public CharacterInput ApplyStabilization(CharacterInput input, FlightStatistics target, float deltaTime)
{
input = ApplyStallPrevention(input, target, _userConfig.StallLimiterStrength, _userConfig.RollLimiterStrength);
var stabilityInput = CharacterInput.Zero;
// Update gyroscopic stability
var error = GetGyroError(deltaTime, target, _lastGyroError, _c.ErrorSmoothingSpeed);
_lastGyroError = error;
var pids = GetGyroPidOutputs(error);
var gyroCorrection = PidOutputToCharacterInput(pids);
gyroCorrection = CharacterInput.Lerp(_lastGyroCorrection, gyroCorrection, _c.StabilityCorrectionSpeed * deltaTime);
_lastGyroCorrection = gyroCorrection;
stabilityInput += gyroCorrection;
// Apply stability overrides (Player input cancels out stabilization effects)
var stabilityOverride = GetStabilityOverrides(input, _c.MaxStabilityOverride);
stabilityInput = ApplyStabilityOverride(stabilityInput, stabilityOverride);
input += stabilityInput;
// Apply speed scaling to summed inputs
float normalizedSpeed = Mathf.Clamp01(target.RelativeVelocity.magnitude / _c.MaxSpeed);
return(ApplySpeedScaling(input, normalizedSpeed, _userConfig.InputSpeedScaling, 1.5f));
}
public CharacterInput SmoothInput(CharacterInput input, float deltaTime)
{
_smoothPlayerInput = CharacterInput.Lerp(_smoothPlayerInput, input, _c.InputSmoothingSpeed * deltaTime);
return(_smoothPlayerInput);
}