public void UpdateOutputs()
{
// engine 1 thrust x2
// engine 2 thrust x2
// engine 1 tilt x2
// engine 2 tilt x2
// gyro x2
AHKController.SetEnginePower(AHKController.EngineType.Left, (Outputs[0].currentValue - Outputs[1].currentValue + 1) / 2f);
AHKController.SetEnginePower(AHKController.EngineType.Right, (Outputs[2].currentValue - Outputs[3].currentValue + 1) / 2f);
AHKController.SetEngineTilt(AHKController.EngineType.Left, Outputs[4].currentValue - Outputs[5].currentValue);
AHKController.SetEngineTilt(AHKController.EngineType.Right, Outputs[6].currentValue - Outputs[7].currentValue);
AHKController.SetGyroPower(Outputs[8].currentValue - Outputs[9].currentValue);
}
void Update()
{
// Engines
float roll = Input.GetAxis("Joy X");
float ver = Input.GetAxis("Joy Y");
float climb = Input.GetAxis("Vertical");
float yaw = Input.GetAxis("Horizontal");
roll = Mathf.Abs(Mathf.Pow(roll, nonlinearityRoll)) * (roll < 0 ? -1 : 1);
ver = Mathf.Abs(Mathf.Pow(ver, nonlinearityPitch)) * (ver < 0 ? -1 : 1);
yaw = Mathf.Abs(Mathf.Pow(yaw, nonlinearityYaw)) * (yaw < 0 ? -1 : 1);
climb = Mathf.Abs(Mathf.Pow(climb, nonlinearityClimb)) * (climb < 0 ? -1 : 1);
roll = (roll + 1) / 2;
AHKController.SetEngineTilt(AHKController.EngineType.Left, yaw - ver);
AHKController.SetEngineTilt(AHKController.EngineType.Right, -yaw - ver);
AHKController.SetEnginePower(AHKController.EngineType.Left, roll + climb);
AHKController.SetEnginePower(AHKController.EngineType.Right, 1 - roll + climb);
// Gyro
float angle = AHKController.instance.transform.localRotation.eulerAngles.x;
if (angle > 180)
{
angle = -(360 - angle);
}
Vector3 localangularvelocity = AHKController.instance.transform.InverseTransformDirection(AHKController.instance.GetComponent <Rigidbody>().angularVelocity).normalized
*AHKController.instance.GetComponent <Rigidbody>().angularVelocity.magnitude;
AHKController.SetGyroPower(-angle / 15 - localangularvelocity.x);
}