public LandTask(VesselController vesselController, VesselDirectionController vesselDirectionController, Forecast forecast)
{
VesselController = vesselController;
VesselDirectionController = vesselDirectionController;
Forecast = forecast;
landingSpeedPID = new PercentageDerivativeController(0.2, 1.5, 0.0);
}
public AlignDescendToTargetTask(VesselController vesselController, VesselDirectionController vesselDirectionController, Forecast forecast, Vector3 target)
{
VesselController = vesselController;
VesselDirectionController = vesselDirectionController;
Forecast = forecast;
Target = target;
}
public AscendToOrbitTask(VesselController vesselController, VesselDirectionController vesselDirectionController, Forecast forecast, double altitude)
{
VesselController = vesselController;
VesselDirectionController = vesselDirectionController;
Forecast = forecast;
Altitude = altitude;
}
public MaintainVerticalVelocityTask(VesselController vesselController, VesselDirectionController vesselDirectionController, float targetVelocity)
{
VesselController = vesselController;
VesselDirectionController = vesselDirectionController;
LandingSpeedPID = new PercentageDerivativeController(1.0, 0.0, 0.0);
TargetVelocity = targetVelocity;
}
public WaitForAltitudeTask(VesselController vesselController, VesselDirectionController vesselDirectionController, Forecast forecast, double altitude)
{
VesselController = vesselController;
VesselDirectionController = vesselDirectionController;
Forecast = forecast;
Altitude = altitude;
}
public LandOnTargetTask(VesselController vesselController, VesselDirectionController vesselDirectionController, Forecast forecast, Vector3 target)
{
VesselController = vesselController;
VesselDirectionController = vesselDirectionController;
Forecast = forecast;
Target = target;
landingSpeedPID = new PercentageDerivativeController(1.0, 0.0, 0.0);
correctionsPID = new PercentageDerivativeControllerVec3(10.6f, 2.6f, 0.0f);
}
static void Main(string[] args)
{
using (var connection = new Connection(
name: "My Example Program",
address: IPAddress.Parse("127.0.0.1"),
rpcPort: 50000,
streamPort: 50001))
{
var krpc = connection.KRPC();
Console.WriteLine(krpc.GetStatus().Version);
var spaceCenter = connection.SpaceCenter();
var vessel = spaceCenter.ActiveVessel;
var flightInfo = vessel.Flight();
Console.WriteLine(flightInfo.MeanAltitude);
vessel.Control.SAS = false;
// vessel.Control.SASMode = SASMode.Retrograde;
var refFrame = vessel.Orbit.Body.ReferenceFrame;
var vesselPosition = vessel.Position(refFrame);
double accelerationWithGravity = (vessel.AvailableThrust / (vessel.Mass * vessel.Orbit.Body.SurfaceGravity)) * vessel.Orbit.Body.SurfaceGravity;
Console.WriteLine("acc " + accelerationWithGravity.ToString());
// Console.Read();
/*
* IFlightTask task = new HoldAltitudeTask(1000.0);
*
* while (true)
* {
* double error = task.update(flightInfo, vessel);
* if (error < 1.0) break;
* }
*
* task = new HoldVerticalVelocityTask(-25.0);
*
* while (true)
* {
* double error = task.update(flightInfo, vessel);
* ((HoldVerticalVelocityTask)task).targetVelocity = -(flightInfo.SurfaceAltitude * flightInfo.SurfaceAltitude) * 0.0002;
* // if (flightInfo.MeanAltitude < 200.0) break;
* }
*
* task = new HoldVerticalVelocityTask(-2.0);
*
* while (true)
* {
* double error = task.update(flightInfo, vessel);
* }
*/
/*
* List<IFlightTask> tasks = new List<IFlightTask> { new SuicideLandTask() };
* int activeTask = 0;
* while (true)
* {
* var task = tasks[activeTask];
* bool completed = task.update(flightInfo, vessel);
* if (completed) activeTask++;
* if (activeTask >= tasks.Count) break;
* }
* vessel.Control.Throttle = 0.0f;
*/
VesselController VC = new VesselController(spaceCenter, flightInfo, vessel);
Forecast F = new Forecast(VC);
/*
* while (true)
* {
* var landingPrediction = F.predictLandPosition();
* var brakeAltitudePrediction = F.predictImmediateRetrogradeBurnStopAltitude();
* Console.WriteLine("Time to hit {0}, Brake altitude {1}", landingPrediction.TimeLeft, brakeAltitudePrediction);
* if (brakeAltitudePrediction <= 1.0) vessel.Control.Throttle = 1.0f; else vessel.Control.Throttle = 0.0f;
* // System.Threading.Thread.Sleep(30);
* }*/
VesselDirectionController VDC = new VesselDirectionController(VC);
var target = new Vector3(160414.82635621f, -525.786447726701f, -578229.703053695f); // ksc launchpad
//var target = new Vector3(159779.933394297f, -1018.32365380228f, -578408.741371887f);
// var target = new Vector3(159779.889438512f, -1018.08311045618f, -578408.695050623f); //
//var target = new Vector3(161270.085206315f, -397.490824863315f, -577920.690812992f); // barka
// ksc near hangar {(159172,516713709, -657,912078857422, -578571,718215224)}
//var target = new Vector3(159172.516713709f, -657.912078857422f, -578571.718215224f);
LandOnTargetTask landTask = new LandOnTargetTask(VC, VDC, F, target);
/*while (true)
* {
* landTask.update();
* System.Threading.Thread.Sleep(30);
* }*/
/*
* VC.updateBodyPosition();
* while (true)
* {
* var apoperi = F.predictOrbit();
* Console.WriteLine("Apoapsis {0} Periapsis {1}", apoperi.Apoapsis, apoperi.Periapsis);
* System.Threading.Thread.Sleep(30);
* }*/
AscendToOrbitTask ascend = new AscendToOrbitTask(VC, VDC, F, 75000);
AscendHalfVectorTask ascendHalf = new AscendHalfVectorTask(VC, VDC, F, 75000);
AscendStraightUpTask ascendStraight = new AscendStraightUpTask(VC, VDC, F, 75000);
WaitForAltitudeTask waitTask = new WaitForAltitudeTask(VC, VDC, F, 70000);
StageTask stageTask = new StageTask(VC);
MaintainVerticalVelocityTask maintainVerticalVelocityTask = new MaintainVerticalVelocityTask(VC, VDC, 150.0f);
/*while (true)
* {
* ascend.update();
* System.Threading.Thread.Sleep(30);
* }*/
// List<IFlightTask> tasks = new List<IFlightTask> { stageTask, ascendHalf, waitTask, stageTask, landTask };
List <IFlightTask> tasks = new List <IFlightTask> {
landTask
};
// List<IFlightTask> tasks = new List<IFlightTask> { maintainVerticalVelocityTask };
int activeTask = 0;
while (true)
{
var task = tasks[activeTask];
bool completed = task.update();
if (completed)
{
activeTask++;
}
if (activeTask >= tasks.Count)
{
break;
}
System.Threading.Thread.Sleep(10);
}
}
}