public void Reset()
{
// lambda and lambdaDot are deliberately not cleared here
//Debug.Log("call stack: + " + Environment.StackTrace);
if (p != null)
{
p.KillThread();
p = null;
}
status = PVGStatus.INITIALIZING;
last_stage_time = 0.0;
last_optimizer_time = 0.0;
last_coasting_time = 0.0;
last_success_time = 0.0;
autowarp = false;
if (!MuUtils.PhysicsRunning())
{
core.warp.MinimumWarp();
}
}
private void converge()
{
if (p == null)
{
status = PVGStatus.INITIALIZING;
return;
}
if (p.last_success_time > 0)
{
last_success_time = p.last_success_time;
}
// FIXME: should make this use wall clock time rather than simulation time and drop it down to
// 10 seconds or so (phys warp means that this timeout could be 1/4 of the wall time and the
// optimizer may commonly take 3-4 seconds to reconverge in a suboptimal setting -- TF failure case, etc)
if (p.running_time(vesselState.time) > 30)
{
p.KillThread();
p.last_failure_cause = "Optimizer watchdog timeout"; // bit dirty poking other people's data
}
if (p.solution == null)
{
/* we have a solver but no solution */
status = PVGStatus.INITIALIZING;
}
else
{
/* we have a solver and have a valid solution */
if (isTerminalGuidance())
{
return;
}
/* hardcoded 10 seconds of terminal guidance */
if (tgo < 10)
{
// drop out of warp for terminal guidance (smaller time ticks => more accuracy)
core.warp.MinimumWarp();
status = PVGStatus.TERMINAL;
return;
}
}
if ((vesselState.time - last_optimizer_time) < MuUtils.Clamp(pvgInterval, 1.00, 30.00))
{
return;
}
// if we have unstable ullage then continuously update the "staging" timer until we are not
if ((vesselState.lowestUllage < VesselState.UllageState.Stable) && !isCoasting())
{
last_stage_time = vesselState.time;
}
if (p.solution != null)
{
// The current_tgo is the "booster" stage of the solution, it is allowed to go negative, for staging freeze
// running the optimizer for 4 seconds on either side of staging.
if (Math.Abs(p.solution.current_tgo(vesselState.time)) < 4)
{
return;
}
// Also if we just triggered a KSP stage separation or just started coasting, then wait for 4 seconds for
// stats to settle before running the optimizer again.
if (vesselState.time < last_stage_time + 4)
{
return;
}
}
p.threadStart(vesselState.time);
//if ( p.threadStart(vesselState.time) )
//Debug.Log("MechJeb: started optimizer thread");
if (status == PVGStatus.INITIALIZING && p.solution != null)
{
status = PVGStatus.CONVERGED;
}
last_optimizer_time = vesselState.time;
}
