public bool getAltitude(out double alt)
{
alt = -1;
if (_init())
{
return(true);
}
rc.TryGetPlanetElevation(MyPlanetElevation.Surface, out alt);
return(false);
}
private void log()
{
sb.Clear();
tick++;
sb.Append("status: ").Append(status);
sb.Append("\ntick: ").Append(tick);
sb.Append("\nthrusters: ").Append(forwardList.Count());
sb.Append("\ngyros: ").Append(targetCapture.getGyrosCount());
sb.Append("\nRollInput: ").Append(targetCapture.RollInput);
if (remoteControl != null)
{
remoteControl.TryGetPlanetElevation(MyPlanetElevation.Surface, out elevation);
sb.Append(string.Format("\nelevation: {0:#.#}m", elevation));
}
Me.GetSurface(0).WriteText(sb.ToString());
}
public void Main(string argument, UpdateType updateSource)
{
double levelElevation = 10000.00;
double slowElevation = 8000;
double stopVelocity = 1000;
IMyRemoteControl remoteControl = GridTerminalSystem.GetBlockWithName("Remote Control") as IMyRemoteControl;
IMyGyro gyroscope = GridTerminalSystem.GetBlockWithName("Gyroscope") as IMyGyro;
IMyCockpit cockpit = GridTerminalSystem.GetBlockWithName("Control Seat") as IMyCockpit;
IMyProgrammableBlock autoLevel = (IMyProgrammableBlock)GridTerminalSystem.GetBlockWithName("Prog Block Auto Level");
Echo(remoteControl.CustomName);
Echo(gyroscope.CustomName);
StringBuilder sb = new StringBuilder();
double basicVel = remoteControl.GetShipSpeed();
double elevation;
remoteControl.TryGetPlanetElevation(MyPlanetElevation.Surface, out elevation);
sb.AppendLine($"Vel: {basicVel}\n Elev: {elevation.ToString("0.00")}");
if (stopVelocity <= elevation)
{
sb.AppendLine($"Level Limit Reached");
}
else if (slowElevation <= elevation)
{
sb.AppendLine($"Level Limit Reached");
}
else if (levelElevation <= elevation)
{
sb.AppendLine($"Level Limit Reached");
}
Write(sb.ToString(), cockpit);
}
public void Main(string argument, UpdateType updateSource)//main is called once per pysics update, ideally 60Hz
{
if (argument.ToLower() == "reset")
{
stage = 0;
}
bool valid = controller.TryGetPlanetElevation(MyPlanetElevation.Surface, out currentAltitude);
var parts = Storage.Split(';');
stage = int.Parse(parts[0]);
maxTotalEffectiveThrust = 0.0f;//have to recalculate every time because it increases with alt
foreach (var thruster in thrusters)
{
maxTotalEffectiveThrust += thruster.MaxEffectiveThrust;
}
physicalMass = controller.CalculateShipMass().PhysicalMass;
currentNaturalGravity = controller.GetNaturalGravity(); //
double gravityMagnitude = currentNaturalGravity.Length(); //what a weird thing to call magnitude of a vector
Echo($"STAGE: {stage}\nSPEED: {controller.GetShipVelocities().LinearVelocity.Length()}\nALT: {currentAltitude}");
antenna.HudText = stage.ToString();
if (stage == 0)
{
if (Freefall()) //if we are in freefall. Freefall is defined as accelerating at a rate ~= gravity, this implies thrusters are not acive. Also should check if it's heading towards or away from the gravity well. Linear alg time yay
{
foreach (var thruster in thrusters)
{
thruster.ThrustOverride = 0;
}
stage++;
Storage = stage + ";";
}
}
else if (stage == 1)
{
if (!Freefall())
{
stage = 0;
}
double a = maxTotalEffectiveThrust / physicalMass - currentNaturalGravity.Length(); //acceleration with full retro burn
double b = -controller.GetShipVelocities().LinearVelocity.Length(); //velocity
double c = currentAltitude;
double thrustStopTime = -b / (2 * a); //y=ax^2+bx -> dy = 2ax+b | 0 = 2*a*x+b -> -b/2a=x
Func <double, double> altitudeFunc = delegate(double x) { //x=time, y=altitude assuming full retro thrust
return(a * x * x + b * x + c);
};
double minHeight = altitudeFunc(thrustStopTime); //the lowest point of the trajectory IF thrust is engaged instantly
double calculatedStoppingDistance = currentAltitude - minHeight;
double safetyBuffer = Math.Abs(b) * 1.25 + craftHeight; //a coefficient in front of the safety buffer feels wrong
double safetyStoppingDistance = calculatedStoppingDistance + safetyBuffer;
if (!controller.DampenersOverride && currentAltitude <= safetyStoppingDistance)
{
stage++;
Storage = stage + ";";
controller.DampenersOverride = true;
}
}
else if (stage == 2)//descent burn has been initiated, goto stg 3 when a safe speed has been reached
{
antenna.HudText = stage.ToString();
if (controller.GetShipVelocities().LinearVelocity.Length() < safeVelocity)
{
stage++;
Storage = stage + ";";
}
}
else if (stage == 3)//target safe descent speed has been reached, maintain low speed until touchdown to planet
{
float totalThrustNeededToHover = physicalMass * (float)currentNaturalGravity.Length();
float idealThrustPerThruster = (float)totalThrustNeededToHover / (float)numThrusters;
float thrustRatio = thrusters[0].MaxThrust / thrusters[0].MaxEffectiveThrust;//actual output of thrust is similar to but different from the input set by code/user.
float adjustedThrustPerThruster = idealThrustPerThruster * thrustRatio;
foreach (var thruster in thrusters)
{
thruster.ThrustOverride = adjustedThrustPerThruster;
}
if (currentAltitude < touchdownHeight)
{
stage++;
Storage = stage + ";";
foreach (var thruster in thrusters)
{
controller.DampenersOverride = false;
thruster.ThrustOverride = 0.0f;
}
}
}
else if (stage == 4)//touchdown, turn stuff off pls
{
antenna.HudText = stage.ToString();
Echo($"TOUCHDOWN");
stage = 0;
Storage = stage + ";";
Runtime.UpdateFrequency = UpdateFrequency.None;//stop running the script
}
lastVelocities = controller.GetShipVelocities();
}