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MechJebModuleAirplaneAutopilot.cs
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/
MechJebModuleAirplaneAutopilot.cs
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using System;
using System.Diagnostics.CodeAnalysis;
using JetBrains.Annotations;
using UnityEngine;
// ReSharper disable MemberCanBePrivate.Global
namespace MuMech
{
[SuppressMessage("Minor Code Smell", "S1104:Fields should not have public accessibility")]
[UsedImplicitly]
public class MechJebModuleAirplaneAutopilot : ComputerModule
{
[Persistent(pass = (int)Pass.Local)]
public bool HeadingHoldEnabled, AltitudeHoldEnabled, VertSpeedHoldEnabled, RollHoldEnabled, SpeedHoldEnabled;
[Persistent(pass = (int)Pass.Local)]
public double AltitudeTarget = 0, HeadingTarget = 90, RollTarget = 0, SpeedTarget = 0, VertSpeedTarget = 0;
[Persistent(pass = (int)Pass.Local)]
public double BankAngle = 30;
[Persistent(pass = (int)Pass.Local)]
public readonly EditableDouble AccKp = 0.5, AccKi = 0.5, AccKd = 0.005;
[Persistent(pass = (int)Pass.Local)]
public readonly EditableDouble PitKp = 2.0, PitKi = 1.0, PitKd = 0.005;
[Persistent(pass = (int)Pass.Local)]
public readonly EditableDouble RolKp = 0.5, RolKi = 0.02, RolKd = 0.5;
[Persistent(pass = (int)Pass.Local)]
public readonly EditableDouble YawKp = 1.0, YawKi = 0.25, YawKd = 0.02;
[Persistent(pass = (int)Pass.Local)]
public readonly EditableDouble YawLimit = 10, RollLimit = 45, PitchDownLimit = 15, PitchUpLimit = 25;
public PIDController AccelerationPIDController, PitchPIDController, RollPIDController, YawPIDController;
public double AErr, CurAcc, Spd;
public double CurrYaw;
public double PitchErr, RollErr, YawErr;
public double PitchAct, RollAct, YawAct;
public double RealVertSpeedTarget, RealPitchTarget, RealRollTarget, RealYawTarget, RealAccelerationTarget;
private bool _initPitchController;
private bool _initRollController;
private bool _initYawController;
public MechJebModuleAirplaneAutopilot(MechJebCore core) : base(core)
{
}
public override void OnStart(PartModule.StartState state)
{
AccelerationPIDController = new PIDController(AccKp, AccKi, AccKd);
PitchPIDController = new PIDController(PitKp, PitKi, PitKd);
RollPIDController = new PIDController(RolKp, RolKi, RolKd);
YawPIDController = new PIDController(YawKp, YawKi, YawKd);
}
public override void OnModuleEnabled()
{
if (AltitudeHoldEnabled)
EnableAltitudeHold();
if (SpeedHoldEnabled)
EnableSpeedHold();
}
public override void OnModuleDisabled()
{
if (SpeedHoldEnabled)
{
core.thrust.users.Remove(this);
}
}
public void EnableHeadingHold()
{
HeadingHoldEnabled = true;
RollHoldEnabled = true;
_initRollController = true;
_initYawController = true;
YawPIDController.Reset();
RollPIDController.Reset();
}
public void DisableHeadingHold()
{
HeadingHoldEnabled = false;
RollHoldEnabled = false;
}
public void EnableSpeedHold()
{
if (!enabled)
return;
Spd = vesselState.speedSurface;
SpeedHoldEnabled = true;
core.thrust.users.Add(this);
AccelerationPIDController.Reset();
}
public void DisableSpeedHold()
{
if (!enabled)
return;
SpeedHoldEnabled = false;
core.thrust.users.Remove(this);
}
public void EnableVertSpeedHold()
{
if (!enabled)
return;
VertSpeedHoldEnabled = true;
PitchPIDController.Reset();
_initPitchController = true;
}
public void DisableVertSpeedHold()
{
if (!enabled)
return;
VertSpeedHoldEnabled = false;
}
public void EnableAltitudeHold()
{
if (!enabled)
return;
AltitudeHoldEnabled = true;
if (VertSpeedHoldEnabled)
{
PitchPIDController.Reset();
}
else
{
EnableVertSpeedHold();
}
}
public void DisableAltitudeHold()
{
if (!enabled)
return;
AltitudeHoldEnabled = false;
DisableVertSpeedHold();
}
private double convertAltitudeToVerticalSpeed(double deltaAltitude, double reference = 5)
{
if (reference < 2)
reference = 2;
if (deltaAltitude > reference || deltaAltitude < -reference)
return deltaAltitude / reference;
if (deltaAltitude > 0.1)
return Math.Max(0.05, deltaAltitude * deltaAltitude / (reference * reference));
if (deltaAltitude < -0.1)
return Math.Min(-0.05, -deltaAltitude * deltaAltitude / (reference * reference));
return 0;
}
private void UpdatePID()
{
AccelerationPIDController.Kp = AccKp;
AccelerationPIDController.Ki = AccKi;
AccelerationPIDController.Kd = AccKd;
PitchPIDController.Kp = PitKp;
PitchPIDController.Ki = PitKi;
PitchPIDController.Kd = PitKd;
RollPIDController.Kp = RolKp;
RollPIDController.Ki = RolKi;
RollPIDController.Kd = RolKd;
YawPIDController.Kp = YawKp;
YawPIDController.Ki = YawKi;
YawPIDController.Kd = YawKd;
}
private void SynchronizePIDs(FlightCtrlState s)
{
// synchronize PID controllers
if (_initPitchController)
{
PitchPIDController.intAccum = s.pitch * 100 / PitchPIDController.Ki;
}
if (_initRollController)
{
RollPIDController.intAccum = s.roll * 100 / RollPIDController.Ki;
}
if (_initYawController)
{
YawPIDController.intAccum = s.yaw * 100 / YawPIDController.Ki;
}
_initPitchController = false;
_initRollController = false;
_initYawController = false;
}
private double ComputeYaw()
{
// probably not perfect, especially when the aircraft is turning
double path = vesselState.HeadingFromDirection(vesselState.surfaceVelocity);
double nose = vesselState.HeadingFromDirection(vesselState.forward);
double angle = MuUtils.ClampDegrees180(nose - path);
return angle;
}
public override void Drive(FlightCtrlState s)
{
UpdatePID();
SynchronizePIDs(s);
//SpeedHold (set AccelerationTarget automatically to hold speed)
if (SpeedHoldEnabled)
{
double spd = vesselState.speedSurface;
CurAcc = (spd - Spd) / Time.fixedDeltaTime;
Spd = spd;
RealAccelerationTarget = (SpeedTarget - spd) / 4;
AErr = RealAccelerationTarget - CurAcc;
AccelerationPIDController.intAccum = MuUtils.Clamp(AccelerationPIDController.intAccum, -1 / AccKi, 1 / AccKi);
double tAct = AccelerationPIDController.Compute(AErr);
if (!double.IsNaN(tAct))
{
core.thrust.targetThrottle = (float)MuUtils.Clamp(tAct, 0, 1);
}
else
{
core.thrust.targetThrottle = 0.0f;
AccelerationPIDController.Reset();
}
}
//AltitudeHold (set VertSpeed automatically to hold altitude)
if (AltitudeHoldEnabled)
{
// NOTE:
// There is about 0.4 between altitudeASL and the altitude that is displayed in KSP in the top center
// i.e. 3000.4m (altitudeASL) equals 3000m ingame.
// maybe there is something wrong with the way we calculate altitudeASL. Idk
double deltaAltitude = AltitudeTarget + 0.4 - vesselState.altitudeASL;
RealVertSpeedTarget = convertAltitudeToVerticalSpeed(deltaAltitude, 10);
RealVertSpeedTarget = UtilMath.Clamp(RealVertSpeedTarget, -VertSpeedTarget, VertSpeedTarget);
}
else
RealVertSpeedTarget = VertSpeedTarget;
PitchErr = RollErr = YawErr = 0;
PitchAct = RollAct = YawAct = 0;
//VertSpeedHold
if (VertSpeedHoldEnabled)
{
// NOTE: 60-to-1 rule:
// deltaAltitude = 2 * PI * r * deltaPitch / 360
// Vvertical = 2 * PI * TAS * deltaPitch / 360
// deltaPitch = Vvertical / Vhorizontal * 180 / PI
double deltaVertSpeed = RealVertSpeedTarget - vesselState.speedVertical;
double adjustment = deltaVertSpeed / vesselState.speedSurface * 180 / Math.PI;
RealPitchTarget = vesselState.vesselPitch + adjustment;
RealPitchTarget = UtilMath.Clamp(RealPitchTarget, -PitchDownLimit, PitchUpLimit);
PitchErr = MuUtils.ClampDegrees180(RealPitchTarget - vesselState.vesselPitch);
PitchPIDController.intAccum = UtilMath.Clamp(PitchPIDController.intAccum, -100 / PitKi, 100 / PitKi);
PitchAct = PitchPIDController.Compute(PitchErr) / 100;
if (double.IsNaN(PitchAct))
{
PitchPIDController.Reset();
}
else
{
s.pitch = Mathf.Clamp((float)PitchAct, -1, 1);
}
}
CurrYaw = ComputeYaw();
// NOTE: we can not use vesselState.vesselHeading here because it interpolates headings internally
// i.e. turning from 1 to 359 will end up as (1+359)/2 = 180
// see class MovingAverage for more details
//HeadingHold
if (HeadingHoldEnabled)
{
double toturn = MuUtils.ClampDegrees180(HeadingTarget - vesselState.currentHeading);
if (Math.Abs(toturn) < 0.2)
{
// yaw for small adjustments
RealYawTarget = MuUtils.Clamp(toturn * 2, -YawLimit, YawLimit);
RealRollTarget = 0;
}
else
{
// roll for large adjustments
RealYawTarget = 0;
RealRollTarget = MuUtils.Clamp(toturn * 2, -RollLimit, RollLimit);
}
}
else
{
RealRollTarget = RollTarget;
RealYawTarget = 0;
}
if (RollHoldEnabled)
{
RealRollTarget = UtilMath.Clamp(RealRollTarget, -BankAngle, BankAngle);
RealRollTarget = UtilMath.Clamp(RealRollTarget, -RollLimit, RollLimit);
RollErr = MuUtils.ClampDegrees180(RealRollTarget - -vesselState.currentRoll);
RollPIDController.intAccum = MuUtils.Clamp(RollPIDController.intAccum, -100 / RolKi, 100 / RolKi);
RollAct = RollPIDController.Compute(RollErr) / 100;
if (double.IsNaN(RollAct))
RollPIDController.Reset();
else
s.roll = Mathf.Clamp((float)RollAct, -1, 1);
}
if (HeadingHoldEnabled)
{
RealYawTarget = UtilMath.Clamp(RealYawTarget, -YawLimit, YawLimit);
YawErr = MuUtils.ClampDegrees180(RealYawTarget - CurrYaw);
YawPIDController.intAccum = MuUtils.Clamp(YawPIDController.intAccum, -100 / YawKi, 100 / YawKi);
YawAct = YawPIDController.Compute(YawErr) / 100;
if (double.IsNaN(YawAct))
YawPIDController.Reset();
else
s.yaw = Mathf.Clamp((float)YawAct, -1, 1);
}
}
}
}