protected override void Update()
{
//update state
if (was_landed && !VSL.LandedOrSplashed)
{
stage = Stage.JustTookoff; GearTimer.Reset(); StopAction.Reset();
}
else if (VSL.LandedOrSplashed && !was_landed)
{
stage = Stage.JustLanded1;
}
was_landed = VSL.LandedOrSplashed;
switch (stage)
{
case Stage.JustLanded1:
working();
srf_normal = Vector3.zero;
CFG.HF.OnIfNot(HFlight.Level);
VSL.BrakesOn();
LandedTimer.RunIf(() => stage = Stage.JustLanded2,
VSL.HorizontalSpeed < C.MinHSpeed);
break;
case Stage.JustLanded2:
if (ATC != null)
{
if (srf_normal.IsZero())
{
RaycastHit hit;
if (Physics.Raycast(VSL.Physics.wCoM, -VSL.Physics.Up, out hit, VSL.Geometry.D, Radar.RadarMask))
{
if (hit.collider != null && !hit.normal.IsZero())
{
srf_normal = -hit.normal;
break;
}
}
stage = Stage.Landed;
break;
}
working();
CFG.HF.Off();
CFG.AT.OnIfNot(Attitude.Custom);
ATC.SetThrustDirW(srf_normal);
LandedTimer.RunIf(() => { stage = Stage.Landed; CFG.AT.Off(); },
VSL.Physics.NoRotation || VSL.Controls.AttitudeError < 1);
break;
}
stage = Stage.Landed;
break;
case Stage.JustTookoff:
working();
StopAction.Run();
GearTimer.RunIf(() =>
{
VSL.BrakesOn(false);
VSL.GearOn(false);
stage = Stage.Flying;
}, VSL.Altitude.Relative > 2 * VSL.Geometry.H);
break;
case Stage.Landed:
if (CFG.VerticalCutoff <= 0)
{
working(false);
}
else
{
var avSqr = VSL.vessel.angularVelocity.sqrMagnitude;
if (VSL.HorizontalSpeed < C.MaxHSpeed &&
avSqr > C.MinAngularVelocity)
{
working();
CFG.HF.OnIfNot(HFlight.Level);
if (avSqr > C.GearOffAngularVelocity &&
VSL.OnPlanetParams.DTWR > C.MinDTWR)
{
VSL.GearOn(false);
}
}
else
{
working(false);
}
}
break;
case Stage.Flying:
working(false);
if (!VSL.vessel.ActionGroups[KSPActionGroup.Gear])
{
if (VSL.VerticalSpeed.Relative < 0 &&
VSL.HorizontalSpeed < C.GearOnMaxHSpeed &&
(!CFG.AT || !VSL.Altitude.AboveGround || VSL.Engines.Thrust.IsZero()) &&
VSL.Altitude.Relative +
VSL.VerticalSpeed.Relative * (VSL.OnPlanetParams.GearDeployTime + C.GearOnTime)
< C.GearOnAtH * VSL.Geometry.H)
{
VSL.GearOn();
VSL.BrakesOn();
}
}
else if (VSL.OnPlanetParams.GearDeploying)
{
if (VSC != null)
{
VSC.SetpointOverride = Utils.ClampH((C.GearOnAtH * VSL.Geometry.H - VSL.Altitude.Relative) /
(VSL.OnPlanetParams.GearDeployTime + C.GearOnTime), 0);
}
}
else
{
GearTimer.RunIf(() =>
{
VSL.GearOn(false);
VSL.BrakesOn(false);
},
VSL.VerticalSpeed.Relative > 5 ||
VSL.HorizontalSpeed > C.GearOnMaxHSpeed ||
VSL.VerticalSpeed.Relative > 0 && VSL.Altitude.Relative > VSL.Geometry.H * 5);
}
break;
}
}
protected override void Update()
{
if (!IsActive)
{
return;
}
//update state
if (last_state && !VSL.LandedOrSplashed)
{
tookoff = true; landed = false; GearTimer.Reset(); StopAction.Reset();
}
else if (VSL.LandedOrSplashed && !last_state)
{
landed = true; tookoff = false;
}
last_state = VSL.LandedOrSplashed;
//just landed
if (landed)
{
working();
CFG.HF.OnIfNot(HFlight.Level);
VSL.BrakesOn();
LandedTimer.RunIf(() => landed = false,
VSL.HorizontalSpeed < TLA.MinHSpeed);
}
//just took off
else if (tookoff)
{
working();
StopAction.Run();
GearTimer.RunIf(() =>
{
VSL.BrakesOn(false);
VSL.GearOn(false);
tookoff = false;
}, VSL.Altitude.Relative > TLA.GearOnAtH + VSL.Geometry.H);
}
//moving on the ground
else if (VSL.LandedOrSplashed)
{
var avSqr = VSL.vessel.angularVelocity.sqrMagnitude;
if (VSL.HorizontalSpeed < TLA.MaxHSpeed &&
avSqr > TLA.MinAngularVelocity)
{
working();
CFG.HF.OnIfNot(HFlight.Level);
if (avSqr > TLA.GearOffAngularVelocity &&
VSL.OnPlanetParams.DTWR > TLA.MinDTWR)
{
VSL.GearOn(false);
}
}
else
{
working(false);
}
}
//if flying, check if trying to land and deploy the gear
else
{
working(false);
//if the gear is on, nothing to do; and autopilot takes precedence
if (!VSL.vessel.ActionGroups[KSPActionGroup.Gear])
{
//check boundary conditions
GearTimer.RunIf(() =>
{
VSL.GearOn();
VSL.BrakesOn();
},
VSL.VerticalSpeed.Relative < 0 &&
VSL.HorizontalSpeed < TLA.GearOnMaxHSpeed &&
VSL.Altitude.Relative + VSL.VerticalSpeed.Relative * (TLA.GearOnTime + TLA.GearTimer) < TLA.GearOnAtH * VSL.Geometry.H);
}
else
{
GearTimer.RunIf(() =>
{
VSL.GearOn(false);
VSL.BrakesOn(false);
},
VSL.VerticalSpeed.Relative > 5 ||
VSL.HorizontalSpeed > TLA.GearOnMaxHSpeed ||
VSL.VerticalSpeed.Relative > 0 && VSL.Altitude.Relative > VSL.Geometry.H * 5);
}
}
}