public HoverModule(CustomDataConfig config, GyroController gyroController, IMyShipController cockpit)
{
this.config = config;
this.gyroController = gyroController;
this.cockpit = cockpit;
gyroResponsiveness = config.Get <int>("gyroResponsiveness");
maxPitch = config.Get <double>("maxPitch");
maxRoll = config.Get <double>("maxRoll");
AddAction("disabled", (args) => { gyroController.SetGyroOverride(false); }, null);
AddAction("smart", (string[] args) =>
{
smartDelayTimer = 0;
setSpeed = (args.Length > 0 && args[0] != null) ? Int32.Parse(args[0]) : 0;
}, () =>
{
if (cockpit.MoveIndicator.Length() > 0.0f || cockpit.RotationIndicator.Length() > 0.0f)
{
desiredPitch = -(pitch - 90);
desiredRoll = (roll - 90);
gyroController.SetGyroOverride(false);
smartDelayTimer = 0;
}
else if (smartDelayTimer > config.Get <int>("smartDelayTime"))
{
gyroController.SetGyroOverride(true);
desiredPitch = Math.Atan((worldSpeedForward - setSpeed) / gyroResponsiveness) / Helpers.halfPi * maxPitch;
desiredRoll = Math.Atan(worldSpeedRight / gyroResponsiveness) / Helpers.halfPi * maxRoll;
}
else
{
smartDelayTimer++;
}
});
AddAction("stop", null, () =>
{
desiredPitch = Math.Atan(worldSpeedForward / gyroResponsiveness) / Helpers.halfPi * maxPitch;
desiredRoll = Math.Atan(worldSpeedRight / gyroResponsiveness) / Helpers.halfPi * maxRoll;
});
AddAction("glide", null, () =>
{
desiredPitch = 0;
desiredRoll = Math.Atan(worldSpeedRight / gyroResponsiveness) / Helpers.halfPi * maxRoll;
});
AddAction("freeglide", null, () =>
{
desiredPitch = 0;
desiredRoll = 0;
});
}
private void ProcessCommand(string argument)
{
string[] args = argument.Split(' ');
if (args.Length < 1)
{
return;
}
switch (args[0].ToLower())
{
case "hover":
activeModule = hoverModule;
break;
case "vector":
activeModule = vectorModule;
break;
case "stop":
activeModule = null;
gyroController.SetGyroOverride(false);
break;
case "reset":
configReader.InitializeConfig();
break;
}
if (activeModule != null)
{
activeModule.ProcessCommand(args);
}
}
protected override void OnSetAction()
{
gyroController.SetGyroOverride(action?.execute != null);
if (action?.execute != null)
{
cockpit.DampenersOverride = true;
}
}
public VectorModule(CustomDataConfig config, GyroController gyroController, IMyShipController cockpit)
{
this.gyroController = gyroController;
this.cockpit = cockpit;
thrustVector = GetThrustVector(config.Get <string>("spaceMainThrust"));
AddAction("disabled", (args) => { gyroController.SetGyroOverride(false); }, null);
AddAction("brake", (args) => {
startSpeed = cockpit.GetShipSpeed();
cockpit.DampenersOverride = false;
}, SpaceBrake);
AddAction("prograde", null, () => { TargetOrientation(-Vector3D.Normalize(cockpit.GetShipVelocities().LinearVelocity)); });
AddAction("retrograde", null, () => { TargetOrientation(Vector3D.Normalize(cockpit.GetShipVelocities().LinearVelocity)); });
}
public Program()
{
Runtime.UpdateFrequency = UpdateFrequency.Update1;
configReader = new CustomDataConfig(Me, defaultConfig);
GetBlocks();
gyroController = new GyroController(gyros, cockpit);
hoverModule = new HoverModule(configReader, gyroController, cockpit);
vectorModule = new VectorModule(configReader, gyroController, cockpit);
string startCommand = configReader.Get <string>("startCommand");
if (startCommand != null)
{
ProcessCommand(startCommand);
}
else
{
gyroController.SetGyroOverride(false);
}
}
protected override void OnSetAction()
{
gyroController.SetGyroOverride(action?.execute != null);
}
public void Main(string argument, UpdateType updateSource)
{
// execute user interaction
if ((updateSource & UpdateType.Trigger) != 0 || (updateSource & UpdateType.Terminal) != 0)
{
if (argument.Contains("enable"))
{
disabled_ = false;
}
else if (argument.Contains("disable"))
{
gyroController_.ResetGyro();
disabled_ = true;
}
}
// check landing
landingInProgress_ = false;
foreach (var gear in gears_)
{
if (gear.LockMode == LandingGearMode.Locked || gear.LockMode == LandingGearMode.ReadyToLock)
{
landingInProgress_ = true;
break;
}
}
// run normal iteration
if ((updateSource & UpdateType.Update10) != 0)
{
// check natural gravity
if (cockpit_.GetNaturalGravity().Length() == 0.0)
{
naturalGravity_ = false;
gyroController_.SetGyroOverride(false);
return;
}
else
{
naturalGravity_ = true;
}
if (landingInProgress_ == false && disabled_ == false)
{
// update all orientation parameters
UpdateOrientationParameters();
// update gyroController
gyroController_.Tick();
if (cockpit_.MoveIndicator.Length() > 0.0 || cockpit_.RotationIndicator.Length() > 0.0)
{
desiredPitch_ = -(pitch_ - 90);
desiredRoll_ = (roll_ - 90);
gyroController_.SetGyroOverride(false);
}
else
{
gyroController_.SetGyroOverride(true);
desiredPitch_ = Math.Atan((worldSpeedForward_ - setSpeed_) / gyroResponsiveness_) / HalfPi * maxPitch_;
desiredRoll_ = Math.Atan(worldSpeedRight_ / gyroResponsiveness_) / HalfPi * maxRoll_;
}
if (gyroController_.GyroOverride)
{
ExecuteManeuver();
}
}
}
// generate lcd output and print them on
messages_.Flush();
statistics_.tick(this);
}
