/// <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
}
}
public RoverComputer(FlightComputer fc, double kp, double ki, double kd)
{
throttlePID = new PIDLoop(1, 0, 0);
steerPID = new PIDLoop(1, 0, 0);
pidController = fc.PIDController; //don't think of putting second copy of PID here
this.Kp = kp;
this.Ki = ki;
this.Kd = kd;
}