/// <summary>Called by the <see cref="ModuleSPU.OnFixedUpdate"/> method during the "Physics" engine phase.</summary>
public void OnFixedUpdate()
{
if (RTCore.Instance == null)
{
return;
}
if (Vessel == null)
{
Vessel = SignalProcessor.Vessel;
RoverComputer.SetVessel(Vessel);
PIDController.SetVessel(Vessel);
}
// only handle onFixedUpdate if the ship is unpacked
if (Vessel.packed)
{
return;
}
// Do we have a loaded configuration?
if (_fcLoadedConfigs != null)
{
// than load
Load(_fcLoadedConfigs);
_fcLoadedConfigs = null;
}
// Re-attach periodically
Vessel.OnFlyByWire -= OnFlyByWirePre;
Vessel.OnFlyByWire -= OnFlyByWirePost;
if (Vessel != SignalProcessor.Vessel)
{
SanctionedPilots.Clear();
Vessel = SignalProcessor.Vessel;
RoverComputer.SetVessel(Vessel);
PIDController.SetVessel(Vessel);
}
// set flight control.
Vessel.OnFlyByWire = OnFlyByWirePre + Vessel.OnFlyByWire + OnFlyByWirePost;
//Update PID loop
PIDController.OnFixedUpdate();
// Send updates for Target
if (Vessel == FlightGlobals.ActiveVessel && FlightGlobals.fetch.VesselTarget != LastTarget.Target)
{
Enqueue(TargetCommand.WithTarget(FlightGlobals.fetch.VesselTarget));
UpdateLastTarget();
}
}
/// <summary>Flight Computer constructor.</summary>
/// <param name="s">A signal processor (most probably a <see cref="ModuleSPU"/> instance.)</param>
public FlightComputer(ISignalProcessor s)
{
SignalProcessor = s;
Vessel = s.Vessel;
SanctionedPilots = new List <Action <FlightCtrlState> >();
LastTarget = TargetCommand.WithTarget(null);
var attitude = AttitudeCommand.Off();
_activeCommands[attitude.Priority] = attitude;
//Use http://www.ni.com/white-paper/3782/en/ to fine-tune
PIDController = new PIDController(PIDKp, PIDKi, PIDKd, 1.0, -1.0, true);
PIDController.SetVessel(Vessel);
GameEvents.onVesselChange.Add(OnVesselChange);
GameEvents.onVesselSwitching.Add(OnVesselSwitching);
GameEvents.onGameSceneSwitchRequested.Add(OnSceneSwitchRequested);
RoverComputer = new RoverComputer(this, RoverPIDKp, RoverPIDKi, RoverPIDKd);
RoverComputer.SetVessel(Vessel);
// Add RT listeners from KSP Autopilot
StockAutopilotCommand.UIreference = GameObject.FindObjectOfType <VesselAutopilotUI>();
for (var index = 0; index < StockAutopilotCommand.UIreference.modeButtons.Length; index++)
{
var buttonIndex = index; // prevent compiler optimisation from assigning static final index value
StockAutopilotCommand.UIreference.modeButtons[index].onClick.AddListener(delegate { StockAutopilotCommand.AutopilotButtonClick(buttonIndex, this); });
// bad idea to use RemoveAllListeners() since no easy way to re-add the original stock listener to onClick
}
}
