private bool DistanceHeading(RemoteTech.FlightComputer.Commands.DriveCommand dc, FlightCtrlState fs)
{
Delta = Math.Abs(dc.target) - Vector3.Distance(RoverOrigPos, mVessel.CoM);
DeltaT = Delta / RoverSpeed;
if (Delta > 0)
{
fs.wheelThrottle = (float)throttlePID.Update(RoverSpeed, dc.speed, -1.0, 1.0);
if (ForwardAxis != Vector3.zero)
{
Vector3d actuation = pidController.GetActuation(targetRotation);
float steeringOutput = (float)-steerPID.Update(RTUtil.AngleBetween(RoverHDG, dc.target2), 0, -1.0, 1.0);
if (mVessel.radarAltitude > minRadarAlt)
{
fs.pitch = Mathf.Clamp((float)actuation.x, -driveLimit, driveLimit);
fs.roll = Mathf.Clamp((float)actuation.y, -driveLimit, driveLimit);
}
fs.yaw = Mathf.Clamp((float)actuation.z, -driveLimit, driveLimit); //keep if u want jet car
fs.wheelSteer = SmoothenWheelSteering(RTUtil.AngleBetween(RoverHDG, dc.target2), steeringOutput, -dc.steering, dc.steering);
}
return(false);
}
else
{
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Off;
return(true);
}
}
public void OnFixedUpdate()
{
if (Vessel != null)
{
UpdateStateVectors(Vessel, Target);
SteeringHelper.AnalyzeParts(Vessel);
Vector3 Torque = SteeringHelper.TorqueAvailable;
var CoM = Vessel.CoM;
var MoI = Vessel.MOI;
phiTotal = calculatePhiTotal();
phiVector = calculatePhiVector();//deviation errors from orientation target
for (int i = 0; i < 3; i++)
{
MaxOmega[i] = Mathf.Max(Torque[i] / MoI[i], 0.0001f);
}
TargetOmega[0] = pitchRatePI.Update(-phiVector[0], 0, MaxOmega[0]);
TargetOmega[1] = rollRatePI.Update(-phiVector[1], 0, MaxOmega[1]);
TargetOmega[2] = yawRatePI.Update(-phiVector[2], 0, MaxOmega[2]);
if (Math.Abs(phiTotal) > RollControlRange)
{
TargetOmega[1] = 0;
rollRatePI.ResetI();
}
TargetTorque[0] = pitchPI.Update(Omega[0], TargetOmega[0], Vessel.MOI[0], Torque[0]);
TargetTorque[1] = rollPI.Update(Omega[1], TargetOmega[1], Vessel.MOI[1], Torque[1]);
TargetTorque[2] = yawPI.Update(Omega[2], TargetOmega[2], Vessel.MOI[2], Torque[2]);
}
}
public void OnFixedUpdate()
{
if (Vessel != null)
{
UpdateStateVectors(Vessel, Target);
Vector3 Torque = SteeringHelper.GetVesselTorque(Vessel);
var CoM = Vessel.CoM;
var MoI = Vessel.MOI;
phiTotal = PhiTotal();
phiVector = PhiVector();
for (int i = 0; i < 3; i++)
{
MaxOmega[i] = Torque[i] * MaxStoppingTime / MoI[i];
}
TargetOmega[0] = pitchRatePI.Update(-phiVector[0], 0, MaxOmega[0]);
TargetOmega[1] = rollRatePI.Update(-phiVector[1], 0, MaxOmega[1]);
TargetOmega[2] = yawRatePI.Update(-phiVector[2], 0, MaxOmega[2]);
if (Math.Abs(phiTotal) > RollControlRange)
{
TargetOmega[1] = 0;
rollRatePI.ResetI();
}
TargetTorque[0] = pitchPI.Update(Omega[0], TargetOmega[0], Vessel.MOI[0], Torque[0]);
TargetTorque[1] = rollPI.Update(Omega[1], TargetOmega[1], Vessel.MOI[1], Torque[1]);
TargetTorque[2] = yawPI.Update(Omega[2], TargetOmega[2], Vessel.MOI[2], Torque[2]);
}
}
private bool Turn(RemoteTech.FlightComputer.Commands.DriveCommand dc, FlightCtrlState fs)
{
Delta = Math.Abs(Quaternion.Angle(mRoverRot, mVessel.ReferenceTransform.rotation));
DeltaT = Delta / mVessel.GetComponent <Rigidbody>().angularVelocity.magnitude;
if (Delta < dc.target)
{
fs.wheelThrottle = (float)throttlePID.Update(RoverSpeed, dc.speed, -1.0, 1.0);
fs.wheelSteer = dc.steering;
return(false);
}
else
{
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Off;
return(true);
}
}
public void OnFixedUpdate()
{
if (Vessel != null)
{
UpdateStateVectors(Vessel, Target);
SteeringHelper.AnalyzeParts(Vessel);
Vector3 Torque = SteeringHelper.TorqueAvailable;
var CoM = Vessel.CoM;
var MoI = Vessel.MOI;
phiTotal = calculatePhiTotal();
phiVector = calculatePhiVector();//deviation errors from orientation target
for (int i = 0; i < 3; i++)
{
//Edge case: Very low (torque/MoI) (like 0.0078!) rate so need to rise max acceleration artifically
StoppingTime = (OmegaThreshold <= (Torque[i] / MoI[i])) ?
1.0f :
(float)RTUtil.Clamp((1.0 / (Torque[i] / MoI[i])) * (Math.Abs(phiVector[i]) - Phi1FStoppingTime), 1.0, MaxStoppingTime);
MaxOmega[i] = Mathf.Max((Torque[i] * StoppingTime) / MoI[i], 0.0001f);
}
TargetOmega[0] = pitchRatePI.Update(-phiVector[0], 0, MaxOmega[0]);
TargetOmega[1] = rollRatePI.Update(-phiVector[1], 0, MaxOmega[1]);
TargetOmega[2] = yawRatePI.Update(-phiVector[2], 0, MaxOmega[2]);
if (Math.Abs(phiTotal) > RollControlRange)
{
TargetOmega[1] = 0;
rollRatePI.ResetI();
}
TargetTorque[0] = pitchPI.Update(Omega[0], TargetOmega[0], Vessel.MOI[0], Torque[0]);
TargetTorque[1] = rollPI.Update(Omega[1], TargetOmega[1], Vessel.MOI[1], Torque[1]);
TargetTorque[2] = yawPI.Update(Omega[2], TargetOmega[2], Vessel.MOI[2], Torque[2]);
}
}