protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
if (GUILayout.Button("Reset"))
{
core.attitude.ResetConfig();
OnStart(PartModule.StartState.None);
}
core.GetComputerModule <MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto-tuning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GUILayout.BeginHorizontal();
GUILayout.Label("Tf (s)", GUILayout.ExpandWidth(true));
GUILayout.Label("P", GUILayout.ExpandWidth(false));
TfX.text = GUILayout.TextField(TfX.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("Y", GUILayout.ExpandWidth(false));
TfY.text = GUILayout.TextField(TfY.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("R", GUILayout.ExpandWidth(false));
TfZ.text = GUILayout.TextField(TfZ.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.EndHorizontal();
TfX = Math.Max(0.01, TfX);
TfY = Math.Max(0.01, TfY);
TfZ = Math.Max(0.01, TfZ);
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.TfV), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
}
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
GuiUtils.SimpleTextBox("Deadband = ", deadband, "", 50);
core.attitude.deadband = Math.Max(deadband, 0.0);
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
//Lower value of "kWlimit" reduces maximum angular velocity
double kWlimit = core.attitude.kWlimit;
var nextkWlimit = new EditableDoubleMult(kWlimit, 0.01);
GuiUtils.SimpleTextBox("Maximum Relative Angular Velocity", nextkWlimit, "%");
nextkWlimit = (EditableDouble)GUILayout.HorizontalSlider((float)nextkWlimit, 0.0F, 1.0F);
const int sliderPrecision = 3;
if (Math.Round(Math.Abs(nextkWlimit - kWlimit), sliderPrecision) > 0)
{
core.attitude.kWlimit = Math.Round(nextkWlimit, sliderPrecision);
}
showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Kp", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Kp), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Ki", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Ki), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Kd), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Error", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.error * Mathf.Rad2Deg), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Axis Control ", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.AxisState, "F0"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.torque.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("torqueReactionSpeed", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.torqueReactionSpeed.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.torqueReactionSpeed), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Inertia", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.inertia.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, core.attitude.torque.Invert());
GUILayout.BeginHorizontal();
GUILayout.Label("MOI / torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + ratio.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(ratio), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.MoI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.MoI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI stock", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.MOI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.MOI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Angular Velocity", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.angularVelocity.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.angularVelocity), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
}
MechJebModuleAttitudeController.useCoMVelocity = GUILayout.Toggle(MechJebModuleAttitudeController.useCoMVelocity, "Use CoM velocity instead of stock");
MechJebModuleDebugArrows arrows = core.GetComputerModule <MechJebModuleDebugArrows>();
GuiUtils.SimpleTextBox("Arrows length", arrows.arrowsLength, "", 50);
arrows.seeThrough = GUILayout.Toggle(arrows.seeThrough, "Visible through object");
GUILayout.BeginHorizontal();
arrows.comSphereActive = GUILayout.Toggle(arrows.comSphereActive, "Display the CoM. Radius of ", GUILayout.ExpandWidth(false));
arrows.comSphereRadius.text = GUILayout.TextField(arrows.comSphereRadius.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
arrows.displayAtCoM = GUILayout.Toggle(arrows.displayAtCoM, "Arrows origins at the CoM");
arrows.podSrfVelocityArrowActive = GUILayout.Toggle(arrows.podSrfVelocityArrowActive, "Pod Surface Velocity (yellow)");
arrows.comSrfVelocityArrowActive = GUILayout.Toggle(arrows.comSrfVelocityArrowActive, "CoM Surface Velocity (green)");
arrows.podObtVelocityArrowActive = GUILayout.Toggle(arrows.podObtVelocityArrowActive, "Pod Orbital Velocity (red)");
arrows.comObtVelocityArrowActive = GUILayout.Toggle(arrows.comObtVelocityArrowActive, "CoM Orbital Velocity (orange)");
arrows.forwardArrowActive = GUILayout.Toggle(arrows.forwardArrowActive, "Command Pod Forward (electric blue)");
//arrows.avgForwardArrowActive = GUILayout.Toggle(arrows.avgForwardArrowActive, "Forward Avg (blue)");
arrows.requestedAttitudeArrowActive = GUILayout.Toggle(arrows.requestedAttitudeArrowActive, "Requested Attitude (gray)");
arrows.debugArrowActive = GUILayout.Toggle(arrows.debugArrowActive, "Debug (magenta)");
arrows.debugArrow2Active = GUILayout.Toggle(arrows.debugArrow2Active, "Debug (light blue)");
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.TfV.x != TfX || core.attitude.TfV.y != TfY || core.attitude.TfV.z != TfZ)
{
core.attitude.TfV.x = TfX;
core.attitude.TfV.y = TfY;
core.attitude.TfV.z = TfZ;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
if (GUILayout.Button("Reset"))
{
core.attitude.ResetConfig();
OnStart(PartModule.StartState.None);
}
core.GetComputerModule<MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto-tuning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GUILayout.BeginHorizontal();
GUILayout.Label("Tf (s)", GUILayout.ExpandWidth(true));
GUILayout.Label("P", GUILayout.ExpandWidth(false));
TfX.text = GUILayout.TextField(TfX.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("Y", GUILayout.ExpandWidth(false));
TfY.text = GUILayout.TextField(TfY.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("R", GUILayout.ExpandWidth(false));
TfZ.text = GUILayout.TextField(TfZ.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.EndHorizontal();
TfX = Math.Max(0.01, TfX);
TfY = Math.Max(0.01, TfY);
TfZ = Math.Max(0.01, TfZ);
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.TfV), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
}
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
GuiUtils.SimpleTextBox ("Deadband = ", deadband, "", 50);
core.attitude.deadband = Math.Max(deadband, 0.0);
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
//Lower value of "kWlimit" reduces maximum angular velocity
double kWlimit = core.attitude.kWlimit;
var nextkWlimit = new EditableDoubleMult(kWlimit, 0.01);
GuiUtils.SimpleTextBox("Maximum Relative Angular Velocity", nextkWlimit, "%");
nextkWlimit = (EditableDouble)GUILayout.HorizontalSlider((float)nextkWlimit, 0.0F, 1.0F);
const int sliderPrecision = 3;
if (Math.Round(Math.Abs(nextkWlimit - kWlimit), sliderPrecision) > 0)
{
core.attitude.kWlimit = Math.Round(nextkWlimit, sliderPrecision);
}
showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Kp", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Kp), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Ki", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Ki), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Kd), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Error", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.error * Mathf.Rad2Deg), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Axis Control ", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.AxisState, "F0"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.torque.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("torqueReactionSpeed", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.torqueReactionSpeed.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.torqueReactionSpeed), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Inertia", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.inertia.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, core.attitude.torque.InvertNoNaN());
GUILayout.BeginHorizontal();
GUILayout.Label("MOI / torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + ratio.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(ratio), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.MoI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.MoI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI stock", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.MOI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.MOI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Angular Velocity", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.angularVelocity.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.angularVelocity), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
}
MechJebModuleAttitudeController.useCoMVelocity = GUILayout.Toggle(MechJebModuleAttitudeController.useCoMVelocity, "Use CoM velocity instead of stock");
MechJebModuleDebugArrows arrows = core.GetComputerModule<MechJebModuleDebugArrows>();
GuiUtils.SimpleTextBox("Arrows length", arrows.arrowsLength, "", 50);
arrows.seeThrough = GUILayout.Toggle(arrows.seeThrough, "Visible through object");
arrows.comSphereActive = GUILayout.Toggle(arrows.comSphereActive, "Display the CoM", GUILayout.ExpandWidth(false));
arrows.colSphereActive = GUILayout.Toggle(arrows.colSphereActive, "Display the CoL", GUILayout.ExpandWidth(false));
arrows.cotSphereActive = GUILayout.Toggle(arrows.cotSphereActive, "Display the CoT", GUILayout.ExpandWidth(false));
GUILayout.BeginHorizontal();
GUILayout.Label("Radius of Sphere", GUILayout.ExpandWidth(true));
arrows.comSphereRadius.text = GUILayout.TextField(arrows.comSphereRadius.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
arrows.displayAtCoM = GUILayout.Toggle(arrows.displayAtCoM, "Arrows origins at the CoM");
arrows.podSrfVelocityArrowActive = GUILayout.Toggle(arrows.podSrfVelocityArrowActive, "Pod Surface Velocity (yellow)");
arrows.comSrfVelocityArrowActive = GUILayout.Toggle(arrows.comSrfVelocityArrowActive, "CoM Surface Velocity (green)");
arrows.podObtVelocityArrowActive = GUILayout.Toggle(arrows.podObtVelocityArrowActive, "Pod Orbital Velocity (red)");
arrows.comObtVelocityArrowActive = GUILayout.Toggle(arrows.comObtVelocityArrowActive, "CoM Orbital Velocity (orange)");
arrows.dotArrowActive = GUILayout.Toggle(arrows.dotArrowActive, "Direction of Thrust (purple pink)");
arrows.dotInstantArrowActive = GUILayout.Toggle(arrows.dotInstantArrowActive, "Direction of Thrust instant (pink)");
arrows.forwardArrowActive = GUILayout.Toggle(arrows.forwardArrowActive, "Command Pod Forward (electric blue)");
//arrows.avgForwardArrowActive = GUILayout.Toggle(arrows.avgForwardArrowActive, "Forward Avg (blue)");
arrows.requestedAttitudeArrowActive = GUILayout.Toggle(arrows.requestedAttitudeArrowActive, "Requested Attitude (gray)");
arrows.debugArrowActive = GUILayout.Toggle(arrows.debugArrowActive, "Debug (magenta)");
arrows.debugArrow2Active = GUILayout.Toggle(arrows.debugArrow2Active, "Debug2 (light blue)");
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.TfV.x != TfX || core.attitude.TfV.y != TfY || core.attitude.TfV.z != TfZ)
{
core.attitude.TfV.x = TfX;
core.attitude.TfV.y = TfY;
core.attitude.TfV.z = TfZ;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}