protected override void Update()
{
switch (stage)
{
case Stage.Start:
if (VSL.LandedOrSplashed)
{
stage = Stage.Liftoff;
}
else
{
ToOrbit.StartGravityTurn();
stage = Stage.GravityTurn;
}
break;
case Stage.Liftoff:
if (ToOrbit.Liftoff())
{
break;
}
stage = Stage.GravityTurn;
break;
case Stage.GravityTurn:
update_inclination_limits();
var norm = VesselOrbit.GetOrbitNormal();
var ApV = VesselOrbit.getRelativePositionAtUT(VSL.Physics.UT + VesselOrbit.timeToAp);
var arcT = AngleDelta(VesselOrbit, ToOrbit.Target);
if (arcT > 0 && arcT < AngleDelta(VesselOrbit, ApV))
{
ApV.Normalize();
var chord = ApV * VesselOrbit.radius - VesselOrbit.pos;
var alpha = inclination_correction(VesselOrbit.inclination, chord.magnitude);
ToOrbit.Target = QuaternionD.AngleAxis(alpha, Vector3d.Cross(norm, ApV))
* ApV * ToOrbit.TargetR;
}
else
{
var n = Vector3d.Cross(VesselOrbit.pos, ToOrbit.Target.normalized);
var inclination = Math.Acos(n.z / n.magnitude) * Mathf.Rad2Deg;
var chord = Vector3d.Exclude(norm, ToOrbit.Target).normalized *VesselOrbit.radius - VesselOrbit.pos;
var alpha = inclination_correction(inclination, chord.magnitude);
ToOrbit.Target = QuaternionD.AngleAxis(alpha, Vector3d.Cross(norm, VesselOrbit.pos))
* ToOrbit.Target;
}
if (ToOrbit.GravityTurn(ManeuverOffset, ORB.GTurnCurve, ORB.Dist2VelF, ORB.Dtol))
{
break;
}
CFG.BR.OffIfOn(BearingMode.Auto);
var ApAUT = VSL.Physics.UT + VesselOrbit.timeToAp;
if (ApR > MinPeR + ORB.RadiusOffset)
{
change_ApR(ApAUT);
}
else
{
circularize(ApAUT);
}
break;
case Stage.ChangeApA:
TmpStatus("Achieving target apoapsis...");
if (CFG.AP1[Autopilot1.Maneuver])
{
break;
}
circularize(VSL.Physics.UT + VesselOrbit.timeToAp);
stage = Stage.Circularize;
break;
case Stage.Circularize:
TmpStatus("Circularization...");
if (CFG.AP1[Autopilot1.Maneuver])
{
break;
}
Disable();
ClearStatus();
break;
}
}
protected override void Update()
{
switch (stage)
{
case Stage.Start:
if (VSL.LandedOrSplashed || VSL.VerticalSpeed.Absolute < 5)
{
stage = Stage.Liftoff;
}
else
{
ToOrbit.StartGravityTurn();
stage = Stage.GravityTurn;
}
break;
case Stage.Liftoff:
if (ToOrbit.Liftoff())
{
break;
}
stage = Stage.GravityTurn;
break;
case Stage.GravityTurn:
update_inclination_limits();
var norm = VesselOrbit.GetOrbitNormal();
var needed_norm = Vector3d.Cross(VesselOrbit.pos, ToOrbit.Target.normalized);
var norm2norm = Math.Abs(Utils.Angle2(norm, needed_norm) - 90);
if (norm2norm > 60)
{
var ApV = VesselOrbit.getRelativePositionAtUT(VSL.Physics.UT + VesselOrbit.timeToAp);
var arcApA = AngleDelta(VesselOrbit, ApV);
var arcT = AngleDelta(VesselOrbit, ToOrbit.Target);
if (arcT > 0 && arcT < arcApA)
{
ApV.Normalize();
var chord = ApV * VesselOrbit.radius - VesselOrbit.pos;
var alpha = inclination_correction(VesselOrbit.inclination, chord.magnitude);
var axis = Vector3d.Cross(norm, ApV);
ToOrbit.Target = QuaternionD.AngleAxis(alpha, axis) * ApV * ToOrbit.TargetR;
}
else
{
var inclination = Math.Acos(needed_norm.z / needed_norm.magnitude) * Mathf.Rad2Deg;
var chord = Vector3d.Exclude(norm, ToOrbit.Target).normalized *VesselOrbit.radius - VesselOrbit.pos;
var alpha = inclination_correction(inclination, chord.magnitude);
var axis = Vector3d.Cross(norm, VesselOrbit.pos.normalized);
if (arcT < 0)
{
alpha = -alpha;
}
ToOrbit.Target = QuaternionD.AngleAxis(alpha, axis) * ToOrbit.Target;
}
}
if (ToOrbit.GravityTurn(C.Dtol))
{
break;
}
CFG.BR.OffIfOn(BearingMode.Auto);
var ApAUT = VSL.Physics.UT + VesselOrbit.timeToAp;
if (ApR > ToOrbit.MaxApR)
{
change_ApR(ApAUT);
}
else
{
circularize(ApAUT);
}
break;
case Stage.ChangeApA:
TmpStatus("Achieving target apoapsis...");
if (CFG.AP1[Autopilot1.Maneuver])
{
break;
}
circularize(VSL.Physics.UT + VesselOrbit.timeToAp);
stage = Stage.Circularize;
break;
case Stage.Circularize:
TmpStatus("Circularization...");
if (CFG.AP1[Autopilot1.Maneuver])
{
break;
}
Disable();
ClearStatus();
break;
}
}
protected override void Update()
{
switch (stage)
{
case Stage.Start:
if (VSL.LandedOrSplashed || VSL.VerticalSpeed.Absolute < 5)
{
stage = Stage.Liftoff;
}
else
{
ToOrbit.StartGravityTurn();
inclinationPID.Reset();
stage = Stage.GravityTurn;
}
break;
case Stage.Liftoff:
if (ToOrbit.Liftoff())
{
break;
}
inclinationPID.Reset();
stage = Stage.GravityTurn;
break;
case Stage.GravityTurn:
update_inclination_limits();
var orbitNormal = VesselOrbit.GetOrbitNormal();
var targetNormalized = ToOrbit.Target.normalized;
var vsl2TargetNormal = Vector3d.Cross(VesselOrbit.pos, targetNormalized);
var norm2norm = Math.Abs(Utils.Angle2(orbitNormal, vsl2TargetNormal) - 90);
if (norm2norm > 60)
{
var ApV = VesselOrbit.getRelativePositionAtUT(VSL.Physics.UT + VesselOrbit.timeToAp);
var arcApA = Utils.Angle2(VesselOrbit.pos, ApV);
var arcApAT = Utils.Angle2(ApV, ToOrbit.Target);
if (arcApAT < arcApA)
{
ToOrbit.Target = QuaternionD.AngleAxis(arcApA - arcApAT, vsl2TargetNormal) * ToOrbit.Target;
}
var inclination = Math.Acos(vsl2TargetNormal.z / vsl2TargetNormal.magnitude) * Mathf.Rad2Deg;
inclinationPID.Update((float)inclination_error(inclination));
var axis = Vector3d.Cross(vsl2TargetNormal, targetNormalized);
ToOrbit.Target = QuaternionD.AngleAxis(inclinationPID.Action, axis) * ToOrbit.Target;
}
if (ToOrbit.GravityTurn(C.Dtol))
{
break;
}
CFG.BR.OffIfOn(BearingMode.Auto);
var ApAUT = VSL.Physics.UT + VesselOrbit.timeToAp;
if (ApR > ToOrbit.MaxApR)
{
change_ApR(ApAUT);
}
else
{
circularize(ApAUT);
}
break;
case Stage.ChangeApA:
TmpStatus("Achieving target apoapsis...");
if (CFG.AP1[Autopilot1.Maneuver])
{
break;
}
circularize(VSL.Physics.UT + VesselOrbit.timeToAp);
stage = Stage.Circularize;
break;
case Stage.Circularize:
TmpStatus("Circularization...");
if (CFG.AP1[Autopilot1.Maneuver])
{
break;
}
Disable();
ClearStatus();
break;
}
}
