
GUILayout.Label(Localizer.Format("#MecgJeb_Aircraftauto_error1", autopilot.a_err.ToString("F2"), autopilot.RealAccelerationTarget.ToString("F2"), autopilot.cur_acc.ToString("F2")), GUILayout.ExpandWidth(false)); //"error:"<<1>>" Target:"<<2>> " Cur:"<<3>>
}
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Aircraftauto_Pitch"), GUILayout.ExpandWidth(true));//"VertSpeed"
GUILayout.Label("Kp", GUILayout.ExpandWidth(false));
autopilot.PitKp.text = GUILayout.TextField(autopilot.PitKp.text, GUILayout.Width(40));
GUILayout.Label("i", GUILayout.ExpandWidth(false));
autopilot.PitKi.text = GUILayout.TextField(autopilot.PitKi.text, GUILayout.Width(40));
GUILayout.Label("d", GUILayout.ExpandWidth(false));
autopilot.PitKd.text = GUILayout.TextField(autopilot.PitKd.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
if (autopilot.VertSpeedHoldEnabled)
{
GUILayout.Label(Localizer.Format("#MecgJeb_Aircraftauto_error2", autopilot.pitch_err.ToString("F2"), autopilot.RealPitchTarget.ToString("F2"), vesselState.currentPitch.ToString("F2"), autopilot.pitch_act.ToString("F5"), GUILayout.ExpandWidth(false)));//error:" Target:"" Cur:"
}
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Aircraftauto_Label10"), GUILayout.ExpandWidth(true)); //Roll
GUILayout.Label("Kp", GUILayout.ExpandWidth(false));
autopilot.RolKp.text = GUILayout.TextField(autopilot.RolKp.text, GUILayout.Width(40));
GUILayout.Label("i", GUILayout.ExpandWidth(false));
autopilot.RolKi.text = GUILayout.TextField(autopilot.RolKi.text, GUILayout.Width(40));
GUILayout.Label("d", GUILayout.ExpandWidth(false));
autopilot.RolKd.text = GUILayout.TextField(autopilot.RolKd.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
if (autopilot.RollHoldEnabled)
{
GUILayout.Label(Localizer.Format("#MecgJeb_Aircraftauto_error2", autopilot.roll_err.ToString("F2"), autopilot.RealRollTarget.ToString("F2"), (-vesselState.currentRoll).ToString("F2"), autopilot.roll_act.ToString("F5"), GUILayout.ExpandWidth(false)));//error:" Target:"" Cur:"
}
GUILayout.BeginHorizontal();
GUILayout.Label("Yaw", GUILayout.ExpandWidth(true));
GUILayout.Label("Kp", GUILayout.ExpandWidth(false));
autopilot.YawKp.text = GUILayout.TextField(autopilot.YawKp.text, GUILayout.Width(40));
GUILayout.Label("i", GUILayout.ExpandWidth(false));
autopilot.YawKi.text = GUILayout.TextField(autopilot.YawKi.text, GUILayout.Width(40));
GUILayout.Label("d", GUILayout.ExpandWidth(false));
autopilot.YawKd.text = GUILayout.TextField(autopilot.YawKd.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
if (autopilot.HeadingHoldEnabled)
{
GUILayout.Label(Localizer.Format("#MecgJeb_Aircraftauto_error2", autopilot.yaw_err.ToString("F2"), autopilot.RealYawTarget.ToString("F2"), autopilot.curr_yaw.ToString("F2"), autopilot.yaw_act.ToString("F5"), GUILayout.ExpandWidth(false)));//error:" Target:"" Cur:"
}
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Aircraftauto_Limits"), GUILayout.ExpandWidth(false)); //Yaw Control Limit
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Aircraftauto_PitchDownLimit"), GUILayout.ExpandWidth(false));
autopilot.PitchDownLimit.text = GUILayout.TextField(autopilot.PitchDownLimit.text, GUILayout.Width(40));
GUILayout.Label(Localizer.Format("#MechJeb_Aircraftauto_PitchUpLimit"), GUILayout.ExpandWidth(false));
autopilot.PitchUpLimit.text = GUILayout.TextField(autopilot.PitchUpLimit.text, GUILayout.Width(40));
GUILayout.Label(Localizer.Format("#MechJeb_Aircraftauto_YawLimit"), GUILayout.ExpandWidth(false));
autopilot.YawLimit.text = GUILayout.TextField(autopilot.YawLimit.text, GUILayout.Width(40));
GUILayout.Label(Localizer.Format("#MechJeb_Aircraftauto_RollLimit"), GUILayout.ExpandWidth(false));
autopilot.RollLimit.text = GUILayout.TextField(autopilot.RollLimit.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
if (btNormal == null)
{
btNormal = new GUIStyle(GUI.skin.button);
btNormal.normal.textColor = btNormal.focused.textColor = Color.white;
btNormal.hover.textColor = btNormal.active.textColor = Color.yellow;
btNormal.onNormal.textColor = btNormal.onFocused.textColor = btNormal.onHover.textColor = btNormal.onActive.textColor = Color.green;
btNormal.padding = new RectOffset(8, 8, 8, 8);
btActive = new GUIStyle(btNormal);
btActive.active = btActive.onActive;
btActive.normal = btActive.onNormal;
btActive.onFocused = btActive.focused;
btActive.hover = btActive.onHover;
}
GUILayout.BeginVertical();
if (autopilot != null)
{
if (autopilot.enabled)
{
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button1")))//Disengage autopilot
{
autopilot.users.Remove(this);
}
}
else
{
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button2")))//Engage autopilot
{
autopilot.users.Add(this);
}
}
if (ascentPathIdx == ascentType.PVG)
{
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button3")))//Reset Guidance (DO NOT PRESS)
{
core.guidance.Reset();
}
GUILayout.BeginHorizontal(); // EditorStyles.toolbar);
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button4"), autopilot.showTargeting ? btActive : btNormal, GUILayout.ExpandWidth(true))) //"TARG"
{
autopilot.showTargeting = !autopilot.showTargeting;
}
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button5"), autopilot.showGuidanceSettings ? btActive : btNormal, GUILayout.ExpandWidth(true))) //GUID
{
autopilot.showGuidanceSettings = !autopilot.showGuidanceSettings;
}
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button6"), autopilot.showSettings ? btActive : btNormal, GUILayout.ExpandWidth(true))) //OPTS
{
autopilot.showSettings = !autopilot.showSettings;
}
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button7"), autopilot.showStatus ? btActive : btNormal, GUILayout.ExpandWidth(true))) //STATUS
{
autopilot.showStatus = !autopilot.showStatus;
}
GUILayout.EndHorizontal();
}
else if (ascentPathIdx == ascentType.GRAVITYTURN)
{
GUILayout.BeginHorizontal(); // EditorStyles.toolbar);
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button8"), autopilot.showTargeting ? btActive : btNormal, GUILayout.ExpandWidth(true))) //TARG
{
autopilot.showTargeting = !autopilot.showTargeting;
}
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button9"), autopilot.showGuidanceSettings ? btActive : btNormal, GUILayout.ExpandWidth(true))) //GUID
{
autopilot.showGuidanceSettings = !autopilot.showGuidanceSettings;
}
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button10"), autopilot.showSettings ? btActive : btNormal, GUILayout.ExpandWidth(true))) //OPTS
{
autopilot.showSettings = !autopilot.showSettings;
}
GUILayout.EndHorizontal();
}
else if (ascentPathIdx == ascentType.BREATHING_GT)
{
GUILayout.BeginHorizontal(); // EditorStyles.toolbar);
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button8"), autopilot.showTargeting ? btActive : btNormal, GUILayout.ExpandWidth(true))) //TARG
{
autopilot.showTargeting = !autopilot.showTargeting;
}
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button9"), autopilot.showGuidanceSettings ? btActive : btNormal, GUILayout.ExpandWidth(true)))//GUID
{
autopilot.showGuidanceSettings = !autopilot.showGuidanceSettings;
}
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button10"), autopilot.showSettings ? btActive : btNormal, GUILayout.ExpandWidth(true)))//OPTS
{
autopilot.showSettings = !autopilot.showSettings;
}
GUILayout.EndHorizontal();
}
else if (ascentPathIdx == ascentType.CLASSIC)
{
GUILayout.BeginHorizontal(); // EditorStyles.toolbar);
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button11"), autopilot.showTargeting ? btActive : btNormal, GUILayout.ExpandWidth(true))) //TARG
{
autopilot.showTargeting = !autopilot.showTargeting;
}
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button12"), autopilot.showSettings ? btActive : btNormal, GUILayout.ExpandWidth(true))) //OPTS
{
autopilot.showSettings = !autopilot.showSettings;
}
GUILayout.EndHorizontal();
}
if (autopilot.showTargeting)
{
if (ascentPathIdx == ascentType.PVG)
{
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label1"), autopilot.desiredOrbitAltitude, "km"); //Target Periapsis
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label2"), pvgascent.desiredApoapsis, "km"); //Target Apoapsis:
if (pvgascent.desiredApoapsis >= 0 && pvgascent.desiredApoapsis < autopilot.desiredOrbitAltitude)
{
GUIStyle s = new GUIStyle(GUI.skin.label);
s.normal.textColor = Color.yellow;
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label3"), s);//Ap < Pe: circularizing orbit
}
if (pvgascent.desiredApoapsis < 0)
{
GUIStyle s = new GUIStyle(GUI.skin.label);
s.normal.textColor = XKCDColors.Orange;
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label4"), s);//Hyperbolic target orbit (neg Ap)
}
}
else
{
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label5"), autopilot.desiredOrbitAltitude, "km");//Orbit altitude
}
GUIStyle si = new GUIStyle(GUI.skin.label);
if (Math.Abs(desiredInclination) < Math.Abs(vesselState.latitude) - 2.001)
{
si.onHover.textColor = si.onNormal.textColor = si.normal.textColor = XKCDColors.Orange;
}
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label6"), si, GUILayout.ExpandWidth(true));//Orbit inc.
desiredInclination.text = GUILayout.TextField(desiredInclination.text, GUILayout.ExpandWidth(true), GUILayout.Width(100));
GUILayout.Label("º", GUILayout.ExpandWidth(false));
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button13")))//Current
{
desiredInclination.val = vesselState.latitude;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
if (Math.Abs(desiredInclination) < Math.Abs(vesselState.latitude) - 2.001)
{
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label7", Math.Abs(vesselState.latitude) - Math.Abs(desiredInclination)), si);//inc {0:F1}º below current latitude
}
GUILayout.EndHorizontal();
autopilot.desiredInclination = desiredInclination;
}
if (autopilot.showGuidanceSettings)
{
if (ascentPathIdx == ascentType.GRAVITYTURN)
{
GUILayout.BeginVertical();
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label8"), gtascent.turnStartAltitude, "km"); //Turn start altitude:
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label9"), gtascent.turnStartVelocity, "m/s"); //Turn start velocity:
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label10"), gtascent.turnStartPitch, "deg"); //Turn start pitch:
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label11"), gtascent.intermediateAltitude, "km"); //Intermediate altitude:
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label12"), gtascent.holdAPTime, "s"); //Hold AP Time:
GUILayout.EndVertical();
}
else if (ascentPathIdx == ascentType.BREATHING_GT)
{
GUILayout.BeginVertical();
//GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label8"), bgtascent.turnStartAltitude, "km");//Turn start altitude:
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label9"), bgtascent.turnStartVelocity, "m/s"); //Turn start velocity:
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label10"), bgtascent.turnStartPitch, "deg"); //Turn start pitch:
GuiUtils.SimpleTextBox(Localizer.Format("speed for breathing mode:"), bgtascent.startBreathingSpeed, "m/s"); //speed for breathing mode:
GuiUtils.SimpleTextBox(Localizer.Format("TWR to throttle other:"), bgtascent.minTWRthrottle, "s"); //TWR to throttle other:
GUILayout.EndVertical();
}
else if (ascentPathIdx == ascentType.PVG)
{
GUILayout.BeginVertical();
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label13"), pvgascent.pitchStartVelocity, "m/s"); //Booster Pitch start:
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label14"), pvgascent.pitchRate, "°/s"); //Booster Pitch rate:
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label15"), core.guidance.pvgInterval, "s"); //Guidance Interval:
if (core.guidance.pvgInterval < 1 || core.guidance.pvgInterval > 30)
{
GUIStyle s = new GUIStyle(GUI.skin.label);
s.normal.textColor = Color.yellow;
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label16"), s); //Guidance intervals are limited to between 1s and 30s
}
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label17"), autopilot.limitQa, "Pa-rad"); //Qα limit
if (autopilot.limitQa < 100 || autopilot.limitQa > 4000)
{
GUIStyle s = new GUIStyle(GUI.skin.label);
s.normal.textColor = Color.yellow;
if (autopilot.limitQa < 100)
{
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label18"), s);//Qα limit cannot be set to lower than 100 Pa-rad
}
else if (autopilot.limitQa > 10000)
{
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label19"), s);//Qα limit cannot be set to higher than 10000 Pa-rad
}
else
{
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label20"), s);//Qα limit is recommended to be 1000 to 4000 Pa-rad
}
}
pvgascent.omitCoast = GUILayout.Toggle(pvgascent.omitCoast, Localizer.Format("#MechJeb_Ascent_checkbox1"));//Omit Coast
GUILayout.EndVertical();
}
}
autopilot.limitQaEnabled = (ascentPathIdx == ascentType.PVG); // this is mandatory for PVG
if (autopilot.showSettings)
{
ToggleAscentNavballGuidanceInfoItem();
if (ascentPathIdx != ascentType.PVG)
{
core.thrust.LimitToPreventOverheatsInfoItem();
//core.thrust.LimitToTerminalVelocityInfoItem();
core.thrust.LimitToMaxDynamicPressureInfoItem();
core.thrust.LimitAccelerationInfoItem();
core.thrust.LimitThrottleInfoItem();
core.thrust.LimiterMinThrottleInfoItem();
core.thrust.LimitElectricInfoItem();
}
else
{
core.thrust.LimitToPreventOverheatsInfoItem();
//core.thrust.LimitToTerminalVelocityInfoItem();
core.thrust.LimitToMaxDynamicPressureInfoItem();
//core.thrust.LimitAccelerationInfoItem();
//core.thrust.LimitThrottleInfoItem();
core.thrust.LimiterMinThrottleInfoItem();
//core.thrust.LimitElectricInfoItem();
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label21")); //FIXME: g-limiter is down for maintenance
core.thrust.limitAcceleration = false;
core.thrust.limitThrottle = false;
core.thrust.limitToTerminalVelocity = false;
core.thrust.electricThrottle = false;
}
GUILayout.BeginHorizontal();
autopilot.forceRoll = GUILayout.Toggle(autopilot.forceRoll, Localizer.Format("#MechJeb_Ascent_checkbox2"));//Force Roll
if (autopilot.forceRoll)
{
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label22"), autopilot.verticalRoll, "º", 30f); //climb
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label23"), autopilot.turnRoll, "º", 30f); //turn
}
GUILayout.EndHorizontal();
if (ascentPathIdx != ascentType.PVG)
{
GUILayout.BeginHorizontal();
GUIStyle s = new GUIStyle(GUI.skin.toggle);
if (autopilot.limitingAoA)
{
s.onHover.textColor = s.onNormal.textColor = Color.green;
}
autopilot.limitAoA = GUILayout.Toggle(autopilot.limitAoA, Localizer.Format("#MechJeb_Ascent_checkbox3"), s, GUILayout.ExpandWidth(true));//Limit AoA to
autopilot.maxAoA.text = GUILayout.TextField(autopilot.maxAoA.text, GUILayout.Width(30));
GUILayout.Label("º (" + autopilot.currentMaxAoA.ToString("F1") + "°)", GUILayout.ExpandWidth(true));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Space(25);
if (autopilot.limitAoA)
{
GUIStyle sl = new GUIStyle(GUI.skin.label);
if (autopilot.limitingAoA && vesselState.dynamicPressure < autopilot.aoALimitFadeoutPressure)
{
sl.normal.textColor = sl.hover.textColor = Color.green;
}
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Ascent_label24"), autopilot.aoALimitFadeoutPressure, "Pa", 50, sl);//Dynamic Pressure Fadeout
}
GUILayout.EndHorizontal();
autopilot.limitQaEnabled = false; // this is only for PVG
}
if (ascentPathIdx == ascentType.CLASSIC)
{
// corrective steering only applies to Classic
GUILayout.BeginHorizontal();
autopilot.correctiveSteering = GUILayout.Toggle(autopilot.correctiveSteering, Localizer.Format("#MechJeb_Ascent_checkbox4"), GUILayout.ExpandWidth(false));//Corrective steering
if (autopilot.correctiveSteering)
{
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label25"), GUILayout.ExpandWidth(false));//Gain
autopilot.correctiveSteeringGain.text = GUILayout.TextField(autopilot.correctiveSteeringGain.text, GUILayout.Width(40));
}
GUILayout.EndHorizontal();
}
autopilot.autostage = GUILayout.Toggle(autopilot.autostage, Localizer.Format("#MechJeb_Ascent_checkbox5"));//Autostage
if (autopilot.autostage)
{
core.staging.AutostageSettingsInfoItem();
}
autopilot.autodeploySolarPanels = GUILayout.Toggle(autopilot.autodeploySolarPanels,
Localizer.Format("#MechJeb_Ascent_checkbox6"));//Auto-deploy solar panels
autopilot.autoDeployAntennas = GUILayout.Toggle(autopilot.autoDeployAntennas,
Localizer.Format("#MechJeb_Ascent_checkbox7"));//Auto-deploy antennas
GUILayout.BeginHorizontal();
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, Localizer.Format("#MechJeb_Ascent_checkbox8"));//Auto-warp
if (ascentPathIdx != ascentType.PVG)
{
autopilot.skipCircularization = GUILayout.Toggle(autopilot.skipCircularization, Localizer.Format("#MechJeb_Ascent_checkbox9"));//Skip Circularization
}
else
{
// skipCircularization is always true for Optimizer
autopilot.skipCircularization = true;
}
GUILayout.EndHorizontal();
}
if (autopilot.showStatus)
{
if (ascentPathIdx == ascentType.PVG)
{
if (core.guidance.solution != null)
{
for (int i = core.guidance.solution.num_segments; i > 0; i--)
{
GUILayout.Label(String.Format("{0}: {1}", i, core.guidance.solution.ArcString(vesselState.time, i - 1)));
}
}
GUILayout.BeginHorizontal();
GUILayout.Label(String.Format("vgo: {0:F1}", core.guidance.vgo), GUILayout.Width(100));
GUILayout.Label(String.Format("heading: {0:F1}", core.guidance.heading), GUILayout.Width(100));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(String.Format("tgo: {0:F3}", core.guidance.tgo), GUILayout.Width(100));
GUILayout.Label(String.Format("pitch: {0:F1}", core.guidance.pitch), GUILayout.Width(100));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUIStyle si = new GUIStyle(GUI.skin.label);
if (core.guidance.isStable())
{
si.onHover.textColor = si.onNormal.textColor = si.normal.textColor = XKCDColors.Green;
}
else if (core.guidance.isInitializing() || core.guidance.status == PVGStatus.FINISHED)
{
si.onHover.textColor = si.onNormal.textColor = si.normal.textColor = XKCDColors.Orange;
}
else
{
si.onHover.textColor = si.onNormal.textColor = si.normal.textColor = XKCDColors.Red;
}
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label26") + core.guidance.status, si);//Guidance Status:
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label27") + core.guidance.successful_converges, GUILayout.Width(100)); //converges:
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label28") + core.guidance.last_lm_status, GUILayout.Width(100)); //status:
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("n: " + core.guidance.last_lm_iteration_count + "(" + core.guidance.max_lm_iteration_count + ")", GUILayout.Width(100));
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label29") + GuiUtils.TimeToDHMS(core.guidance.staleness));//staleness:
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(String.Format("znorm: {0:G5}", core.guidance.last_znorm));
GUILayout.EndHorizontal();
if (core.guidance.last_failure_cause != null)
{
GUIStyle s = new GUIStyle(GUI.skin.label);
s.normal.textColor = Color.red;
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label30") + core.guidance.last_failure_cause, s);//LAST FAILURE:
GUILayout.EndHorizontal();
}
if (vessel.situation != Vessel.Situations.LANDED && vessel.situation != Vessel.Situations.PRELAUNCH && vessel.situation != Vessel.Situations.SPLASHED)
{
double m0 = atmoStats[vessel.currentStage].startMass;
double thrust = atmoStats[vessel.currentStage].startThrust;
if (Math.Abs(vesselState.mass - m0) / m0 > 0.01)
{
GUIStyle s = new GUIStyle(GUI.skin.label);
s.normal.textColor = Color.yellow;
GUILayout.BeginHorizontal();
GUILayout.Label(String.Format(Localizer.Format("#MechJeb_Ascent_label31") + "{0:F1}%", (vesselState.mass - m0) / m0 * 100.0), s);//MASS IS OFF BY
GUILayout.EndHorizontal();
}
if (Math.Abs(vesselState.thrustCurrent - thrust) / thrust > 0.01)
{
GUIStyle s = new GUIStyle(GUI.skin.label);
s.normal.textColor = Color.yellow;
GUILayout.BeginHorizontal();
GUILayout.Label(String.Format(Localizer.Format("#MechJeb_Ascent_label32") + "{0:F1}%", (vesselState.thrustCurrent - thrust) / thrust * 100.0), s);//THRUST IS OFF BY
GUILayout.EndHorizontal();
}
}
}
}
if (vessel.LandedOrSplashed)
{
if (core.target.NormalTargetExists)
{
if (core.node.autowarp)
{
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label33"), GUILayout.ExpandWidth(true)); //Launch countdown:
autopilot.warpCountDown.text = GUILayout.TextField(autopilot.warpCountDown.text,
GUILayout.Width(60));
GUILayout.Label("s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
if (!launchingToPlane && !launchingToRendezvous && !launchingToInterplanetary)
{
// disable plane/rendezvous/interplanetary for now
if (ascentPathIdx != ascentType.PVG)
{
GUILayout.BeginHorizontal();
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button14"), GUILayout.ExpandWidth(false))) //Launch to rendezvous:
{
launchingToRendezvous = true;
autopilot.StartCountdown(vesselState.time +
LaunchTiming.TimeToPhaseAngle(autopilot.launchPhaseAngle,
mainBody, vesselState.longitude, core.target.TargetOrbit));
}
autopilot.launchPhaseAngle.text = GUILayout.TextField(autopilot.launchPhaseAngle.text,
GUILayout.Width(60));
GUILayout.Label("º", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.BeginHorizontal();
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button15"), GUILayout.ExpandWidth(false))) //Launch into plane of target
{
launchingToPlane = true;
autopilot.StartCountdown(vesselState.time +
LaunchTiming.TimeToPlane(autopilot.launchLANDifference,
mainBody, vesselState.latitude, vesselState.longitude,
core.target.TargetOrbit));
}
autopilot.launchLANDifference.text = GUILayout.TextField(
autopilot.launchLANDifference.text, GUILayout.Width(60));
GUILayout.Label("º", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
if (core.target.TargetOrbit.referenceBody == orbit.referenceBody.referenceBody)
{
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button16"))) //Launch at interplanetary window
{
launchingToInterplanetary = true;
//compute the desired launch date
OrbitalManeuverCalculator.DeltaVAndTimeForHohmannTransfer(mainBody.orbit,
core.target.TargetOrbit, vesselState.time, out interplanetaryWindowUT);
double desiredOrbitPeriod = 2 * Math.PI *
Math.Sqrt(
Math.Pow(mainBody.Radius + autopilot.desiredOrbitAltitude, 3)
/ mainBody.gravParameter);
//launch just before the window, but don't try to launch in the past
interplanetaryWindowUT -= 3 * desiredOrbitPeriod;
interplanetaryWindowUT = Math.Max(vesselState.time + autopilot.warpCountDown,
interplanetaryWindowUT);
autopilot.StartCountdown(interplanetaryWindowUT);
}
}
}
}
else
{
launchingToInterplanetary = launchingToPlane = launchingToRendezvous = false;
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label34")); //Select a target for a timed launch.
}
if (launchingToInterplanetary || launchingToPlane || launchingToRendezvous)
{
string message = "";
if (launchingToInterplanetary)
{
message = Localizer.Format("#MechJeb_Ascent_msg1"); //Launching at interplanetary window
}
else if (launchingToPlane)
{
desiredInclination = MuUtils.Clamp(core.target.TargetOrbit.inclination, Math.Abs(vesselState.latitude), 180 - Math.Abs(vesselState.latitude));
desiredInclination *=
Math.Sign(Vector3d.Dot(core.target.TargetOrbit.SwappedOrbitNormal(),
Vector3d.Cross(vesselState.CoM - mainBody.position, mainBody.transform.up)));
message = Localizer.Format("#MechJeb_Ascent_msg2"); //Launching to target plane
}
else if (launchingToRendezvous)
{
message = "#MechJeb_Ascent_msg3"; //Launching to rendezvous
}
if (autopilot.tMinus > 3 * vesselState.deltaT)
{
message += ": T-" + GuiUtils.TimeToDHMS(autopilot.tMinus, 1);
}
GUILayout.Label(message);
if (GUILayout.Button(Localizer.Format("#MechJeb_Ascent_button17")))//Abort
{
launchingToInterplanetary =
launchingToPlane = launchingToRendezvous = autopilot.timedLaunch = false;
}
}
}
if (autopilot.enabled)
{
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label35") + autopilot.status);//Autopilot status:
}
if (core.DeactivateControl)
{
GUIStyle s = new GUIStyle(GUI.skin.label);
s.normal.textColor = Color.red;
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label36"), s);//CONTROL DISABLED (AVIONICS)
}
}
if (!vessel.patchedConicsUnlocked() && ascentPathIdx != ascentType.PVG)
{
GUILayout.Label(Localizer.Format("#MechJeb_Ascent_label37"));//"Warning: MechJeb is unable to circularize without an upgraded Tracking Station."
}
GUILayout.BeginHorizontal();
autopilot.ascentPathIdxPublic = (ascentType)GuiUtils.ComboBox.Box((int)autopilot.ascentPathIdxPublic, autopilot.ascentPathList, this);
GUILayout.EndHorizontal();
if (autopilot.ascentMenu != null)
{
autopilot.ascentMenu.enabled = GUILayout.Toggle(autopilot.ascentMenu.enabled, Localizer.Format("#MechJeb_Ascent_checkbox10")); //Edit ascent path
}
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUIStyle sty = new GUIStyle(GUI.skin.button);
sty.normal.textColor = sty.focused.textColor = Color.white;
sty.hover.textColor = sty.active.textColor = Color.yellow;
sty.onNormal.textColor = sty.onFocused.textColor = sty.onHover.textColor = sty.onActive.textColor = Color.green;
sty.padding = new RectOffset(8, 8, 8, 8);
GUILayout.BeginVertical();
if ((core.thrust.users.Count > 1) && !core.thrust.users.Contains(this))
{
if (!autoMode)
{
windowPos = new Rect(windowPos.x, windowPos.y, 10, 10);
autoMode = true;
}
sty.normal.textColor = Color.red;
sty.onActive = sty.onFocused = sty.onHover = sty.onNormal = sty.active = sty.focused = sty.hover = sty.normal;
GUILayout.Button(Localizer.Format("#MechJeb_Trans_auto"), sty, GUILayout.ExpandWidth(true));
}
else
{
if (autoMode)
{
windowPos = new Rect(windowPos.x, windowPos.y, 10, 10);
autoMode = false;
}
MechJebModuleThrustController.TMode newMode = (MechJebModuleThrustController.TMode)GUILayout.SelectionGrid((int)core.thrust.tmode, trans_texts, 2, sty);
SetMode(newMode);
float val = (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); // change by 5 if the mod_key is held down, else by 1 -- would be better if it actually worked...
core.thrust.trans_kill_h = GUILayout.Toggle(core.thrust.trans_kill_h, Localizer.Format("#MechJeb_Trans_kill_h"), GUILayout.ExpandWidth(true));
GUILayout.BeginHorizontal(GUILayout.ExpandWidth(true));
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_Trans_spd"), trans_spd, "", 37);
bool change = false;
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
trans_spd -= val;
change = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
trans_spd = 0;
change = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
trans_spd += val;
change = true;
}
GUILayout.EndHorizontal();
if (GUILayout.Button(Localizer.Format("#MechJeb_Trans_spd_act") + ":", sty, GUILayout.ExpandWidth(true)) || change)
{
core.thrust.trans_spd_act = (float)trans_spd.val;
GUIUtility.keyboardControl = 0;
}
}
if (core.thrust.tmode != MechJebModuleThrustController.TMode.OFF)
{
GUILayout.Label(Localizer.Format("#MechJeb_Trans_current_spd") + MuMech.MuUtils.ToSI(core.thrust.trans_spd_act) + "m/s", GUILayout.ExpandWidth(true));
}
GUILayout.FlexibleSpace();
GUIStyle tsty = new GUIStyle(GUI.skin.label);
tsty.alignment = TextAnchor.UpperCenter;
GUILayout.Label("Automation", tsty, GUILayout.ExpandWidth(true));
sty.normal.textColor = sty.focused.textColor = sty.hover.textColor = sty.active.textColor = sty.onNormal.textColor = sty.onFocused.textColor = sty.onHover.textColor = sty.onActive.textColor = (abort != AbortStage.OFF) ? Color.red : Color.green;
if (GUILayout.Button((abort != AbortStage.OFF) ? Localizer.Format("#MechJeb_Trans_NOPANIC") : Localizer.Format("#MechJeb_Trans_PANIC"), sty, GUILayout.ExpandWidth(true)))
{
PanicSwitch();
}
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
bool showingGuidance = (core.target.Target != null && core.target.Name == TARGET_NAME);
if (showingGuidance)
{
GUILayout.Label("The purple circle on the navball points along the ascent path.");
if (GUILayout.Button("Stop showing navball guidance")) core.target.Unset();
}
else if (GUILayout.Button("Show navball ascent path guidance"))
{
core.target.SetDirectionTarget(TARGET_NAME);
}
if (autopilot != null)
{
if (autopilot.enabled)
{
if (GUILayout.Button("Disengage autopilot")) autopilot.users.Remove(this);
}
else
{
if (GUILayout.Button("Engage autopilot"))
{
autopilot.users.Add(this);
}
}
ascentPath = autopilot.ascentPath;
GuiUtils.SimpleTextBox("Orbit altitude", autopilot.desiredOrbitAltitude, "km");
autopilot.desiredInclination = desiredInclination;
}
GuiUtils.SimpleTextBox("Orbit inclination", desiredInclination, "º");
core.thrust.limitToPreventOverheats = GUILayout.Toggle(core.thrust.limitToPreventOverheats, "Prevent overheats");
core.thrust.limitToTerminalVelocity = GUILayout.Toggle(core.thrust.limitToTerminalVelocity, "Limit to terminal velocity");
GUILayout.BeginHorizontal();
core.thrust.limitAcceleration = GUILayout.Toggle(core.thrust.limitAcceleration, "Limit acceleration to", GUILayout.ExpandWidth(false));
core.thrust.maxAcceleration.text = GUILayout.TextField(core.thrust.maxAcceleration.text, GUILayout.ExpandWidth(true));
GUILayout.Label("m/s²", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
autopilot.correctiveSteering = GUILayout.Toggle(autopilot.correctiveSteering, "Corrective steering");
core.staging.AutostageInfoItem();
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, "Auto-warp");
if (autopilot != null && vessel.LandedOrSplashed)
{
if (core.target.NormalTargetExists)
{
if (!launchingToPlane && !launchingToRendezvous)
{
GUILayout.BeginHorizontal();
if (GUILayout.Button("Launch to rendezvous:", GUILayout.ExpandWidth(false)))
{
launchingToRendezvous = true;
}
autopilot.launchPhaseAngle.text = GUILayout.TextField(autopilot.launchPhaseAngle.text, GUILayout.Width(60));
GUILayout.Label("º", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
if (!launchingToPlane && !launchingToRendezvous && GUILayout.Button("Launch into plane of target"))
{
launchingToPlane = true;
}
}
else
{
launchingToPlane = launchingToRendezvous = false;
GUILayout.Label("Select a target for a timed launch.");
}
if (launchingToPlane || launchingToRendezvous)
{
double tMinus;
if (launchingToPlane) tMinus = LaunchTiming.TimeToPlane(mainBody, vesselState.latitude, vesselState.longitude, core.target.Orbit);
else tMinus = LaunchTiming.TimeToPhaseAngle(autopilot.launchPhaseAngle, mainBody, vesselState.longitude, core.target.Orbit);
double launchTime = vesselState.time + tMinus;
core.warp.WarpToUT(launchTime);
if (launchingToPlane)
{
desiredInclination = core.target.Orbit.inclination;
desiredInclination *= Math.Sign(Vector3d.Dot(core.target.Orbit.SwappedOrbitNormal(), Vector3d.Cross(vesselState.CoM - mainBody.position, mainBody.transform.up)));
}
if (autopilot.enabled) core.warp.WarpToUT(launchTime);
GUILayout.Label("Launching to " + (launchingToPlane ? "target plane" : "rendezvous") + ": T-" + MuUtils.ToSI(tMinus, 0) + "s");
if (tMinus < 3 * vesselState.deltaT)
{
if (autopilot.enabled) Staging.ActivateNextStage();
launchingToPlane = launchingToRendezvous = false;
}
if (GUILayout.Button("Abort")) launchingToPlane = launchingToRendezvous = false;
}
if (autopilot.enabled)
{
GUILayout.Label("Autopilot status: " + autopilot.status);
}
}
MechJebModuleAscentPathEditor editor = core.GetComputerModule<MechJebModuleAscentPathEditor>();
if (editor != null) editor.enabled = GUILayout.Toggle(editor.enabled, "Edit ascent path");
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
core.GetComputerModule<MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto tunning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GuiUtils.SimpleTextBox("Tf (s)", Tf);
Tf = Math.Max(0.01, Tf);
}
else
{
// pid.Kd = kpFactor / Tf;
// pid.Kp = pid.Kd / (kiFactor * Math.Sqrt(2) * Tf);
// pid.Ki = pid.Kp / (kpFactor * Math.Sqrt(2) * Tf);
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.Tf.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
}
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
core.rcs.rcsThrottle = GUILayout.Toggle(core.rcs.rcsThrottle, " RCS throttle when 0k thrust");
GUILayout.BeginHorizontal();
GUILayout.Label("Kp, Ki, Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.pid.Kp.ToString("F3") + ", " +
core.attitude.pid.Ki.ToString("F3") + ", " +
core.attitude.pid.Kd.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("AttitudeRollMatters ", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.attitudeRollMatters ? "true" : "false", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d torque = new Vector3d(
vesselState.torqueAvailable.x + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle,
vesselState.torqueAvailable.y,
vesselState.torqueAvailable.z + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle
);
GUILayout.BeginHorizontal();
GUILayout.Label("torque", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(torque.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d inertia = Vector3d.Scale(
vesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum),
Vector3d.Scale(torque, vesselState.MoI).Invert()
)
);
GUILayout.BeginHorizontal();
GUILayout.Label("inertia", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|inertia|", GUILayout.ExpandWidth(true));
GUILayout.Label(inertia.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, torque.Invert());
GUILayout.BeginHorizontal();
GUILayout.Label("|MOI| / |Torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(ratio.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.Tf != Tf)
{
core.attitude.Tf = Tf;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
bool showingGuidance = (core.target.Target != null && core.target.Name == TARGET_NAME);
if (showingGuidance)
{
GUILayout.Label("The purple circle on the navball points along the ascent path.");
if (GUILayout.Button("Stop showing navball guidance"))
{
core.target.Unset();
}
}
else if (GUILayout.Button("Show navball ascent path guidance"))
{
core.target.SetDirectionTarget(TARGET_NAME);
}
if (autopilot != null)
{
if (autopilot.enabled)
{
if (GUILayout.Button("Disengage autopilot"))
{
autopilot.users.Remove(this);
}
}
else
{
if (GUILayout.Button("Engage autopilot"))
{
autopilot.users.Add(this);
}
}
ascentPath = autopilot.ascentPath;
GuiUtils.SimpleTextBox("Orbit altitude", autopilot.desiredOrbitAltitude, "km");
autopilot.desiredInclination = desiredInclination;
}
GuiUtils.SimpleTextBox("Orbit inclination", desiredInclination, "º");
core.thrust.LimitToPreventOverheatsInfoItem();
core.thrust.LimitToTerminalVelocityInfoItem();
core.thrust.LimitAccelerationInfoItem();
core.thrust.LimitThrottleInfoItem();
GUILayout.BeginHorizontal();
autopilot.forceRoll = GUILayout.Toggle(autopilot.forceRoll, "Force Roll");
if (autopilot.forceRoll)
{
GuiUtils.SimpleTextBox("climb", autopilot.verticalRoll, "º", 30f);
GuiUtils.SimpleTextBox("turn", autopilot.turnRoll, "º", 30f);
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUIStyle s = new GUIStyle(GUI.skin.toggle);
if (autopilot.limitingAoA)
{
s.onHover.textColor = s.onNormal.textColor = Color.green;
}
autopilot.limitAoA = GUILayout.Toggle(autopilot.limitAoA, "Limit AoA to", s, GUILayout.ExpandWidth(true));
autopilot.maxAoA.text = GUILayout.TextField(autopilot.maxAoA.text, GUILayout.Width(30));
GUILayout.Label("º (" + autopilot.currentMaxAoA.ToString("F1") + "°)", GUILayout.ExpandWidth(true));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Space(25);
if (autopilot.limitAoA)
{
GUIStyle sl = new GUIStyle(GUI.skin.label);
if (autopilot.limitingAoA && vesselState.dynamicPressure < autopilot.aoALimitFadeoutPressure)
{
sl.normal.textColor = sl.hover.textColor = Color.green;
}
GuiUtils.SimpleTextBox("Dynamic Pressure Fadeout", autopilot.aoALimitFadeoutPressure, "pa", 50, sl);
}
GUILayout.EndHorizontal();
autopilot.correctiveSteering = GUILayout.Toggle(autopilot.correctiveSteering, "Corrective steering");
autopilot.autostage = GUILayout.Toggle(autopilot.autostage, "Autostage");
if (autopilot.autostage)
{
core.staging.AutostageSettingsInfoItem();
}
autopilot.autodeploySolarPanels = GUILayout.Toggle(autopilot.autodeploySolarPanels, "Auto-deploy solar panels");
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, "Auto-warp");
if (autopilot != null && vessel.LandedOrSplashed)
{
if (core.target.NormalTargetExists)
{
if (core.node.autowarp)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Launch countdown:", GUILayout.ExpandWidth(true));
autopilot.warpCountDown.text = GUILayout.TextField(autopilot.warpCountDown.text, GUILayout.Width(60));
GUILayout.Label("s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
if (!launchingToPlane && !launchingToRendezvous && !launchingToInterplanetary)
{
GUILayout.BeginHorizontal();
if (GUILayout.Button("Launch to rendezvous:", GUILayout.ExpandWidth(false)))
{
launchingToRendezvous = true;
autopilot.StartCountdown(vesselState.time + LaunchTiming.TimeToPhaseAngle(autopilot.launchPhaseAngle, mainBody, vesselState.longitude, core.target.TargetOrbit));
}
autopilot.launchPhaseAngle.text = GUILayout.TextField(autopilot.launchPhaseAngle.text, GUILayout.Width(60));
GUILayout.Label("º", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
if (GUILayout.Button("Launch into plane of target"))
{
launchingToPlane = true;
autopilot.StartCountdown(vesselState.time +
LaunchTiming.TimeToPlane(mainBody, vesselState.latitude, vesselState.longitude, core.target.TargetOrbit));
}
if (core.target.TargetOrbit.referenceBody == orbit.referenceBody.referenceBody)
{
if (GUILayout.Button("Launch at interplanetary window"))
{
launchingToInterplanetary = true;
//compute the desired launch date
OrbitalManeuverCalculator.DeltaVAndTimeForHohmannTransfer(mainBody.orbit, core.target.TargetOrbit, vesselState.time, out interplanetaryWindowUT);
double desiredOrbitPeriod = 2 * Math.PI * Math.Sqrt(Math.Pow(mainBody.Radius + autopilot.desiredOrbitAltitude, 3) / mainBody.gravParameter);
//launch just before the window, but don't try to launch in the past
interplanetaryWindowUT -= 3 * desiredOrbitPeriod;
interplanetaryWindowUT = Math.Max(vesselState.time + autopilot.warpCountDown, interplanetaryWindowUT);
autopilot.StartCountdown(interplanetaryWindowUT);
}
}
}
}
else
{
launchingToInterplanetary = launchingToPlane = launchingToRendezvous = false;
GUILayout.Label("Select a target for a timed launch.");
}
if (launchingToInterplanetary || launchingToPlane || launchingToRendezvous)
{
string message = "";
if (launchingToInterplanetary)
{
message = "Launching at interplanetary window";
}
else if (launchingToPlane)
{
desiredInclination = core.target.TargetOrbit.inclination;
desiredInclination *= Math.Sign(Vector3d.Dot(core.target.TargetOrbit.SwappedOrbitNormal(), Vector3d.Cross(vesselState.CoM - mainBody.position, mainBody.transform.up)));
message = "Launching to target plane";
}
else if (launchingToRendezvous)
{
message = "Launching to rendezvous";
}
if (autopilot.tMinus > 3 * vesselState.deltaT)
{
message += ": T-" + GuiUtils.TimeToDHMS(autopilot.tMinus, 1);
}
GUILayout.Label(message);
if (GUILayout.Button("Abort"))
{
launchingToInterplanetary = launchingToPlane = launchingToRendezvous = autopilot.timedLaunch = false;
}
}
}
if (autopilot != null && autopilot.enabled)
{
GUILayout.Label("Autopilot status: " + autopilot.status);
}
if (!vessel.patchedConicsUnlocked())
{
GUILayout.Label("Warning: MechJeb is unable to circularize without an upgraded Tracking Station.");
}
MechJebModuleAscentPathEditor editor = core.GetComputerModule <MechJebModuleAscentPathEditor>();
if (editor != null)
{
editor.enabled = GUILayout.Toggle(editor.enabled, "Edit ascent path");
}
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
if (GUILayout.Button("Reset"))
{
core.attitude.ResetConfig();
OnStart(PartModule.StartState.None);
}
core.GetComputerModule<MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto-tuning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GUILayout.BeginHorizontal();
GUILayout.Label("Tf (s)", GUILayout.ExpandWidth(true));
GUILayout.Label("P", GUILayout.ExpandWidth(false));
TfX.text = GUILayout.TextField(TfX.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("Y", GUILayout.ExpandWidth(false));
TfY.text = GUILayout.TextField(TfY.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("R", GUILayout.ExpandWidth(false));
TfZ.text = GUILayout.TextField(TfZ.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.EndHorizontal();
TfX = Math.Max(0.01, TfX);
TfY = Math.Max(0.01, TfY);
TfZ = Math.Max(0.01, TfZ);
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.TfV), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
}
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Kp", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Kp), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Ki", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Ki), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Kd), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Error", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.error * Mathf.Rad2Deg), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Axis Control ", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.AxisState, "F0"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.torque.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("torqueReactionSpeed", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.torqueReactionSpeed.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.torqueReactionSpeed), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Inertia", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.inertia.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, core.attitude.torque.Invert());
GUILayout.BeginHorizontal();
GUILayout.Label("MOI / torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + ratio.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(ratio), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.MoI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.MoI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI stock", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.MOI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.MOI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Angular Velocity", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.angularVelocity.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.angularVelocity), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
}
MechJebModuleAttitudeController.useCoMVelocity = GUILayout.Toggle(MechJebModuleAttitudeController.useCoMVelocity, "Use CoM velocity instead of stock");
MechJebModuleDebugArrows arrows = core.GetComputerModule<MechJebModuleDebugArrows>();
GuiUtils.SimpleTextBox("Arrows length", arrows.arrowsLength, "", 50);
arrows.seeThrough = GUILayout.Toggle(arrows.seeThrough, "Visible through object");
GUILayout.BeginHorizontal();
arrows.comSphereActive = GUILayout.Toggle(arrows.comSphereActive, "Display the CoM. Radius of ", GUILayout.ExpandWidth(false));
arrows.comSphereRadius.text = GUILayout.TextField(arrows.comSphereRadius.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
arrows.displayAtCoM = GUILayout.Toggle(arrows.displayAtCoM, "Arrows origins at the CoM");
arrows.podSrfVelocityArrowActive = GUILayout.Toggle(arrows.podSrfVelocityArrowActive, "Pod Surface Velocity (yellow)");
arrows.comSrfVelocityArrowActive = GUILayout.Toggle(arrows.comSrfVelocityArrowActive, "CoM Surface Velocity (green)");
arrows.podObtVelocityArrowActive = GUILayout.Toggle(arrows.podObtVelocityArrowActive, "Pod Orbital Velocity (red)");
arrows.comObtVelocityArrowActive = GUILayout.Toggle(arrows.comObtVelocityArrowActive, "CoM Orbital Velocity (orange)");
arrows.forwardArrowActive = GUILayout.Toggle(arrows.forwardArrowActive, "Command Pod Forward (Navy Blue)");
//arrows.avgForwardArrowActive = GUILayout.Toggle(arrows.avgForwardArrowActive, "Forward Avg (blue)");
arrows.requestedAttitudeArrowActive = GUILayout.Toggle(arrows.requestedAttitudeArrowActive, "Requested Attitude (Gray)");
arrows.debugArrowActive = GUILayout.Toggle(arrows.debugArrowActive, "Debug (Magenta)");
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.TfV.x != TfX || core.attitude.TfV.y != TfY || core.attitude.TfV.z != TfZ)
{
core.attitude.TfV.x = TfX;
core.attitude.TfV.y = TfY;
core.attitude.TfV.z = TfZ;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
if (btNormal == null)
{
btNormal = new GUIStyle(GUI.skin.button);
btNormal.normal.textColor = btNormal.focused.textColor = Color.white;
btNormal.hover.textColor = btNormal.active.textColor = Color.yellow;
btNormal.onNormal.textColor = btNormal.onFocused.textColor = btNormal.onHover.textColor = btNormal.onActive.textColor = Color.green;
//btNormal.padding = new RectOffset(8, 8, 8, 8);
btActive = new GUIStyle(btNormal);
btActive.active = btActive.onActive;
btActive.normal = btActive.onNormal;
btActive.onFocused = btActive.focused;
btActive.hover = btActive.onHover;
btGreen = new GUIStyle(btNormal);
btGreen.normal.textColor = Color.green;
btGreen.fixedWidth = 35;
btWhite = new GUIStyle(btNormal);
btWhite.normal.textColor = Color.white;
btWhite.fixedWidth = 35;
btAuto = new GUIStyle(btNormal);
btAuto.padding = new RectOffset(8, 8, 8, 8);
btAuto.normal.textColor = Color.red;
btAuto.onActive = btAuto.onFocused = btAuto.onHover = btAuto.onNormal = btAuto.active = btAuto.focused = btAuto.hover = btAuto.normal;
}
if (autopilot.enabled)
{
if (GUILayout.Button("Disengage autopilot", btActive))
{
autopilot.users.Remove(this);
}
}
else if (core.attitude.enabled && core.attitude.users.Count(u => !this.Equals(u)) > 0)
{
if (core.attitude.users.Contains(this))
{
core.attitude.users.Remove(this); // so we don't suddenly turn on when the other autopilot finishes
}
GUILayout.Button("Auto", btAuto, GUILayout.ExpandWidth(true));
}
else
{
if (GUILayout.Button("Engage autopilot"))
{
autopilot.users.Add(this);
}
}
GUILayout.BeginHorizontal();
bool AltitudeHold = autopilot.AltitudeHoldEnabled;
autopilot.AltitudeHoldEnabled = GUILayout.Toggle(autopilot.AltitudeHoldEnabled, "Altitude Hold", GUILayout.Width(140));
if (AltitudeHold != autopilot.AltitudeHoldEnabled)
{
if (autopilot.AltitudeHoldEnabled)
{
autopilot.EnableAltitudeHold();
}
else
{
autopilot.DisableAltitudeHold();
}
}
bool change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
AltitudeTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
AltitudeTargettmp.text = GUILayout.TextField(AltitudeTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
AltitudeTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
if (AltitudeTargettmp < 0)
{
AltitudeTargettmp = 0;
}
GUILayout.Label("m", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button("Set", autopilot.AltitudeTarget == AltitudeTargettmp ? btWhite : btGreen))
{
autopilot.AltitudeTarget = AltitudeTargettmp;
}
GUILayout.EndHorizontal();
if (!autopilot.AltitudeHoldEnabled)
{
bool _VertSpeedHoldEnabled = autopilot.VertSpeedHoldEnabled;
GUILayout.BeginHorizontal();
autopilot.VertSpeedHoldEnabled = GUILayout.Toggle(autopilot.VertSpeedHoldEnabled, "Vertical Speed Hold", GUILayout.Width(140));
if (_VertSpeedHoldEnabled != autopilot.VertSpeedHoldEnabled)
{
if (autopilot.VertSpeedHoldEnabled)
{
autopilot.EnableVertSpeedHold();
}
else
{
autopilot.DisableVertSpeedHold();
}
}
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
VertSpeedTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
VertSpeedTargettmp.text = GUILayout.TextField(VertSpeedTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
VertSpeedTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button("Set", autopilot.VertSpeedTarget == VertSpeedTargettmp ? btWhite : btGreen))
{
autopilot.VertSpeedTarget = VertSpeedTargettmp;
}
GUILayout.EndHorizontal();
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label(" Vertical Speed Limit", GUILayout.Width(140));
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
VertSpeedMaxtmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
VertSpeedMaxtmp.text = GUILayout.TextField(VertSpeedMaxtmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
VertSpeedMaxtmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
if (VertSpeedMaxtmp < 0)
{
VertSpeedMaxtmp = 0;
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button("Set", autopilot.VertSpeedMax == VertSpeedMaxtmp ? btWhite : btGreen))
{
autopilot.VertSpeedMax = VertSpeedMaxtmp;
}
GUILayout.EndHorizontal();
}
GUILayout.BeginHorizontal();
bool _HeadingHoldEnabled = autopilot.HeadingHoldEnabled;
autopilot.HeadingHoldEnabled = GUILayout.Toggle(autopilot.HeadingHoldEnabled, "Heading Hold", GUILayout.Width(140));
if (_HeadingHoldEnabled != autopilot.HeadingHoldEnabled)
{
if (autopilot.HeadingHoldEnabled)
{
autopilot.EnableHeadingHold();
}
else
{
autopilot.DisableHeadingHold();
}
}
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
HeadingTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
HeadingTargettmp.text = GUILayout.TextField(HeadingTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
HeadingTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
HeadingTargettmp = MuUtils.ClampDegrees360(HeadingTargettmp);
GUILayout.Label("°", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button("Set", autopilot.HeadingTarget == HeadingTargettmp ? btWhite : btGreen))
{
autopilot.HeadingTarget = HeadingTargettmp;
}
GUILayout.EndHorizontal();
if (!autopilot.HeadingHoldEnabled)
{
GUILayout.BeginHorizontal();
autopilot.RollHoldEnabled = GUILayout.Toggle(autopilot.RollHoldEnabled, "Roll Hold", GUILayout.Width(140));
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
RollTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
RollTargettmp.text = GUILayout.TextField(RollTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
RollTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
RollTargettmp = MuUtils.Clamp(RollTargettmp, -90, 90);
GUILayout.Label("°", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button("Set", autopilot.RollTarget == RollTargettmp ? btWhite : btGreen))
{
autopilot.RollTarget = RollTargettmp;
}
GUILayout.EndHorizontal();
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label(" Roll Limit ±", GUILayout.Width(140));
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
RollMaxtmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
RollMaxtmp.text = GUILayout.TextField(RollMaxtmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
RollMaxtmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
RollMaxtmp = MuUtils.Clamp(RollMaxtmp, -60, 60);
GUILayout.Label("°", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button("Set", autopilot.RollMax == RollMaxtmp ? btWhite : btGreen))
{
autopilot.RollMax = RollMaxtmp;
}
GUILayout.EndHorizontal();
}
GUILayout.BeginHorizontal();
bool _AutoThrustCtrl = autopilot.SpeedHoldEnabled;
autopilot.SpeedHoldEnabled = GUILayout.Toggle(autopilot.SpeedHoldEnabled, "Speed Hold", GUILayout.Width(140));
if (autopilot.SpeedHoldEnabled != _AutoThrustCtrl)
{
if (autopilot.SpeedHoldEnabled)
{
autopilot.EnableSpeedHold();
}
else
{
autopilot.DisableSpeedHold();
}
}
change = false;
if (GUILayout.Button("-", GUILayout.Width(18)))
{
SpeedTargettmp.val -= (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
SpeedTargettmp.text = GUILayout.TextField(SpeedTargettmp.text, GUILayout.ExpandWidth(true), GUILayout.Width(60));
if (GUILayout.Button("+", GUILayout.Width(18)))
{
SpeedTargettmp.val += (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); change = true;
}
if (SpeedTargettmp < 0)
{
SpeedTargettmp = 0;
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(true));
if (change || GUILayout.Button("Set", autopilot.SpeedTarget == SpeedTargettmp ? btWhite : btGreen))
{
autopilot.SpeedTarget = SpeedTargettmp;
}
GUILayout.EndHorizontal();
if (!showpid)
{
if (GUILayout.Button("PID", GUILayout.Width(40)))
{
showpid = true;
}
}
else
{
if (GUILayout.Button("Hide PID", GUILayout.Width(140)))
{
showpid = false;
}
GUILayout.BeginHorizontal();
GUILayout.Label("Accceleration", GUILayout.ExpandWidth(true));
GUILayout.Label("Kp", GUILayout.ExpandWidth(false));
autopilot.AccKp.text = GUILayout.TextField(autopilot.AccKp.text, GUILayout.Width(40));
GUILayout.Label("i", GUILayout.ExpandWidth(false));
autopilot.AccKi.text = GUILayout.TextField(autopilot.AccKi.text, GUILayout.Width(40));
GUILayout.Label("d", GUILayout.ExpandWidth(false));
autopilot.AccKd.text = GUILayout.TextField(autopilot.AccKd.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
if (autopilot.SpeedHoldEnabled)
{
GUILayout.Label("error:" + autopilot.a_err.ToString("F2") + " Target:" + autopilot.RealAccelerationTarget.ToString("F2") + " Cur:" + autopilot.cur_acc.ToString("F2"), GUILayout.ExpandWidth(false));
}
GUILayout.BeginHorizontal();
GUILayout.Label("VertSpeed", GUILayout.ExpandWidth(true));
GUILayout.Label("Kp", GUILayout.ExpandWidth(false));
autopilot.VerKp.text = GUILayout.TextField(autopilot.VerKp.text, GUILayout.Width(40));
GUILayout.Label("i", GUILayout.ExpandWidth(false));
autopilot.VerKi.text = GUILayout.TextField(autopilot.VerKi.text, GUILayout.Width(40));
GUILayout.Label("d", GUILayout.ExpandWidth(false));
autopilot.VerKd.text = GUILayout.TextField(autopilot.VerKd.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
if (autopilot.VertSpeedHoldEnabled)
{
GUILayout.Label("error:" + autopilot.v_err.ToString("F2") + " Target:" + autopilot.RealVertSpeedTarget.ToString("F2") + " Cur:" + vesselState.speedVertical.ToString("F2"), GUILayout.ExpandWidth(false));
}
GUILayout.BeginHorizontal();
GUILayout.Label("Roll", GUILayout.ExpandWidth(true));
GUILayout.Label("Kp", GUILayout.ExpandWidth(false));
autopilot.RolKp.text = GUILayout.TextField(autopilot.RolKp.text, GUILayout.Width(40));
GUILayout.Label("i", GUILayout.ExpandWidth(false));
autopilot.RolKi.text = GUILayout.TextField(autopilot.RolKi.text, GUILayout.Width(40));
GUILayout.Label("d", GUILayout.ExpandWidth(false));
autopilot.RolKd.text = GUILayout.TextField(autopilot.RolKd.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Yaw", GUILayout.ExpandWidth(true));
GUILayout.Label("Kp", GUILayout.ExpandWidth(false));
autopilot.YawKp.text = GUILayout.TextField(autopilot.YawKp.text, GUILayout.Width(40));
GUILayout.Label("i", GUILayout.ExpandWidth(false));
autopilot.YawKi.text = GUILayout.TextField(autopilot.YawKi.text, GUILayout.Width(40));
GUILayout.Label("d", GUILayout.ExpandWidth(false));
autopilot.YawKd.text = GUILayout.TextField(autopilot.YawKd.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Yaw Control Limit", GUILayout.ExpandWidth(false));
autopilot.YawLimit.text = GUILayout.TextField(autopilot.YawLimit.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
}
base.WindowGUI(windowID);
}
public override void Drive(FlightCtrlState s) // TODO put the brake in when running out of power to prevent nighttime solar failures on hills, or atleast try to
{ // TODO make distance calculation for 'reached' determination consider the rover and waypoint on sealevel to prevent height differences from messing it up -- should be done now?
if (orbit.referenceBody != lastBody) { WaypointIndex = -1; Waypoints.Clear(); }
MechJebWaypoint wp = (WaypointIndex > -1 && WaypointIndex < Waypoints.Count ? Waypoints[WaypointIndex] : null);
var brake = vessel.ActionGroups[KSPActionGroup.Brakes]; // keep brakes locked if they are
curSpeed = Vector3d.Dot(vesselState.surfaceVelocity, vesselState.forward);
CalculateTraction();
speedIntAcc = speedPID.intAccum;
if (wp != null && wp.Body == orbit.referenceBody)
{
if (ControlHeading)
{
heading.val = Math.Round(HeadingToPos(vessel.CoM, wp.Position), 1);
}
if (ControlSpeed)
{
var nextWP = (WaypointIndex < Waypoints.Count - 1 ? Waypoints[WaypointIndex + 1] : (LoopWaypoints ? Waypoints[0] : null));
var distance = Vector3.Distance(vessel.CoM, wp.Position);
if (wp.Target != null) { distance += (float)(wp.Target.srfSpeed * curSpeed) / 2; }
//var maxSpeed = (wp.MaxSpeed > 0 ? Math.Min((float)speed, wp.MaxSpeed) : speed); // use waypoints maxSpeed if set and smaller than set the speed or just stick with the set speed
var maxSpeed = (wp.MaxSpeed > 0 ? wp.MaxSpeed : speed); // speed used to go towards the waypoint, using the waypoints maxSpeed if set or just stick with the set speed
var minSpeed = (wp.MinSpeed > 0 ? wp.MinSpeed :
(nextWP != null ? TurningSpeed((nextWP.MaxSpeed > 0 ? nextWP.MaxSpeed : speed), heading - HeadingToPos(wp.Position, nextWP.Position)) :
(distance - wp.Radius > 50 ? turnSpeed.val : 1)));
minSpeed = (wp.Quicksave ? 1 : minSpeed);
// ^ speed used to go through the waypoint, using half the set speed or maxSpeed as minSpeed for routing waypoints (all except the last)
var brakeFactor = Math.Max((curSpeed - minSpeed) * 1, 3);
var newSpeed = Math.Min(maxSpeed, Math.Max((distance - wp.Radius) / brakeFactor, minSpeed)); // brake when getting closer
newSpeed = (newSpeed > turnSpeed ? TurningSpeed(newSpeed, headingErr) : newSpeed); // reduce speed when turning a lot
// if (LimitAcceleration) { newSpeed = curSpeed + Mathf.Clamp((float)(newSpeed - curSpeed), -1.5f, 0.5f); }
// newSpeed = tgtSpeed + Mathf.Clamp((float)(newSpeed - tgtSpeed), -Time.deltaTime * 8f, Time.deltaTime * 2f);
var radius = Math.Max(wp.Radius, 10);
if (distance < radius)
{
if (WaypointIndex + 1 >= Waypoints.Count) // last waypoint
{
newSpeed = new [] { newSpeed, (distance < radius * 0.8 ? 0 : 1) }.Min();
// ^ limit speed so it'll only go from 1m/s to full stop when braking to prevent accidents on moons
if (LoopWaypoints)
{
WaypointIndex = 0;
}
else
{
newSpeed = 0;
// tgtSpeed.force(newSpeed);
if (curSpeed < brakeSpeedLimit)
{
if (wp.Quicksave)
{
//if (s.mainThrottle > 0) { s.mainThrottle = 0; }
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
WaypointIndex = -1;
ControlHeading = ControlSpeed = false;
QuickSaveLoad.QuickSave();
}
}
else
{
WaypointIndex = -1;
ControlHeading = ControlSpeed = false;
}
}
// else {
// Debug.Log("Is this even getting called?");
// WaypointIndex++;
// }
}
}
else
{
if (wp.Quicksave)
{
//if (s.mainThrottle > 0) { s.mainThrottle = 0; }
newSpeed = 0;
// tgtSpeed.force(newSpeed);
if (curSpeed < brakeSpeedLimit)
{
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
WaypointIndex++;
QuickSaveLoad.QuickSave();
}
}
}
else
{
WaypointIndex++;
}
}
}
brake = brake || ((s.wheelThrottle == 0 || !vessel.isActiveVessel) && curSpeed < brakeSpeedLimit && newSpeed < brakeSpeedLimit);
// ^ brake if needed to prevent rolling, hopefully
tgtSpeed = (newSpeed >= 0 ? newSpeed : 0);
}
}
if (ControlHeading)
{
headingPID.intAccum = Mathf.Clamp((float)headingPID.intAccum, -1, 1);
double instantaneousHeading = vesselState.rotationVesselSurface.eulerAngles.y;
headingErr = MuUtils.ClampDegrees180(instantaneousHeading - heading);
if (s.wheelSteer == s.wheelSteerTrim || FlightGlobals.ActiveVessel != vessel)
{
float spd = Mathf.Min((float)speed, (float)turnSpeed); // if a slower speed than the turnspeed is used also be more careful with the steering
float limit = (Mathf.Abs((float)curSpeed) <= turnSpeed ? 1 : Mathf.Clamp((float)(spd / Mathf.Abs((float)curSpeed)), 0.35f, 1f));
double act = headingPID.Compute(headingErr);
s.wheelSteer = Mathf.Clamp((float)act, -limit, limit);
}
}
// Brake if there is no controler (Pilot eject from seat)
if (BrakeOnEject && vessel.GetReferenceTransformPart() == null)
{
s.wheelThrottle = 0;
// vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
brake = true;
}
else if (ControlSpeed)
{
speedPID.intAccum = Mathf.Clamp((float)speedPID.intAccum, -5, 5);
speedErr = (WaypointIndex == -1 ? speed.val : tgtSpeed) - Vector3d.Dot(vesselState.surfaceVelocity, vesselState.forward);
if (s.wheelThrottle == s.wheelThrottleTrim || FlightGlobals.ActiveVessel != vessel)
{
float act = (float)speedPID.Compute(speedErr);
s.wheelThrottle = (!LimitAcceleration ? Mathf.Clamp(act, -1, 1) : // I think I'm using these ( ? : ) a bit too much
(traction == 0 ? 0 : (act < 0 ? Mathf.Clamp(act, -1f, 1f) : (lastThrottle + Mathf.Clamp(act - lastThrottle, -0.01f, 0.01f)) * (traction < tractionLimit ? -1 : 1))));
// (lastThrottle + Mathf.Clamp(act, -0.01f, 0.01f)));
// Debug.Log(s.wheelThrottle + Mathf.Clamp(act, -0.01f, 0.01f));
if (curSpeed < 0 & s.wheelThrottle < 0) { s.wheelThrottle = 0; } // don't go backwards
if (Mathf.Sign(act) + Mathf.Sign(s.wheelThrottle) == 0) { s.wheelThrottle = Mathf.Clamp(act, -1f, 1f); }
// if (speedErr < -1 && StabilityControl && Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) == 0) { // StabilityControl && traction > 50 &&
//// vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
// brake = true;
// foreach (Part p in wheels) {
// if (p.GetModule<ModuleWheels.ModuleWheelDamage>().stressPercent >= 0.01) { // #TODO needs adaptive braking
// brake = false;
// break;
// }
// }
// }
//// else if (!StabilityControl || traction <= 50 || speedErr > -0.2 || Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) != 0) {
//// vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, (GameSettings.BRAKES.GetKey() && vessel.isActiveVessel));
//// }
lastThrottle = Mathf.Clamp(s.wheelThrottle, -1, 1);
}
}
if (StabilityControl)
{
if (!core.attitude.users.Contains(this))
{
core.attitude.users.Add(this);
// line.enabled = true;
}
// float scale = Vector3.Distance(FlightCamera.fetch.mainCamera.transform.position, vessel.CoM) / 900f;
// line.SetPosition(0, vessel.CoM);
// line.SetPosition(1, vessel.CoM + hit.normal * 5);
// line.SetWidth(0, scale + 0.1f);
var fSpeed = (float)curSpeed;
// if (Mathf.Abs(fSpeed) >= turnSpeed * 0.75) {
Vector3 fwd = (Vector3)(traction > 0 ? // V when the speed is low go for the vessels forward, else with a bit of velocity
// ((Mathf.Abs(fSpeed) <= turnSpeed ? vesselState.forward : vesselState.surfaceVelocity / 4) - vessel.transform.right * s.wheelSteer) * Mathf.Sign(fSpeed) :
// // ^ and then add the steering
vesselState.forward * 4 - vessel.transform.right * s.wheelSteer * Mathf.Sign(fSpeed) : // and then add the steering
vesselState.surfaceVelocity); // in the air so follow velocity
Vector3.OrthoNormalize(ref norm, ref fwd);
var quat = Quaternion.LookRotation(fwd, norm);
// if (traction > 0 || speed <= turnSpeed) {
// var u = new Vector3(0, 1, 0);
//
// var q = FlightGlobals.ship_rotation;
// var q_s = quat;
//
// var q_u = new Quaternion(u.x, u.y, u.z, 0);
// var a = Quaternion.Dot(q, q_s * q_u);
// var q_qs = Quaternion.Dot(q, q_s);
// var b = (a == 0) ? Math.Sign(q_qs) : (q_qs / a);
// var g = b / Mathf.Sqrt((b * b) + 1);
// var gu = Mathf.Sqrt(1 - (g * g)) * u;
// var q_d = new Quaternion() { w = g, x = gu.x, y = gu.y, z = gu.z };
// var n = q_s * q_d;
//
// quat = n;
// }
if (vesselState.torqueAvailable.sqrMagnitude > 0)
core.attitude.attitudeTo(quat, AttitudeReference.INERTIAL, this);
// }
}
if (BrakeOnEnergyDepletion)
{
var batteries = vessel.Parts.FindAll(p => p.Resources.Contains("ElectricCharge") && p.Resources["ElectricCharge"].flowState);
var energyLeft = batteries.Sum(p => p.Resources["ElectricCharge"].amount) / batteries.Sum(p => p.Resources["ElectricCharge"].maxAmount);
var openSolars = vessel.mainBody.atmosphere && // true if in atmosphere and there are breakable solarpanels that aren't broken nor retracted
vessel.FindPartModulesImplementing<ModuleDeployableSolarPanel>().FindAll(p => p.isBreakable && p.panelState != ModuleDeployableSolarPanel.panelStates.BROKEN &&
p.panelState != ModuleDeployableSolarPanel.panelStates.RETRACTED).Count > 0;
if (openSolars && energyLeft > 0.99)
{
vessel.FindPartModulesImplementing<ModuleDeployableSolarPanel>().FindAll(p => p.isBreakable &&
p.panelState == ModuleDeployableSolarPanel.panelStates.EXTENDED).ForEach(p => p.Retract());
}
if (energyLeft < 0.05 && Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) != 0) { s.wheelThrottle = 0; } // save remaining energy by not using it for acceleration
if (openSolars || energyLeft < 0.03) { tgtSpeed = 0; }
if (curSpeed < brakeSpeedLimit && (energyLeft < 0.05 || openSolars))
{
brake = true;
}
if (curSpeed < 0.1 && energyLeft < 0.05 && !waitingForDaylight &&
vessel.FindPartModulesImplementing<ModuleDeployableSolarPanel>().FindAll(p => p.panelState == ModuleDeployableSolarPanel.panelStates.EXTENDED).Count > 0)
{
waitingForDaylight = true;
}
}
// brake = brake && (s.wheelThrottle == 0); // release brake if the user or AP want to drive
if (s.wheelThrottle != 0 && Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) != 0)
{
brake = false; // the AP or user want to drive into the direction of momentum so release the brake
}
if (vessel.isActiveVessel)
{
if (GameSettings.BRAKES.GetKeyUp())
{
brake = false; // release the brakes if the user lets go of them
}
if (GameSettings.BRAKES.GetKey())
{
brake = true; // brake if the user brakes and we aren't about to flip
}
}
tractionLimit = (double)Mathf.Clamp((float)tractionLimit, 0, 100);
vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, brake && (StabilityControl && curSpeed > brakeSpeedLimit ? traction >= tractionLimit : true));
// ^ brake but hopefully prevent flipping over, assuming the user set up the limit right
if (brake && curSpeed < 0.1) { s.wheelThrottle = 0; }
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
core.GetComputerModule <MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto-tuning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GuiUtils.SimpleTextBox("Tf (s)", Tf);
Tf = Math.Max(0.01, Tf);
}
else
{
// pid.Kd = kpFactor / Tf;
// pid.Kp = pid.Kd / (kiFactor * Math.Sqrt(2) * Tf);
// pid.Ki = pid.Kp / (kpFactor * Math.Sqrt(2) * Tf);
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.Tf.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
}
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Kp, Ki, Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(
core.attitude.pid.Kp.ToString("F3") + ", " +
core.attitude.pid.Ki.ToString("F3") + ", " +
core.attitude.pid.Kd.ToString("F3"),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("AttitudeRollMatters ", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.attitudeRollMatters ? "true" : "false", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d torque = vesselState.torqueAvailable + vesselState.torqueFromEngine * vessel.ctrlState.mainThrottle;
GUILayout.BeginHorizontal();
GUILayout.Label("torque", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(torque.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d inertia = Vector3d.Scale(
vesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum),
Vector3d.Scale(torque, vesselState.MoI).Invert()
)
);
GUILayout.BeginHorizontal();
GUILayout.Label("inertia", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|inertia|", GUILayout.ExpandWidth(true));
GUILayout.Label(inertia.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, torque.Invert());
GUILayout.BeginHorizontal();
GUILayout.Label("|MOI| / |Torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(ratio.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
}
MechJebModuleAttitudeController.useCoMVelocity = GUILayout.Toggle(MechJebModuleAttitudeController.useCoMVelocity, "Use CoM velocity instead of stock");
MechJebModuleDebugArrows arrows = core.GetComputerModule <MechJebModuleDebugArrows>();
GuiUtils.SimpleTextBox("Arrows length", arrows.arrowsLength, "", 50);
arrows.seeThrough = GUILayout.Toggle(arrows.seeThrough, "Visible through object");
GUILayout.BeginHorizontal();
arrows.comSphereActive = GUILayout.Toggle(arrows.comSphereActive, "Display the CoM. Radius of ", GUILayout.ExpandWidth(false));
arrows.comSphereRadius.text = GUILayout.TextField(arrows.comSphereRadius.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
arrows.displayAtCoM = GUILayout.Toggle(arrows.displayAtCoM, "Arrows origins at the CoM");
arrows.podSrfVelocityArrowActive = GUILayout.Toggle(arrows.podSrfVelocityArrowActive, "Pod Surface Velocity (yellow)");
arrows.comSrfVelocityArrowActive = GUILayout.Toggle(arrows.comSrfVelocityArrowActive, "CoM Surface Velocity (green)");
arrows.podObtVelocityArrowActive = GUILayout.Toggle(arrows.podObtVelocityArrowActive, "Pod Orbital Velocity (red)");
arrows.comObtVelocityArrowActive = GUILayout.Toggle(arrows.comObtVelocityArrowActive, "CoM Orbital Velocity (orange)");
arrows.forwardArrowActive = GUILayout.Toggle(arrows.forwardArrowActive, "Command Pod Forward (Navy Blue)");
//arrows.avgForwardArrowActive = GUILayout.Toggle(arrows.avgForwardArrowActive, "Forward Avg (blue)");
arrows.requestedAttitudeArrowActive = GUILayout.Toggle(arrows.requestedAttitudeArrowActive, "Requested Attitude (Gray)");
arrows.debugArrowActive = GUILayout.Toggle(arrows.debugArrowActive, "Debug (Magenta)");
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.Tf != Tf)
{
core.attitude.Tf = Tf;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
core.GetComputerModule <MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GuiUtils.SimpleTextBox("Tf (s)", Tf);
Tf = Math.Max(0.01, Tf);
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
GUILayout.BeginHorizontal();
GUILayout.Label("Kp, Ki, Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.pid.Kp.ToString("F3") + ", " +
core.attitude.pid.Ki.ToString("F3") + ", " +
core.attitude.pid.Kd.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("AttitudeRollMatters ", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.attitudeRollMatters ? "true" : "false", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d torque = new Vector3d(
vesselState.torqueAvailable.x + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle,
vesselState.torqueAvailable.y,
vesselState.torqueAvailable.z + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle
);
GUILayout.BeginHorizontal();
GUILayout.Label("torque", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(torque.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d inertia = Vector3d.Scale(
vesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum),
Vector3d.Scale(torque, vesselState.MoI).Invert()
)
);
GUILayout.BeginHorizontal();
GUILayout.Label("inertia", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|inertia|", GUILayout.ExpandWidth(true));
GUILayout.Label(inertia.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
if ((core.attitude.Tf != Tf))
{
core.attitude.Tf = Tf;
double Kd = 0.53 / Tf;
double Kp = Kd / (3 * Math.Sqrt(2) * Tf);
double Ki = Kp / (12 * Math.Sqrt(2) * Tf);
core.attitude.pid = new PIDControllerV2(Kp, Ki, Kd, 1, -1);
}
base.WindowGUI(windowID);
}
public override void OnStart(PartModule.StartState state)
{
Tf = new EditableDouble(core.attitude.Tf);
base.OnStart(state);
}
protected override void WindowGUI(int windowID)
{
if (vessel.patchedConicSolver.maneuverNodes.Count == 0)
{
GUILayout.Label("No maneuver nodes to edit.");
GUI.DragWindow();
return;
}
GUILayout.BeginVertical();
ManeuverNode oldNode = node;
if (vessel.patchedConicSolver.maneuverNodes.Count == 1)
{
node = vessel.patchedConicSolver.maneuverNodes[0];
}
else
{
if (!vessel.patchedConicSolver.maneuverNodes.Contains(node)) node = vessel.patchedConicSolver.maneuverNodes[0];
int nodeIndex = vessel.patchedConicSolver.maneuverNodes.IndexOf(node);
int numNodes = vessel.patchedConicSolver.maneuverNodes.Count;
nodeIndex = GuiUtils.ArrowSelector(nodeIndex, numNodes, "Maneuver node #" + (nodeIndex + 1));
node = vessel.patchedConicSolver.maneuverNodes[nodeIndex];
}
if (node != oldNode)
{
prograde = node.DeltaV.z;
radialPlus = node.DeltaV.x;
normalPlus = -node.DeltaV.y;
}
if (gizmo != node.attachedGizmo)
{
if (gizmo != null) gizmo.OnGizmoUpdated -= GizmoUpdateHandler;
gizmo = node.attachedGizmo;
if (gizmo != null) gizmo.OnGizmoUpdated += GizmoUpdateHandler;
}
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox("Prograde:", prograde, "m/s", 60);
if (GUILayout.Button("Add", GUILayout.ExpandWidth(false)))
{
prograde += progradeDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
progradeDelta.text = GUILayout.TextField(progradeDelta.text, GUILayout.Width(50));
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox("Radial+:", radialPlus, "m/s", 60);
if (GUILayout.Button("Add", GUILayout.ExpandWidth(false)))
{
radialPlus += radialPlusDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
radialPlusDelta.text = GUILayout.TextField(radialPlusDelta.text, GUILayout.Width(50));
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox("Normal+:", normalPlus, "m/s", 60);
if (GUILayout.Button("Add", GUILayout.ExpandWidth(false)))
{
normalPlus += normalPlusDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
normalPlusDelta.text = GUILayout.TextField(normalPlusDelta.text, GUILayout.Width(50));
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
if (GUILayout.Button("Update")) node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
GUILayout.BeginHorizontal();
if (GUILayout.Button("Shift time by", GUILayout.ExpandWidth(true)))
{
node.OnGizmoUpdated(node.DeltaV, node.UT + timeOffset);
}
timeOffset.text = GUILayout.TextField(timeOffset.text, GUILayout.Width(100));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
if (GUILayout.Button("Snap node to", GUILayout.ExpandWidth(true)))
{
Orbit o = node.patch;
double UT = node.UT;
switch (snap)
{
case Snap.PERIAPSIS:
UT = o.NextPeriapsisTime(UT - o.period / 2); //period is who-knows-what for e > 1, but this should still work
break;
case Snap.APOAPSIS:
if (o.eccentricity < 1) UT = o.NextApoapsisTime(UT - o.period / 2);
break;
case Snap.EQ_ASCENDING:
if (o.AscendingNodeEquatorialExists()) UT = o.TimeOfAscendingNodeEquatorial(UT - o.period / 2);
break;
case Snap.EQ_DESCENDING:
if (o.DescendingNodeEquatorialExists()) UT = o.TimeOfDescendingNodeEquatorial(UT - o.period / 2);
break;
case Snap.REL_ASCENDING:
if (core.target.NormalTargetExists && core.target.Orbit.referenceBody == o.referenceBody)
{
if (o.AscendingNodeExists(core.target.Orbit)) UT = o.TimeOfAscendingNode(core.target.Orbit, UT - o.period / 2);
}
break;
case Snap.REL_DESCENDING:
if (core.target.NormalTargetExists && core.target.Orbit.referenceBody == o.referenceBody)
{
if (o.DescendingNodeExists(core.target.Orbit)) UT = o.TimeOfDescendingNode(core.target.Orbit, UT - o.period / 2);
}
break;
}
node.OnGizmoUpdated(node.DeltaV, UT);
}
snap = (Snap)GuiUtils.ArrowSelector((int)snap, numSnaps, snapStrings[(int)snap]);
GUILayout.EndHorizontal();
GUILayout.EndVertical();
GUI.DragWindow();
}
protected override void WindowGUI(int windowID)
{
if (btNormal == null)
{
btNormal = new GUIStyle(GUI.skin.button);
btNormal.normal.textColor = btNormal.focused.textColor = Color.white;
btNormal.hover.textColor = btNormal.active.textColor = Color.yellow;
btNormal.onNormal.textColor = btNormal.onFocused.textColor = btNormal.onHover.textColor = btNormal.onActive.textColor = Color.green;
btNormal.padding = new RectOffset(8, 8, 8, 8);
btActive = new GUIStyle(btNormal);
btActive.active = btActive.onActive;
btActive.normal = btActive.onNormal;
btActive.onFocused = btActive.focused;
btActive.hover = btActive.onHover;
btAuto = new GUIStyle(btNormal);
btAuto.normal.textColor = Color.red;
btAuto.onActive = btAuto.onFocused = btAuto.onHover = btAuto.onNormal = btAuto.active = btAuto.focused = btAuto.hover = btAuto.normal;
}
// If any other module use the attitude controler then let them do it
if (core.attitude.enabled && core.attitude.users.Count(u => !this.Equals(u)) > 0)
{
if (autoDisableSmartASS)
{
target = Target.OFF;
if (core.attitude.users.Contains(this)) core.attitude.users.Remove(this); // so we don't suddenly turn on when the other autopilot finishes
}
GUILayout.Button("AUTO", btAuto, GUILayout.ExpandWidth(true));
}
else
{
GUILayout.BeginVertical();
GUILayout.BeginHorizontal();
TargetButton(Target.OFF);
TargetButton(Target.KILLROT);
if (vessel.patchedConicsUnlocked())
{
TargetButton(Target.NODE);
}
else
{
GUILayout.Button("-", GUILayout.ExpandWidth(true), GUILayout.ExpandHeight(true));
}
GUILayout.EndHorizontal();
GUILayout.Label("Mode:");
GUILayout.BeginHorizontal();
ModeButton(Mode.ORBITAL);
ModeButton(Mode.SURFACE);
ModeButton(Mode.TARGET);
ModeButton(Mode.ADVANCED);
GUILayout.EndHorizontal();
switch (mode)
{
case Mode.ORBITAL:
GUILayout.BeginHorizontal();
TargetButton(Target.PROGRADE);
TargetButton(Target.NORMAL_PLUS);
TargetButton(Target.RADIAL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.RETROGRADE);
TargetButton(Target.NORMAL_MINUS);
TargetButton(Target.RADIAL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
break;
case Mode.SURFACE:
double val = (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); // change by 5 if the mod_key is held down, else by 1
GUILayout.BeginHorizontal();
TargetButton(Target.SURFACE_PROGRADE);
TargetButton(Target.SURFACE_RETROGRADE);
TargetButtonNoEngage(Target.SURFACE);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.HORIZONTAL_PLUS);
TargetButton(Target.HORIZONTAL_MINUS);
TargetButton(Target.VERTICAL_PLUS);
GUILayout.EndHorizontal();
if (target == Target.SURFACE) {
bool changed = false;
GUILayout.BeginHorizontal();
forceYaw = GUILayout.Toggle(forceYaw, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("HDG", srfHdg, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfHdg -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfHdg += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfHdg = 0;
changed = true;
}
if (GUILayout.Button("90", GUILayout.Width(35))) {
srfHdg = 90;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forcePitch = GUILayout.Toggle(forcePitch, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("PIT", srfPit, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfPit -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfPit += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfPit = 0;
changed = true;
}
if (GUILayout.Button("90", GUILayout.Width(35))) {
srfPit = 90;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forceRol = GUILayout.Toggle(forceRol, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("ROL", srfRol, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfRol -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfRol += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfRol = 0;
changed = true;
}
if (GUILayout.Button("180", GUILayout.Width(35))) {
srfRol = 180;
changed = true;
}
GUILayout.EndHorizontal();
if (GUILayout.Button("EXECUTE")) {
Engage();
}
if (changed)
{
Engage(false);
}
core.attitude.AxisControl(forcePitch, forceYaw, forceRol);
} else if (target == Target.SURFACE_PROGRADE || target == Target.SURFACE_RETROGRADE)
{
bool changed = false;
GUILayout.BeginHorizontal();
forceRol = GUILayout.Toggle(forceRol, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("ROL", srfVelRol, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfVelRol -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfVelRol += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false))) {
srfVelRol = -vesselState.vesselRoll.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfVelRol = 0;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forcePitch = GUILayout.Toggle(forcePitch, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("PIT", srfVelPit, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfVelPit -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfVelPit += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false))) {
srfVelPit = vesselState.AoA.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfVelPit = 0;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forceYaw = GUILayout.Toggle(forceYaw, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("YAW", srfVelYaw, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfVelYaw -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfVelYaw += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false))) {
srfVelYaw = -vesselState.AoS.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfVelYaw = 0;
changed = true;
}
GUILayout.EndHorizontal();
if (GUILayout.Button("EXECUTE"))
{
Engage();
}
if (changed)
{
Engage(false);
}
core.attitude.AxisControl(forcePitch, forceYaw, forceRol);
}
break;
case Mode.TARGET:
if (core.target.NormalTargetExists)
{
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_PLUS);
TargetButton(Target.RELATIVE_PLUS);
TargetButton(Target.PARALLEL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_MINUS);
TargetButton(Target.RELATIVE_MINUS);
TargetButton(Target.PARALLEL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
}
else
{
GUILayout.Label("Please select a target");
}
break;
case Mode.ADVANCED:
GUILayout.Label("Reference:");
advReference = (AttitudeReference)GuiUtils.ComboBox.Box((int)advReference, ReferenceTexts, this);
GUILayout.Label("Direction:");
advDirection = (Vector6.Direction)GuiUtils.ComboBox.Box((int)advDirection, directionTexts, directionTexts);
ForceRoll();
if (GUILayout.Button("EXECUTE", btNormal, GUILayout.ExpandWidth(true)))
{
target = Target.ADVANCED;
Engage();
}
break;
case Mode.AUTO:
break;
}
GUILayout.EndVertical();
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
if (vessel.patchedConicSolver.maneuverNodes.Count == 0)
{
GUILayout.Label("No maneuver nodes to edit.");
RelativityModeSelectUI();
base.WindowGUI(windowID);
return;
}
GUILayout.BeginVertical();
ManeuverNode oldNode = node;
if (vessel.patchedConicSolver.maneuverNodes.Count == 1)
{
node = vessel.patchedConicSolver.maneuverNodes[0];
}
else
{
if (!vessel.patchedConicSolver.maneuverNodes.Contains(node))
{
node = vessel.patchedConicSolver.maneuverNodes[0];
}
int nodeIndex = vessel.patchedConicSolver.maneuverNodes.IndexOf(node);
int numNodes = vessel.patchedConicSolver.maneuverNodes.Count;
nodeIndex = GuiUtils.ArrowSelector(nodeIndex, numNodes, "Maneuver node #" + (nodeIndex + 1));
node = vessel.patchedConicSolver.maneuverNodes[nodeIndex];
}
if (node != oldNode)
{
prograde = node.DeltaV.z;
radialPlus = node.DeltaV.x;
normalPlus = node.DeltaV.y;
}
if (gizmo != node.attachedGizmo)
{
if (gizmo != null)
{
gizmo.OnGizmoUpdated -= GizmoUpdateHandler;
}
gizmo = node.attachedGizmo;
if (gizmo != null)
{
gizmo.OnGizmoUpdated += GizmoUpdateHandler;
}
}
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox("Prograde:", prograde, "m/s", 60);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
prograde -= progradeDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
progradeDelta.text = GUILayout.TextField(progradeDelta.text, GUILayout.Width(50));
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
prograde += progradeDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox("Radial+:", radialPlus, "m/s", 60);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
radialPlus -= radialPlusDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
radialPlusDelta.text = GUILayout.TextField(radialPlusDelta.text, GUILayout.Width(50));
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
radialPlus += radialPlusDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox("Normal+:", normalPlus, "m/s", 60);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
normalPlus -= normalPlusDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
normalPlusDelta.text = GUILayout.TextField(normalPlusDelta.text, GUILayout.Width(50));
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
normalPlus += normalPlusDelta;
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Set delta to:", GUILayout.ExpandWidth(true));
if (GUILayout.Button("0.01", GUILayout.ExpandWidth(true)))
{
progradeDelta = radialPlusDelta = normalPlusDelta = 0.01;
}
if (GUILayout.Button("0.1", GUILayout.ExpandWidth(true)))
{
progradeDelta = radialPlusDelta = normalPlusDelta = 0.1;
}
if (GUILayout.Button("1", GUILayout.ExpandWidth(true)))
{
progradeDelta = radialPlusDelta = normalPlusDelta = 1;
}
if (GUILayout.Button("10", GUILayout.ExpandWidth(true)))
{
progradeDelta = radialPlusDelta = normalPlusDelta = 10;
}
if (GUILayout.Button("100", GUILayout.ExpandWidth(true)))
{
progradeDelta = radialPlusDelta = normalPlusDelta = 100;
}
GUILayout.EndHorizontal();
if (GUILayout.Button("Update"))
{
node.OnGizmoUpdated(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
GUILayout.BeginHorizontal();
GUILayout.Label("Shift time", GUILayout.ExpandWidth(true));
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
node.OnGizmoUpdated(node.DeltaV, node.UT - timeOffset);
}
timeOffset.text = GUILayout.TextField(timeOffset.text, GUILayout.Width(100));
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
node.OnGizmoUpdated(node.DeltaV, node.UT + timeOffset);
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
if (GUILayout.Button("Snap node to", GUILayout.ExpandWidth(true)))
{
Orbit o = node.patch;
double UT = node.UT;
switch (snap)
{
case Snap.PERIAPSIS:
UT = o.NextPeriapsisTime(UT - o.period / 2); //period is who-knows-what for e > 1, but this should still work
break;
case Snap.APOAPSIS:
if (o.eccentricity < 1)
{
UT = o.NextApoapsisTime(UT - o.period / 2);
}
break;
case Snap.EQ_ASCENDING:
if (o.AscendingNodeEquatorialExists())
{
UT = o.TimeOfAscendingNodeEquatorial(UT - o.period / 2);
}
break;
case Snap.EQ_DESCENDING:
if (o.DescendingNodeEquatorialExists())
{
UT = o.TimeOfDescendingNodeEquatorial(UT - o.period / 2);
}
break;
case Snap.REL_ASCENDING:
if (core.target.NormalTargetExists && core.target.TargetOrbit.referenceBody == o.referenceBody)
{
if (o.AscendingNodeExists(core.target.TargetOrbit))
{
UT = o.TimeOfAscendingNode(core.target.TargetOrbit, UT - o.period / 2);
}
}
break;
case Snap.REL_DESCENDING:
if (core.target.NormalTargetExists && core.target.TargetOrbit.referenceBody == o.referenceBody)
{
if (o.DescendingNodeExists(core.target.TargetOrbit))
{
UT = o.TimeOfDescendingNode(core.target.TargetOrbit, UT - o.period / 2);
}
}
break;
}
node.OnGizmoUpdated(node.DeltaV, UT);
}
snap = (Snap)GuiUtils.ArrowSelector((int)snap, numSnaps, snapStrings[(int)snap]);
GUILayout.EndHorizontal();
RelativityModeSelectUI();
if (core.node != null)
{
if (vessel.patchedConicSolver.maneuverNodes.Count > 0 && !core.node.enabled)
{
if (GUILayout.Button("Execute next node"))
{
core.node.ExecuteOneNode(this);
}
if (vessel.patchedConicSolver.maneuverNodes.Count > 1)
{
if (GUILayout.Button("Execute all nodes"))
{
core.node.ExecuteAllNodes(this);
}
}
}
else if (core.node.enabled)
{
if (GUILayout.Button("Abort node execution"))
{
core.node.Abort();
}
}
GUILayout.BeginHorizontal();
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, "Auto-warp", GUILayout.ExpandWidth(true));
GUILayout.Label("Tolerance:", GUILayout.ExpandWidth(false));
core.node.tolerance.text = GUILayout.TextField(core.node.tolerance.text, GUILayout.Width(35), GUILayout.ExpandWidth(false));
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
public EditableAngle(double angle)
{
angle = MuUtils.ClampDegrees180(angle);
negative = (angle < 0);
angle = Math.Abs(angle);
degrees = (int)angle;
angle -= degrees;
minutes = (int)(60 * angle);
angle -= minutes / 60;
seconds = Math.Round(3600 * angle);
}
protected override void WindowGUI(int windowID)
{
if (btNormal == null)
{
btNormal = new GUIStyle(GUI.skin.button);
btNormal.normal.textColor = btNormal.focused.textColor = Color.white;
btNormal.hover.textColor = btNormal.active.textColor = Color.yellow;
btNormal.onNormal.textColor = btNormal.onFocused.textColor = btNormal.onHover.textColor = btNormal.onActive.textColor = Color.green;
btNormal.padding = new RectOffset(8, 8, 8, 8);
btActive = new GUIStyle(btNormal);
btActive.active = btActive.onActive;
btActive.normal = btActive.onNormal;
btActive.onFocused = btActive.focused;
btActive.hover = btActive.onHover;
btAuto = new GUIStyle(btNormal);
btAuto.normal.textColor = Color.red;
btAuto.onActive = btAuto.onFocused = btAuto.onHover = btAuto.onNormal = btAuto.active = btAuto.focused = btAuto.hover = btAuto.normal;
}
// If any other module use the attitude controler then let them do it
if (core.attitude.enabled && core.attitude.users.Count(u => !this.Equals(u)) > 0)
{
if (autoDisableSmartASS)
{
target = Target.OFF;
if (core.attitude.users.Contains(this))
{
core.attitude.users.Remove(this); // so we don't suddenly turn on when the other autopilot finishes
}
}
GUILayout.Button("AUTO", btAuto, GUILayout.ExpandWidth(true));
}
else
{
GUILayout.BeginVertical();
GUILayout.BeginHorizontal();
TargetButton(Target.OFF);
TargetButton(Target.KILLROT);
if (vessel.patchedConicsUnlocked())
{
TargetButton(Target.NODE);
}
else
{
GUILayout.Button("-", GUILayout.ExpandWidth(true), GUILayout.ExpandHeight(true));
}
GUILayout.EndHorizontal();
GUILayout.Label("Mode:");
GUILayout.BeginHorizontal();
ModeButton(Mode.ORBITAL);
ModeButton(Mode.SURFACE);
ModeButton(Mode.TARGET);
ModeButton(Mode.ADVANCED);
GUILayout.EndHorizontal();
switch (mode)
{
case Mode.ORBITAL:
GUILayout.BeginHorizontal();
TargetButton(Target.PROGRADE);
TargetButton(Target.NORMAL_PLUS);
TargetButton(Target.RADIAL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.RETROGRADE);
TargetButton(Target.NORMAL_MINUS);
TargetButton(Target.RADIAL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
break;
case Mode.SURFACE:
double val = (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); // change by 5 if the mod_key is held down, else by 1
GUILayout.BeginHorizontal();
TargetButton(Target.SURFACE_PROGRADE);
TargetButton(Target.SURFACE_RETROGRADE);
TargetButtonNoEngage(Target.SURFACE);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.HORIZONTAL_PLUS);
TargetButton(Target.HORIZONTAL_MINUS);
TargetButton(Target.VERTICAL_PLUS);
GUILayout.EndHorizontal();
if (target == Target.SURFACE)
{
bool changed = false;
GUILayout.BeginHorizontal();
forceYaw = GUILayout.Toggle(forceYaw, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("HDG", srfHdg, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfHdg -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfHdg += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfHdg = 0;
changed = true;
}
if (GUILayout.Button("90", GUILayout.Width(35)))
{
srfHdg = 90;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forcePitch = GUILayout.Toggle(forcePitch, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("PIT", srfPit, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfPit -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfPit += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfPit = 0;
changed = true;
}
if (GUILayout.Button("90", GUILayout.Width(35)))
{
srfPit = 90;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forceRol = GUILayout.Toggle(forceRol, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("ROL", srfRol, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfRol -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfRol += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfRol = 0;
changed = true;
}
if (GUILayout.Button("180", GUILayout.Width(35)))
{
srfRol = 180;
changed = true;
}
GUILayout.EndHorizontal();
if (GUILayout.Button("EXECUTE"))
{
Engage();
}
if (changed)
{
Engage(false);
}
core.attitude.AxisControl(forcePitch, forceYaw, forceRol);
}
else if (target == Target.SURFACE_PROGRADE || target == Target.SURFACE_RETROGRADE)
{
bool changed = false;
GUILayout.BeginHorizontal();
forceRol = GUILayout.Toggle(forceRol, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("ROL", srfVelRol, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfVelRol -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfVelRol += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false)))
{
srfVelRol = -vesselState.vesselRoll.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfVelRol = 0;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forcePitch = GUILayout.Toggle(forcePitch, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("PIT", srfVelPit, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfVelPit -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfVelPit += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false)))
{
srfVelPit = vesselState.AoA.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfVelPit = 0;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forceYaw = GUILayout.Toggle(forceYaw, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("YAW", srfVelYaw, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfVelYaw -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfVelYaw += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false)))
{
srfVelYaw = -vesselState.AoS.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfVelYaw = 0;
changed = true;
}
GUILayout.EndHorizontal();
if (GUILayout.Button("EXECUTE"))
{
Engage();
}
if (changed)
{
Engage(false);
}
core.attitude.AxisControl(forcePitch, forceYaw, forceRol);
}
break;
case Mode.TARGET:
if (core.target.NormalTargetExists)
{
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_PLUS);
TargetButton(Target.RELATIVE_PLUS);
TargetButton(Target.PARALLEL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_MINUS);
TargetButton(Target.RELATIVE_MINUS);
TargetButton(Target.PARALLEL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
}
else
{
GUILayout.Label("Please select a target");
}
break;
case Mode.ADVANCED:
GUILayout.Label("Reference:");
advReference = (AttitudeReference)GuiUtils.ComboBox.Box((int)advReference, ReferenceTexts, this);
GUILayout.Label("Direction:");
advDirection = (Vector6.Direction)GuiUtils.ComboBox.Box((int)advDirection, directionTexts, directionTexts);
ForceRoll();
if (GUILayout.Button("EXECUTE", btNormal, GUILayout.ExpandWidth(true)))
{
target = Target.ADVANCED;
Engage();
}
break;
case Mode.AUTO:
break;
}
GUILayout.EndVertical();
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
if (GUILayout.Button("Reset"))
{
core.attitude.ResetConfig();
OnStart(PartModule.StartState.None);
}
core.GetComputerModule <MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto-tuning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GUILayout.BeginHorizontal();
GUILayout.Label("Tf (s)", GUILayout.ExpandWidth(true));
GUILayout.Label("P", GUILayout.ExpandWidth(false));
TfX.text = GUILayout.TextField(TfX.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("Y", GUILayout.ExpandWidth(false));
TfY.text = GUILayout.TextField(TfY.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("R", GUILayout.ExpandWidth(false));
TfZ.text = GUILayout.TextField(TfZ.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.EndHorizontal();
TfX = Math.Max(0.01, TfX);
TfY = Math.Max(0.01, TfY);
TfZ = Math.Max(0.01, TfZ);
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.TfV), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
}
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
GuiUtils.SimpleTextBox("Deadband = ", deadband, "", 50);
core.attitude.deadband = Math.Max(deadband, 0.0);
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
//Lower value of "kWlimit" reduces maximum angular velocity
double kWlimit = core.attitude.kWlimit;
var nextkWlimit = new EditableDoubleMult(kWlimit, 0.01);
GuiUtils.SimpleTextBox("Maximum Relative Angular Velocity", nextkWlimit, "%");
nextkWlimit = (EditableDouble)GUILayout.HorizontalSlider((float)nextkWlimit, 0.0F, 1.0F);
const int sliderPrecision = 3;
if (Math.Round(Math.Abs(nextkWlimit - kWlimit), sliderPrecision) > 0)
{
core.attitude.kWlimit = Math.Round(nextkWlimit, sliderPrecision);
}
showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Kp", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Kp), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Ki", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Ki), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Kd), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Error", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.error * Mathf.Rad2Deg), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Axis Control ", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.AxisState, "F0"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.torque.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("torqueReactionSpeed", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.torqueReactionSpeed.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.torqueReactionSpeed), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Inertia", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.inertia.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, core.attitude.torque.Invert());
GUILayout.BeginHorizontal();
GUILayout.Label("MOI / torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + ratio.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(ratio), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.MoI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.MoI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI stock", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.MOI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.MOI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Angular Velocity", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.angularVelocity.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.angularVelocity), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
}
MechJebModuleAttitudeController.useCoMVelocity = GUILayout.Toggle(MechJebModuleAttitudeController.useCoMVelocity, "Use CoM velocity instead of stock");
MechJebModuleDebugArrows arrows = core.GetComputerModule <MechJebModuleDebugArrows>();
GuiUtils.SimpleTextBox("Arrows length", arrows.arrowsLength, "", 50);
arrows.seeThrough = GUILayout.Toggle(arrows.seeThrough, "Visible through object");
GUILayout.BeginHorizontal();
arrows.comSphereActive = GUILayout.Toggle(arrows.comSphereActive, "Display the CoM. Radius of ", GUILayout.ExpandWidth(false));
arrows.comSphereRadius.text = GUILayout.TextField(arrows.comSphereRadius.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
arrows.displayAtCoM = GUILayout.Toggle(arrows.displayAtCoM, "Arrows origins at the CoM");
arrows.podSrfVelocityArrowActive = GUILayout.Toggle(arrows.podSrfVelocityArrowActive, "Pod Surface Velocity (yellow)");
arrows.comSrfVelocityArrowActive = GUILayout.Toggle(arrows.comSrfVelocityArrowActive, "CoM Surface Velocity (green)");
arrows.podObtVelocityArrowActive = GUILayout.Toggle(arrows.podObtVelocityArrowActive, "Pod Orbital Velocity (red)");
arrows.comObtVelocityArrowActive = GUILayout.Toggle(arrows.comObtVelocityArrowActive, "CoM Orbital Velocity (orange)");
arrows.forwardArrowActive = GUILayout.Toggle(arrows.forwardArrowActive, "Command Pod Forward (electric blue)");
//arrows.avgForwardArrowActive = GUILayout.Toggle(arrows.avgForwardArrowActive, "Forward Avg (blue)");
arrows.requestedAttitudeArrowActive = GUILayout.Toggle(arrows.requestedAttitudeArrowActive, "Requested Attitude (gray)");
arrows.debugArrowActive = GUILayout.Toggle(arrows.debugArrowActive, "Debug (magenta)");
arrows.debugArrow2Active = GUILayout.Toggle(arrows.debugArrow2Active, "Debug (light blue)");
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.TfV.x != TfX || core.attitude.TfV.y != TfY || core.attitude.TfV.z != TfZ)
{
core.attitude.TfV.x = TfX;
core.attitude.TfV.y = TfY;
core.attitude.TfV.z = TfZ;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
core.GetComputerModule<MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto-tuning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GuiUtils.SimpleTextBox("Tf (s)", Tf);
Tf = Math.Max(0.01, Tf);
}
else
{
// pid.Kd = kpFactor / Tf;
// pid.Kp = pid.Kd / (kiFactor * Math.Sqrt(2) * Tf);
// pid.Ki = pid.Kp / (kpFactor * Math.Sqrt(2) * Tf);
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.Tf.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
}
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Kp, Ki, Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(
core.attitude.pid.Kp.ToString("F3") + ", " +
core.attitude.pid.Ki.ToString("F3") + ", " +
core.attitude.pid.Kd.ToString("F3"),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("AttitudeRollMatters ", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.attitudeRollMatters ? "true" : "false", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d torque = vesselState.torqueAvailable + vesselState.torqueFromEngine * vessel.ctrlState.mainThrottle;
GUILayout.BeginHorizontal();
GUILayout.Label("torque", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(torque.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d inertia = Vector3d.Scale(
vesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum),
Vector3d.Scale(torque, vesselState.MoI).Invert()
)
);
GUILayout.BeginHorizontal();
GUILayout.Label("inertia", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|inertia|", GUILayout.ExpandWidth(true));
GUILayout.Label(inertia.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, torque.Invert());
GUILayout.BeginHorizontal();
GUILayout.Label("|MOI| / |Torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(ratio.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
}
MechJebModuleAttitudeController.useCoMVelocity = GUILayout.Toggle(MechJebModuleAttitudeController.useCoMVelocity, "Use CoM velocity instead of stock");
MechJebModuleDebugArrows arrows = core.GetComputerModule<MechJebModuleDebugArrows>();
GuiUtils.SimpleTextBox("Arrows length", arrows.arrowsLength, "", 50);
arrows.seeThrough = GUILayout.Toggle(arrows.seeThrough, "Visible through object");
GUILayout.BeginHorizontal();
arrows.comSphereActive = GUILayout.Toggle(arrows.comSphereActive, "Display the CoM. Radius of ", GUILayout.ExpandWidth(false));
arrows.comSphereRadius.text = GUILayout.TextField(arrows.comSphereRadius.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
arrows.displayAtCoM = GUILayout.Toggle(arrows.displayAtCoM, "Arrows origins at the CoM");
arrows.podSrfVelocityArrowActive = GUILayout.Toggle(arrows.podSrfVelocityArrowActive, "Pod Surface Velocity (yellow)");
arrows.comSrfVelocityArrowActive = GUILayout.Toggle(arrows.comSrfVelocityArrowActive, "CoM Surface Velocity (green)");
arrows.podObtVelocityArrowActive = GUILayout.Toggle(arrows.podObtVelocityArrowActive, "Pod Orbital Velocity (red)");
arrows.comObtVelocityArrowActive = GUILayout.Toggle(arrows.comObtVelocityArrowActive, "CoM Orbital Velocity (orange)");
arrows.forwardArrowActive = GUILayout.Toggle(arrows.forwardArrowActive, "Command Pod Forward (Navy Blue)");
//arrows.avgForwardArrowActive = GUILayout.Toggle(arrows.avgForwardArrowActive, "Forward Avg (blue)");
arrows.requestedAttitudeArrowActive = GUILayout.Toggle(arrows.requestedAttitudeArrowActive, "Requested Attitude (Gray)");
arrows.debugArrowActive = GUILayout.Toggle(arrows.debugArrowActive, "Debug (Magenta)");
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.Tf != Tf)
{
core.attitude.Tf = Tf;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}
// TODO put the brake in when running out of power to prevent nighttime solar failures on hills, or atleast try to
public override void Drive(FlightCtrlState s)
{
// TODO make distance calculation for 'reached' determination consider the rover and waypoint on sealevel to prevent height differences from messing it up
if (orbit.referenceBody != lastBody) { WaypointIndex = -1; Waypoints.Clear(); }
MechJebRoverWaypoint wp = (WaypointIndex > -1 && WaypointIndex < Waypoints.Count ? Waypoints[WaypointIndex] : null);
var curSpeed = vesselState.speedSurface;
etaSpeed.value = curSpeed;
if (wp != null && wp.Body == orbit.referenceBody) {
if (controlHeading) {
heading = Math.Round(HeadingToPos(vessel.CoM, wp.Position), 1);
}
if (controlSpeed) {
var nextWP = (WaypointIndex < Waypoints.Count - 1 ? Waypoints[WaypointIndex + 1] : (LoopWaypoints ? Waypoints[0] : null));
var distance = Vector3.Distance(vessel.CoM, wp.Position);
//var maxSpeed = (wp.MaxSpeed > 0 ? Math.Min((float)speed, wp.MaxSpeed) : speed); // use waypoints maxSpeed if set and smaller than set the speed or just stick with the set speed
var maxSpeed = (wp.MaxSpeed > 0 ? wp.MaxSpeed : speed); // speed used to go towards the waypoint, using the waypoints maxSpeed if set or just stick with the set speed
var minSpeed = (wp.MinSpeed > 0 ? wp.MinSpeed :
(nextWP != null ? TurningSpeed((nextWP.MaxSpeed > 0 ? nextWP.MaxSpeed : speed), heading - HeadingToPos(wp.Position, nextWP.Position)) :
(distance - wp.Radius > 50 ? turnSpeed.val : 1)));
minSpeed = (wp.Quicksave ? 0 : minSpeed);
// ^ speed used to go through the waypoint, using half the set speed or maxSpeed as minSpeed for routing waypoints (all except the last)
var brakeFactor = Math.Max((curSpeed - minSpeed) * 1, 3);
var newSpeed = Math.Min(maxSpeed, Math.Max((distance - wp.Radius) / brakeFactor, minSpeed)); // brake when getting closer
newSpeed = (newSpeed > turnSpeed ? TurningSpeed(newSpeed, headingErr) : newSpeed); // reduce speed when turning a lot
var radius = Math.Max(wp.Radius, 10 / 0.8); // alternative radius so negative radii can still make it go full speed through waypoints for navigation reasons
if (distance < radius) {
if (WaypointIndex + 1 >= Waypoints.Count) { // last waypoint
newSpeed = new [] { newSpeed, (distance < radius * 0.8 ? 0 : 1) }.Min();
// ^ limit speed so it'll only go from 1m/s to full stop when braking to prevent accidents on moons
if (LoopWaypoints) {
WaypointIndex = 0;
}
else {
newSpeed = -0.25;
tgtSpeed.force(newSpeed);
if (curSpeed < 0.85) {
if (wp.Quicksave) {
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR) {
WaypointIndex = -1;
controlHeading = controlSpeed = false;
QuickSaveLoad.QuickSave();
}
}
else {
WaypointIndex = -1;
controlHeading = controlSpeed = false;
}
}
// else {
// Debug.Log("Is this even getting called?");
// WaypointIndex++;
// }
}
}
else {
if (wp.Quicksave) {
newSpeed = -0.25;
tgtSpeed.force(newSpeed);
if (curSpeed < 0.85) {
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR) {
WaypointIndex++;
QuickSaveLoad.QuickSave();
}
}
}
else {
WaypointIndex++;
}
}
}
vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, (GameSettings.BRAKES.GetKey() && vessel.isActiveVessel) || ((s.wheelThrottle == 0 || !vessel.isActiveVessel) && curSpeed < 0.85 && newSpeed < 0.85));
// ^ brake if needed to prevent rolling, hopefully
tgtSpeed.value = Math.Round(newSpeed, 1);
}
}
if (controlHeading)
{
if (heading != headingLast)
{
headingPID.Reset();
headingLast = heading;
}
double instantaneousHeading = vesselState.rotationVesselSurface.eulerAngles.y;
headingErr = MuUtils.ClampDegrees180(instantaneousHeading - heading);
if (s.wheelSteer == s.wheelSteerTrim || FlightGlobals.ActiveVessel != vessel)
{
float spd = Mathf.Min((float)speed, (float)turnSpeed); // if a slower speed than the turnspeed is used also be more careful with the steering
float limit = (curSpeed <= turnSpeed ? 1 : Mathf.Clamp((float)((spd * spd) / (curSpeed * curSpeed)), 0.2f, 1f));
double act = headingPID.Compute(headingErr);
s.wheelSteer = Mathf.Clamp((float)act, -limit, limit);
}
}
// Brake if there is no controler (Pilot eject from seat)
if (brakeOnEject && vessel.GetReferenceTransformPart() == null)
{
s.wheelThrottle = 0;
vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
}
else if (controlSpeed)
{
if (speed != speedLast)
{
speedPID.Reset();
speedLast = speed;
}
speedErr = (WaypointIndex == -1 ? speed.val : tgtSpeed.value) - Vector3d.Dot(vesselState.velocityVesselSurface, vesselState.forward);
if (s.wheelThrottle == s.wheelThrottleTrim || FlightGlobals.ActiveVessel != vessel)
{
double act = speedPID.Compute(speedErr);
s.wheelThrottle = Mathf.Clamp((float)act, -1, 1);
}
}
}
protected override void WindowGUI(int windowID)
{
if (vessel.patchedConicSolver.maneuverNodes.Count == 0)
{
GUILayout.Label(Localizer.Format("#MechJeb_NodeEd_Label1"));//"No maneuver nodes to edit."
RelativityModeSelectUI();
base.WindowGUI(windowID);
return;
}
GUILayout.BeginVertical();
ManeuverNode oldNode = node;
if (vessel.patchedConicSolver.maneuverNodes.Count == 1)
{
node = vessel.patchedConicSolver.maneuverNodes[0];
}
else
{
if (!vessel.patchedConicSolver.maneuverNodes.Contains(node))
{
node = vessel.patchedConicSolver.maneuverNodes[0];
}
int nodeIndex = vessel.patchedConicSolver.maneuverNodes.IndexOf(node);
int numNodes = vessel.patchedConicSolver.maneuverNodes.Count;
nodeIndex = GuiUtils.ArrowSelector(nodeIndex, numNodes, "Maneuver node #" + (nodeIndex + 1));
node = vessel.patchedConicSolver.maneuverNodes[nodeIndex];
if (nodeIndex < (numNodes - 1) && GUILayout.Button(Localizer.Format("#MechJeb_NodeEd_button1")))
{
MergeNext(nodeIndex); //"Merge next node"
}
}
if (node != oldNode)
{
prograde = node.DeltaV.z;
radialPlus = node.DeltaV.x;
normalPlus = node.DeltaV.y;
}
if (gizmo != node.attachedGizmo)
{
if (gizmo != null)
{
gizmo.OnGizmoUpdated -= GizmoUpdateHandler;
}
gizmo = node.attachedGizmo;
if (gizmo != null)
{
gizmo.OnGizmoUpdated += GizmoUpdateHandler;
}
}
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_NodeEd_Label2"), prograde, "m/s", 60);//"Prograde:"
if (LimitedRepeatButtoon("-"))
{
prograde -= progradeDelta;
node.UpdateNode(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
progradeDelta.text = GUILayout.TextField(progradeDelta.text, GUILayout.Width(50));
if (LimitedRepeatButtoon("+"))
{
prograde += progradeDelta;
node.UpdateNode(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_NodeEd_Label3"), radialPlus, "m/s", 60);//"Radial+:"
if (LimitedRepeatButtoon("-"))
{
radialPlus -= radialPlusDelta;
node.UpdateNode(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
radialPlusDelta.text = GUILayout.TextField(radialPlusDelta.text, GUILayout.Width(50));
if (LimitedRepeatButtoon("+"))
{
radialPlus += radialPlusDelta;
node.UpdateNode(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_NodeEd_Label4"), normalPlus, "m/s", 60);//"Normal+:"
if (LimitedRepeatButtoon("-"))
{
normalPlus -= normalPlusDelta;
node.UpdateNode(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
normalPlusDelta.text = GUILayout.TextField(normalPlusDelta.text, GUILayout.Width(50));
if (LimitedRepeatButtoon("+"))
{
normalPlus += normalPlusDelta;
node.UpdateNode(new Vector3d(radialPlus, normalPlus, prograde), node.UT);
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_NodeEd_Label5"), GUILayout.ExpandWidth(true));//"Set delta to:"
if (GUILayout.Button("0.01", GUILayout.ExpandWidth(true)))
{
progradeDelta = radialPlusDelta = normalPlusDelta = 0.01;
}
if (GUILayout.Button("0.1", GUILayout.ExpandWidth(true)))
{
progradeDelta = radialPlusDelta = normalPlusDelta = 0.1;
}
if (GUILayout.Button("1", GUILayout.ExpandWidth(true)))
{
progradeDelta = radialPlusDelta = normalPlusDelta = 1;
}
if (GUILayout.Button("10", GUILayout.ExpandWidth(true)))
{
progradeDelta = radialPlusDelta = normalPlusDelta = 10;
}
if (GUILayout.Button("100", GUILayout.ExpandWidth(true)))
{
progradeDelta = radialPlusDelta = normalPlusDelta = 100;
}
GUILayout.EndHorizontal();
if (GUILayout.Button(Localizer.Format("#MechJeb_NodeEd_button2")))
{
node.UpdateNode(new Vector3d(radialPlus, normalPlus, prograde), node.UT); //"Update"
}
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_NodeEd_Label6"), GUILayout.ExpandWidth(true));//"Shift time"
if (GUILayout.Button("-o", GUILayout.ExpandWidth(false)))
{
node.UpdateNode(node.DeltaV, node.UT - node.patch.period);
}
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
node.UpdateNode(node.DeltaV, node.UT - timeOffset);
}
timeOffset.text = GUILayout.TextField(timeOffset.text, GUILayout.Width(100));
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
node.UpdateNode(node.DeltaV, node.UT + timeOffset);
}
if (GUILayout.Button("+o", GUILayout.ExpandWidth(false)))
{
node.UpdateNode(node.DeltaV, node.UT + node.patch.period);
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
if (GUILayout.Button(Localizer.Format("#MechJeb_NodeEd_button3"), GUILayout.ExpandWidth(true)))//"Snap node to"
{
Orbit o = node.patch;
double UT = node.UT;
switch (snap)
{
case Snap.PERIAPSIS:
UT = o.NextPeriapsisTime(o.eccentricity < 1 ? UT - o.period / 2 : UT);
break;
case Snap.APOAPSIS:
if (o.eccentricity < 1)
{
UT = o.NextApoapsisTime(UT - o.period / 2);
}
break;
case Snap.EQ_ASCENDING:
if (o.AscendingNodeEquatorialExists())
{
UT = o.TimeOfAscendingNodeEquatorial(UT - o.period / 2);
}
break;
case Snap.EQ_DESCENDING:
if (o.DescendingNodeEquatorialExists())
{
UT = o.TimeOfDescendingNodeEquatorial(UT - o.period / 2);
}
break;
case Snap.REL_ASCENDING:
if (core.target.NormalTargetExists && core.target.TargetOrbit.referenceBody == o.referenceBody)
{
if (o.AscendingNodeExists(core.target.TargetOrbit))
{
UT = o.TimeOfAscendingNode(core.target.TargetOrbit, UT - o.period / 2);
}
}
break;
case Snap.REL_DESCENDING:
if (core.target.NormalTargetExists && core.target.TargetOrbit.referenceBody == o.referenceBody)
{
if (o.DescendingNodeExists(core.target.TargetOrbit))
{
UT = o.TimeOfDescendingNode(core.target.TargetOrbit, UT - o.period / 2);
}
}
break;
}
node.UpdateNode(node.DeltaV, UT);
}
snap = (Snap)GuiUtils.ArrowSelector((int)snap, numSnaps, snapStrings[(int)snap]);
GUILayout.EndHorizontal();
RelativityModeSelectUI();
if (core.node != null)
{
if (vessel.patchedConicSolver.maneuverNodes.Count > 0 && !core.node.enabled)
{
if (GUILayout.Button(Localizer.Format("#MechJeb_NodeEd_button4")))//"Execute next node"
{
core.node.ExecuteOneNode(this);
}
if (MechJebModuleGuidanceController.isLoadedPrincipia && GUILayout.Button(Localizer.Format("#MechJeb_NodeEd_button7")))//Execute next Principia node
{
core.node.ExecuteOnePNode(this);
}
if (vessel.patchedConicSolver.maneuverNodes.Count > 1)
{
if (GUILayout.Button(Localizer.Format("#MechJeb_NodeEd_button5")))//"Execute all nodes"
{
core.node.ExecuteAllNodes(this);
}
}
}
else if (core.node.enabled)
{
if (GUILayout.Button(Localizer.Format("#MechJeb_NodeEd_button6")))//"Abort node execution"
{
core.node.Abort();
}
}
GUILayout.BeginHorizontal();
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, Localizer.Format("#MechJeb_NodeEd_checkbox1"), GUILayout.ExpandWidth(true)); //"Auto-warp"
GUILayout.Label(Localizer.Format("#MechJeb_NodeEd_Label7"), GUILayout.ExpandWidth(false)); //"Tolerance:"
core.node.tolerance.text = GUILayout.TextField(core.node.tolerance.text, GUILayout.Width(35), GUILayout.ExpandWidth(false));
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
if (showingGuidance)
{
GUILayout.Label("The purple circle on the navball points along the ascent path.");
if (GUILayout.Button("Stop showing navball guidance")) core.target.Unset();
}
else if (GUILayout.Button("Show navball ascent path guidance"))
{
core.target.SetDirectionTarget(TARGET_NAME);
}
if (autopilot != null)
{
if (autopilot.enabled)
{
if (GUILayout.Button("Disengage autopilot")) autopilot.users.Remove(this);
}
else
{
if (GUILayout.Button("Engage autopilot"))
{
autopilot.users.Add(this);
}
}
ascentPath = autopilot.ascentPath;
GuiUtils.SimpleTextBox("Orbit altitude", autopilot.desiredOrbitAltitude, "km");
autopilot.desiredInclination = desiredInclination;
}
GuiUtils.SimpleTextBox("Orbit inclination", desiredInclination, "º");
core.thrust.LimitToPreventOverheatsInfoItem();
core.thrust.LimitToTerminalVelocityInfoItem();
core.thrust.LimitToMaxDynamicPressureInfoItem();
core.thrust.LimitAccelerationInfoItem();
core.thrust.LimitThrottleInfoItem();
core.thrust.LimiterMinThrottleInfoItem();
GUILayout.BeginHorizontal();
autopilot.forceRoll = GUILayout.Toggle(autopilot.forceRoll, "Force Roll");
if (autopilot.forceRoll)
{
GuiUtils.SimpleTextBox("climb", autopilot.verticalRoll, "º", 30f);
GuiUtils.SimpleTextBox("turn", autopilot.turnRoll, "º", 30f);
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUIStyle s = new GUIStyle(GUI.skin.toggle);
if (autopilot.limitingAoA) s.onHover.textColor = s.onNormal.textColor = Color.green;
autopilot.limitAoA = GUILayout.Toggle(autopilot.limitAoA, "Limit AoA to", s, GUILayout.ExpandWidth(true));
autopilot.maxAoA.text = GUILayout.TextField(autopilot.maxAoA.text, GUILayout.Width(30));
GUILayout.Label("º (" + autopilot.currentMaxAoA.ToString("F1") + "°)", GUILayout.ExpandWidth(true));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Space(25);
if (autopilot.limitAoA) {
GUIStyle sl = new GUIStyle(GUI.skin.label);
if (autopilot.limitingAoA && vesselState.dynamicPressure < autopilot.aoALimitFadeoutPressure)
sl.normal.textColor = sl.hover.textColor = Color.green;
GuiUtils.SimpleTextBox("Dynamic Pressure Fadeout", autopilot.aoALimitFadeoutPressure, "pa", 50, sl);
}
GUILayout.EndHorizontal();
autopilot.correctiveSteering = GUILayout.Toggle(autopilot.correctiveSteering, "Corrective steering");
autopilot.autostage = GUILayout.Toggle(autopilot.autostage, "Autostage");
if (autopilot.autostage) core.staging.AutostageSettingsInfoItem();
autopilot.autodeploySolarPanels = GUILayout.Toggle(autopilot.autodeploySolarPanels, "Auto-deploy solar panels");
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, "Auto-warp");
if (autopilot != null && vessel.LandedOrSplashed)
{
if (core.target.NormalTargetExists)
{
if (core.node.autowarp)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Launch countdown:", GUILayout.ExpandWidth(true));
autopilot.warpCountDown.text = GUILayout.TextField(autopilot.warpCountDown.text, GUILayout.Width(60));
GUILayout.Label("s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
if (!launchingToPlane && !launchingToRendezvous && !launchingToInterplanetary)
{
GUILayout.BeginHorizontal();
if (GUILayout.Button("Launch to rendezvous:", GUILayout.ExpandWidth(false)))
{
launchingToRendezvous = true;
autopilot.StartCountdown(vesselState.time + LaunchTiming.TimeToPhaseAngle(autopilot.launchPhaseAngle, mainBody, vesselState.longitude, core.target.TargetOrbit));
}
autopilot.launchPhaseAngle.text = GUILayout.TextField(autopilot.launchPhaseAngle.text, GUILayout.Width(60));
GUILayout.Label("º", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
if (GUILayout.Button("Launch into plane of target"))
{
launchingToPlane = true;
autopilot.StartCountdown( vesselState.time +
LaunchTiming.TimeToPlane(mainBody, vesselState.latitude, vesselState.longitude, core.target.TargetOrbit));
}
if (core.target.TargetOrbit.referenceBody == orbit.referenceBody.referenceBody)
{
if (GUILayout.Button("Launch at interplanetary window"))
{
launchingToInterplanetary = true;
//compute the desired launch date
OrbitalManeuverCalculator.DeltaVAndTimeForHohmannTransfer(mainBody.orbit, core.target.TargetOrbit, vesselState.time, out interplanetaryWindowUT);
double desiredOrbitPeriod = 2 * Math.PI * Math.Sqrt(Math.Pow(mainBody.Radius + autopilot.desiredOrbitAltitude, 3) / mainBody.gravParameter);
//launch just before the window, but don't try to launch in the past
interplanetaryWindowUT -= 3 * desiredOrbitPeriod;
interplanetaryWindowUT = Math.Max(vesselState.time + autopilot.warpCountDown, interplanetaryWindowUT);
autopilot.StartCountdown(interplanetaryWindowUT);
}
}
}
}
else
{
launchingToInterplanetary = launchingToPlane = launchingToRendezvous = false;
GUILayout.Label("Select a target for a timed launch.");
}
if (launchingToInterplanetary || launchingToPlane || launchingToRendezvous)
{
string message = "";
if (launchingToInterplanetary)
{
message = "Launching at interplanetary window";
}
else if (launchingToPlane)
{
desiredInclination = core.target.TargetOrbit.inclination;
desiredInclination *= Math.Sign(Vector3d.Dot(core.target.TargetOrbit.SwappedOrbitNormal(), Vector3d.Cross(vesselState.CoM - mainBody.position, mainBody.transform.up)));
message = "Launching to target plane";
}
else if (launchingToRendezvous)
{
message = "Launching to rendezvous";
}
if (autopilot.tMinus > 3 * vesselState.deltaT)
{
message += ": T-" + GuiUtils.TimeToDHMS(autopilot.tMinus, 1);
}
GUILayout.Label(message);
if (GUILayout.Button("Abort")) launchingToInterplanetary = launchingToPlane = launchingToRendezvous = autopilot.timedLaunch = false;
}
}
if (autopilot != null && autopilot.enabled)
{
GUILayout.Label("Autopilot status: " + autopilot.status);
}
if (!vessel.patchedConicsUnlocked())
{
GUILayout.Label("Warning: MechJeb is unable to circularize without an upgraded Tracking Station.");
}
MechJebModuleAscentPathEditor editor = core.GetComputerModule<MechJebModuleAscentPathEditor>();
if (editor != null) editor.enabled = GUILayout.Toggle(editor.enabled, "Edit ascent path");
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
public void setPIDParameters()
{
if (rcsManualPID)
{
pid.Kd = Kd;
pid.Kp = Kp;
pid.Ki = Ki;
}
else
{
Tf = Math.Max(Tf, 0.02);
pid.Kd = 0.53 / Tf;
pid.Kp = pid.Kd / (3 * Math.Sqrt(2) * Tf);
pid.Ki = pid.Kp / (12 * Math.Sqrt(2) * Tf);
Kd.val = pid.Kd;
Kp.val = pid.Kp;
Ki.val = pid.Ki;
}
}
void DriveCircularizationBurn(FlightCtrlState s)
{
if (placedCircularizeNode)
{
if (!vessel.patchedConicSolver.maneuverNodes.Any())
{
MechJebModuleFlightRecorder recorder = core.GetComputerModule<MechJebModuleFlightRecorder>();
if (recorder != null) launchPhaseAngle = recorder.phaseAngleFromMark;
//finished circularize
this.users.Clear();
return;
}
}
else
{
//place circularization node
vessel.RemoveAllManeuverNodes();
double UT = orbit.NextApoapsisTime(vesselState.time);
Vector3d dV = OrbitalManeuverCalculator.DeltaVToCircularize(orbit, UT);
vessel.PlaceManeuverNode(orbit, dV, UT);
placedCircularizeNode = true;
core.node.ExecuteOneNode(this);
}
if (core.node.burnTriggered) status = "Circularizing";
else status = "Coasting to circularization burn";
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
bool showingGuidance = (core.target.Target != null && core.target.Name == TARGET_NAME);
if (showingGuidance)
{
GUILayout.Label("The purple circle on the navball points along the ascent path.");
if (GUILayout.Button("Stop showing navball guidance"))
{
core.target.Unset();
}
}
else if (GUILayout.Button("Show navball ascent path guidance"))
{
core.target.SetDirectionTarget(TARGET_NAME);
}
if (autopilot != null)
{
if (autopilot.enabled)
{
if (GUILayout.Button("Disengage autopilot"))
{
autopilot.users.Remove(this);
}
}
else
{
if (GUILayout.Button("Engage autopilot"))
{
autopilot.users.Add(this);
}
}
ascentPath = autopilot.ascentPath;
GuiUtils.SimpleTextBox("Orbit altitude", autopilot.desiredOrbitAltitude, "km");
autopilot.desiredInclination = desiredInclination;
}
GuiUtils.SimpleTextBox("Orbit inclination", desiredInclination, "º");
core.thrust.LimitToPreventOverheatsInfoItem();
core.thrust.LimitToTerminalVelocityInfoItem();
core.thrust.LimitAccelerationInfoItem();
core.thrust.LimitThrottleInfoItem();
autopilot.correctiveSteering = GUILayout.Toggle(autopilot.correctiveSteering, "Corrective steering");
autopilot.autostage = GUILayout.Toggle(autopilot.autostage, "Autostage");
if (autopilot.autostage)
{
core.staging.AutostageSettingsInfoItem();
}
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, "Auto-warp");
if (autopilot != null && vessel.LandedOrSplashed)
{
if (core.target.NormalTargetExists)
{
if (core.node.autowarp)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Launch countdown:", GUILayout.ExpandWidth(true));
autopilot.warpCountDown.text = GUILayout.TextField(autopilot.warpCountDown.text, GUILayout.Width(60));
GUILayout.Label("s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
if (!launchingToPlane && !launchingToRendezvous && !launchingToInterplanetary)
{
GUILayout.BeginHorizontal();
if (GUILayout.Button("Launch to rendezvous:", GUILayout.ExpandWidth(false)))
{
launchingToRendezvous = true;
lastTMinus = 999;
}
autopilot.launchPhaseAngle.text = GUILayout.TextField(autopilot.launchPhaseAngle.text, GUILayout.Width(60));
GUILayout.Label("º", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
if (GUILayout.Button("Launch into plane of target"))
{
launchingToPlane = true;
lastTMinus = 999;
}
if (core.target.TargetOrbit.referenceBody == orbit.referenceBody.referenceBody)
{
if (GUILayout.Button("Launch at interplanetary window"))
{
launchingToInterplanetary = true;
lastTMinus = 999;
//compute the desired launch date
OrbitalManeuverCalculator.DeltaVAndTimeForHohmannTransfer(mainBody.orbit, core.target.TargetOrbit, vesselState.time, out interplanetaryWindowUT);
double desiredOrbitPeriod = 2 * Math.PI * Math.Sqrt(Math.Pow(mainBody.Radius + autopilot.desiredOrbitAltitude, 3) / mainBody.gravParameter);
//launch just before the window, but don't try to launch in the past
interplanetaryWindowUT -= 3 * desiredOrbitPeriod;
interplanetaryWindowUT = Math.Max(vesselState.time + autopilot.warpCountDown, interplanetaryWindowUT);
}
}
}
}
else
{
launchingToInterplanetary = launchingToPlane = launchingToRendezvous = false;
GUILayout.Label("Select a target for a timed launch.");
}
if (launchingToInterplanetary || launchingToPlane || launchingToRendezvous)
{
double tMinus = 0;
string message = "";
if (launchingToInterplanetary)
{
tMinus = interplanetaryWindowUT - vesselState.time;
message = "Launching at interplanetary window";
}
else if (launchingToPlane)
{
tMinus = LaunchTiming.TimeToPlane(mainBody, vesselState.latitude, vesselState.longitude, core.target.TargetOrbit);
desiredInclination = core.target.TargetOrbit.inclination;
desiredInclination *= Math.Sign(Vector3d.Dot(core.target.TargetOrbit.SwappedOrbitNormal(), Vector3d.Cross(vesselState.CoM - mainBody.position, mainBody.transform.up)));
message = "Launching to target plane";
}
else if (launchingToRendezvous)
{
tMinus = LaunchTiming.TimeToPhaseAngle(autopilot.launchPhaseAngle, mainBody, vesselState.longitude, core.target.TargetOrbit);
message = "Launching to rendezvous";
}
double launchTime = vesselState.time + tMinus;
if (tMinus < 3 * vesselState.deltaT || (tMinus > 10.0 && lastTMinus < 1.0))
{
if (autopilot.enabled)
{
Staging.ActivateNextStage();
}
launchingToInterplanetary = launchingToPlane = launchingToRendezvous = false;
}
else
{
message += ": T-" + MuUtils.ToSI(tMinus, 0) + "s";
if (autopilot.enabled && core.node.autowarp)
{
core.warp.WarpToUT(launchTime - autopilot.warpCountDown);
}
}
GUILayout.Label(message);
lastTMinus = tMinus;
if (GUILayout.Button("Abort"))
{
launchingToInterplanetary = launchingToPlane = launchingToRendezvous = false;
}
}
}
if (autopilot != null && autopilot.enabled)
{
GUILayout.Label("Autopilot status: " + autopilot.status);
}
MechJebModuleAscentPathEditor editor = core.GetComputerModule <MechJebModuleAscentPathEditor>();
if (editor != null)
{
editor.enabled = GUILayout.Toggle(editor.enabled, "Edit ascent path");
}
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
public void setPIDParameters()
{
if (Tf < 2 * TimeWarp.fixedDeltaTime)
Tf = 2 * TimeWarp.fixedDeltaTime;
pid.Kd = 0.53 / Tf;
pid.Kp = pid.Kd / (3 * Math.Sqrt(2) * Tf);
pid.Ki = pid.Kp / (12 * Math.Sqrt(2) * Tf);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
bool showingGuidance = (core.target.Target != null && core.target.Name == TARGET_NAME);
if (showingGuidance)
{
GUILayout.Label("The purple circle on the navball points along the ascent path.");
if (GUILayout.Button("Stop showing navball guidance"))
{
core.target.Unset();
}
}
else if (GUILayout.Button("Show navball ascent path guidance"))
{
core.target.SetDirectionTarget(TARGET_NAME);
}
if (autopilot != null)
{
if (autopilot.enabled)
{
if (GUILayout.Button("Disengage autopilot"))
{
autopilot.users.Remove(this);
}
}
else
{
if (GUILayout.Button("Engage autopilot"))
{
autopilot.users.Add(this);
}
}
ascentPath = autopilot.ascentPath;
GuiUtils.SimpleTextBox("Orbit altitude", autopilot.desiredOrbitAltitude, "km");
autopilot.desiredInclination = desiredInclination;
}
GuiUtils.SimpleTextBox("Orbit inclination", desiredInclination, "º");
core.thrust.limitToPreventOverheats = GUILayout.Toggle(core.thrust.limitToPreventOverheats, "Prevent overheats");
core.thrust.limitToTerminalVelocity = GUILayout.Toggle(core.thrust.limitToTerminalVelocity, "Limit to terminal velocity");
GUILayout.BeginHorizontal();
core.thrust.limitAcceleration = GUILayout.Toggle(core.thrust.limitAcceleration, "Limit acceleration to", GUILayout.ExpandWidth(false));
core.thrust.maxAcceleration.text = GUILayout.TextField(core.thrust.maxAcceleration.text, GUILayout.ExpandWidth(true));
GUILayout.Label("m/s²", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
autopilot.correctiveSteering = GUILayout.Toggle(autopilot.correctiveSteering, "Corrective steering");
core.staging.AutostageInfoItem();
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, "Auto-warp");
if (autopilot != null && vessel.LandedOrSplashed)
{
if (core.target.NormalTargetExists)
{
if (!launchingToPlane && !launchingToRendezvous)
{
GUILayout.BeginHorizontal();
if (GUILayout.Button("Launch to rendezvous:", GUILayout.ExpandWidth(false)))
{
launchingToRendezvous = true;
}
autopilot.launchPhaseAngle.text = GUILayout.TextField(autopilot.launchPhaseAngle.text, GUILayout.Width(60));
GUILayout.Label("º", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
if (!launchingToPlane && !launchingToRendezvous && GUILayout.Button("Launch into plane of target"))
{
launchingToPlane = true;
}
}
else
{
launchingToPlane = launchingToRendezvous = false;
GUILayout.Label("Select a target for a timed launch.");
}
if (launchingToPlane || launchingToRendezvous)
{
double tMinus;
if (launchingToPlane)
{
tMinus = LaunchTiming.TimeToPlane(mainBody, vesselState.latitude, vesselState.longitude, core.target.Orbit);
}
else
{
tMinus = LaunchTiming.TimeToPhaseAngle(autopilot.launchPhaseAngle, mainBody, vesselState.longitude, core.target.Orbit);
}
double launchTime = vesselState.time + tMinus;
core.warp.WarpToUT(launchTime);
if (launchingToPlane)
{
desiredInclination = core.target.Orbit.inclination;
desiredInclination *= Math.Sign(Vector3d.Dot(core.target.Orbit.SwappedOrbitNormal(), Vector3d.Cross(vesselState.CoM - mainBody.position, mainBody.transform.up)));
}
if (autopilot.enabled)
{
core.warp.WarpToUT(launchTime);
}
GUILayout.Label("Launching to " + (launchingToPlane ? "target plane" : "rendezvous") + ": T-" + MuUtils.ToSI(tMinus, 0) + "s");
if (tMinus < 3 * vesselState.deltaT)
{
if (autopilot.enabled)
{
Staging.ActivateNextStage();
}
launchingToPlane = launchingToRendezvous = false;
}
if (GUILayout.Button("Abort"))
{
launchingToPlane = launchingToRendezvous = false;
}
}
if (autopilot.enabled)
{
GUILayout.Label("Autopilot status: " + autopilot.status);
}
}
MechJebModuleAscentPathEditor editor = core.GetComputerModule <MechJebModuleAscentPathEditor>();
if (editor != null)
{
editor.enabled = GUILayout.Toggle(editor.enabled, "Edit ascent path");
}
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
void GizmoUpdateHandler(Vector3d dV, double UT)
{
prograde = dV.z;
radialPlus = dV.x;
normalPlus = dV.y;
}
protected override void WindowGUI(int windowID)
{
GUIStyle sty = new GUIStyle(GUI.skin.button);
sty.normal.textColor = sty.focused.textColor = Color.white;
sty.hover.textColor = sty.active.textColor = Color.yellow;
sty.onNormal.textColor = sty.onFocused.textColor = sty.onHover.textColor = sty.onActive.textColor = Color.green;
sty.padding = new RectOffset(8, 8, 8, 8);
GUILayout.BeginVertical();
if ((core.thrust.users.Count > 1) && !core.thrust.users.Contains(this))
{
if (!autoMode)
{
windowPos = new Rect(windowPos.x, windowPos.y, 10, 10);
autoMode = true;
}
sty.normal.textColor = Color.red;
sty.onActive = sty.onFocused = sty.onHover = sty.onNormal = sty.active = sty.focused = sty.hover = sty.normal;
GUILayout.Button("AUTO", sty, GUILayout.ExpandWidth(true));
}
else
{
if (autoMode)
{
windowPos = new Rect(windowPos.x, windowPos.y, 10, 10);
autoMode = false;
}
MechJebModuleThrustController.TMode newMode = (MechJebModuleThrustController.TMode)GUILayout.SelectionGrid((int)core.thrust.tmode, trans_texts, 2, sty);
SetMode(newMode);
float val = (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); // change by 5 if the mod_key is held down, else by 1 -- would be better if it actually worked...
core.thrust.trans_kill_h = GUILayout.Toggle(core.thrust.trans_kill_h, "Kill H/S", GUILayout.ExpandWidth(true));
GUILayout.BeginHorizontal(GUILayout.ExpandWidth(true));
GuiUtils.SimpleTextBox("Speed", trans_spd, "", 37);
bool change = false;
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
trans_spd -= val;
change = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
trans_spd = 0;
change = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
trans_spd += val;
change = true;
}
GUILayout.EndHorizontal();
if (GUILayout.Button("EXECUTE", sty, GUILayout.ExpandWidth(true)) || change)
{
core.thrust.trans_spd_act = (float)trans_spd.val;
GUIUtility.keyboardControl = 0;
}
}
if (core.thrust.tmode != MechJebModuleThrustController.TMode.OFF)
{
GUILayout.Label("Active speed: " + MuMech.MuUtils.ToSI(core.thrust.trans_spd_act) + "m/s", GUILayout.ExpandWidth(true));
}
GUILayout.FlexibleSpace();
GUIStyle tsty = new GUIStyle(GUI.skin.label);
tsty.alignment = TextAnchor.UpperCenter;
GUILayout.Label("Automation", tsty, GUILayout.ExpandWidth(true));
sty.normal.textColor = sty.focused.textColor = sty.hover.textColor = sty.active.textColor = sty.onNormal.textColor = sty.onFocused.textColor = sty.onHover.textColor = sty.onActive.textColor = (abort != AbortStage.OFF) ? Color.red : Color.green;
if (GUILayout.Button((abort != AbortStage.OFF) ? "DON'T PANIC!" : "PANIC!!!", sty, GUILayout.ExpandWidth(true)))
{
PanicSwitch();
}
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
string[] snapStrings = new string[] { Localizer.Format("#MechJeb_NodeEd_Snap1"), Localizer.Format("#MechJeb_NodeEd_Snap2"), Localizer.Format("#MechJeb_NodeEd_Snap3"), Localizer.Format("#MechJeb_NodeEd_Snap4"), Localizer.Format("#MechJeb_NodeEd_Snap5"), Localizer.Format("#MechJeb_NodeEd_Snap6") };//"periapsis""apoapsis""AN with target""DN with target""equatorial AN""equatorial DN"
void GizmoUpdateHandler(Vector3d dV, double UT)
{
prograde = dV.z;
radialPlus = dV.x;
normalPlus = dV.y;
}
public override void OnStart(PartModule.StartState state)
{
Tf = new EditableDouble(core.attitude.Tf);
base.OnStart(state);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
core.GetComputerModule <MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto tunning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GuiUtils.SimpleTextBox("Tf (s)", Tf);
Tf = Math.Max(0.01, Tf);
}
else
{
// pid.Kd = kpFactor / Tf;
// pid.Kp = pid.Kd / (kiFactor * Math.Sqrt(2) * Tf);
// pid.Ki = pid.Kp / (kpFactor * Math.Sqrt(2) * Tf);
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.Tf.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
}
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
core.rcs.rcsThrottle = GUILayout.Toggle(core.rcs.rcsThrottle, " RCS throttle when 0k thrust");
GUILayout.BeginHorizontal();
GUILayout.Label("Kp, Ki, Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.pid.Kp.ToString("F3") + ", " +
core.attitude.pid.Ki.ToString("F3") + ", " +
core.attitude.pid.Kd.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("AttitudeRollMatters ", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.attitudeRollMatters ? "true" : "false", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d torque = new Vector3d(
vesselState.torqueAvailable.x + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle,
vesselState.torqueAvailable.y,
vesselState.torqueAvailable.z + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle
);
GUILayout.BeginHorizontal();
GUILayout.Label("torque", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(torque.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d inertia = Vector3d.Scale(
vesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum),
Vector3d.Scale(torque, vesselState.MoI).Invert()
)
);
GUILayout.BeginHorizontal();
GUILayout.Label("inertia", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|inertia|", GUILayout.ExpandWidth(true));
GUILayout.Label(inertia.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, torque.Invert());
GUILayout.BeginHorizontal();
GUILayout.Label("|MOI| / |Torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(ratio.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.Tf != Tf)
{
core.attitude.Tf = Tf;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
core.GetComputerModule<MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GuiUtils.SimpleTextBox("Tf (s)", Tf);
Tf = Math.Max(0.01, Tf);
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
GUILayout.BeginHorizontal();
GUILayout.Label("Kp, Ki, Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.pid.Kp.ToString("F3") + ", " +
core.attitude.pid.Ki.ToString("F3") + ", " +
core.attitude.pid.Kd.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("AttitudeRollMatters ", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.attitudeRollMatters ? "true" : "false", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d torque = new Vector3d(
vesselState.torqueAvailable.x + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle,
vesselState.torqueAvailable.y,
vesselState.torqueAvailable.z + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle
);
GUILayout.BeginHorizontal();
GUILayout.Label("torque", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(torque.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d inertia = Vector3d.Scale(
vesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum),
Vector3d.Scale(torque, vesselState.MoI).Invert()
)
);
GUILayout.BeginHorizontal();
GUILayout.Label("inertia", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|inertia|", GUILayout.ExpandWidth(true));
GUILayout.Label(inertia.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
if ((core.attitude.Tf != Tf))
{
core.attitude.Tf = Tf;
double Kd = 0.53 / Tf;
double Kp = Kd / (3 * Math.Sqrt(2) * Tf);
double Ki = Kp / (12 * Math.Sqrt(2) * Tf);
core.attitude.pid = new PIDControllerV2(Kp, Ki, Kd, 1, -1);
}
base.WindowGUI(windowID);
}
public override void Drive(FlightCtrlState s) // TODO put the brake in when running out of power to prevent nighttime solar failures on hills, or atleast try to
{ // TODO make distance calculation for 'reached' determination consider the rover and waypoint on sealevel to prevent height differences from messing it up -- should be done now?
if (orbit.referenceBody != lastBody)
{
WaypointIndex = -1; Waypoints.Clear();
}
MechJebWaypoint wp = (WaypointIndex > -1 && WaypointIndex < Waypoints.Count ? Waypoints[WaypointIndex] : null);
var brake = vessel.ActionGroups[KSPActionGroup.Brakes]; // keep brakes locked if they are
curSpeed = Vector3d.Dot(vessel.srf_velocity, vesselState.forward);
CalculateTraction();
speedIntAcc = speedPID.intAccum;
if (wp != null && wp.Body == orbit.referenceBody)
{
if (ControlHeading)
{
heading = Math.Round(HeadingToPos(vessel.CoM, wp.Position), 1);
}
if (ControlSpeed)
{
var nextWP = (WaypointIndex < Waypoints.Count - 1 ? Waypoints[WaypointIndex + 1] : (LoopWaypoints ? Waypoints[0] : null));
var distance = Vector3.Distance(vessel.CoM, wp.Position);
if (wp.Target != null)
{
distance += (float)(wp.Target.srfSpeed * curSpeed) / 2;
}
//var maxSpeed = (wp.MaxSpeed > 0 ? Math.Min((float)speed, wp.MaxSpeed) : speed); // use waypoints maxSpeed if set and smaller than set the speed or just stick with the set speed
var maxSpeed = (wp.MaxSpeed > 0 ? wp.MaxSpeed : speed); // speed used to go towards the waypoint, using the waypoints maxSpeed if set or just stick with the set speed
var minSpeed = (wp.MinSpeed > 0 ? wp.MinSpeed :
(nextWP != null ? TurningSpeed((nextWP.MaxSpeed > 0 ? nextWP.MaxSpeed : speed), heading - HeadingToPos(wp.Position, nextWP.Position)) :
(distance - wp.Radius > 50 ? turnSpeed.val : 1)));
minSpeed = (wp.Quicksave ? 1 : minSpeed);
// ^ speed used to go through the waypoint, using half the set speed or maxSpeed as minSpeed for routing waypoints (all except the last)
var brakeFactor = Math.Max((curSpeed - minSpeed) * 1, 3);
var newSpeed = Math.Min(maxSpeed, Math.Max((distance - wp.Radius) / brakeFactor, minSpeed)); // brake when getting closer
newSpeed = (newSpeed > turnSpeed ? TurningSpeed(newSpeed, headingErr) : newSpeed); // reduce speed when turning a lot
if (LimitAcceleration)
{
newSpeed = curSpeed + Mathf.Clamp((float)(newSpeed - curSpeed), -1.5f, 0.5f);
}
// newSpeed = tgtSpeed + Mathf.Clamp((float)(newSpeed - tgtSpeed), -Time.deltaTime * 8f, Time.deltaTime * 2f);
var radius = Math.Max(wp.Radius, 10);
if (distance < radius)
{
if (WaypointIndex + 1 >= Waypoints.Count) // last waypoint
{
newSpeed = new [] { newSpeed, (distance < radius * 0.8 ? 0 : 1) }.Min();
// ^ limit speed so it'll only go from 1m/s to full stop when braking to prevent accidents on moons
if (LoopWaypoints)
{
WaypointIndex = 0;
}
else
{
newSpeed = 0;
// tgtSpeed.force(newSpeed);
if (curSpeed < brakeSpeedLimit)
{
if (wp.Quicksave)
{
//if (s.mainThrottle > 0) { s.mainThrottle = 0; }
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
WaypointIndex = -1;
ControlHeading = ControlSpeed = false;
QuickSaveLoad.QuickSave();
}
}
else
{
WaypointIndex = -1;
ControlHeading = ControlSpeed = false;
}
}
// else {
// Debug.Log("Is this even getting called?");
// WaypointIndex++;
// }
}
}
else
{
if (wp.Quicksave)
{
//if (s.mainThrottle > 0) { s.mainThrottle = 0; }
newSpeed = 0;
// tgtSpeed.force(newSpeed);
if (curSpeed < brakeSpeedLimit)
{
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
WaypointIndex++;
QuickSaveLoad.QuickSave();
}
}
}
else
{
WaypointIndex++;
}
}
}
brake = brake || ((s.wheelThrottle == 0 || !vessel.isActiveVessel) && curSpeed < brakeSpeedLimit && newSpeed < brakeSpeedLimit);
// ^ brake if needed to prevent rolling, hopefully
tgtSpeed = (newSpeed >= 0 ? newSpeed : 0);
}
}
if (ControlHeading)
{
headingPID.intAccum = Mathf.Clamp((float)headingPID.intAccum, -1, 1);
double instantaneousHeading = vesselState.rotationVesselSurface.eulerAngles.y;
headingErr = MuUtils.ClampDegrees180(instantaneousHeading - heading);
if (s.wheelSteer == s.wheelSteerTrim || FlightGlobals.ActiveVessel != vessel)
{
float spd = Mathf.Min((float)speed, (float)turnSpeed); // if a slower speed than the turnspeed is used also be more careful with the steering
float limit = (Mathf.Abs((float)curSpeed) <= turnSpeed ? 1 : Mathf.Clamp((float)(spd / Mathf.Abs((float)curSpeed)), 0.35f, 1f));
double act = headingPID.Compute(headingErr);
s.wheelSteer = Mathf.Clamp((float)act, -limit, limit);
}
}
// Brake if there is no controler (Pilot eject from seat)
if (BrakeOnEject && vessel.GetReferenceTransformPart() == null)
{
s.wheelThrottle = 0;
// vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
brake = true;
}
else if (ControlSpeed)
{
speedPID.intAccum = Mathf.Clamp((float)speedPID.intAccum, -5, 5);
speedErr = (WaypointIndex == -1 ? speed.val : tgtSpeed) - Vector3d.Dot(vessel.srf_velocity, vesselState.forward);
if (s.wheelThrottle == s.wheelThrottleTrim || FlightGlobals.ActiveVessel != vessel)
{
float act = (float)speedPID.Compute(speedErr);
s.wheelThrottle = !LimitAcceleration?Mathf.Clamp((float)act, -1, 1) : // I think I'm using these ( ? : ) a bit too much
(traction == 0 ? 0 : (act < 0 ? Mathf.Clamp(act, -1f, 1f) : (lastThrottle + Mathf.Clamp(act - lastThrottle, -0.005f, 0.005f)) * (traction < tractionLimit ? -1 : 1)));
if (curSpeed < 0 & s.wheelThrottle < 0)
{
s.wheelThrottle = 0;
} // don't go backwards
// if (Mathf.Sign(act) + Mathf.Sign(s.wheelThrottle) == 0) { s.wheelThrottle = Mathf.Clamp(act, -1f, 1f); }
if (speedErr < -1 && StabilityControl && Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) == 0) // StabilityControl && traction > 50 &&
// vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
{
brake = true;
}
// else if (!stabilityControl || traction <= 50 || speedErr > -0.2 || Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) != 0) {
// vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, (GameSettings.BRAKES.GetKey() && vessel.isActiveVessel));
// }
lastThrottle = s.wheelThrottle;
}
}
if (StabilityControl)
{
if (!core.attitude.users.Contains(this))
{
core.attitude.users.Add(this);
// line.enabled = true;
}
// float scale = Vector3.Distance(FlightCamera.fetch.mainCamera.transform.position, vessel.CoM) / 900f;
// line.SetPosition(0, vessel.CoM);
// line.SetPosition(1, vessel.CoM + hit.normal * 5);
// line.SetWidth(0, scale + 0.1f);
var fSpeed = (float)curSpeed;
// if (Mathf.Abs(fSpeed) >= turnSpeed * 0.75) {
Vector3 fwd = (Vector3)(traction > 0 ? // V when the speed is low go for the vessels forward, else with a bit of velocity
// ((Mathf.Abs(fSpeed) <= turnSpeed ? vesselState.forward : vessel.srf_velocity / 4) - vessel.transform.right * s.wheelSteer) * Mathf.Sign(fSpeed) :
// // ^ and then add the steering
vesselState.forward * 4 - vessel.transform.right * s.wheelSteer * Mathf.Sign(fSpeed) : // and then add the steering
vessel.srf_velocity); // in the air so follow velocity
Vector3.OrthoNormalize(ref norm, ref fwd);
var quat = Quaternion.LookRotation(fwd, norm);
// if (traction > 0 || speed <= turnSpeed) {
// var u = new Vector3(0, 1, 0);
//
// var q = FlightGlobals.ship_rotation;
// var q_s = quat;
//
// var q_u = new Quaternion(u.x, u.y, u.z, 0);
// var a = Quaternion.Dot(q, q_s * q_u);
// var q_qs = Quaternion.Dot(q, q_s);
// var b = (a == 0) ? Math.Sign(q_qs) : (q_qs / a);
// var g = b / Mathf.Sqrt((b * b) + 1);
// var gu = Mathf.Sqrt(1 - (g * g)) * u;
// var q_d = new Quaternion() { w = g, x = gu.x, y = gu.y, z = gu.z };
// var n = q_s * q_d;
//
// quat = n;
// }
core.attitude.attitudeTo(quat, AttitudeReference.INERTIAL, this);
// }
}
if (BrakeOnEnergyDepletion)
{
var batteries = vessel.Parts.FindAll(p => p.Resources.Contains("ElectricCharge") && p.Resources["ElectricCharge"].flowState);
var energyLeft = batteries.Sum(p => p.Resources["ElectricCharge"].amount) / batteries.Sum(p => p.Resources["ElectricCharge"].maxAmount);
var openSolars = vessel.mainBody.atmosphere && // true if in atmosphere and there are breakable solarpanels that aren't broken nor retracted
vessel.FindPartModulesImplementing <ModuleDeployableSolarPanel>().FindAll(p => p.isBreakable && p.panelState != ModuleDeployableSolarPanel.panelStates.BROKEN &&
p.panelState != ModuleDeployableSolarPanel.panelStates.RETRACTED).Count > 0;
if (openSolars && energyLeft > 0.99)
{
vessel.FindPartModulesImplementing <ModuleDeployableSolarPanel>().FindAll(p => p.isBreakable &&
p.panelState == ModuleDeployableSolarPanel.panelStates.EXTENDED).ForEach(p => p.Retract());
}
if (energyLeft < 0.05 && Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) != 0)
{
s.wheelThrottle = 0;
} // save remaining energy by not using it for acceleration
if (openSolars || energyLeft < 0.03)
{
tgtSpeed = 0;
}
if (curSpeed < brakeSpeedLimit && (energyLeft < 0.05 || openSolars))
{
brake = true;
}
if (curSpeed < 0.1 && energyLeft < 0.05 && !waitingForDaylight &&
vessel.FindPartModulesImplementing <ModuleDeployableSolarPanel>().FindAll(p => p.panelState == ModuleDeployableSolarPanel.panelStates.EXTENDED).Count > 0)
{
waitingForDaylight = true;
}
}
// brake = brake && (s.wheelThrottle == 0); // release brake if the user or AP want to drive
if (s.wheelThrottle != 0 && Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) != 0)
{
brake = false; // the AP or user want to drive into the direction of momentum so release the brake
}
if (vessel.isActiveVessel)
{
if (GameSettings.BRAKES.GetKeyUp())
{
brake = false; // release the brakes if the user lets go of them
}
if (GameSettings.BRAKES.GetKey())
{
brake = true; // brake if the user brakes and we aren't about to flip
}
}
tractionLimit = (double)Mathf.Clamp((float)tractionLimit, 0, 100);
vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, brake && (StabilityControl && curSpeed > brakeSpeedLimit ? traction >= tractionLimit : true));
// ^ brake but hopefully prevent flipping over, assuming the user set up the limit right
if (brake && curSpeed < 0.1)
{
s.wheelThrottle = 0;
}
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
bool showingGuidance = (core.target.Target != null && core.target.Name == TARGET_NAME);
if (showingGuidance)
{
GUILayout.Label("The purple circle on the navball points along the ascent path.");
if (GUILayout.Button("Stop showing navball guidance")) core.target.Unset();
}
else if (GUILayout.Button("Show navball ascent path guidance"))
{
core.target.SetDirectionTarget(TARGET_NAME);
}
if (autopilot != null)
{
if (autopilot.enabled)
{
if (GUILayout.Button("Disengage autopilot")) autopilot.users.Remove(this);
}
else
{
if (GUILayout.Button("Engage autopilot"))
{
autopilot.users.Add(this);
}
}
ascentPath = autopilot.ascentPath;
GuiUtils.SimpleTextBox("Orbit altitude", autopilot.desiredOrbitAltitude, "km");
autopilot.desiredInclination = desiredInclination;
}
GuiUtils.SimpleTextBox("Orbit inclination", desiredInclination, "º");
core.thrust.LimitToPreventOverheatsInfoItem();
core.thrust.LimitToTerminalVelocityInfoItem();
core.thrust.LimitAccelerationInfoItem();
core.thrust.LimitThrottleInfoItem();
autopilot.correctiveSteering = GUILayout.Toggle(autopilot.correctiveSteering, "Corrective steering");
autopilot.autostage = GUILayout.Toggle(autopilot.autostage, "Autostage");
if (autopilot.autostage) core.staging.AutostageSettingsInfoItem();
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, "Auto-warp");
if (autopilot != null && vessel.LandedOrSplashed)
{
if (core.target.NormalTargetExists)
{
if (core.node.autowarp)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Launch countdown:", GUILayout.ExpandWidth(true));
autopilot.warpCountDown.text = GUILayout.TextField(autopilot.warpCountDown.text, GUILayout.Width(60));
GUILayout.Label("s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
if (!launchingToPlane && !launchingToRendezvous && !launchingToInterplanetary)
{
GUILayout.BeginHorizontal();
if (GUILayout.Button("Launch to rendezvous:", GUILayout.ExpandWidth(false)))
{
launchingToRendezvous = true;
lastTMinus = 999;
}
autopilot.launchPhaseAngle.text = GUILayout.TextField(autopilot.launchPhaseAngle.text, GUILayout.Width(60));
GUILayout.Label("º", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
if (GUILayout.Button("Launch into plane of target"))
{
launchingToPlane = true;
lastTMinus = 999;
}
if (core.target.TargetOrbit.referenceBody == orbit.referenceBody.referenceBody)
{
if (GUILayout.Button("Launch at interplanetary window"))
{
launchingToInterplanetary = true;
lastTMinus = 999;
//compute the desired launch date
OrbitalManeuverCalculator.DeltaVAndTimeForHohmannTransfer(mainBody.orbit, core.target.TargetOrbit, vesselState.time, out interplanetaryWindowUT);
double desiredOrbitPeriod = 2 * Math.PI * Math.Sqrt(Math.Pow(mainBody.Radius + autopilot.desiredOrbitAltitude, 3) / mainBody.gravParameter);
//launch just before the window, but don't try to launch in the past
interplanetaryWindowUT -= 3 * desiredOrbitPeriod;
interplanetaryWindowUT = Math.Max(vesselState.time + autopilot.warpCountDown, interplanetaryWindowUT);
}
}
}
}
else
{
launchingToInterplanetary = launchingToPlane = launchingToRendezvous = false;
GUILayout.Label("Select a target for a timed launch.");
}
if (launchingToInterplanetary || launchingToPlane || launchingToRendezvous)
{
double tMinus = 0;
string message = "";
if (launchingToInterplanetary)
{
tMinus = interplanetaryWindowUT - vesselState.time;
message = "Launching at interplanetary window";
}
else if (launchingToPlane)
{
tMinus = LaunchTiming.TimeToPlane(mainBody, vesselState.latitude, vesselState.longitude, core.target.TargetOrbit);
desiredInclination = core.target.TargetOrbit.inclination;
desiredInclination *= Math.Sign(Vector3d.Dot(core.target.TargetOrbit.SwappedOrbitNormal(), Vector3d.Cross(vesselState.CoM - mainBody.position, mainBody.transform.up)));
message = "Launching to target plane";
}
else if (launchingToRendezvous)
{
tMinus = LaunchTiming.TimeToPhaseAngle(autopilot.launchPhaseAngle, mainBody, vesselState.longitude, core.target.TargetOrbit);
message = "Launching to rendezvous";
}
double launchTime = vesselState.time + tMinus;
if (tMinus < 3 * vesselState.deltaT || (tMinus > 10.0 && lastTMinus < 1.0))
{
if (autopilot.enabled) Staging.ActivateNextStage();
launchingToInterplanetary = launchingToPlane = launchingToRendezvous = false;
}
else
{
message += ": T-" + MuUtils.ToSI(tMinus, 0) + "s";
if (autopilot.enabled && core.node.autowarp) core.warp.WarpToUT(launchTime - autopilot.warpCountDown);
}
GUILayout.Label(message);
lastTMinus = tMinus;
if (GUILayout.Button("Abort")) launchingToInterplanetary = launchingToPlane = launchingToRendezvous = false;
}
}
if (autopilot != null && autopilot.enabled)
{
GUILayout.Label("Autopilot status: " + autopilot.status);
}
MechJebModuleAscentPathEditor editor = core.GetComputerModule<MechJebModuleAscentPathEditor>();
if (editor != null) editor.enabled = GUILayout.Toggle(editor.enabled, "Edit ascent path");
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
