public void OnFixedUpdate()
{
if (Vessel != null)
{
UpdateStateVectors(Vessel, Target);
SteeringHelper.AnalyzeParts(Vessel);
Vector3 Torque = SteeringHelper.TorqueAvailable;
var CoM = Vessel.CoM;
var MoI = Vessel.MOI;
phiTotal = calculatePhiTotal();
phiVector = calculatePhiVector();//deviation errors from orientation target
for (int i = 0; i < 3; i++)
{
MaxOmega[i] = Mathf.Max(Torque[i] / MoI[i], 0.0001f);
}
TargetOmega[0] = pitchRatePI.Update(-phiVector[0], 0, MaxOmega[0]);
TargetOmega[1] = rollRatePI.Update(-phiVector[1], 0, MaxOmega[1]);
TargetOmega[2] = yawRatePI.Update(-phiVector[2], 0, MaxOmega[2]);
if (Math.Abs(phiTotal) > RollControlRange)
{
TargetOmega[1] = 0;
rollRatePI.ResetI();
}
TargetTorque[0] = pitchPI.Update(Omega[0], TargetOmega[0], Vessel.MOI[0], Torque[0]);
TargetTorque[1] = rollPI.Update(Omega[1], TargetOmega[1], Vessel.MOI[1], Torque[1]);
TargetTorque[2] = yawPI.Update(Omega[2], TargetOmega[2], Vessel.MOI[2], Torque[2]);
}
}
public void OnFixedUpdate()
{
if (Vessel != null)
{
UpdateStateVectors(Vessel, Target);
Vector3 Torque = SteeringHelper.GetVesselTorque(Vessel);
var CoM = Vessel.CoM;
var MoI = Vessel.MOI;
phiTotal = PhiTotal();
phiVector = PhiVector();
for (int i = 0; i < 3; i++)
{
MaxOmega[i] = Torque[i] * MaxStoppingTime / MoI[i];
}
TargetOmega[0] = pitchRatePI.Update(-phiVector[0], 0, MaxOmega[0]);
TargetOmega[1] = rollRatePI.Update(-phiVector[1], 0, MaxOmega[1]);
TargetOmega[2] = yawRatePI.Update(-phiVector[2], 0, MaxOmega[2]);
if (Math.Abs(phiTotal) > RollControlRange)
{
TargetOmega[1] = 0;
rollRatePI.ResetI();
}
TargetTorque[0] = pitchPI.Update(Omega[0], TargetOmega[0], Vessel.MOI[0], Torque[0]);
TargetTorque[1] = rollPI.Update(Omega[1], TargetOmega[1], Vessel.MOI[1], Torque[1]);
TargetTorque[2] = yawPI.Update(Omega[2], TargetOmega[2], Vessel.MOI[2], Torque[2]);
}
}
public Vector3d GetActuation(Quaternion thisTarget)
{
Target = thisTarget;
UpdateStateVectors(Vessel, Target);
Vector3 Torque = SteeringHelper.GetVesselTorque(Vessel);
for (int i = 0; i < 3; i++)
{
Actuation[i] = (Torque[i] == 0.0) ? 0.0 :TargetTorque[i] / Torque[i];
//removed the value modifications/clamps as the raw output is desired and can be post-processed.
}
return(Actuation);
}
public Vector3d GetActuation(Quaternion thisTarget)
{
Target = thisTarget;
UpdateStateVectors(Vessel, Target);
SteeringHelper.UpdateRCSThrustAndTorque(Vessel);
Vector3 Torque = SteeringHelper.TorqueAvailable;
for (int i = 0; i < 3; i++)
{
Actuation[i] = TargetTorque[i] / Torque[i];
if (Math.Abs(Actuation[i]) < EPSILON || double.IsNaN(Actuation[i]) || double.IsInfinity(Actuation[i]))
{
Actuation[i] = 0;
}
}
return(Actuation);
}
// Calculations of Tf are not safe during FlightComputer constructor
// Probably because the ship is only half-initialized...
public void updatePIDParameters()
{
if (Vessel != null)
{
Vector3 torque = SteeringHelper.GetVesselTorque(Vessel);
var CoM = Vessel.CoM;
var MoI = Vessel.MOI;
Vector3d ratio = new Vector3d(
torque.x != 0 ? MoI.x / torque.x : 0,
torque.y != 0 ? MoI.y / torque.y : 0,
torque.z != 0 ? MoI.z / torque.z : 0
);
Tf = Mathf.Clamp((float)ratio.magnitude / 20f, 2 * TimeWarp.fixedDeltaTime, 1f);
Tf = Mathf.Clamp((float)Tf, (float)TfMin, (float)TfMax);
}
setPIDParameters();
}
// Calculations of Tf are not safe during FlightComputer constructor
// Probably because the ship is only half-initialized...
public void updatePIDParameters()
{
if (Vessel != null)
{
Vector3d torque = SteeringHelper.GetTorque(Vessel,
Vessel.ctrlState != null ? Vessel.ctrlState.mainThrottle : 0.0f);
var CoM = Vessel.findWorldCenterOfMass();
var MoI = Vessel.findLocalMOI(CoM);
Vector3d ratio = new Vector3d(
torque.x != 0 ? MoI.x / torque.x : 0,
torque.y != 0 ? MoI.y / torque.y : 0,
torque.z != 0 ? MoI.z / torque.z : 0
);
Tf = Mathf.Clamp((float)ratio.magnitude / 20f, 2 * TimeWarp.fixedDeltaTime, 1f);
Tf = Mathf.Clamp((float)Tf, (float)TfMin, (float)TfMax);
}
initPIDParameters();
}
public void OnFixedUpdate()
{
if (Vessel != null)
{
UpdateStateVectors(Vessel, Target);
SteeringHelper.AnalyzeParts(Vessel);
Vector3 Torque = SteeringHelper.TorqueAvailable;
var CoM = Vessel.CoM;
var MoI = Vessel.MOI;
phiTotal = calculatePhiTotal();
phiVector = calculatePhiVector();//deviation errors from orientation target
for (int i = 0; i < 3; i++)
{
//Edge case: Very low (torque/MoI) (like 0.0078!) rate so need to rise max acceleration artifically
StoppingTime = (OmegaThreshold <= (Torque[i] / MoI[i])) ?
1.0f :
(float)RTUtil.Clamp((1.0 / (Torque[i] / MoI[i])) * (Math.Abs(phiVector[i]) - Phi1FStoppingTime), 1.0, MaxStoppingTime);
MaxOmega[i] = Mathf.Max((Torque[i] * StoppingTime) / MoI[i], 0.0001f);
}
TargetOmega[0] = pitchRatePI.Update(-phiVector[0], 0, MaxOmega[0]);
TargetOmega[1] = rollRatePI.Update(-phiVector[1], 0, MaxOmega[1]);
TargetOmega[2] = yawRatePI.Update(-phiVector[2], 0, MaxOmega[2]);
if (Math.Abs(phiTotal) > RollControlRange)
{
TargetOmega[1] = 0;
rollRatePI.ResetI();
}
TargetTorque[0] = pitchPI.Update(Omega[0], TargetOmega[0], Vessel.MOI[0], Torque[0]);
TargetTorque[1] = rollPI.Update(Omega[1], TargetOmega[1], Vessel.MOI[1], Torque[1]);
TargetTorque[2] = yawPI.Update(Omega[2], TargetOmega[2], Vessel.MOI[2], Torque[2]);
}
}
public static void HoldOrientation(FlightCtrlState fs, FlightComputer f, Quaternion target)
{
f.Vessel.ActionGroups.SetGroup(KSPActionGroup.SAS, false);
SteeringHelper.SteerShipToward(target, fs, f);
}
/// <summary>
/// Single entry point of all Flight Computer orientation holding, including maneuver node.
/// </summary>
public static void HoldOrientation(FlightCtrlState fs, FlightComputer f, Quaternion target, bool ignoreRoll = false, bool ignorePitch = false, bool ignoreHeading = false)
{
f.Vessel.ActionGroups.SetGroup(KSPActionGroup.SAS, false);
SteeringHelper.SteerShipToward(target, fs, f, ignoreRoll, ignorePitch, ignoreHeading);
}
