void GrumpyKerbal(FlightCtrlState state)
{
try
{
currentTime = Planetarium.GetUniversalTime();
double waitTime = currentTime + delayTime;
FlightCtrlState storeState = new FlightCtrlState();
storeState.CopyFrom(state);
flightState.Enqueue(new FlightState(storeState, waitTime));
while (currentTime > flightState.Peek().Time)
{
FlightState topState = flightState.Dequeue();
state.CopyFrom(topState.State);
lastState = topState.State;
return;
}
if (lastState != null)
{
state.CopyFrom(lastState);
}
else
{
state.Neutralize();
}
}
catch (Exception ex)
{
Debug.Log("Snacks - GrumpyKerbal: " + ex.Message + ex.StackTrace);
}
}
/// <summary>
/// Here we copy the flight state we received and apply to the specific vessel.
/// This method is called by ksp as it's a delegate. It's called on every FixedUpdate
/// </summary>
private void LunaOnVesselFlyByWire(Guid id, FlightCtrlState st)
{
if (!Enabled || !FlightStateSystemReady)
{
return;
}
if (CurrentFlightState.TryGetValue(id, out var value))
{
if (VesselCommon.IsSpectating)
{
st.CopyFrom(value.GetInterpolatedValue());
}
else
{
//If we are close to a vessel and we both are in space don't copy the
//input controls as then the vessel jitters, specially if the other player has SAS on
if (FlightGlobals.ActiveVessel && FlightGlobals.ActiveVessel.situation > Vessel.Situations.FLYING)
{
var interpolatedState = value.GetInterpolatedValue();
st.mainThrottle = interpolatedState.mainThrottle;
st.gearDown = interpolatedState.gearDown;
st.gearUp = interpolatedState.gearUp;
st.headlight = interpolatedState.headlight;
st.killRot = interpolatedState.killRot;
}
else
{
st.CopyFrom(value.GetInterpolatedValue());
}
}
}
}
public FlightComputer(ISignalProcessor s)
{
mSignalProcessor = s;
mPreviousCtrl.CopyFrom(s.Vessel.ctrlState);
mAttachedVessel = s.Vessel;
mLegacyComputer = new Legacy.FlightComputer();
mRoverComputer = new RoverComputer(s.Vessel);
Bifrost = new BifrostUnit(s);
}
public void CopyFrom(ControlInputs other)
{
state.CopyFrom(other.state);
ThrottleUpdated = other.ThrottleUpdated;
WheelThrottleUpdated = other.WheelThrottleUpdated;
WheelSteerUpdated = other.WheelSteerUpdated;
}
/// <summary>Remove a <see cref="FlightCtrlState"/> from the flight control queue.</summary>
/// <param name="fcs">The <see cref="FlightCtrlState"/> to be removed from the queue.</param>
/// <param name="sat">The satellite from which the <see cref="FlightCtrlState"/> should be removed.</param>
private void PopFlightCtrl(FlightCtrlState fcs, ISatellite sat)
{
var delayed = new FlightCtrlState();
float maxThrottle = (Delay >= 0.01) ? 0.0f : fcs.mainThrottle;
//Comment: if rocket at launchpad is Local Control and switchs to Remote Control upon launching, throttle is initially zero in this transition
//however, it is lethal RO issue as zero throttle even once will count against engine's limited number of ignitions
//Workaround: just pipe FCS throttle to delayed state until delay is large enough to revert back to normal RT operation
while (_flightCtrlQueue.Count > 0 && _flightCtrlQueue.Peek().TimeStamp <= RTUtil.GameTime)
{
delayed = _flightCtrlQueue.Dequeue().State;
maxThrottle = Math.Max(maxThrottle, delayed.mainThrottle);
}
delayed.mainThrottle = maxThrottle;
if (!KeepThrottleNoConnect && !InputAllowed) // enforce the rule of shutting throttle down on connection loss
{
delayed.mainThrottle = 0f;
}
else if (KeepThrottleNoConnect && LockedThrottleNoConnect) // when connection is lost with the disabled rule of shutting throttle down, throttle is locked
{
delayed.mainThrottle = LockedThrottlePositionNoConnect;
}
fcs.CopyFrom(delayed);
}
public void OnFlyByWire(FlightCtrlState state)
{
// State may arrive with SAS or WASD controls pre-applied. Save it and reset pitch/yaw/roll so that it doesn't mess with input.
FlightCtrlState preState = new FlightCtrlState();
preState.CopyFrom(state);
if (AdvancedFlyByWire.Instance.m_IgnoreFlightCtrlState)
{
state.pitch = 0; state.yaw = 0; state.roll = 0;
}
// skill vessel input if we're in time-warp
m_DisableVesselControls = TimeWarp.fetch != null && TimeWarp.fetch.current_rate_index != 0 && TimeWarp.fetch.Mode == TimeWarp.Modes.HIGH;
m_Throttle.SetMinMaxValues(-state.mainThrottle, 1.0f - state.mainThrottle);
m_WheelThrottle.SetMinMaxValues(-1.0f, 1.0f);
foreach (ControllerConfiguration config in m_Configuration.controllers)
{
if (config.isEnabled)
{
config.iface.Update(state);
UpdateAxes(config, state);
if (FlightGlobals.ActiveVessel.isEVA)
{
EVAController.Instance.UpdateEVAFlightProperties(config, state);
}
CameraController.Instance.UpdateCameraProperties
(
m_CameraPitch.Update(), m_CameraHeading.Update(),
m_CameraZoom.Update(), config.cameraSensitivity
);
}
}
UpdateFlightProperties(state);
ZeroOutFlightProperties();
// Apply pre-state if not neutral and no AFBW input (including trim).
if (!preState.isNeutral && AdvancedFlyByWire.Instance.m_IgnoreFlightCtrlState)
{
float t = controlDetectionThreshold;
bool hasInput = Math.Abs(state.pitch) > t || Math.Abs(state.yaw) > t || Math.Abs(state.roll) > t;
// hasInput will always be true if trim is active on any axis
if (!hasInput)
{
state.pitch = preState.pitch;
state.yaw = preState.yaw;
state.roll = preState.roll;
}
else
{
state.yaw = Utility.Clamp(state.yaw + state.yawTrim, -1.0f, 1.0f);
state.pitch = Utility.Clamp(state.pitch + state.pitchTrim, -1.0f, 1.0f);
state.roll = Utility.Clamp(state.roll + state.rollTrim, -1.0f, 1.0f);
}
}
}
public void SendCurrentFlightState()
{
var flightState = new FlightCtrlState();
flightState.CopyFrom(FlightGlobals.ActiveVessel.ctrlState);
var msg = new VesselFlightStateMsgData
{
VesselId = FlightGlobals.ActiveVessel.id,
GearDown = flightState.gearDown,
GearUp = flightState.gearUp,
Headlight = flightState.headlight,
KillRot = flightState.killRot,
MainThrottle = flightState.mainThrottle,
Pitch = flightState.pitch,
PitchTrim = flightState.pitchTrim,
Roll = flightState.roll,
RollTrim = flightState.rollTrim,
WheelSteer = flightState.wheelSteer,
WheelSteerTrim = flightState.wheelSteerTrim,
WheelThrottle = flightState.wheelThrottle,
WheelThrottleTrim = flightState.wheelThrottleTrim,
X = flightState.X,
Y = flightState.Y,
Yaw = flightState.yaw,
YawTrim = flightState.yawTrim,
Z = flightState.Z
};
SendMessage(msg);
}
private void OnVesselFlyByWire(Guid id, FlightCtrlState st)
{
if (FlightStatesDictionary.ContainsKey(id))
{
st.CopyFrom(FlightStatesDictionary[id]);
}
}
public void SendCurrentFlightState()
{
var flightState = new FlightCtrlState();
flightState.CopyFrom(FlightGlobals.ActiveVessel.ctrlState);
var msgData = NetworkMain.CliMsgFactory.CreateNewMessageData <VesselFlightStateMsgData>();
msgData.PingMs = NetworkStatistics.PingMs;
msgData.GameTime = TimeSyncSystem.UniversalTime;
msgData.SubspaceId = WarpSystem.Singleton.CurrentSubspace;
msgData.VesselId = FlightGlobals.ActiveVessel.id;
msgData.GearDown = flightState.gearDown;
msgData.GearUp = flightState.gearUp;
msgData.Headlight = flightState.headlight;
msgData.KillRot = flightState.killRot;
msgData.MainThrottle = flightState.mainThrottle;
msgData.Pitch = flightState.pitch;
msgData.PitchTrim = flightState.pitchTrim;
msgData.Roll = flightState.roll;
msgData.RollTrim = flightState.rollTrim;
msgData.WheelSteer = flightState.wheelSteer;
msgData.WheelSteerTrim = flightState.wheelSteerTrim;
msgData.WheelThrottle = flightState.wheelThrottle;
msgData.WheelThrottleTrim = flightState.wheelThrottleTrim;
msgData.X = flightState.X;
msgData.Y = flightState.Y;
msgData.Yaw = flightState.yaw;
msgData.YawTrim = flightState.yawTrim;
msgData.Z = flightState.Z;
SendMessage(msgData);
}
public void SendCurrentFlightState()
{
var flightState = new FlightCtrlState();
flightState.CopyFrom(FlightGlobals.ActiveVessel.ctrlState);
var msgData = NetworkMain.CliMsgFactory.CreateNewMessageData <VesselFlightStateMsgData>();
msgData.VesselId = FlightGlobals.ActiveVessel.id;
msgData.GearDown = flightState.gearDown;
msgData.GearUp = flightState.gearUp;
msgData.Headlight = flightState.headlight;
msgData.KillRot = flightState.killRot;
msgData.MainThrottle = flightState.mainThrottle;
msgData.Pitch = flightState.pitch;
msgData.PitchTrim = flightState.pitchTrim;
msgData.Roll = flightState.roll;
msgData.RollTrim = flightState.rollTrim;
msgData.WheelSteer = flightState.wheelSteer;
msgData.WheelSteerTrim = flightState.wheelSteerTrim;
msgData.WheelThrottle = flightState.wheelThrottle;
msgData.WheelThrottleTrim = flightState.wheelThrottleTrim;
msgData.X = flightState.X;
msgData.Y = flightState.Y;
msgData.Yaw = flightState.yaw;
msgData.YawTrim = flightState.yawTrim;
msgData.Z = flightState.Z;
msgData.TimeStamp = LunaTime.UtcNow.Ticks;
msgData.GameTime = Planetarium.GetUniversalTime();
SendMessage(msgData);
}
public VesselCtrlUpdate(Vessel vessel, Dictionary <Guid, VesselCtrlUpdate> ctrlUpdates, double planetTimeValid, FlightCtrlState oldFcs)
{
this.vessel = vessel;
this.ctrlUpdates = ctrlUpdates;
this.planetTimeValid = planetTimeValid;
newFcs = new FlightCtrlState();
newFcs.CopyFrom(oldFcs);
}
public void SendVesselUpdate()
{
//TODO: This does not have much performance 0.8ms max... maybe we can use the protovessel for this and do it in another thread?
var engines = FlightGlobals.ActiveVessel.FindPartModulesImplementing <ModuleEngines>();
var shieldedDocks = FlightGlobals.ActiveVessel.FindPartModulesImplementing <ModuleDockingNode>()
.Where(e => !e.IsDisabled && e.deployAnimator != null).ToArray();
// ReSharper disable once UnusedVariable
var iScalars = FlightGlobals.ActiveVessel.FindPartModulesImplementing <IScalarModule>();
//This throws a nullpointerexception if you don't have any IScalarModules on the craft. For example, a buggy with only a rovermate core (the white box) and wheels.
//IScalarModule module = iScalars.First();
//Put a hook that when the module stops, we send an event
//module.OnStop();
var activeEngines = engines.Where(e => e.EngineIgnited).Select(e => e.part.craftID).ToArray();
var stoppedEngines = engines.Where(e => !e.EngineIgnited).Select(e => e.part.craftID).ToArray();
var decouplers = FlightGlobals.ActiveVessel.FindPartModulesImplementing <ModuleDecouple>()
.Where(e => !e.isDecoupled).Select(e => e.part.craftID).ToArray();
var anchoredDecouplers = FlightGlobals.ActiveVessel.FindPartModulesImplementing <ModuleAnchoredDecoupler>()
.Where(e => !e.isDecoupled).Select(e => e.part.craftID).ToArray();
var clamps = FlightGlobals.ActiveVessel.FindPartModulesImplementing <LaunchClamp>().Select(e => e.part.craftID).ToArray();
var docks = FlightGlobals.ActiveVessel.FindPartModulesImplementing <ModuleDockingNode>().Where(e => !e.IsDisabled).Select(e => e.part.craftID).ToArray();
var closedShieldDocks = shieldedDocks.Where(d => d.deployAnimator.animSwitch).Select(e => e.part.craftID).ToArray();
var openedShieldDocks = shieldedDocks.Where(d => !d.deployAnimator.animSwitch).Select(e => e.part.craftID).ToArray();
var actionGrpControls = new[]
{
FlightGlobals.ActiveVessel.ActionGroups[KSPActionGroup.Gear],
FlightGlobals.ActiveVessel.ActionGroups[KSPActionGroup.Light],
FlightGlobals.ActiveVessel.ActionGroups[KSPActionGroup.Brakes],
FlightGlobals.ActiveVessel.ActionGroups[KSPActionGroup.SAS],
FlightGlobals.ActiveVessel.ActionGroups[KSPActionGroup.RCS]
};
var flightState = new FlightCtrlState();
flightState.CopyFrom(FlightGlobals.ActiveVessel.ctrlState);
var msg = new VesselUpdateMsgData
{
Stage = FlightGlobals.ActiveVessel.currentStage,
ActiveEngines = activeEngines,
StoppedEngines = stoppedEngines,
Decouplers = decouplers,
AnchoredDecouplers = anchoredDecouplers,
Clamps = clamps,
Docks = docks,
VesselId = FlightGlobals.ActiveVessel.id,
ActiongroupControls = actionGrpControls,
OpenedShieldedDocks = openedShieldDocks,
ClosedShieldedDocks = closedShieldDocks
};
if (LastMsgSent == null || !MessageDataEqualsToLastMsgSent(msg))
{
SendMessage(msg);
LastMsgSent = msg;
}
}
private void PopFlightCtrl(FlightCtrlState fcs, ISatellite sat)
{
FlightCtrlState delayed = new FlightCtrlState();
while (mFlightCtrlQueue.Count > 0 && mFlightCtrlQueue.Peek().TimeStamp <= RTUtil.GameTime)
{
delayed = mFlightCtrlQueue.Dequeue().State;
}
fcs.CopyFrom(delayed);
}
public void UpdateControls(FlightCtrlState vesselFcs)
{
if (Planetarium.GetUniversalTime() < planetTimeValid)
{
vesselFcs.CopyFrom(newFcs);
}
else
{
vessel.OnFlyByWire -= UpdateControls;
ctrlUpdates.Remove(vessel.id);
}
}
public void SetTarget(VesselFlightStateMsgData msgData)
{
//If we are in the middle of an interpolation let it finish
if (CanInterpolate && !InterpolationFinished)
{
return;
}
if (Start == null)
{
Start = GetFlightCtrlStateFromMsg(msgData);
StartTimeStamp = msgData.TimeStamp;
return;
}
if (Target == null)
{
Target = GetFlightCtrlStateFromMsg(msgData);
EndTimeStamp = msgData.TimeStamp;
return;
}
//We've finished the interpolation so...
_lerpPercentage = 0;
Start.CopyFrom(Target);
StartTimeStamp = EndTimeStamp;
Target.mainThrottle = msgData.MainThrottle;
Target.wheelThrottleTrim = msgData.WheelThrottleTrim;
Target.X = msgData.X;
Target.Y = msgData.Y;
Target.Z = msgData.Z;
Target.killRot = msgData.KillRot;
Target.gearUp = msgData.GearUp;
Target.gearDown = msgData.GearDown;
Target.headlight = msgData.Headlight;
Target.wheelThrottle = msgData.WheelThrottle;
Target.roll = msgData.Roll;
Target.yaw = msgData.Yaw;
Target.pitch = msgData.Pitch;
Target.rollTrim = msgData.RollTrim;
Target.yawTrim = msgData.YawTrim;
Target.pitchTrim = msgData.PitchTrim;
Target.wheelSteer = msgData.WheelSteer;
Target.wheelSteerTrim = msgData.WheelSteerTrim;
EndTimeStamp = msgData.TimeStamp;
}
private void PopFlightCtrl(FlightCtrlState fcs, ISatellite sat)
{
FlightCtrlState delayed = new FlightCtrlState();
// Keep the throttle on no connection
if (this.KeepThrottleNoConnect == true)
{
delayed.mainThrottle = fcs.mainThrottle;
}
while (mFlightCtrlQueue.Count > 0 && mFlightCtrlQueue.Peek().TimeStamp <= RTUtil.GameTime)
{
delayed = mFlightCtrlQueue.Dequeue().State;
}
fcs.CopyFrom(delayed);
}
public void SendVesselUpdate()
{
var engines = FlightGlobals.ActiveVessel.FindPartModulesImplementing <ModuleEngines>();
var activeEngines = engines.Where(e => e.EngineIgnited).Select(e => e.part.craftID).ToArray();
var stoppedEngines = engines.Where(e => !e.EngineIgnited).Select(e => e.part.craftID).ToArray();
var decouplers = FlightGlobals.ActiveVessel.FindPartModulesImplementing <ModuleDecouple>()
.Where(e => !e.isDecoupled).Select(e => e.part.craftID).ToArray();
var anchoredDecouplers = FlightGlobals.ActiveVessel.FindPartModulesImplementing <ModuleAnchoredDecoupler>()
.Where(e => !e.isDecoupled).Select(e => e.part.craftID).ToArray();
var clamps = FlightGlobals.ActiveVessel.FindPartModulesImplementing <LaunchClamp>().Select(e => e.part.craftID).ToArray();
var docks = FlightGlobals.ActiveVessel.FindPartModulesImplementing <ModuleDockingNode>().Where(e => !e.IsDisabled).Select(e => e.part.craftID).ToArray();
var actionGrpControls = new[]
{
FlightGlobals.ActiveVessel.ActionGroups[KSPActionGroup.Gear],
FlightGlobals.ActiveVessel.ActionGroups[KSPActionGroup.Light],
FlightGlobals.ActiveVessel.ActionGroups[KSPActionGroup.Brakes],
FlightGlobals.ActiveVessel.ActionGroups[KSPActionGroup.SAS],
FlightGlobals.ActiveVessel.ActionGroups[KSPActionGroup.RCS]
};
var flightState = new FlightCtrlState();
flightState.CopyFrom(FlightGlobals.ActiveVessel.ctrlState);
var msg = new VesselUpdateMsgData
{
Stage = FlightGlobals.ActiveVessel.currentStage,
ActiveEngines = activeEngines,
StoppedEngines = stoppedEngines,
Decouplers = decouplers,
AnchoredDecouplers = anchoredDecouplers,
Clamps = clamps,
Docks = docks,
VesselId = FlightGlobals.ActiveVessel.id,
ActiongroupControls = actionGrpControls,
};
if (MsgIsDifferentThanLastMsgSent(msg))
{
SendMessage(msg);
LastMsgSent = msg;
}
}
private void PopFlightCtrlState(FlightCtrlState fcs)
{
FlightCtrlState delayed = mPreviousCtrl;
// Pop any due flightctrlstates off the queue
while (mFlightCtrlBuffer.Count > 0 &&
mFlightCtrlBuffer.Peek().TimeStamp < RTUtil.GetGameTime())
{
delayed = mFlightCtrlBuffer.Dequeue().State;
}
if (!InputAllowed)
{
float keepThrottle = mPreviousCtrl.mainThrottle;
delayed.Neutralize();
delayed.mainThrottle = keepThrottle;
}
fcs.CopyFrom(delayed);
}
/// <summary>Remove a <see cref="FlightCtrlState"/> from the flight control queue.</summary>
/// <param name="fcs">The <see cref="FlightCtrlState"/> to be removed from the queue.</param>
/// <param name="sat">The satellite from which the <see cref="FlightCtrlState"/> should be removed.</param>
private void PopFlightCtrl(FlightCtrlState fcs, ISatellite sat)
{
//TODO: `sat` parameter is never used. Check if is needed somewhere: if it's not, remove it.
var delayed = new FlightCtrlState();
// Keep the throttle on no connection
if (KeepThrottleNoConnect)
{
delayed.mainThrottle = fcs.mainThrottle;
}
while (_flightCtrlQueue.Count > 0 && _flightCtrlQueue.Peek().TimeStamp <= RTUtil.GameTime)
{
delayed = _flightCtrlQueue.Dequeue().State;
}
fcs.CopyFrom(delayed);
}
//retrieve the flight control state entered at a given time
public void pop(FlightCtrlState controls, double time)
{
if (states.Count == 0 || states.Peek().ActTime > time)
{
setNeutral(controls);
return; //returns neutral if no controls are entered or the entered controls are not within the signal delay
}
TimedCtrlState popState = states.Peek();
while (states.Peek().ActTime < time)
{
popState = states.Dequeue();
}
controls.CopyFrom(popState.flightCtrlState);
if (controls.killRot) // this overrides the delay in attitute control if SAS is activated. Thereby allowing SAS to make control changes without delay
{
controls.pitch = pitch;
controls.roll = roll;
controls.yaw = yaw;
}
}
/// <summary>Remove a <see cref="FlightCtrlState"/> from the flight control queue.</summary>
/// <param name="fcs">The <see cref="FlightCtrlState"/> to be removed from the queue.</param>
/// <param name="sat">The satellite from which the <see cref="FlightCtrlState"/> should be removed.</param>
private void PopFlightCtrl(FlightCtrlState fcs, ISatellite sat)
{
var delayed = new FlightCtrlState();
delayed.mainThrottle = fcs.mainThrottle;
if (!KeepThrottleNoConnect && !InputAllowed) // enforce the rule of shutting throttle down on connection loss
{
delayed.mainThrottle = 0f;
}
else if (KeepThrottleNoConnect && LockedThrottleNoConnect) // when connection is lost with the disabled rule of shutting throttle down, throttle is locked
{
delayed.mainThrottle = LockedThrottlePositionNoConnect;
}
while (_flightCtrlQueue.Count > 0 && _flightCtrlQueue.Peek().TimeStamp <= RTUtil.GameTime)
{
delayed = _flightCtrlQueue.Dequeue().State;
}
fcs.CopyFrom(delayed);
}
//retrieve the flight control state entered at a given time
public void pop(FlightCtrlState controls, double time)
{
if (states.Count == 0 || states.Peek().ActTime > time)
{
setNeutral(controls);
return; //returns neutral if no controls are entered or the entered controls are not within the signal delay
}
TimedCtrlState popState = states.Peek();
while (states.Peek().ActTime < time)
{
popState = states.Dequeue();
}
controls.CopyFrom(popState.flightCtrlState);
if (controls.killRot) // this overrides the delay in attitute control if SAS is activated. Thereby allowing SAS to make control changes without delay
{
controls.pitch = pitch;
controls.roll = roll;
controls.yaw = yaw;
}
}
private void PopFlightCtrl(FlightCtrlState fcs, ISatellite sat)
{
FlightCtrlState delayed = new FlightCtrlState();
while (mFlightCtrlQueue.Count > 0 && mFlightCtrlQueue.Peek().TimeStamp <= RTUtil.GameTime)
{
delayed = mFlightCtrlQueue.Dequeue().State;
}
fcs.CopyFrom(delayed);
}
public void OnFlyByWire(FlightCtrlState state)
{
// State may arrive with SAS or WASD controls pre-applied. Save it and reset pitch/yaw/roll so that it doesn't mess with input.
FlightCtrlState preState = new FlightCtrlState();
preState.CopyFrom(state);
if (AdvancedFlyByWire.Instance.m_IgnoreFlightCtrlState)
{
state.pitch = 0; state.yaw = 0; state.roll = 0;
}
// skill vessel input if we're in time-warp
m_DisableVesselControls = TimeWarp.fetch != null && TimeWarp.fetch.current_rate_index != 0 && TimeWarp.fetch.Mode == TimeWarp.Modes.HIGH;
m_Throttle.SetMinMaxValues(-state.mainThrottle, 1.0f - state.mainThrottle);
m_WheelThrottle.SetMinMaxValues(-1.0f, 1.0f);
foreach (ControllerConfiguration config in m_Configuration.controllers)
{
if (config.isEnabled)
{
config.iface.Update(state);
UpdateAxes(config, state);
if (FlightGlobals.ActiveVessel.isEVA)
{
EVAController.Instance.UpdateEVAFlightProperties(config, state);
}
CameraController.Instance.UpdateCameraProperties
(
m_CameraPitch.Update(), m_CameraHeading.Update(),
m_CameraZoom.Update(), config.cameraSensitivity
);
}
}
UpdateFlightProperties(state);
ZeroOutFlightProperties();
// Apply pre-state if not neutral and no AFBW input (including trim).
if (!preState.isNeutral && AdvancedFlyByWire.Instance.m_IgnoreFlightCtrlState)
{
float t = controlDetectionThreshold;
bool hasInput = Math.Abs(state.pitch) > t || Math.Abs(state.yaw) > t || Math.Abs(state.roll) > t;
// hasInput will always be true if trim is active on any axis
if (!hasInput)
{
state.pitch = preState.pitch;
state.yaw = preState.yaw;
state.roll = preState.roll;
}
}
}
public void CopyFromVessel(Vessel updateVessel)
{
updateOK = true;
SetVesselWorker(vesselWorker);
try
{
vesselID = updateVessel.id;
planetTime = Planetarium.GetUniversalTime();
bodyName = updateVessel.mainBody.bodyName;
rotation[0] = updateVessel.srfRelRotation.x;
rotation[1] = updateVessel.srfRelRotation.y;
rotation[2] = updateVessel.srfRelRotation.z;
rotation[3] = updateVessel.srfRelRotation.w;
angularVelocity[0] = updateVessel.angularVelocity.x;
angularVelocity[1] = updateVessel.angularVelocity.y;
angularVelocity[2] = updateVessel.angularVelocity.z;
//Flight state
flightState.CopyFrom(updateVessel.ctrlState);
actiongroupControls[0] = updateVessel.ActionGroups[KSPActionGroup.Gear];
actiongroupControls[1] = updateVessel.ActionGroups[KSPActionGroup.Light];
actiongroupControls[2] = updateVessel.ActionGroups[KSPActionGroup.Brakes];
actiongroupControls[3] = updateVessel.ActionGroups[KSPActionGroup.SAS];
actiongroupControls[4] = updateVessel.ActionGroups[KSPActionGroup.RCS];
if (updateVessel.altitude < 10000)
{
//Use surface position under 10k
isSurfaceUpdate = true;
position[0] = updateVessel.latitude;
position[1] = updateVessel.longitude;
position[2] = updateVessel.altitude;
VesselUtil.DMPRaycastPair groundRaycast = VesselUtil.RaycastGround(updateVessel.latitude, updateVessel.longitude, updateVessel.mainBody);
position[3] = groundRaycast.altitude;
terrainNormal[0] = groundRaycast.terrainNormal.x;
terrainNormal[1] = groundRaycast.terrainNormal.y;
terrainNormal[2] = groundRaycast.terrainNormal.z;
Vector3d srfVel = Quaternion.Inverse(updateVessel.mainBody.bodyTransform.rotation) * updateVessel.srf_velocity;
velocity[0] = srfVel.x;
velocity[1] = srfVel.y;
velocity[2] = srfVel.z;
Vector3d srfAcceleration = Quaternion.Inverse(updateVessel.mainBody.bodyTransform.rotation) * updateVessel.acceleration;
acceleration[0] = srfAcceleration.x;
acceleration[1] = srfAcceleration.y;
acceleration[2] = srfAcceleration.z;
}
else
{
//Use orbital positioning over 10k
isSurfaceUpdate = false;
orbit[0] = updateVessel.orbit.inclination;
orbit[1] = updateVessel.orbit.eccentricity;
orbit[2] = updateVessel.orbit.semiMajorAxis;
orbit[3] = updateVessel.orbit.LAN;
orbit[4] = updateVessel.orbit.argumentOfPeriapsis;
orbit[5] = updateVessel.orbit.meanAnomalyAtEpoch;
orbit[6] = updateVessel.orbit.epoch;
}
sasEnabled = updateVessel.Autopilot.Enabled;
if (sasEnabled)
{
autopilotMode = (int)updateVessel.Autopilot.Mode;
lockedRotation[0] = updateVessel.Autopilot.SAS.lockedRotation.x;
lockedRotation[1] = updateVessel.Autopilot.SAS.lockedRotation.y;
lockedRotation[2] = updateVessel.Autopilot.SAS.lockedRotation.z;
lockedRotation[3] = updateVessel.Autopilot.SAS.lockedRotation.w;
}
}
catch (Exception e)
{
DarkLog.Debug("Failed to get vessel update, exception: " + e);
updateOK = false;
}
}
/// <summary>Remove a <see cref="FlightCtrlState"/> from the flight control queue.</summary>
/// <param name="fcs">The <see cref="FlightCtrlState"/> to be removed from the queue.</param>
/// <param name="sat">The satellite from which the <see cref="FlightCtrlState"/> should be removed.</param>
private void PopFlightCtrl(FlightCtrlState fcs, ISatellite sat)
{
//TODO: `sat` parameter is never used. Check if is needed somewhere: if it's not, remove it.
var delayed = new FlightCtrlState();
// Keep the throttle on no connection
if(KeepThrottleNoConnect)
{
delayed.mainThrottle = fcs.mainThrottle;
}
while (_flightCtrlQueue.Count > 0 && _flightCtrlQueue.Peek().TimeStamp <= RTUtil.GameTime)
{
delayed = _flightCtrlQueue.Dequeue().State;
}
fcs.CopyFrom(delayed);
}
public DelayedFlightCtrlState(FlightCtrlState fcs)
{
State = new FlightCtrlState();
State.CopyFrom(fcs);
TimeStamp = RTUtil.GameTime;
}
private void PopFlightCtrl(FlightCtrlState fcs, ISatellite sat)
{
FlightCtrlState delayed = new FlightCtrlState();
// Keep the throttle on no connection
if(this.KeepThrottleNoConnect == true)
{
delayed.mainThrottle = fcs.mainThrottle;
}
while (mFlightCtrlQueue.Count > 0 && mFlightCtrlQueue.Peek().TimeStamp <= RTUtil.GameTime)
{
delayed = mFlightCtrlQueue.Dequeue().State;
}
fcs.CopyFrom(delayed);
}