public void DriveUntargetedLanding(FlightCtrlState s)
{
if (vessel.LandedOrSplashed)
{
core.thrust.ThrustOff();
core.thrust.users.Remove(this);
StopLanding();
return;
}
double minalt = Math.Min(vesselState.altitudeBottom, Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue));
if (!deployedGears && (minalt < 1000))
{
DeployLandingGears();
}
if (vesselState.limitedMaxThrustAccel < vesselState.gravityForce.magnitude)
{
//if we have TWR < 1, just try as hard as we can to decelerate:
//(we need this special case because otherwise the calculations spit out NaN's)
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
core.thrust.trans_spd_act = 0;
}
else if (minalt > 200)
{
if ((vesselState.velocityVesselSurface.magnitude > 5) && (Vector3d.Angle(vesselState.velocityVesselSurface, vesselState.up) < 80))
{
//if we have positive vertical velocity, point up and don't thrust:
core.attitude.attitudeTo(Vector3d.up, AttitudeReference.SURFACE_NORTH, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else if ((vesselState.velocityVesselSurface.magnitude > 5) && (Vector3d.Angle(vesselState.forward, -vesselState.velocityVesselSurface) > 45))
{
//if we're not facing approximately retrograde, turn to point retrograde and don't thrust:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else
{
//if we're above 200m, point retrograde and control surface velocity:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
//core.thrust.trans_spd_act = (float)Math.Sqrt((vesselState.maxThrustAccel - vesselState.gravityForce.magnitude) * 2 * minalt) * 0.90F;
Vector3d estimatedLandingPosition = vesselState.CoM + vesselState.velocityVesselSurface.sqrMagnitude / (2 * vesselState.limitedMaxThrustAccel) * vesselState.velocityVesselSurfaceUnit;
double terrainRadius = mainBody.Radius + mainBody.TerrainAltitude(estimatedLandingPosition);
IDescentSpeedPolicy aggressivePolicy = new GravityTurnDescentSpeedPolicy(terrainRadius, mainBody.GeeASL * 9.81, vesselState.limitedMaxThrustAccel);
core.thrust.trans_spd_act = (float)(aggressivePolicy.MaxAllowedSpeed(vesselState.CoM - mainBody.position, vesselState.velocityVesselSurface));
}
}
else
{
//last 200 meters:
core.thrust.trans_spd_act = -Mathf.Lerp(0, (float)Math.Sqrt((vesselState.limitedMaxThrustAccel - vesselState.gravityForce.magnitude) * 2 * 200) * 0.90F, (float)minalt / 200);
//take into account desired landing speed:
core.thrust.trans_spd_act = (float)Math.Min(-touchdownSpeed, core.thrust.trans_spd_act);
if (Math.Abs(Vector3d.Angle(-vesselState.velocityVesselSurface, vesselState.up)) < 10)
{
//if we're falling more or less straight down, control vertical speed and
//kill horizontal velocity
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
}
else
{
//if we're falling at a significant angle from vertical, our vertical speed might be
//quite small but we might still need to decelerate. Control the total speed instead
//by thrusting directly retrograde
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
core.thrust.trans_spd_act *= -1;
}
}
status = "Final descent: " + vesselState.altitudeBottom.ToString("F0") + "m above terrain";
}
public void DriveUntargetedLanding(FlightCtrlState s)
{
if (vessel.LandedOrSplashed)
{
core.thrust.ThrustOff();
core.thrust.users.Remove(this);
StopLanding();
return;
}
// TODO perhaps we should pop the parachutes at this point, or at least consider it depending on the altitude.
double minalt = Math.Min(vesselState.altitudeBottom, Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue));
if (vesselState.limitedMaxThrustAccel < vesselState.gravityForce.magnitude)
{
//if we have TWR < 1, just try as hard as we can to decelerate:
//(we need this special case because otherwise the calculations spit out NaN's)
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
core.thrust.trans_spd_act = 0;
}
else if (minalt > 200)
{
if ((vessel.srf_velocity.magnitude > 5) && (Vector3d.Angle(vessel.srf_velocity, vesselState.up) < 80))
{
//if we have positive vertical velocity, point up and don't thrust:
core.attitude.attitudeTo(Vector3d.up, AttitudeReference.SURFACE_NORTH, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else if ((vessel.srf_velocity.magnitude > 5) && (Vector3d.Angle(vesselState.forward, -vessel.srf_velocity) > 45))
{
//if we're not facing approximately retrograde, turn to point retrograde and don't thrust:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else
{
//if we're above 200m, point retrograde and control surface velocity:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
//core.thrust.trans_spd_act = (float)Math.Sqrt((vesselState.maxThrustAccel - vesselState.gravityForce.magnitude) * 2 * minalt) * 0.90F;
Vector3d estimatedLandingPosition = vesselState.CoM + vessel.srf_velocity.sqrMagnitude / (2 * vesselState.limitedMaxThrustAccel) * vessel.srf_velocity.normalized;
double terrainRadius = mainBody.Radius + mainBody.TerrainAltitude(estimatedLandingPosition);
IDescentSpeedPolicy aggressivePolicy = new GravityTurnDescentSpeedPolicy(terrainRadius, mainBody.GeeASL * 9.81, vesselState.limitedMaxThrustAccel);
core.thrust.trans_spd_act = (float)(aggressivePolicy.MaxAllowedSpeed(vesselState.CoM - mainBody.position, vessel.srf_velocity));
}
}
else
{
//last 200 meters:
core.thrust.trans_spd_act = -Mathf.Lerp(0, (float)Math.Sqrt((vesselState.limitedMaxThrustAccel - vesselState.localg) * 2 * 200) * 0.90F, (float)minalt / 200);
//take into account desired landing speed:
core.thrust.trans_spd_act = (float)Math.Min(-touchdownSpeed, core.thrust.trans_spd_act);
// core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
// core.thrust.trans_kill_h = true;
// if (Math.Abs(Vector3d.Angle(-vessel.srf_velocity, vesselState.up)) < 10)
if (vesselState.speedSurfaceHorizontal < 5)
{
//if we're falling more or less straight down, control vertical speed and
//kill horizontal velocity
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
}
else
{
//if we're falling at a significant angle from vertical, our vertical speed might be
//quite small but we might still need to decelerate. Control the total speed instead
//by thrusting directly retrograde
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
core.thrust.trans_spd_act *= -1;
}
}
status = "Final descent: " + vesselState.altitudeBottom.ToString("F0") + "m above terrain";
}
