/// <summary>
///
/// </summary>
/// <param name="args"></param>
///
static void Main(string[] args)
{
Connection conn = new Connection("Main");
Vessel vessel = conn.SpaceCenter().ActiveVessel;
ReferenceFrame surfaceBodyHybrid = RefFrames.SurfaceBodyHybrid(conn);
ReferenceFrame padRef = RefFrames.CreateLaunchPadRef(conn);
ReferenceFrame hybridFrame = RefFrames.CreateHybrid(conn);
ReferenceFrame bodyFrame = RefFrames.BodyFrame(conn);
ReferenceFrame surfFrame = vessel.SurfaceReferenceFrame;
ReferenceFrame surfVelFrame = vessel.SurfaceVelocityReferenceFrame;
//padRef = vessel.Orbit.Body.ReferenceFrame;
//var launchPad = RefFrames.LaunchPad;
ReferenceFrame currentFrame = bodyFrame;
Tuple <double, double, double> launchPadPos = vessel.Position(bodyFrame); //saves the position of the vessel on the latic aunchpad
Stream <double> velVStream = conn.AddStream(() => vessel.Flight(currentFrame).VerticalSpeed);
Stream <double> altStream = conn.AddStream(() => vessel.Flight(currentFrame).MeanAltitude);
Stream <Tuple <double, double, double> > posStream = conn.AddStream(() => vessel.Position(currentFrame));
Stream <double> surfElevation = conn.AddStream(() => vessel.Flight(currentFrame).Elevation);
Stream <Tuple <double, double, double> > velStream = conn.AddStream(() => vessel.Flight(currentFrame).Velocity);
Stream <Tuple <double, double, double> > dragStream = conn.AddStream(() => vessel.Flight(surfVelFrame).Drag);
Stream <float> mass = conn.AddStream(() => vessel.Mass);
Stream <float> thrust = conn.AddStream(() => vessel.AvailableThrust);
CelestialBody body = vessel.Orbit.Body;
launchPadPos = RefFrames.LaunchPad;
//PID section
//altPID pID = new altPID(0.411, 0.469714286, 0.08990625,1,0);
PID.KP = 0.728;
PID.KI = 1.093;
PID.KD = 0.0323;
PID.SetPoint = -500;
PID.Enabled = false;
//Control section
var zero = Tuple.Create(0.0, 0.0, 0.0);
Vector3 up = new Vector3(1, 0, 0);
var groundVelVec = new Vector3(0, 0, 0);
var groundDistVec = new Vector3(0, 0, 0);
var vecDifference = new Vector3(0, 0, 0);
Vector3 anticipatedDist = Vector3.Zero;
Vector3 sideSteering = Vector3.Zero;
vessel.Control.SAS = false;
vessel.Control.RCS = false;
vessel.AutoPilot.Engage();
vessel.AutoPilot.ReferenceFrame = vessel.SurfaceReferenceFrame;
vessel.AutoPilot.TargetDirection = VectorMath.VectorToTuple(Vector3.UnitX);
Tuple <double, double, double> steeringDir = Tuple.Create(.0, .0, .0);
//vessel.AutoPilot.TargetPitchAndHeading(45, 270);
//vessel.Control.Throttle = 1;
//System.Threading.Thread.Sleep(5000);
//vessel.AutoPilot.TargetDirection = VectorMath.VectorToTuple(Vector3.UnitX);
//vessel.Control.Throttle = 0;
PID.RunInNewThread(thrust, mass, velVStream, vessel);
Start:
PID.Enabled = true;
//PID.SetPoint = -3;
DoLanding(conn, vessel, surfVelFrame);
while (vessel.Situation.ToString() != "Landed")
{
var velocity = velStream.Get();
//Manage steering
steeringDir = HoverslamSteering(conn, vessel, surfVelFrame);
vessel.AutoPilot.TargetDirection = steeringDir;
//Define position variables
var position = posStream.Get();
var predictedPos = Physics.FuturePosition(position, velocity, Radar.ImpactTime());
//Slope
var surfaceNormal = Radar.SurfaceNormal(predictedPos);
var slope = Radar.Slope(surfaceNormal, position);
//Visualize landing spot
Vector3 norm = Radar.MSLNormal(position);
Tuple <double, double> predictedLatLon = Tuple.Create(body.LatitudeAtPosition(predictedPos, bodyFrame), body.LongitudeAtPosition(predictedPos, bodyFrame));
Vector3 landingSpot = VectorMath.TupleToVector(body.SurfacePosition(predictedLatLon.Item1, predictedLatLon.Item2, bodyFrame));
Tuple <double, double> currentLatLon = Tuple.Create(body.LatitudeAtPosition(position, bodyFrame), body.LongitudeAtPosition(position, bodyFrame));
VectorMath.Visualize(conn, landingSpot, landingSpot + 50 * norm, bodyFrame);
//Output
Output.Print(slope, 1);
//Save fuel and run hoverslam again if the first time was an overshoot.
if (Radar.RealAltitude() > 75 && VectorMath.Length(velocity) < 6)
{
PID.SetPoint = -35;
PID.Enabled = false;
goto Start;
}
//Console.Clear();
System.Threading.Thread.Sleep(100);
conn.Drawing().Clear();
}
Console.Clear();
PID.SetPoint = -20;
PID.Enabled = false;
vessel.Control.Throttle = 0;
System.Threading.Thread.Sleep(500);
Environment.Exit(0);
}
private static void DoLanding(Connection conn, Vessel vessel, ReferenceFrame surfVelFrame)
{
//Land using last second burn
Radar.RunDeciderInNewThread();
Radar.OnDecision += DoHoverSlam;
}
