/// <summary>
/// Update the current state of the spacecraft according to all inputs
/// </summary>
/// <param name="CurrentState">The current flight control state</param>
public static void UpdateState(FlightCtrlState CurrentState)
{
// Go through all our axes to find the ones we need to update
foreach (FieldInfo field in AxisFields)
{
if (Math.Abs((float)field.GetValue(CurrentState)) < Math.Abs((float)field.GetValue(UpdatedState)))
{
field.SetValue(CurrentState, (float)field.GetValue(UpdatedState));
// The throttles are a real PITA to override
if (field.Name == "mainThrottle")
{
FlightInputHandler.state.mainThrottle = 0.0f;
}
else if (field.Name == "wheelThrottle")
{
FlightInputHandler.state.wheelThrottle = 0.0f;
}
}
}
// If SAS is on, we need to override it or else our changes are ignored
VesselAutopilot.VesselSAS vesselSAS = FlightGlobals.ActiveVessel.Autopilot.SAS;
Boolean overrideSAS = (Math.Abs(CurrentState.pitch) > vesselSAS.controlDetectionThreshold) ||
(Math.Abs(CurrentState.yaw) > vesselSAS.controlDetectionThreshold) ||
(Math.Abs(CurrentState.roll) > vesselSAS.controlDetectionThreshold);
vesselSAS.ManualOverride(overrideSAS);
}
public void Update(VesselAutopilot.VesselSAS sas)
{
PIDclamp[] sasPID = new PIDclamp[3];
sasPID[(int)SASList.Pitch] = sas.pidLockedPitch;
sasPID[(int)SASList.Roll] = sas.pidLockedRoll;
sasPID[(int)SASList.Yaw] = sas.pidLockedYaw;
foreach (SASList s in Enum.GetValues(typeof(SASList)))
{
PIDGains[(int)s, 0] = sasPID[(int)s].kp;
PIDGains[(int)s, 1] = sasPID[(int)s].ki;
PIDGains[(int)s, 2] = sasPID[(int)s].kd;
PIDGains[(int)s, 3] = sasPID[(int)s].clamp;
}
}
static bool Prefix(VesselAutopilot.VesselSAS __instance, Vessel ___vessel, ref bool __result)
{
if (FlightGlobals.ActiveVessel != ___vessel)
{
__result = false;
// this is what VesselSAS does anyway, so no point in calling it
return(false);
}
if (Mathf.Abs(AI_FlightControl.instance.ctrlState.roll) > __instance.controlDetectionThreshold)
{
__result = true;
// short circuit the logic
return(false);
}
// allow VesselSAS to check keyboard and other inputs
return(true);
}
public SASPreset(VesselAutopilot.VesselSAS sas, string Name) // used for adding a new stock preset
{
name = Name;
PIDclamp[] sasPID = new PIDclamp[3];
sasPID[(int)SASList.Pitch] = sas.pidLockedPitch;
sasPID[(int)SASList.Bank] = sas.pidLockedRoll;
sasPID[(int)SASList.Hdg] = sas.pidLockedYaw;
foreach (SASList s in Enum.GetValues(typeof(SASList)))
{
PIDGains[(int)s, 0] = sasPID[(int)s].kp;
PIDGains[(int)s, 1] = sasPID[(int)s].ki;
PIDGains[(int)s, 2] = sasPID[(int)s].kd;
PIDGains[(int)s, 3] = sasPID[(int)s].clamp;
}
}
private void drawSASWindow(int id)
{
if (GUI.Button(new Rect(StockSASwindow.width - 16, 2, 14, 14), ""))
{
PilotAssistantFlightCore.bDisplaySAS = false;
}
bShowPresets = GUILayout.Toggle(bShowPresets, bShowPresets ? "Hide SAS Presets" : "Show SAS Presets");
VesselAutopilot.VesselSAS sas = vesModule.vesselRef.Autopilot.SAS;
drawPIDValues(sas.pidLockedPitch, "Pitch", SASList.Pitch);
drawPIDValues(sas.pidLockedRoll, "Roll", SASList.Bank);
drawPIDValues(sas.pidLockedYaw, "Yaw", SASList.Hdg);
GUI.DragWindow();
tooltip = GUI.tooltip;
}
private void drawSASWindow(int id)
{
if (GUI.Button(new Rect(SASwindow.width - 16, 2, 14, 14), ""))
{
AppLauncherFlight.bDisplaySAS = false;
}
bShowPresets = GUILayout.Toggle(bShowPresets, bShowPresets ? "Hide SAS Presets" : "Show SAS Presets");
bStockSAS = GUILayout.Toggle(bStockSAS, bStockSAS ? "Mode: Stock SAS" : "Mode: SSAS");
if (!bStockSAS)
{
GUI.backgroundColor = GeneralUI.HeaderButtonBackground;
if (GUILayout.Button(bArmed ? "Disarm SAS" : "Arm SAS"))
{
bArmed = !bArmed;
if (!bArmed)
{
ActivitySwitch(false);
}
if (bArmed)
{
Messaging.statusMessage(8);
}
else
{
Messaging.statusMessage(9);
}
}
GUI.backgroundColor = GeneralUI.stockBackgroundGUIColor;
if (bArmed)
{
Utils.GetSAS(SASList.Pitch).SetPoint = Utils.Clamp((float)GeneralUI.TogPlusNumBox("Pitch:", ref bActive[(int)SASList.Pitch], FlightData.pitch, Utils.GetSAS(SASList.Pitch).SetPoint, 80), -90, 90);
Utils.GetSAS(SASList.Yaw).SetPoint = GeneralUI.TogPlusNumBox("Heading:", ref bActive[(int)SASList.Yaw], FlightData.heading, Utils.GetSAS(SASList.Yaw).SetPoint, 80, 60, 360, 0);
if (!rollState) // editable
{
Utils.GetSAS(SASList.Roll).SetPoint = GeneralUI.TogPlusNumBox("Roll:", ref bActive[(int)SASList.Roll], FlightData.roll, Utils.GetSAS(SASList.Roll).SetPoint, 80, 60, 180, -180);
}
else // not editable b/c vector mode
{
GUILayout.BeginHorizontal();
bActive[(int)SASList.Roll] = GUILayout.Toggle(bActive[(int)SASList.Roll], "Roll:", GeneralUI.toggleButton, GUILayout.Width(80));
GUILayout.TextField(FlightData.roll.ToString("N2"), GUILayout.Width(60));
GUILayout.EndHorizontal();
}
GUILayout.Box("", GUILayout.Height(10));
drawPIDValues(SASList.Pitch, "Pitch");
drawPIDValues(SASList.Roll, "Roll");
drawPIDValues(SASList.Yaw, "Yaw");
}
}
else
{
VesselAutopilot.VesselSAS sas = FlightData.thisVessel.Autopilot.SAS;
drawPIDValues(sas.pidLockedPitch, "Pitch", SASList.Pitch);
drawPIDValues(sas.pidLockedRoll, "Roll", SASList.Roll);
drawPIDValues(sas.pidLockedYaw, "Yaw", SASList.Yaw);
}
GUI.DragWindow();
}
