void Start()
{
vessel = GetComponent <Vessel>();
vessel.OnAutopilotUpdate += MouseAimPilot;
pitchDstr = pitchD.ToString();
pitchIstr = pitchI.ToString();
pitchPstr = pitchP.ToString();
rollDstr = rollD.ToString();
rollIstr = rollI.ToString();
rollPstr = rollP.ToString();
yawDstr = yawD.ToString();
yawIstr = yawI.ToString();
yawPstr = yawP.ToString();
upWeightingStr = upWeighting.ToString();
pilot = new AdaptivePID();
vesselTransform = vessel.ReferenceTransform;
targetPosition = vesselTransform.up * 5000; //if it's activated, set it to the baseline
FieldInfo[] cameraMouseLookStaticFields = typeof(CameraMouseLook).GetFields(BindingFlags.NonPublic | BindingFlags.Static);
freeLookKSPCameraField = cameraMouseLookStaticFields[0];
}
void Start()
{
vessel.OnAutopilotUpdate += MouseAimPilot;
pilot = new AdaptivePID();
flightMode = new FlightBehavior();
vesselTransform = vessel.ReferenceTransform;
targetPosition = vesselTransform.up * 5000; //if it's activated, set it to the baseline
FieldInfo[] cameraMouseLookStaticFields = typeof(CameraMouseLook).GetFields(BindingFlags.NonPublic | BindingFlags.Static);
freeLookKSPCameraField = cameraMouseLookStaticFields[0];
}
void DebugPIDGUI(int windowID)
{
GUILayout.Label("Pitch:");
GUILayout.BeginHorizontal();
TextEntry(ref pitchPstr, "P:");
GUILayout.Label(pilot.pitchPID.kp.ToString());
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TextEntry(ref pitchIstr, "I:");
GUILayout.Label(pilot.pitchPID.ki.ToString());
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TextEntry(ref pitchDstr, "D:");
GUILayout.Label(pilot.pitchPID.kd.ToString());
GUILayout.EndHorizontal();
GUILayout.Label("Roll:");
GUILayout.BeginHorizontal();
TextEntry(ref rollPstr, "P:");
GUILayout.Label(pilot.rollPID.kp.ToString());
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TextEntry(ref rollIstr, "I:");
GUILayout.Label(pilot.rollPID.ki.ToString());
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TextEntry(ref rollDstr, "D:");
GUILayout.Label(pilot.rollPID.kd.ToString());
GUILayout.EndHorizontal();
GUILayout.Label("Yaw:");
GUILayout.BeginHorizontal();
TextEntry(ref yawPstr, "P:");
GUILayout.Label(pilot.yawPID.kp.ToString());
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TextEntry(ref yawIstr, "I:");
GUILayout.Label(pilot.yawPID.ki.ToString());
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TextEntry(ref yawDstr, "D:");
GUILayout.Label(pilot.yawPID.kd.ToString());
GUILayout.EndHorizontal();
TextEntry(ref upWeightingStr, "Roll-up Weight");
if (GUILayout.Button("Update K and reset integration errors"))
{
pitchD = float.Parse(pitchDstr);
pitchI = float.Parse(pitchIstr);
pitchP = float.Parse(pitchPstr);
rollD = float.Parse(rollDstr);
rollI = float.Parse(rollIstr);
rollP = float.Parse(rollPstr);
yawD = float.Parse(yawDstr);
yawI = float.Parse(yawIstr);
yawP = float.Parse(yawPstr);
upWeighting = float.Parse(upWeightingStr);
pilot = new AdaptivePID(pitchP, pitchI, pitchD, rollP, rollI, rollD, yawP, yawI, yawD);
}
if (GUILayout.Button("Reset integration errors"))
{
pilot.pitchPID.ZeroIntegral();
pilot.rollPID.ZeroIntegral();
pilot.yawPID.ZeroIntegral();
}
GUI.DragWindow();
}
void Start()
{
vessel = GetComponent<Vessel>();
vessel.OnAutopilotUpdate += MouseAimPilot;
upWeightingStr = upWeighting.ToString();
pilot = new AdaptivePID();
flightMode = new FlightBehavior();
vesselTransform = vessel.ReferenceTransform;
targetPosition = vesselTransform.up * 5000; //if it's activated, set it to the baseline
FieldInfo[] cameraMouseLookStaticFields = typeof(CameraMouseLook).GetFields(BindingFlags.NonPublic | BindingFlags.Static);
freeLookKSPCameraField = cameraMouseLookStaticFields[0];
}