public static StockAutopilotCommand WithNewMode(AutopilotMode newMode)
{
return(new StockAutopilotCommand()
{
AutopilotMode = newMode,
TimeStamp = RTUtil.GameTime,
});
}
public void TravelToPosition(Vector3D position, bool enableAvoidance, double maximumVelocity = 100, double safetyMargin = 1.25)
{
_targetLocation = position;
_enableAvoidance = enableAvoidance;
_maxVelocity = maximumVelocity;
_safetyMarginMult = safetyMargin;
currentMode |= AutopilotMode.TravelToPosition;
}
public override bool Pop(FlightComputer f)
{
if (f.Vessel.Autopilot.CanSetMode(AutopilotMode))
{
f.Vessel.Autopilot.SetMode(AutopilotMode);
savedAutopilotMode = AutopilotMode; // be sure to update the saved mode after setting autpilot mode
return(false);
}
return(true);
}
/// <summary>
/// Action to be called by a RT listener on KSP's autopilot buttons
/// </summary>
public static void AutopilotButtonClick(int index, FlightComputer flightCom)
{
var satellite = flightCom.Vessel;
if (!satellite.HasLocalControl() && flightCom.InputAllowed)
{
//Note: the VesselAutopilotUI's OnClickButton is delayed by FlightComputer so no further action needed
//Note: KSP bug #13199 (http://bugs.kerbalspaceprogram.com/issues/13199) on wrong-placed Radial In & Out buttons
var currentMode = flightCom.Vessel.Autopilot.Mode;
var nextMode = (AutopilotMode)index;
if (currentMode != nextMode)
{
savedAutopilotMode = currentMode; // autopilot's stock actionlistener will set to new mode so we need to roll back to prev mode via IsAutoPilotEngaged()
var newCommand = WithNewMode(nextMode);
flightCom.Enqueue(newCommand);
//Note: Timer of returning to prev mode doesn't really work too well in Unity and KSP architecture
}
}
}
public void Main()
{
if ((currentMode & AutopilotMode.ThrustToVelocity) != 0)
{
autopilotModule.ThrustToVelocity(_targetVelocity);
}
else if ((currentMode & AutopilotMode.TravelToPosition) != 0)
{
if (Vector3D.DistanceSquared(autopilotModule.controller.GetPosition(), _targetLocation) < 0.1 && autopilotModule.controller.GetShipSpeed() < 0.01)
{
currentMode &= ~AutopilotMode.TravelToPosition;
}
autopilotModule.TravelToPosition(_targetLocation, _maxVelocity, _safetyMarginMult, (currentMode & AutopilotMode.AimInDirection) != 0);
}
if ((currentMode & AutopilotMode.AimInDirection) != 0)
{
autopilotModule.AimInDirection(_targetDirection, _targetDirUp);
}
}
/// <summary>
/// Check if KSP's autopilot is performing one SAS function in presence of long delay
/// </summary>
public static bool IsAutoPilotEngaged(FlightComputer flightCom)
{
if (!flightCom.Vessel.Autopilot.Enabled) // autopilot is off
{
if (savedAutopilotMode != AutopilotMode.StabilityAssist)
{
savedAutopilotMode = AutopilotMode.StabilityAssist; // matched to KSP's default to SAS mode when turned on
}
return(false);
}
if (flightCom.Vessel.Autopilot.Mode != savedAutopilotMode && flightCom.Vessel.Autopilot.CanSetMode(savedAutopilotMode))
{
flightCom.Vessel.Autopilot.SetMode(savedAutopilotMode); // purpose: return to the pre-click mode
}
if (GameSettings.PITCH_DOWN.GetKey() || GameSettings.PITCH_UP.GetKey() ||
GameSettings.ROLL_LEFT.GetKey() || GameSettings.ROLL_RIGHT.GetKey() ||
GameSettings.YAW_LEFT.GetKey() || GameSettings.YAW_RIGHT.GetKey()) // player trying to manually rotate
{
return(false);
}
if (GameSettings.TRANSLATE_FWD.GetKey() || GameSettings.TRANSLATE_BACK.GetKey() ||
GameSettings.TRANSLATE_LEFT.GetKey() || GameSettings.TRANSLATE_RIGHT.GetKey() ||
GameSettings.TRANSLATE_UP.GetKey() || GameSettings.TRANSLATE_DOWN.GetKey()) // player trying to manually translate
{
return(false);
}
if (!GameSettings.AXIS_PITCH.IsNeutral() ||
!GameSettings.AXIS_ROLL.IsNeutral() ||
!GameSettings.AXIS_YAW.IsNeutral()) // player trying to joystick
{
return(false);
}
return(true);
}
public void ThrustToVelocity(Vector3D velocity)
{
_targetVelocity = velocity;
currentMode |= AutopilotMode.ThrustToVelocity;
}
public void Reset()
{
currentMode = AutopilotMode.Idle;
}
