void setCtrlState(SASList ID, double error, double rate, ref float axisCtrlState)
{
PIDmode mode = PIDmode.PID;
if (!vesModule.vesselRef.checkLanded() && vesModule.vesselRef.IsControllable)
{
mode = PIDmode.PD; // no integral when it can't do anything useful
}
if (allowControl(ID))
{
axisCtrlState = ID.GetSAS(this).ResponseF(error, rate, mode);
}
else if (!Utils.hasInput(ID))
{
axisCtrlState = 0; // kill off stock SAS inputs
}
// nothing happens if player input is present
}
public virtual double ResponseD(double error, double rate, PIDmode mode)
{
if (invertInput)
{
error *= -1;
rate *= -1;
}
double res_d = 0, res_i = 0, res_p = 0;
res_d = derivativeError(rate);
if (mode == PIDmode.PID)
res_i = integralError(error, true);
if (mode == PIDmode.PD || mode == PIDmode.PID)
res_p = proportionalError(error);
lastOutput = (invertOutput ? -1 : 1) * Utils.Clamp(res_p + res_i + res_d, OutMin, OutMax);
return lastOutput;
}
public virtual double ResponseD(double error, double rate, PIDmode mode)
{
if (invertInput)
{
error *= -1;
rate *= -1;
}
double res_d = 0, res_i = 0, res_p = 0;
res_d = derivativeError(rate);
if (mode == PIDmode.PID)
{
res_i = integralError(error, true);
}
if (mode == PIDmode.PD || mode == PIDmode.PID)
{
res_p = proportionalError(error);
}
lastOutput = (invertOutput ? -1 : 1) * Utils.Clamp(res_p + res_i + res_d, OutMin, OutMax);
return(lastOutput);
}
public virtual float ResponseF(double error, double rate, PIDmode mode)
{
return((float)ResponseD(error, rate, mode));
}
public virtual float ResponseF(double error, double rate, PIDmode mode)
{
return (float)ResponseD(error, rate, mode);
}
