public TMode PutIntoATCommandMode()
{
TMode Current = GetMode();
switch (Current)
{
case TMode.TRANSPARENT:
return(PutIntoATCommandModeAssumingInTransparentMode());
case TMode.BOOTLOADER:
int PrevBaud = _Port.BaudRate;
_Port.BaudRate = BOOTLOADER_BAUD;
WriteBootloaderCode(Uploader.Code.REBOOT);
_Port.BaudRate = PrevBaud;
_Mode = TMode.INIT;
break;
case TMode.BOOTLOADER_X:
// boot
Thread.Sleep(100);
_Port.Write("\r\n");
Thread.Sleep(100);
_Port.Write("BOOTNEW\r\n");
Thread.Sleep(100);
_Mode = TMode.INIT;
break;
}
return(GetMode());
}
/// <summary>
/// Put into transparent mode.
/// </summary>
/// <returns></returns>
public TMode PutIntoTransparentMode()
{
if (GetMode() == TMode.TRANSPARENT)
{
System.Diagnostics.Debug.WriteLine("Already in transparent mode");
return(TMode.TRANSPARENT);
}
else
{
if (PutIntoATCommandMode() == TMode.AT_COMMAND)
{
_Port.Write("\r\n");
Thread.Sleep(100);
_Port.Write("ATO\r\n");
Thread.Sleep(100);
if (WaitForToken("ATO\r\n", 100))
{
System.Diagnostics.Debug.WriteLine("Put into transparent mode OK");
}
else
{
System.Diagnostics.Debug.WriteLine("Failed to put into transparent mode");
}
_Mode = TMode.TRANSPARENT;
return(TMode.TRANSPARENT);
}
else
{
System.Diagnostics.Debug.WriteLine("Failed to put into AT cmd mode");
return(TMode.UNKNOWN);
}
}
}
/// <summary>
/// set dialog mode (combine, intersect or subtract)
/// </summary>
/// <param name="AMode"></param>
public void SetMode(TFrmExtractCombineIntersectSubtractDialog.TMode AMode)
{
FMode = AMode;
// hide field for base extract if not in subtraction mode
if (FMode != TMode.ecisSubtractMode)
{
int ReducedHeight = txtBaseExtract.Height;
txtBaseExtract.Height = 0;
lblBaseExtract.Height = 0;
txtBaseExtract.Hide();
lblBaseExtract.Hide();
pnlTop.Height = pnlTop.Height - ReducedHeight;
lblExplanation.Location = new System.Drawing.Point(lblExplanation.Location.X, lblExplanation.Location.Y - ReducedHeight);
}
switch (FMode)
{
case TMode.ecisCombineMode:
lblExplanation.Text = Catalog.GetString("Please add extracts to the list that you want to combine and then click OK:");
FindForm().Text = "Combine Extracts";
break;
case TMode.ecisIntersectMode:
lblExplanation.Text = Catalog.GetString("Please add extracts to the list that you want to intersect and then click OK:");
FindForm().Text = "Intersect Extracts";
break;
case TMode.ecisSubtractMode:
lblExplanation.Text = Catalog.GetString("Please add extracts to the list to be subtracted from the one above:");
FindForm().Text = "Subtract Extracts";
break;
}
}
/// <summary>
/// set dialog mode (combine, intersect or subtract)
/// </summary>
/// <param name="AMode"></param>
public void SetMode(TFrmExtractCombineIntersectSubtractDialog.TMode AMode)
{
FMode = AMode;
// hide field for base extract if not in subtraction mode
if (FMode != TMode.ecisSubtractMode)
{
int ReducedHeight = txtBaseExtract.Height;
txtBaseExtract.Height = 0;
lblBaseExtract.Height = 0;
txtBaseExtract.Hide();
lblBaseExtract.Hide();
pnlTop.Height = pnlTop.Height - ReducedHeight;
lblExplanation.Location = new System.Drawing.Point(lblExplanation.Location.X, lblExplanation.Location.Y - ReducedHeight);
}
switch (FMode)
{
case TMode.ecisCombineMode:
lblExplanation.Text = Catalog.GetString("Please add extracts to the list that you want to combine and then click OK:");
FindForm().Text = "Combine Extracts";
break;
case TMode.ecisIntersectMode:
lblExplanation.Text = Catalog.GetString("Please add extracts to the list that you want to intersect and then click OK:");
FindForm().Text = "Intersect Extracts";
break;
case TMode.ecisSubtractMode:
lblExplanation.Text = Catalog.GetString("Please add extracts to the list to be subtracted from the one above:");
FindForm().Text = "Subtract Extracts";
break;
}
}
public TMode GetMode()
{
if (_Mode == TMode.INIT)
{
_Mode = DetermineMode();
}
return(_Mode);
}
public void ThrustOff()
{
targetThrottle = 0;
vessel.ctrlState.mainThrottle = 0;
tmode = TMode.OFF;
if (vessel == FlightGlobals.ActiveVessel)
{
FlightInputHandler.state.mainThrottle = 0; //so that the on-screen throttle gauge reflects the autopilot throttle
}
}
public void ThrustOff()
{
if (vessel == null || vessel.ctrlState == null)
return;
targetThrottle = 0;
vessel.ctrlState.mainThrottle = 0;
tmode = TMode.OFF;
SetFlightGlobals(0);
}
void CheckIfInBootloaderMode()
{
if (IsInBootloaderXMode())
{
_Mode = TMode.BOOTLOADER_X;
}
else if (IsInBootloaderMode())
{
_Mode = TMode.BOOTLOADER;
}
}
/// <summary>
/// Assuming in transparent mode, try to put it into AT command mode.
/// If fails, determine mode and then try again.
/// </summary>
public TMode PutIntoATCommandModeAssumingInTransparentMode()
{
_Port.ReadTimeout = 2000;
//Console.WriteLine("Waiting 1500ms");
Thread.Sleep(1500);
_Port.DiscardInBuffer();
//Console.WriteLine("Sending +++");
_Port.Write("+++");
//Console.WriteLine("Waiting up to 3s for OK");
if (WaitForToken("OK\r\n", 3000))
{
_Mode = TMode.AT_COMMAND;
return(TMode.AT_COMMAND);
}
_Mode = TMode.INIT;
return(PutIntoATCommandMode());
}
/// <summary>
/// /Add constructor logic here
/// </summary>
/// <param name="enMode"></param>
public clsRtf2Html(TMode enMode)
{
Debug.Assert(enMode==TMode.c_modRTF2HTML); //vice versa unsupported at the moment
m_enMode = enMode;
m_RTFTree = new CRTFNode();
SetTitle = "RTF2HTML Generated Document";
m_arrColors=new ArrayList(); //Color[]
m_arrHTMLElements=new ArrayList(); //CHTMLElement[]
m_mapFontNames=new ArrayList(); //CMapStringToString[]
m_RTFTree=new CRTFNode();
m_strName=string.Empty;
m_strCode=string.Empty;
m_strThisCode=string.Empty;
m_strPlain=string.Empty;
m_strLang=string.Empty;
ResetMetaData();
}
public void AssumeMode(TMode Mode)
{
_Mode = Mode;
}
public override void Drive(FlightCtrlState s)
{
//detect user input:
if (s.mainThrottle < 1e-4 && lastThrottle > 1e-4)
{
targetThrottle = 0; //detect player pressing 'x'
}
else if (Mathf.Abs(s.mainThrottle - lastThrottle) > 1e-4)
{
targetThrottle = Mathf.Clamp01((s.mainThrottle - lastThrottle) + targetThrottle);
}
if ((tmode != TMode.OFF) && (vesselState.thrustAvailable > 0))
{
double spd = 0;
switch (tmode)
{
case TMode.KEEP_ORBITAL:
spd = vesselState.speedOrbital;
break;
case TMode.KEEP_SURFACE:
spd = vesselState.speedSurface;
break;
case TMode.KEEP_VERTICAL:
spd = vesselState.speedVertical;
Vector3d rot = Vector3d.up;
if (trans_kill_h)
{
Vector3 hsdir = Vector3.Exclude(vesselState.up, vesselState.velocityVesselSurface);
Vector3 dir = -hsdir + vesselState.up * Math.Max(Math.Abs(spd), 20 * mainBody.GeeASL);
if ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) > 5000) && (hsdir.magnitude > Math.Max(Math.Abs(spd), 100 * mainBody.GeeASL) * 2))
{
tmode = TMode.DIRECT;
trans_spd_act = 100;
rot = -hsdir;
}
else
{
rot = dir.normalized;
}
core.attitude.attitudeTo(rot, AttitudeReference.INERTIAL, null);
}
break;
}
double t_err = (trans_spd_act - spd) / vesselState.maxThrustAccel;
if ((tmode == TMode.KEEP_ORBITAL && Vector3d.Dot(vesselState.forward, vesselState.velocityVesselOrbit) < 0) ||
(tmode == TMode.KEEP_SURFACE && Vector3d.Dot(vesselState.forward, vesselState.velocityVesselSurface) < 0))
{
//allow thrust to declerate
t_err *= -1;
}
double t_act = pid.Compute(t_err);
if ((tmode != TMode.KEEP_VERTICAL)
|| !trans_kill_h
|| (core.attitude.attitudeError < 2)
|| ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) < 1000) && (core.attitude.attitudeError < 90)))
{
if (tmode == TMode.DIRECT)
{
trans_prev_thrust = targetThrottle = trans_spd_act / 100.0F;
}
else
{
trans_prev_thrust = targetThrottle = Mathf.Clamp01(trans_prev_thrust + (float)t_act);
}
}
else
{
if ((core.attitude.attitudeError >= 2) && (vesselState.torqueThrustPYAvailable > Math.Min( vesselState.torqueAvailable.x, vesselState.torqueAvailable.z) * 10))
{
trans_prev_thrust = targetThrottle = 0.1F;
}
else
{
trans_prev_thrust = targetThrottle = 0;
}
}
}
s.mainThrottle = targetThrottle;
float throttleLimit = 1;
limiter = LimitMode.None;
if (limitThrottle)
{
if (maxThrottle < throttleLimit) limiter = LimitMode.Throttle;
throttleLimit = Mathf.Min(throttleLimit, (float)maxThrottle);
}
if (limitToTerminalVelocity)
{
float limit = TerminalVelocityThrottle();
if (limit < throttleLimit) limiter = LimitMode.TerminalVelocity;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventOverheats)
{
float limit = TemperatureSafetyThrottle();
if(limit < throttleLimit) limiter = LimitMode.Temperature;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitAcceleration)
{
float limit = AccelerationLimitedThrottle();
if(limit < throttleLimit) limiter = LimitMode.Acceleration;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventFlameout)
{
// This clause benefits being last: if we don't need much air
// due to prior limits, we can close some intakes.
float limit = FlameoutSafetyThrottle();
if (limit < throttleLimit) limiter = LimitMode.Flameout;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (double.IsNaN(throttleLimit)) throttleLimit = 0;
throttleLimit = Mathf.Clamp01(throttleLimit);
vesselState.throttleLimit = throttleLimit;
if (s.mainThrottle < throttleLimit) limiter = LimitMode.None;
s.mainThrottle = Mathf.Min(s.mainThrottle, throttleLimit);
if (smoothThrottle)
{
s.mainThrottle = SmoothThrottle(s.mainThrottle);
}
if (double.IsNaN(s.mainThrottle)) s.mainThrottle = 0;
s.mainThrottle = Mathf.Clamp01(s.mainThrottle);
lastThrottle = s.mainThrottle;
}
public object Convert(object Value, Type TargetType, object Parameter, CultureInfo Culture)
{
TMode Mode = (TMode)Value;
string Name = Parameter.ToString();
if (Mode == TMode.Qrr)
{
switch (Name)
{
case "TrrMeasureBy9050Method":
return(Visibility.Visible);
case "OffStateVoltage":
return(Visibility.Collapsed);
case "OsvRate":
return(Visibility.Collapsed);
case "Tq":
return(Visibility.Collapsed);
//видны
case "Qrr":
return(Visibility.Visible);
case "Irr":
return(Visibility.Visible);
case "Trr":
return(Visibility.Visible);
default:
return(Visibility.Visible);
}
}
else
{
if (Mode == TMode.QrrTq)
{
switch (Name)
{
case "TrrMeasureBy9050Method":
return(Visibility.Collapsed);
case "OffStateVoltage":
return(Visibility.Visible);
case "OsvRate":
return(Visibility.Visible);
case "Tq":
return(Visibility.Visible);
//скрыты
case "Qrr":
return(Visibility.Collapsed);
case "Irr":
return(Visibility.Collapsed);
case "Trr":
return(Visibility.Collapsed);
default:
return(Visibility.Visible);
}
}
else
{
return(Visibility.Visible);
}
}
}
public override void Drive(FlightCtrlState s)
{
float threshold = 0.1F;
bool _userCommandingRotation = !(Mathfx.Approx(s.pitch, s.pitchTrim, threshold)
&& Mathfx.Approx(s.yaw, s.yawTrim, threshold)
&& Mathfx.Approx(s.roll, s.rollTrim, threshold));
bool _userCommandingTranslation = !(Math.Abs(s.X) < threshold
&& Math.Abs(s.Y) < threshold
&& Math.Abs(s.Z) < threshold);
if (_userCommandingRotation && !_userCommandingTranslation)
{
userCommandingRotationSmoothed = 2;
}
else if (userCommandingRotationSmoothed > 0)
{
userCommandingRotationSmoothed--;
}
if (core.GetComputerModule<MechJebModuleThrustWindow>().hidden && core.GetComputerModule<MechJebModuleAscentGuidance>().hidden) { return; }
if ((tmode != TMode.OFF) && (vesselState.thrustAvailable > 0))
{
double spd = 0;
switch (tmode)
{
case TMode.KEEP_ORBITAL:
spd = vesselState.speedOrbital;
break;
case TMode.KEEP_SURFACE:
spd = vesselState.speedSurface;
break;
case TMode.KEEP_VERTICAL:
spd = vesselState.speedVertical;
Vector3d rot = Vector3d.up;
if (trans_kill_h)
{
Vector3 hsdir = Vector3.ProjectOnPlane(vesselState.surfaceVelocity, vesselState.up);
Vector3 dir = -hsdir + vesselState.up * Math.Max(Math.Abs(spd), 20 * mainBody.GeeASL);
if ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) > 5000) && (hsdir.magnitude > Math.Max(Math.Abs(spd), 100 * mainBody.GeeASL) * 2))
{
tmode = TMode.DIRECT;
trans_spd_act = 100;
rot = -hsdir;
}
else
{
rot = dir.normalized;
}
core.attitude.attitudeTo(rot, AttitudeReference.INERTIAL, null);
}
break;
}
double t_err = (trans_spd_act - spd) / vesselState.maxThrustAccel;
if ((tmode == TMode.KEEP_ORBITAL && Vector3d.Dot(vesselState.forward, vesselState.orbitalVelocity) < 0) ||
(tmode == TMode.KEEP_SURFACE && Vector3d.Dot(vesselState.forward, vesselState.surfaceVelocity) < 0))
{
//allow thrust to declerate
t_err *= -1;
}
double t_act = pid.Compute(t_err);
if ((tmode != TMode.KEEP_VERTICAL)
|| !trans_kill_h
|| (core.attitude.attitudeError < 2)
|| ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) < 1000) && (core.attitude.attitudeError < 90)))
{
if (tmode == TMode.DIRECT)
{
trans_prev_thrust = targetThrottle = trans_spd_act / 100.0F;
}
else
{
trans_prev_thrust = targetThrottle = Mathf.Clamp01(trans_prev_thrust + (float)t_act);
}
}
else
{
bool useGimbal = (vesselState.torqueFromEngine.x / vessel.ctrlState.mainThrottle > vesselState.torqueAvailable.x * 10) ||
(vesselState.torqueFromEngine.z / vessel.ctrlState.mainThrottle > vesselState.torqueAvailable.z * 10);
bool useDiffThrottle = (vesselState.torqueFromDiffThrottle.x > vesselState.torqueAvailable.x * 10) ||
(vesselState.torqueFromDiffThrottle.z > vesselState.torqueAvailable.z * 10);
if ((core.attitude.attitudeError >= 2) && (useGimbal || (useDiffThrottle && core.thrust.differentialThrottle)))
{
trans_prev_thrust = targetThrottle = 0.1F;
}
else
{
trans_prev_thrust = targetThrottle = 0;
}
}
}
// Only set throttle if a module need it. Othewise let the user or other mods set it
// There is always at least 1 user : the module itself (why ?)
if (users.Count() > 1)
s.mainThrottle = targetThrottle;
float throttleLimit = 1;
limiter = LimitMode.None;
if (limitThrottle)
{
if (maxThrottle < throttleLimit) limiter = LimitMode.Throttle;
throttleLimit = Mathf.Min(throttleLimit, (float)maxThrottle);
}
if (limitToTerminalVelocity)
{
float limit = TerminalVelocityThrottle();
if (limit < throttleLimit) limiter = LimitMode.TerminalVelocity;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitDynamicPressure)
{
float limit = MaximumDynamicPressureThrottle();
if (limit < throttleLimit) limiter = LimitMode.DynamicPressure;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventOverheats)
{
float limit = (float)TemperatureSafetyThrottle();
if(limit < throttleLimit) limiter = LimitMode.Temperature;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitAcceleration)
{
float limit = AccelerationLimitedThrottle();
if(limit < throttleLimit) limiter = LimitMode.Acceleration;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventFlameout)
{
// This clause benefits being last: if we don't need much air
// due to prior limits, we can close some intakes.
float limit = FlameoutSafetyThrottle();
if (limit < throttleLimit) limiter = LimitMode.Flameout;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limiterMinThrottle && limiter != LimitMode.None && throttleLimit < minThrottle)
{
limiter = LimitMode.MinThrottle;
throttleLimit = (float) minThrottle;
}
if (double.IsNaN(throttleLimit)) throttleLimit = 0;
throttleLimit = Mathf.Clamp01(throttleLimit);
vesselState.throttleLimit = throttleLimit;
if (s.mainThrottle < throttleLimit) limiter = LimitMode.None;
s.mainThrottle = Mathf.Min(s.mainThrottle, throttleLimit);
if (smoothThrottle)
{
s.mainThrottle = SmoothThrottle(s.mainThrottle);
}
if (double.IsNaN(s.mainThrottle)) s.mainThrottle = 0;
s.mainThrottle = Mathf.Clamp01(s.mainThrottle);
if (s.Z == 0 && core.rcs.rcsThrottle && vesselState.rcsThrust) s.Z = -s.mainThrottle;
lastThrottle = s.mainThrottle;
if (!core.attitude.enabled)
{
Vector3d act = new Vector3d(s.pitch, s.yaw, s.roll);
differentialThrottleDemandedTorque = -Vector3d.Scale(act.xzy, vesselState.torqueFromDiffThrottle * s.mainThrottle * 0.5f);
}
}
public void ThrustOff()
{
targetThrottle = 0;
vessel.ctrlState.mainThrottle = 0;
tmode = TMode.OFF;
}
public override void Drive(FlightCtrlState s)
{
if (core.GetComputerModule <MechJebModuleThrustWindow>().hidden&& core.GetComputerModule <MechJebModuleAscentGuidance>().hidden)
{
return;
}
if ((tmode != TMode.OFF) && (vesselState.thrustAvailable > 0))
{
double spd = 0;
switch (tmode)
{
case TMode.KEEP_ORBITAL:
spd = vesselState.speedOrbital;
break;
case TMode.KEEP_SURFACE:
spd = vesselState.speedSurface;
break;
case TMode.KEEP_VERTICAL:
spd = vesselState.speedVertical;
Vector3d rot = Vector3d.up;
if (trans_kill_h)
{
Vector3 hsdir = Vector3.Exclude(vesselState.up, vessel.srf_velocity);
Vector3 dir = -hsdir + vesselState.up * Math.Max(Math.Abs(spd), 20 * mainBody.GeeASL);
if ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) > 5000) && (hsdir.magnitude > Math.Max(Math.Abs(spd), 100 * mainBody.GeeASL) * 2))
{
tmode = TMode.DIRECT;
trans_spd_act = 100;
rot = -hsdir;
}
else
{
rot = dir.normalized;
}
core.attitude.attitudeTo(rot, AttitudeReference.INERTIAL, null);
}
break;
}
double t_err = (trans_spd_act - spd) / vesselState.maxThrustAccel;
if ((tmode == TMode.KEEP_ORBITAL && Vector3d.Dot(vesselState.forward, vessel.obt_velocity) < 0) ||
(tmode == TMode.KEEP_SURFACE && Vector3d.Dot(vesselState.forward, vessel.srf_velocity) < 0))
{
//allow thrust to declerate
t_err *= -1;
}
double t_act = pid.Compute(t_err);
if ((tmode != TMode.KEEP_VERTICAL) ||
!trans_kill_h ||
(core.attitude.attitudeError < 2) ||
((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) < 1000) && (core.attitude.attitudeError < 90)))
{
if (tmode == TMode.DIRECT)
{
trans_prev_thrust = targetThrottle = trans_spd_act / 100.0F;
}
else
{
trans_prev_thrust = targetThrottle = Mathf.Clamp01(trans_prev_thrust + (float)t_act);
}
}
else
{
if ((core.attitude.attitudeError >= 2) && (vesselState.torqueThrustPYAvailable > Math.Min(vesselState.torqueAvailable.x, vesselState.torqueAvailable.z) * 10))
{
trans_prev_thrust = targetThrottle = 0.1F;
}
else
{
trans_prev_thrust = targetThrottle = 0;
}
}
}
// Only set throttle if a module need it. Othewise let the user or other mods set it
// There is always at least 1 user : the module itself (why ?)
if (users.Count() > 1)
{
s.mainThrottle = targetThrottle;
}
float throttleLimit = 1;
limiter = LimitMode.None;
if (limitThrottle)
{
if (maxThrottle < throttleLimit)
{
limiter = LimitMode.Throttle;
}
throttleLimit = Mathf.Min(throttleLimit, (float)maxThrottle);
}
if (limitToTerminalVelocity)
{
float limit = TerminalVelocityThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.TerminalVelocity;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventOverheats)
{
float limit = TemperatureSafetyThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Temperature;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitAcceleration)
{
float limit = AccelerationLimitedThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Acceleration;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventFlameout)
{
// This clause benefits being last: if we don't need much air
// due to prior limits, we can close some intakes.
float limit = FlameoutSafetyThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Flameout;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (double.IsNaN(throttleLimit))
{
throttleLimit = 0;
}
throttleLimit = Mathf.Clamp01(throttleLimit);
vesselState.throttleLimit = throttleLimit;
if (s.mainThrottle < throttleLimit)
{
limiter = LimitMode.None;
}
s.mainThrottle = Mathf.Min(s.mainThrottle, throttleLimit);
if (smoothThrottle)
{
s.mainThrottle = SmoothThrottle(s.mainThrottle);
}
if (double.IsNaN(s.mainThrottle))
{
s.mainThrottle = 0;
}
s.mainThrottle = Mathf.Clamp01(s.mainThrottle);
if (s.Z == 0 && vesselState.rcsThrust)
{
s.Z = -s.mainThrottle;
}
lastThrottle = s.mainThrottle;
}
public void ThrustOff()
{
targetThrottle = 0;
vessel.ctrlState.mainThrottle = 0;
tmode = TMode.OFF;
}
public override void Drive(FlightCtrlState s)
{
//detect user input:
if (s.mainThrottle < 1e-4 && lastThrottle > 1e-4)
{
targetThrottle = 0; //detect player pressing 'x'
}
else if (Mathf.Abs(s.mainThrottle - lastThrottle) > 1e-4)
{
targetThrottle = Mathf.Clamp01((s.mainThrottle - lastThrottle) + targetThrottle);
}
if ((tmode != TMode.OFF) && (vesselState.thrustAvailable > 0))
{
double spd = 0;
switch (tmode)
{
case TMode.KEEP_ORBITAL:
spd = vesselState.speedOrbital;
break;
case TMode.KEEP_SURFACE:
spd = vesselState.speedSurface;
break;
case TMode.KEEP_VERTICAL:
spd = vesselState.speedVertical;
Vector3d rot = Vector3d.up;
if (trans_kill_h)
{
Vector3 hsdir = Vector3.Exclude(vesselState.up, vesselState.velocityVesselSurface);
Vector3 dir = -hsdir + vesselState.up * Math.Max(Math.Abs(spd), 20 * mainBody.GeeASL);
if ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) > 5000) && (hsdir.magnitude > Math.Max(Math.Abs(spd), 100 * mainBody.GeeASL) * 2))
{
tmode = TMode.DIRECT;
trans_spd_act = 100;
rot = -hsdir;
}
else
{
rot = dir.normalized;
}
core.attitude.attitudeTo(rot, AttitudeReference.INERTIAL, null);
}
break;
}
double t_err = (trans_spd_act - spd) / vesselState.maxThrustAccel;
if ((tmode == TMode.KEEP_ORBITAL && Vector3d.Dot(vesselState.forward, vesselState.velocityVesselOrbit) < 0) ||
(tmode == TMode.KEEP_SURFACE && Vector3d.Dot(vesselState.forward, vesselState.velocityVesselSurface) < 0))
{
//allow thrust to declerate
t_err *= -1;
}
double t_act = pid.Compute(t_err);
if ((tmode != TMode.KEEP_VERTICAL) ||
!trans_kill_h ||
(core.attitude.attitudeError < 2) ||
((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) < 1000) && (core.attitude.attitudeError < 90)))
{
if (tmode == TMode.DIRECT)
{
trans_prev_thrust = targetThrottle = trans_spd_act / 100.0F;
}
else
{
trans_prev_thrust = targetThrottle = Mathf.Clamp01(trans_prev_thrust + (float)t_act);
}
}
else
{
if ((core.attitude.attitudeError >= 2) && (vesselState.torqueThrustPYAvailable > vesselState.torquePYAvailable * 10))
{
trans_prev_thrust = targetThrottle = 0.1F;
}
else
{
trans_prev_thrust = targetThrottle = 0;
}
}
}
s.mainThrottle = targetThrottle;
float throttleLimit = 1;
limiter = LimitMode.None;
if (limitThrottle)
{
if (maxThrottle < throttleLimit)
{
limiter = LimitMode.Throttle;
}
throttleLimit = Mathf.Min(throttleLimit, (float)maxThrottle);
}
if (limitToTerminalVelocity)
{
float limit = TerminalVelocityThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.TerminalVelocity;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventOverheats)
{
float limit = TemperatureSafetyThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Temperature;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitAcceleration)
{
float limit = AccelerationLimitedThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Acceleration;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventFlameout)
{
// This clause benefits being last: if we don't need much air
// due to prior limits, we can close some intakes.
float limit = FlameoutSafetyThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Flameout;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (double.IsNaN(throttleLimit))
{
throttleLimit = 0;
}
throttleLimit = Mathf.Clamp01(throttleLimit);
vesselState.throttleLimit = throttleLimit;
if (s.mainThrottle < throttleLimit)
{
limiter = LimitMode.None;
}
s.mainThrottle = Mathf.Min(s.mainThrottle, throttleLimit);
if (smoothThrottle)
{
s.mainThrottle = SmoothThrottle(s.mainThrottle);
}
if (double.IsNaN(s.mainThrottle))
{
s.mainThrottle = 0;
}
s.mainThrottle = Mathf.Clamp01(s.mainThrottle);
lastThrottle = s.mainThrottle;
}
public override void Drive(FlightCtrlState s)
{
float threshold = 0.1F;
bool _userCommandingRotation = !(Mathfx.Approx(s.pitch, s.pitchTrim, threshold) &&
Mathfx.Approx(s.yaw, s.yawTrim, threshold) &&
Mathfx.Approx(s.roll, s.rollTrim, threshold));
bool _userCommandingTranslation = !(Math.Abs(s.X) < threshold &&
Math.Abs(s.Y) < threshold &&
Math.Abs(s.Z) < threshold);
if (_userCommandingRotation && !_userCommandingTranslation)
{
userCommandingRotationSmoothed = 2;
}
else if (userCommandingRotationSmoothed > 0)
{
userCommandingRotationSmoothed--;
}
if (core.GetComputerModule <MechJebModuleThrustWindow>().hidden&& core.GetComputerModule <MechJebModuleAscentGuidance>().hidden)
{
return;
}
if ((tmode != TMode.OFF) && (vesselState.thrustAvailable > 0))
{
double spd = 0;
switch (tmode)
{
case TMode.KEEP_ORBITAL:
spd = vesselState.speedOrbital;
break;
case TMode.KEEP_SURFACE:
spd = vesselState.speedSurface;
break;
case TMode.KEEP_VERTICAL:
spd = vesselState.speedVertical;
Vector3d rot = Vector3d.up;
if (trans_kill_h)
{
Vector3 hsdir = Vector3.ProjectOnPlane(vesselState.surfaceVelocity, vesselState.up);
Vector3 dir = -hsdir + vesselState.up * Math.Max(Math.Abs(spd), 20 * mainBody.GeeASL);
if ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) > 5000) && (hsdir.magnitude > Math.Max(Math.Abs(spd), 100 * mainBody.GeeASL) * 2))
{
tmode = TMode.DIRECT;
trans_spd_act = 100;
rot = -hsdir;
}
else
{
rot = dir.normalized;
}
core.attitude.attitudeTo(rot, AttitudeReference.INERTIAL, null);
}
break;
}
double t_err = (trans_spd_act - spd) / vesselState.maxThrustAccel;
if ((tmode == TMode.KEEP_ORBITAL && Vector3d.Dot(vesselState.forward, vesselState.orbitalVelocity) < 0) ||
(tmode == TMode.KEEP_SURFACE && Vector3d.Dot(vesselState.forward, vesselState.surfaceVelocity) < 0))
{
//allow thrust to declerate
t_err *= -1;
}
double t_act = pid.Compute(t_err);
if ((tmode != TMode.KEEP_VERTICAL) ||
!trans_kill_h ||
(core.attitude.attitudeError < 2) ||
((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) < 1000) && (core.attitude.attitudeError < 90)))
{
if (tmode == TMode.DIRECT)
{
trans_prev_thrust = targetThrottle = trans_spd_act / 100.0F;
}
else
{
trans_prev_thrust = targetThrottle = Mathf.Clamp01(trans_prev_thrust + (float)t_act);
}
}
else
{
bool useGimbal = (vesselState.torqueFromEngine.x / vessel.ctrlState.mainThrottle > vesselState.torqueAvailable.x * 10) ||
(vesselState.torqueFromEngine.z / vessel.ctrlState.mainThrottle > vesselState.torqueAvailable.z * 10);
bool useDiffThrottle = (vesselState.torqueFromDiffThrottle.x > vesselState.torqueAvailable.x * 10) ||
(vesselState.torqueFromDiffThrottle.z > vesselState.torqueAvailable.z * 10);
if ((core.attitude.attitudeError >= 2) && (useGimbal || (useDiffThrottle && core.thrust.differentialThrottle)))
{
trans_prev_thrust = targetThrottle = 0.1F;
}
else
{
trans_prev_thrust = targetThrottle = 0;
}
}
}
// Only set throttle if a module need it. Othewise let the user or other mods set it
// There is always at least 1 user : the module itself (why ?)
if (users.Count() > 1)
{
s.mainThrottle = targetThrottle;
}
float throttleLimit = 1;
limiter = LimitMode.None;
if (limitThrottle)
{
if (maxThrottle < throttleLimit)
{
limiter = LimitMode.Throttle;
}
throttleLimit = Mathf.Min(throttleLimit, (float)maxThrottle);
}
if (limitToTerminalVelocity)
{
float limit = TerminalVelocityThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.TerminalVelocity;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitDynamicPressure)
{
float limit = MaximumDynamicPressureThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.DynamicPressure;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventOverheats)
{
float limit = (float)TemperatureSafetyThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Temperature;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitAcceleration)
{
float limit = AccelerationLimitedThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Acceleration;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (electricThrottle && ElectricEngineRunning())
{
float limit = ElectricThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Electric;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventFlameout)
{
// This clause benefits being last: if we don't need much air
// due to prior limits, we can close some intakes.
float limit = FlameoutSafetyThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Flameout;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limiterMinThrottle && limiter != LimitMode.None && throttleLimit < minThrottle)
{
limiter = LimitMode.MinThrottle;
throttleLimit = (float)minThrottle;
}
if (double.IsNaN(throttleLimit))
{
throttleLimit = 0;
}
throttleLimit = Mathf.Clamp01(throttleLimit);
vesselState.throttleLimit = throttleLimit;
if (s.mainThrottle < throttleLimit)
{
limiter = LimitMode.None;
}
s.mainThrottle = Mathf.Min(s.mainThrottle, throttleLimit);
if (smoothThrottle)
{
s.mainThrottle = SmoothThrottle(s.mainThrottle);
}
if (double.IsNaN(s.mainThrottle))
{
s.mainThrottle = 0;
}
s.mainThrottle = Mathf.Clamp01(s.mainThrottle);
if (s.Z == 0 && core.rcs.rcsThrottle && vesselState.rcsThrust)
{
s.Z = -s.mainThrottle;
}
lastThrottle = s.mainThrottle;
if (!core.attitude.enabled)
{
Vector3d act = new Vector3d(s.pitch, s.yaw, s.roll);
differentialThrottleDemandedTorque = -Vector3d.Scale(act.xzy, vesselState.torqueFromDiffThrottle * s.mainThrottle * 0.5f);
}
}
public override void Drive(FlightCtrlState s)
{
if (core.GetComputerModule<MechJebModuleThrustWindow>().hidden && core.GetComputerModule<MechJebModuleAscentGuidance>().hidden) { return; }
if ((tmode != TMode.OFF) && (vesselState.thrustAvailable > 0))
{
double spd = 0;
switch (tmode)
{
case TMode.KEEP_ORBITAL:
spd = vesselState.speedOrbital;
break;
case TMode.KEEP_SURFACE:
spd = vesselState.speedSurface;
break;
case TMode.KEEP_VERTICAL:
spd = vesselState.speedVertical;
Vector3d rot = Vector3d.up;
if (trans_kill_h)
{
Vector3 hsdir = Vector3.Exclude(vesselState.up, vessel.srf_velocity);
Vector3 dir = -hsdir + vesselState.up * Math.Max(Math.Abs(spd), 20 * mainBody.GeeASL);
if ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) > 5000) && (hsdir.magnitude > Math.Max(Math.Abs(spd), 100 * mainBody.GeeASL) * 2))
{
tmode = TMode.DIRECT;
trans_spd_act = 100;
rot = -hsdir;
}
else
{
rot = dir.normalized;
}
core.attitude.attitudeTo(rot, AttitudeReference.INERTIAL, null);
}
break;
}
double t_err = (trans_spd_act - spd) / vesselState.maxThrustAccel;
if ((tmode == TMode.KEEP_ORBITAL && Vector3d.Dot(vesselState.forward, vessel.obt_velocity) < 0) ||
(tmode == TMode.KEEP_SURFACE && Vector3d.Dot(vesselState.forward, vessel.srf_velocity) < 0))
{
//allow thrust to declerate
t_err *= -1;
}
double t_act = pid.Compute(t_err);
if ((tmode != TMode.KEEP_VERTICAL)
|| !trans_kill_h
|| (core.attitude.attitudeError < 2)
|| ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) < 1000) && (core.attitude.attitudeError < 90)))
{
if (tmode == TMode.DIRECT)
{
trans_prev_thrust = targetThrottle = trans_spd_act / 100.0F;
}
else
{
trans_prev_thrust = targetThrottle = Mathf.Clamp01(trans_prev_thrust + (float)t_act);
}
}
else
{
if ((core.attitude.attitudeError >= 2) && (vesselState.torqueThrustPYAvailable > Math.Min( vesselState.torqueAvailable.x, vesselState.torqueAvailable.z) * 10))
{
trans_prev_thrust = targetThrottle = 0.1F;
}
else
{
trans_prev_thrust = targetThrottle = 0;
}
}
}
// Only set throttle if a module need it. Othewise let the user or other mods set it
// There is always at least 1 user : the module itself (why ?)
if (users.Count() > 1)
s.mainThrottle = targetThrottle;
float throttleLimit = 1;
limiter = LimitMode.None;
if (limitThrottle)
{
if (maxThrottle < throttleLimit) limiter = LimitMode.Throttle;
throttleLimit = Mathf.Min(throttleLimit, (float)maxThrottle);
}
if (limitToTerminalVelocity)
{
float limit = TerminalVelocityThrottle();
if (limit < throttleLimit) limiter = LimitMode.TerminalVelocity;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventOverheats)
{
float limit = TemperatureSafetyThrottle();
if(limit < throttleLimit) limiter = LimitMode.Temperature;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitAcceleration)
{
float limit = AccelerationLimitedThrottle();
if(limit < throttleLimit) limiter = LimitMode.Acceleration;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventFlameout)
{
// This clause benefits being last: if we don't need much air
// due to prior limits, we can close some intakes.
float limit = FlameoutSafetyThrottle();
if (limit < throttleLimit) limiter = LimitMode.Flameout;
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (double.IsNaN(throttleLimit)) throttleLimit = 0;
throttleLimit = Mathf.Clamp01(throttleLimit);
vesselState.throttleLimit = throttleLimit;
if (s.mainThrottle < throttleLimit) limiter = LimitMode.None;
s.mainThrottle = Mathf.Min(s.mainThrottle, throttleLimit);
if (smoothThrottle)
{
s.mainThrottle = SmoothThrottle(s.mainThrottle);
}
if (double.IsNaN(s.mainThrottle)) s.mainThrottle = 0;
s.mainThrottle = Mathf.Clamp01(s.mainThrottle);
if (s.Z == 0 && vesselState.rcsThrust) s.Z = -s.mainThrottle;
lastThrottle = s.mainThrottle;
}
public bool thrustActivate(ComputerModule controller, float value, TMode mode)
{
/*
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
*/
trans_spd_act = value;
tmode = mode;
return true;
}
public void ThrustOff()
{
targetThrottle = 0;
vessel.ctrlState.mainThrottle = 0;
tmode = TMode.OFF;
if (vessel == FlightGlobals.ActiveVessel)
{
FlightInputHandler.state.mainThrottle = 0; //so that the on-screen throttle gauge reflects the autopilot throttle
}
}