/*
* States:
* 0 -- Master Init
*
*
* 160 Main Travel to target
*
*
*
*** below here are thruster-only routines (for now)
***
***170 Collision Detected From 160
***Calculate collision avoidance
***then ->172
***
***171 dummy state for debugging.
***172 do travel movemenet for collision avoidance.
***if arrive target, ->160
***if secondary collision ->173
***
***173 secondary collision
***if a type we can move around, try to move ->174
***else go back to collision detection ->170
***
***174 initilize escape plan
***->175
***
***175 scan for an 'escape' route (pathfind)
***timeout of (default) 5 seconds ->MODE_ATTENTION
***after scans, ->180
***
***180 travel to avoidance waypoint
***on arrival ->160 (main travel)
***on collision ->173
***
***200 Arrived at target
***->MODE_ARRIVEDTARGET
***
*/
void doModeGoTarget()
{
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":Going Target!", textPanelReport);
StatusLog(moduleName + ":GT: current_state=" + current_state.ToString(), textPanelReport);
// bWantFast = true;
Echo("Going Target: state=" + current_state.ToString());
if (current_state == 0)
{
ResetTravelMovement();
if ((craft_operation & CRAFT_MODE_SLED) > 0)
{
bSled = true;
if (shipSpeedMax > 45)
{
shipSpeedMax = 45;
}
}
else
{
bSled = false;
}
if ((craft_operation & CRAFT_MODE_ROTOR) > 0)
{
bRotor = true;
if (shipSpeedMax > 15)
{
shipSpeedMax = 15;
}
}
else
{
bRotor = false;
}
GyroControl.SetRefBlock(shipOrientationBlock);
double elevation = 0;
((IMyShipController)shipOrientationBlock).TryGetPlanetElevation(MyPlanetElevation.Surface, out elevation);
if (bValidNavTarget)
{
if (elevation > shipDim.HeightInMeters())
{
current_state = 150;
}
else
{
current_state = 160;
}
}
else
{
setMode(MODE_ATTENTION);
}
bWantFast = true;
}
else if (current_state == 150)
{
//if (!bSled && !bRotor && dGravity > 0)
if (dGravity > 0)
{
float fSaveAngle = minAngleRad;
minAngleRad = 0.1f;
bool bAligned = GyroMain("");
Echo("bAligned=" + bAligned.ToString());
minAngleRad = fSaveAngle;
if (bAligned)
{
current_state = 160;
}
bWantFast = true;
}
else
{
current_state = 160;
}
}
else if (current_state == 160)
{ // 160 move to Target
Echo("Moving to Target");
Vector3D vTargetLocation = vNavTarget;
Vector3D vVec = vTargetLocation - shipOrientationBlock.GetPosition();
double distance = vVec.Length();
Echo("distance=" + niceDoubleMeters(distance));
Echo("velocity=" + velocityShip.ToString("0.00"));
StatusLog("clear", sledReport);
StatusLog("Moving to Target\nD:" + niceDoubleMeters(distance) + " V:" + velocityShip.ToString(velocityFormat), sledReport);
// Echo("TL:" + vTargetLocation.X.ToString("0.00") + ":" + vTargetLocation.Y.ToString("0.00") + ":" + vTargetLocation.Z.ToString("0.00"));
// if(distance<17)
// float range = RangeToNearestBase() + 100f + (float)velocityShip * 5f;
// range = Math.Max(range, distance);
// antennaMaxPower(false,range);
if (bGoOption && (distance < arrivalDistanceMin))
{
Echo("we have arrived");
if (NAVEmulateOld)
{
var tList = GetBlocksContains <IMyTerminalBlock>("NAV:");
for (int i1 = 0; i1 < tList.Count(); i1++)
{
// don't want to get blocks that have "NAV:" in customdata..
if (tList[i1].CustomName.StartsWith("NAV:"))
{
Echo("Found NAV: command:");
tList[i1].CustomName = "NAV: C Arrived Target";
}
}
}
// bValidTargetLocation = false;
// gyrosOff();
ResetMotion();
bValidNavTarget = false; // we used this one up.
setMode(MODE_ARRIVEDTARGET);
return;
}
// bool bYawOnly = false;
// if (bSled || bRotor) bYawOnly = true;
// debugGPSOutput("TargetLocation", vTargetLocation);
bool bDoTravel = true;
double elevation = 0;
((IMyShipController)shipOrientationBlock).TryGetPlanetElevation(MyPlanetElevation.Surface, out elevation);
Echo("Elevation=" + elevation.ToString("0.0"));
Echo("MinEle=" + NAVGravityMinElevation.ToString("0.0"));
if (!bSled && !bRotor && NAVGravityMinElevation > 0 && elevation < NAVGravityMinElevation)
{
powerUpThrusters(thrustUpList, 100);
// bDoTravel = false;
}
/*
* if(!bSled && !bRotor && dGravity>0)
* {
* float fSaveAngle = minAngleRad;
* minAngleRad = 0.1f;
* bDoTravel = GyroMain("");
* Echo("Travel=" + bDoTravel.ToString());
* minAngleRad = fSaveAngle;
* if (!bDoTravel)
* bWantFast = true;
* }
*/
if (bDoTravel)
{
Echo("Do Travel");
doTravelMovement(vTargetLocation, 3.0f, 200, 170);
}
}
else if (current_state == 170)
{ // collision detection
// IMyTextPanel tx = gpsPanel;
// gpsPanel = textLongStatus;
// StatusLog("clear", gpsPanel);
bWantFast = true;
Vector3D vTargetLocation = vNavTarget;
ResetTravelMovement();
calcCollisionAvoid(vTargetLocation);
// gpsPanel = tx;
// current_state = 171; // testing
current_state = 172;
}
else if (current_state == 171)
{
// just hold this state
bWantFast = false;
}
else if (current_state == 172)
{
// Vector3D vVec = vAvoid - shipOrientationBlock.GetPosition();
// double distanceSQ = vVec.LengthSquared();
Echo("Collision Avoid");
StatusLog("clear", sledReport);
StatusLog("Collision Avoid", sledReport);
doTravelMovement(vAvoid, 5.0f, 160, 173);
}
else if (current_state == 173)
{ // secondary collision
if (lastDetectedInfo.Type == MyDetectedEntityType.Asteroid ||
lastDetectedInfo.Type == MyDetectedEntityType.LargeGrid ||
lastDetectedInfo.Type == MyDetectedEntityType.SmallGrid
)
{
current_state = 174;
}
else
{
current_state = 170; // setMode(MODE_ATTENTION);
}
bWantFast = true;
}
else if (current_state == 174)
{
initEscapeScan();
ResetTravelMovement();
dtNavStartShip = DateTime.Now;
current_state = 175;
bWantFast = true;
}
else if (current_state == 175)
{
DateTime dtMaxWait = dtNavStartShip.AddSeconds(5.0f);
DateTime dtNow = DateTime.Now;
if (DateTime.Compare(dtNow, dtMaxWait) > 0)
{
setMode(MODE_ATTENTION);
doTriggerMain();
return;
}
if (scanEscape())
{
Echo("ESCAPE!");
current_state = 180;
}
bWantMedium = true;
// bWantFast = true;
}
else if (current_state == 180)
{
doTravelMovement(vAvoid, 1f, 160, 173);
}
else if (current_state == 200)
{ // we have arrived at target
StatusLog("clear", sledReport);
StatusLog("Arrived at Target", sledReport);
ResetMotion();
bValidNavTarget = false; // we used this one up.
// float range = RangeToNearestBase() + 100f + (float)velocityShip * 5f;
antennaMaxPower(false);
sleepAllSensors();
setMode(MODE_ARRIVEDTARGET);
if (NAVEmulateOld)
{
var tList = GetBlocksContains <IMyTerminalBlock>("NAV:");
for (int i1 = 0; i1 < tList.Count(); i1++)
{
// don't want to get blocks that have "NAV:" in customdata..
if (tList[i1].CustomName.StartsWith("NAV:"))
{
Echo("Found NAV: command:");
tList[i1].CustomName = "NAV: C Arrived Target";
}
}
}
bWantFast = true;
doTriggerMain();
}
}
void doModeGoTarget()
{
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":Going Target!", textPanelReport);
// StatusLog(moduleName + ":GT: current_state=" + current_state.ToString(), textPanelReport);
// bWantFast = true;
Echo("Going Target: state=" + current_state.ToString());
if (NAVTargetName != "")
{
Echo(NAVTargetName);
}
string sNavDebug = "";
sNavDebug += "GT:S=" + current_state;
// sNavDebug += " MinE=" + NAVGravityMinElevation;
// ResetMotion();
if (current_state == 0)
{
ResetTravelMovement();
// sStartupError+="\nStart movemenet: ArrivalMode="+NAVArrivalMode+" State="+NAVArrivalState;
if ((craft_operation & CRAFT_MODE_SLED) > 0)
{
bSled = true;
if (shipSpeedMax > 45)
{
shipSpeedMax = 45;
}
}
else
{
bSled = false;
}
if ((craft_operation & CRAFT_MODE_ROTOR) > 0)
{
bRotor = true;
if (shipSpeedMax > 15)
{
shipSpeedMax = 15;
}
}
else
{
bRotor = false;
}
if ((craft_operation & CRAFT_MODE_WHEEL) > 0)
{
bWheels = true;
// if (shipSpeedMax > 15) shipSpeedMax = 15;
}
else
{
bWheels = false;
}
GyroControl.SetRefBlock(shipOrientationBlock);
// TODO: Put a timer on this so it's not done Update1
double elevation = 0;
((IMyShipController)shipOrientationBlock).TryGetPlanetElevation(MyPlanetElevation.Surface, out elevation);
if (!bSled && !bRotor)
{ // if flying ship
// make sure set to default
if (NAVGravityMinElevation < 0)
{
NAVGravityMinElevation = 75; // for EFM getting to target 'arrived' radius
}
// NAVGravityMinElevation = (float)shipSpeedMax*2.5f;
}
if (bValidNavTarget)
{
if (elevation > shipDim.HeightInMeters())
{
current_state = 150;
}
else
{
current_state = 160;
}
}
else
{
setMode(MODE_ATTENTION);
}
bWantFast = true;
}
else if (current_state == 150)
{
bWantFast = true;
if (dGravity > 0)
{
double elevation = 0;
((IMyShipController)shipOrientationBlock).TryGetPlanetElevation(MyPlanetElevation.Surface, out elevation);
sNavDebug += " E=" + elevation.ToString("0.0");
float fSaveAngle = minAngleRad;
minAngleRad = 0.1f;
Vector3D grav = (shipOrientationBlock as IMyShipController).GetNaturalGravity();
bool bAligned = GyroMain("", grav, shipOrientationBlock);
sNavDebug += " Aligned=" + bAligned.ToString();
Echo("bAligned=" + bAligned.ToString());
minAngleRad = fSaveAngle;
if (bAligned || elevation < shipDim.HeightInMeters() * 2)
{
gyrosOff();
if (NAVGravityMinElevation > 0)
{
current_state = 155;
}
else
{
current_state = 160;
}
}
}
else
{
current_state = 160;
}
}
else if (current_state == 151)
{
bWantFast = true;
if (dGravity > 0 || btmWheels)
{
double elevation = 0;
((IMyShipController)shipOrientationBlock).TryGetPlanetElevation(MyPlanetElevation.Surface, out elevation);
sNavDebug += " E=" + elevation.ToString("0.0");
float fSaveAngle = minAngleRad;
minAngleRad = 0.1f;
Vector3D grav = (shipOrientationBlock as IMyShipController).GetNaturalGravity();
bool bAligned = GyroMain("", grav, shipOrientationBlock);
sNavDebug += " Aligned=" + bAligned.ToString();
Echo("bAligned=" + bAligned.ToString());
minAngleRad = fSaveAngle;
if (bAligned || elevation < shipDim.HeightInMeters() * 2)
{
gyrosOff();
if (NAVGravityMinElevation > 0)
{
current_state = 155;
}
else
{
current_state = 160;
}
}
else
{
current_state = 150; // try again to be aligned.
}
}
else
{
current_state = 160;
}
}
else if (current_state == 155)
{ // for use in gravity: aim at location using yaw only
bWantFast = true;
if (bWheels)
{
current_state = 160;
return;
}
if (dGravity > 0)
{
Vector3D grav = (shipOrientationBlock as IMyShipController).GetNaturalGravity();
bool bAligned = GyroMain("", grav, shipOrientationBlock);
sNavDebug += " Aligned=" + bAligned.ToString();
double yawangle = -999;
yawangle = CalculateYaw(vNavTarget, shipOrientationBlock);
bool bAimed = Math.Abs(yawangle) < 0.1; // NOTE: 2x allowance
Echo("yawangle=" + yawangle.ToString());
sNavDebug += " Yaw=" + yawangle.ToString("0.00");
if (!bAimed)
{
if (btmRotor)
{
Echo("Rotor");
DoRotorRotate(yawangle);
}
else // use for both sled and flight
{
DoRotate(yawangle, "Yaw");
}
}
if (bAligned && bAimed)
{
gyrosOff();
current_state = 160;
}
else if (bAligned && Math.Abs(yawangle) < 0.5)
{
float atmo;
float hydro;
float ion;
calculateHoverThrust(thrustForwardList, out atmo, out hydro, out ion);
atmo += 1;
hydro += 1;
ion += 1;
powerUpThrusters(thrustForwardList, atmo, thrustatmo);
powerUpThrusters(thrustForwardList, hydro, thrusthydro);
powerUpThrusters(thrustForwardList, ion, thrustion);
}
else
{
powerDownThrusters(thrustForwardList);
}
}
else
{
current_state = 160;
}
}
else if (current_state == 156)
{
// realign gravity
bWantFast = true;
Vector3D grav = (shipOrientationBlock as IMyShipController).GetNaturalGravity();
bool bAimed = GyroMain("", grav, shipOrientationBlock);
if (bAimed)
{
gyrosOff();
current_state = 160;
}
}
else if (current_state == 160)
{ // 160 move to Target
Echo("Moving to Target");
Vector3D vTargetLocation = vNavTarget;
Vector3D vVec = vTargetLocation - shipOrientationBlock.GetPosition();
double distance = vVec.Length();
Echo("distance=" + niceDoubleMeters(distance));
Echo("velocity=" + velocityShip.ToString("0.00"));
StatusLog("clear", sledReport);
string sTarget = "Moving to Target";
if (NAVTargetName != "")
{
sTarget = "Moving to " + NAVTargetName;
}
StatusLog(sTarget + "\nD:" + niceDoubleMeters(distance) + " V:" + velocityShip.ToString(velocityFormat), sledReport);
StatusLog(sTarget + "\nDistance: " + niceDoubleMeters(distance) + "\nVelocity: " + niceDoubleMeters(velocityShip) + "/s", textPanelReport);
if (bGoOption && (distance < arrivalDistanceMin))
{
current_state = 500;
Echo("we have arrived");
bWantFast = true;
return;
}
// debugGPSOutput("TargetLocation", vTargetLocation);
bool bDoTravel = true;
if (NAVGravityMinElevation > 0 && dGravity > 0)
{
double elevation = 0;
MyShipVelocities mysSV = ((IMyShipController)shipOrientationBlock).GetShipVelocities();
Vector3D lv = mysSV.LinearVelocity;
var upVec = ((IMyShipController)shipOrientationBlock).WorldMatrix.Up;
var vertVel = Vector3D.Dot(lv, upVec);
// Echo("LV=" + Vector3DToString(lv));
// sNavDebug += " LV=" + Vector3DToString(lv);
// sNavDebug += " vertVel=" + vertVel.ToString("0.0");
// sNavDebug += " Hvel=" + lv.Y.ToString("0.0");
// NOTE: Elevation is only updated by game every 30? ticks. so it can be WAY out of date based on movement
((IMyShipController)shipOrientationBlock).TryGetPlanetElevation(MyPlanetElevation.Surface, out elevation);
sNavDebug += " E=" + elevation.ToString("0.0");
sNavDebug += " V=" + velocityShip.ToString("0.00");
Echo("Elevation=" + elevation.ToString("0.0"));
Echo("MinEle=" + NAVGravityMinElevation.ToString("0.0"));
// double stopD = calculateStoppingDistance(thrustUpList, velocityShip, dGravity);
double stopD = 0;
if (vertVel < 0)
{
stopD = calculateStoppingDistance(thrustUpList, Math.Abs(vertVel), dGravity);
}
double maxStopD = calculateStoppingDistance(thrustUpList, fMaxWorldMps, dGravity);
float atmo;
float hydro;
float ion;
calculateHoverThrust(thrustUpList, out atmo, out hydro, out ion);
// sNavDebug += " SD=" + stopD.ToString("0");
if (
// !bSled && !bRotor &&
NAVGravityMinElevation > 0)
{
if (
vertVel < -0.5 && // we are going downwards
(elevation - stopD * 2) < NAVGravityMinElevation)
{ // too low. go higher
// Emergency thrust
sNavDebug += " EM UP!";
Vector3D grav = (shipOrientationBlock as IMyShipController).GetNaturalGravity();
bool bAligned = GyroMain("", grav, shipOrientationBlock);
powerUpThrusters(thrustUpList, 100);
bDoTravel = false;
bWantFast = true;
}
else if (elevation < NAVGravityMinElevation)
{
// push upwards
atmo += Math.Min(5f, (float)shipSpeedMax);
hydro += Math.Min(5f, (float)shipSpeedMax);
ion += Math.Min(5f, (float)shipSpeedMax);
sNavDebug += " UP! A" + atmo.ToString("0.00"); // + " H"+hydro.ToString("0.00") + " I"+ion.ToString("0.00");
//powerUpThrusters(thrustUpList, 100);
powerUpThrusters(thrustUpList, atmo, thrustatmo);
powerUpThrusters(thrustUpList, hydro, thrusthydro);
powerUpThrusters(thrustUpList, ion, thrustion);
}
else if (elevation > (maxStopD + NAVGravityMinElevation * 1.25))
{
// if we are higher than maximum possible stopping distance, go down fast.
sNavDebug += " SUPERHIGH";
// Vector3D grav = (shipOrientationBlock as IMyShipController).GetNaturalGravity();
// bool bAligned = GyroMain("", grav, shipOrientationBlock);
powerDownThrusters(thrustUpList, thrustAll, true);
Vector3D grav = (shipOrientationBlock as IMyShipController).GetNaturalGravity();
bool bAligned = GyroMain("", grav, shipOrientationBlock);
if (!bAligned)
{
bWantFast = true;
bDoTravel = false;
}
// powerUpThrusters(thrustUpList, 1f);
}
else if (
elevation > NAVGravityMinElevation * 2 // too high
// && ((elevation-stopD)>NAVGravityMinElevation) // we can stop in time.
// && velocityShip < shipSpeedMax * 1.1 // to fast in any direction
// && Math.Abs(lv.X) < Math.Min(25, shipSpeedMax) // not too fast
// && Math.Abs(lv.Y) < Math.Min(25, shipSpeedMax) // not too fast downwards (or upwards)
)
{ // too high
sNavDebug += " HIGH";
//DOWN! A" + atmo.ToString("0.00");// + " H" + hydro.ToString("0.00") + " I" + ion.ToString("0.00");
if (vertVel > 2) // going up
{ // turn off thrusters.
sNavDebug += " ^";
powerDownThrusters(thrustUpList, thrustAll, true);
}
else if (vertVel < -0.5) // going down
{
sNavDebug += " v";
if (vertVel > (-Math.Min(15, shipSpeedMax)))
{
// currently descending at less than desired
atmo -= Math.Max(25f, Math.Min(5f, (float)velocityShip / 2));
hydro -= Math.Max(25f, Math.Min(5f, (float)velocityShip / 2));
ion -= Math.Max(25f, Math.Min(5f, (float)velocityShip / 2));
sNavDebug += " DOWN! A" + atmo.ToString("0.00");// + " H" + hydro.ToString("0.00") + " I" + ion.ToString("0.00");
// bDoTravel = false;
}
else
{
// we are descending too fast.
atmo += Math.Max(100f, Math.Min(5f, (float)velocityShip / 2));
hydro += Math.Max(100f, Math.Min(5f, (float)velocityShip / 2));
ion += Math.Max(100f, Math.Min(5f, (float)velocityShip / 2));
sNavDebug += " 2FAST! A" + atmo.ToString("0.00");// + " H" + hydro.ToString("0.00") + " I" + ion.ToString("0.00");
Vector3D grav = (shipOrientationBlock as IMyShipController).GetNaturalGravity();
bool bAligned = GyroMain("", grav, shipOrientationBlock);
if (!bAligned)
{
bWantFast = true;
bDoTravel = false;
}
// bDoTravel = false;
}
}
else
{
sNavDebug += " -";
atmo -= 5;
hydro -= 5;
ion -= 5;
}
powerUpThrusters(thrustUpList, atmo, thrustatmo);
powerUpThrusters(thrustUpList, hydro, thrusthydro);
powerUpThrusters(thrustUpList, ion, thrustion);
}
else
{
// normal hover
powerDownThrusters(thrustUpList);
}
}
}
if (bDoTravel)
{
Echo("Do Travel");
doTravelMovement(vTargetLocation, (float)arrivalDistanceMin, 500, 300);
}
else
{
powerDownThrusters(thrustForwardList);
}
}
else if (current_state == 300)
{ // collision detection
bWantFast = true;
Vector3D vTargetLocation = vNavTarget;
ResetTravelMovement();
calcCollisionAvoid(vTargetLocation);
// current_state = 301; // testing
current_state = 320;
}
else if (current_state == 301)
{
// just hold this state
bWantFast = false;
}
else if (current_state == 320)
{
// Vector3D vVec = vAvoid - shipOrientationBlock.GetPosition();
// double distanceSQ = vVec.LengthSquared();
Echo("Primary Collision Avoid");
StatusLog("clear", sledReport);
StatusLog("Collision Avoid", sledReport);
StatusLog("Collision Avoid", textPanelReport);
doTravelMovement(vAvoid, 5.0f, 160, 340);
}
else if (current_state == 340)
{ // secondary collision
if (
lastDetectedInfo.Type == MyDetectedEntityType.LargeGrid ||
lastDetectedInfo.Type == MyDetectedEntityType.SmallGrid
)
{
current_state = 345;
}
else if (lastDetectedInfo.Type == MyDetectedEntityType.Asteroid
)
{
current_state = 350;
}
else
{
current_state = 300; // setMode(MODE_ATTENTION);
}
bWantFast = true;
}
else if (current_state == 345)
{
// we hit a grid. align to it
Vector3D[] corners = new Vector3D[BoundingBoxD.CornerCount];
BoundingBoxD bbd = lastDetectedInfo.BoundingBox;
bbd.GetCorners(corners);
GridUpVector = PlanarNormal(corners[3], corners[4], corners[7]);
GridRightVector = PlanarNormal(corners[0], corners[1], corners[4]);
bWantFast = true;
current_state = 348;
}
else if (current_state == 348)
{
bWantFast = true;
if (GyroMain("up", GridUpVector, shipOrientationBlock))
{
current_state = 349;
}
}
else if (current_state == 349)
{
bWantFast = true;
if (GyroMain("right", GridRightVector, shipOrientationBlock))
{
current_state = 350;
}
}
else if (current_state == 350)
{
// initEscapeScan(bCollisionWasSensor, !bCollisionWasSensor);
initEscapeScan(bCollisionWasSensor);
ResetTravelMovement();
dtNavStartShip = DateTime.Now;
current_state = 360;
bWantFast = true;
}
else if (current_state == 360)
{
StatusLog("Collision Avoid\nScan for escape route", textPanelReport);
DateTime dtMaxWait = dtNavStartShip.AddSeconds(5.0f);
DateTime dtNow = DateTime.Now;
if (DateTime.Compare(dtNow, dtMaxWait) > 0)
{
setMode(MODE_ATTENTION);
doTriggerMain();
return;
}
if (scanEscape())
{
Echo("ESCAPE!");
current_state = 380;
}
bWantMedium = true;
// bWantFast = true;
}
else if (current_state == 380)
{
StatusLog("Collision Avoid Travel", textPanelReport);
Echo("Escape Collision Avoid");
doTravelMovement(vAvoid, 1f, 160, 340);
}
else if (current_state == 500)
{ // we have arrived at target
/*
* // check for more nav commands
* if(wicoNavCommands.Count>0)
* {
* wicoNavCommands.RemoveAt(0);
* }
* if(wicoNavCommands.Count>0)
* {
* // another command
* wicoNavCommandProcessNext();
* }
* else
*/
{
StatusLog("clear", sledReport);
StatusLog("Arrived at Target", sledReport);
StatusLog("Arrived at Target", textPanelReport);
sNavDebug += " ARRIVED!";
ResetMotion();
bValidNavTarget = false; // we used this one up.
// float range = RangeToNearestBase() + 100f + (float)velocityShip * 5f;
antennaMaxPower(false);
SensorsSleepAll();
// sStartupError += "Finish WP:" + wicoNavCommands.Count.ToString()+":"+NAVArrivalMode.ToString();
// set to desired mode and state
setMode(NAVArrivalMode);
current_state = NAVArrivalState;
// set up defaults for next run (in case they had been changed)
NAVArrivalMode = MODE_ARRIVEDTARGET;
NAVArrivalState = 0;
NAVTargetName = "";
bGoOption = true;
// setMode(MODE_ARRIVEDTARGET);
if (NAVEmulateOld)
{
var tList = GetBlocksContains <IMyTerminalBlock>("NAV:");
for (int i1 = 0; i1 < tList.Count(); i1++)
{
// don't want to get blocks that have "NAV:" in customdata..
if (tList[i1].CustomName.StartsWith("NAV:"))
{
Echo("Found NAV: command:");
tList[i1].CustomName = "NAV: C Arrived Target";
}
}
}
}
bWantFast = true;
doTriggerMain();
}
NavDebug(sNavDebug);
}