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Possibly breaking cleanup of MechJebCore
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The renaming here is intended to be breaking, mods will need to
update.  I tried to keep public APIs that looked deliberately
public to be [UsedImplicitly] and visible, if the visibility
changed of something that should be made public that is a bug
and it can be reverted back to public.

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
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@lamont-granquist
lamont-granquist committed Jun 19, 2023
1 parent 4652221 commit 1bcbef0
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Showing 59 changed files with 1,071 additions and 1,086 deletions.
2 changes: 1 addition & 1 deletion MechJeb2/AutopilotModule.cs
View file
Expand Up @@ -60,7 +60,7 @@ public class AutopilotStep
protected readonly MechJebCore Core;

//conveniences:
protected VesselState VesselState => Core.vesselState;
protected VesselState VesselState => Core.VesselState;
protected Vessel Vessel => Core.part.vessel;
protected CelestialBody MainBody => Core.part.vessel.mainBody;
protected Orbit Orbit => Core.part.vessel.orbit;
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2 changes: 1 addition & 1 deletion MechJeb2/ComputerModule.cs
View file
Expand Up @@ -72,7 +72,7 @@ public ComputerModule(MechJebCore core)
{
this.core = core;
part = core.part;
vesselState = core.vesselState;
vesselState = core.VesselState;
profilerName = GetType().Name;

users = new UserPool(this);
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4 changes: 2 additions & 2 deletions MechJeb2/DisplayModule.cs
View file
Expand Up @@ -153,7 +153,7 @@ protected void WindowGUI(int windowID, bool draggable)
// }

bool allowDrag = !locked;
if (!locked && !isOverlay && core.settings.useTitlebarDragging)
if (!locked && !isOverlay && core.Settings.useTitlebarDragging)
{
float x = Mouse.screenPos.x / GuiUtils.scale;
float y = Mouse.screenPos.y / GuiUtils.scale;
Expand Down Expand Up @@ -284,7 +284,7 @@ public override void OnLoad(ConfigNode local, ConfigNode type, ConfigNode global
public virtual bool isActive()
{
if (makesActive == null)
makesActive = new ComputerModule[] { core.attitude, core.thrust, core.rover, core.node, core.rcs, core.rcsbal };
makesActive = new ComputerModule[] { core.Attitude, core.Thrust, core.Rover, core.Node, core.RCS, core.Rcsbal };

bool active = false;
for (int i = 0; i < makesActive.Length; i++)
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70 changes: 35 additions & 35 deletions MechJeb2/LandingAutopilot/CoastToDeceleration.cs
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Expand Up @@ -15,20 +15,20 @@ public CoastToDeceleration(MechJebCore core) : base(core)

public override AutopilotStep Drive(FlightCtrlState s)
{
if (!Core.landing.PredictionReady)
if (!Core.Landing.PredictionReady)
return this;

Vector3d deltaV = Core.landing.ComputeCourseCorrection(true);
Vector3d deltaV = Core.Landing.ComputeCourseCorrection(true);

if (!Core.landing.RCSAdjustment) return this;
if (!Core.Landing.RCSAdjustment) return this;

if (deltaV.magnitude > 3)
Core.rcs.enabled = true;
Core.RCS.enabled = true;
else if (deltaV.magnitude < 0.01)
Core.rcs.enabled = false;
Core.RCS.enabled = false;

if (Core.rcs.enabled)
Core.rcs.SetWorldVelocityError(deltaV);
if (Core.RCS.enabled)
Core.RCS.SetWorldVelocityError(deltaV);

return this;
}
Expand All @@ -37,93 +37,93 @@ public override AutopilotStep Drive(FlightCtrlState s)

public override AutopilotStep OnFixedUpdate()
{
Core.thrust.targetThrottle = 0;
Core.Thrust.targetThrottle = 0;

// If the atmospheric drag is has started to act on the vessel then we are in a position to start considering when to deploy the parachutes.
if (Core.landing.DeployChutes)
if (Core.Landing.DeployChutes)
{
if (Core.landing.ParachutesDeployable())
if (Core.Landing.ParachutesDeployable())
{
Core.landing.ControlParachutes();
Core.Landing.ControlParachutes();
}
}

double maxAllowedSpeed = Core.landing.MaxAllowedSpeed();
double maxAllowedSpeed = Core.Landing.MaxAllowedSpeed();
if (VesselState.speedSurface > 0.9 * maxAllowedSpeed)
{
Core.warp.MinimumWarp();
if (Core.landing.RCSAdjustment)
Core.rcs.enabled = false;
Core.Warp.MinimumWarp();
if (Core.Landing.RCSAdjustment)
Core.RCS.enabled = false;
return new DecelerationBurn(Core);
}

Status = Localizer.Format("#MechJeb_LandingGuidance_Status1"); //"Coasting toward deceleration burn"

if (Core.landing.LandAtTarget)
if (Core.Landing.LandAtTarget)
{
double currentError = Vector3d.Distance(Core.target.GetPositionTargetPosition(), Core.landing.LandingSite);
double currentError = Vector3d.Distance(Core.Target.GetPositionTargetPosition(), Core.Landing.LandingSite);
if (currentError > 1000)
{
if (!VesselState.parachuteDeployed &&
VesselState.drag <=
0.1) // However if there is already a parachute deployed or drag is high, then do not bother trying to correct the course as we will not have any attitude control anyway.
{
Core.warp.MinimumWarp();
if (Core.landing.RCSAdjustment)
Core.rcs.enabled = false;
Core.Warp.MinimumWarp();
if (Core.Landing.RCSAdjustment)
Core.RCS.enabled = false;
return new CourseCorrection(Core);
}
}
else
{
Vector3d deltaV = Core.landing.ComputeCourseCorrection(true);
Vector3d deltaV = Core.Landing.ComputeCourseCorrection(true);
Status += "\n" + Localizer.Format("#MechJeb_LandingGuidance_Status2",
deltaV.magnitude.ToString("F3")); //"Course correction DV: " + + " m/s"
}
}

// If we're already low, skip directly to the Deceleration burn
if (VesselState.altitudeASL < Core.landing.DecelerationEndAltitude() + 5)
if (VesselState.altitudeASL < Core.Landing.DecelerationEndAltitude() + 5)
{
Core.warp.MinimumWarp();
if (Core.landing.RCSAdjustment)
Core.rcs.enabled = false;
Core.Warp.MinimumWarp();
if (Core.Landing.RCSAdjustment)
Core.RCS.enabled = false;
return new DecelerationBurn(Core);
}

if (Core.attitude.attitudeAngleFromTarget() < 1) { _warpReady = true; } // less warp start warp stop jumping
if (Core.Attitude.attitudeAngleFromTarget() < 1) { _warpReady = true; } // less warp start warp stop jumping

if (Core.attitude.attitudeAngleFromTarget() > 5) { _warpReady = false; } // hopefully
if (Core.Attitude.attitudeAngleFromTarget() > 5) { _warpReady = false; } // hopefully

if (Core.landing.PredictionReady)
if (Core.Landing.PredictionReady)
{
if (VesselState.drag < 0.01)
{
double decelerationStartTime = Core.landing.Prediction.Trajectory.Any()
? Core.landing.Prediction.Trajectory.First().UT
double decelerationStartTime = Core.Landing.Prediction.Trajectory.Any()
? Core.Landing.Prediction.Trajectory.First().UT
: VesselState.time;
Vector3d decelerationStartAttitude = -Orbit.WorldOrbitalVelocityAtUT(decelerationStartTime);
decelerationStartAttitude += MainBody.getRFrmVel(Orbit.WorldPositionAtUT(decelerationStartTime));
decelerationStartAttitude = decelerationStartAttitude.normalized;
Core.attitude.attitudeTo(decelerationStartAttitude, AttitudeReference.INERTIAL, Core.landing);
Core.Attitude.attitudeTo(decelerationStartAttitude, AttitudeReference.INERTIAL, Core.Landing);
}
else
{
Core.attitude.attitudeTo(Vector3.back, AttitudeReference.SURFACE_VELOCITY, Core.landing);
Core.Attitude.attitudeTo(Vector3.back, AttitudeReference.SURFACE_VELOCITY, Core.Landing);
}
}

//Warp at a rate no higher than the rate that would have us impacting the ground 10 seconds from now:
if (_warpReady && Core.node.autowarp)
if (_warpReady && Core.Node.autowarp)
{
// Make sure if we're hovering that we don't go straight into too fast of a warp
// (g * 5 is average velocity falling for 10 seconds from a hover)
double velocityGuess = Math.Max(Math.Abs(VesselState.speedVertical), VesselState.localg * 5);
Core.warp.WarpRegularAtRate((float)(VesselState.altitudeASL / (10 * velocityGuess)));
Core.Warp.WarpRegularAtRate((float)(VesselState.altitudeASL / (10 * velocityGuess)));
}
else
{
Core.warp.MinimumWarp();
Core.Warp.MinimumWarp();
}

return this;
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32 changes: 16 additions & 16 deletions MechJeb2/LandingAutopilot/CourseCorrection.cs
View file
Expand Up @@ -14,30 +14,30 @@ public CourseCorrection(MechJebCore core) : base(core)

public override AutopilotStep Drive(FlightCtrlState s)
{
if (!Core.landing.PredictionReady)
if (!Core.Landing.PredictionReady)
return this;

// If the atomospheric drag is at least 100mm/s2 then start trying to target the overshoot using the parachutes
if (Core.landing.DeployChutes)
if (Core.Landing.DeployChutes)
{
if (Core.landing.ParachutesDeployable())
if (Core.Landing.ParachutesDeployable())
{
Core.landing.ControlParachutes();
Core.Landing.ControlParachutes();
}
}

double currentError = Vector3d.Distance(Core.target.GetPositionTargetPosition(), Core.landing.LandingSite);
double currentError = Vector3d.Distance(Core.Target.GetPositionTargetPosition(), Core.Landing.LandingSite);

if (currentError < 150)
{
Core.thrust.targetThrottle = 0;
if (Core.landing.RCSAdjustment)
Core.rcs.enabled = true;
Core.Thrust.targetThrottle = 0;
if (Core.Landing.RCSAdjustment)
Core.RCS.enabled = true;
return new CoastToDeceleration(Core);
}

// If we're off course, but already too low, skip the course correction
if (VesselState.altitudeASL < Core.landing.DecelerationEndAltitude() + 5)
if (VesselState.altitudeASL < Core.Landing.DecelerationEndAltitude() + 5)
{
return new DecelerationBurn(Core);
}
Expand All @@ -46,7 +46,7 @@ public override AutopilotStep Drive(FlightCtrlState s)
// If a parachute has already been deployed then we will not be able to control attitude anyway, so move back to the coast to deceleration step.
if (VesselState.parachuteDeployed)
{
Core.thrust.targetThrottle = 0;
Core.Thrust.targetThrottle = 0;
return new CoastToDeceleration(Core);
}

Expand All @@ -56,26 +56,26 @@ public override AutopilotStep Drive(FlightCtrlState s)
return new CoastToDeceleration(Core);
}

Vector3d deltaV = Core.landing.ComputeCourseCorrection(true);
Vector3d deltaV = Core.Landing.ComputeCourseCorrection(true);

Status = Localizer.Format("#MechJeb_LandingGuidance_Status3",
deltaV.magnitude.ToString("F1")); //"Performing course correction of about " + + " m/s"

Core.attitude.attitudeTo(deltaV.normalized, AttitudeReference.INERTIAL, Core.landing);
Core.Attitude.attitudeTo(deltaV.normalized, AttitudeReference.INERTIAL, Core.Landing);

if (Core.attitude.attitudeAngleFromTarget() < 2)
if (Core.Attitude.attitudeAngleFromTarget() < 2)
_courseCorrectionBurning = true;
else if (Core.attitude.attitudeAngleFromTarget() > 30)
else if (Core.Attitude.attitudeAngleFromTarget() > 30)
_courseCorrectionBurning = false;

if (_courseCorrectionBurning)
{
const double TIME_CONSTANT = 2.0;
Core.thrust.ThrustForDV(deltaV.magnitude, TIME_CONSTANT);
Core.Thrust.ThrustForDV(deltaV.magnitude, TIME_CONSTANT);
}
else
{
Core.thrust.targetThrottle = 0;
Core.Thrust.targetThrottle = 0;
}

return this;
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34 changes: 17 additions & 17 deletions MechJeb2/LandingAutopilot/DecelerationBurn.cs
View file
Expand Up @@ -15,71 +15,71 @@ public DecelerationBurn(MechJebCore core) : base(core)

public override AutopilotStep OnFixedUpdate()
{
if (VesselState.altitudeASL < Core.landing.DecelerationEndAltitude() + 5)
if (VesselState.altitudeASL < Core.Landing.DecelerationEndAltitude() + 5)
{
Core.warp.MinimumWarp();
Core.Warp.MinimumWarp();

if (Core.landing.UseAtmosphereToBrake())
if (Core.Landing.UseAtmosphereToBrake())
return new FinalDescent(Core);
return new KillHorizontalVelocity(Core);
}

double decelerationStartTime =
Core.landing.Prediction.Trajectory.Any() ? Core.landing.Prediction.Trajectory.First().UT : VesselState.time;
Core.Landing.Prediction.Trajectory.Any() ? Core.Landing.Prediction.Trajectory.First().UT : VesselState.time;
if (decelerationStartTime - VesselState.time > 5)
{
Core.thrust.targetThrottle = 0;
Core.Thrust.targetThrottle = 0;

Status = Localizer.Format("#MechJeb_LandingGuidance_Status4"); //"Warping to start of braking burn."

//warp to deceleration start
Vector3d decelerationStartAttitude = -Orbit.WorldOrbitalVelocityAtUT(decelerationStartTime);
decelerationStartAttitude += MainBody.getRFrmVel(Orbit.WorldPositionAtUT(decelerationStartTime));
decelerationStartAttitude = decelerationStartAttitude.normalized;
Core.attitude.attitudeTo(decelerationStartAttitude, AttitudeReference.INERTIAL, Core.landing);
bool warpReady = Core.attitude.attitudeAngleFromTarget() < 5;
Core.Attitude.attitudeTo(decelerationStartAttitude, AttitudeReference.INERTIAL, Core.Landing);
bool warpReady = Core.Attitude.attitudeAngleFromTarget() < 5;

if (warpReady && Core.node.autowarp)
Core.warp.WarpToUT(decelerationStartTime - 5);
if (warpReady && Core.Node.autowarp)
Core.Warp.WarpToUT(decelerationStartTime - 5);
else if (!MuUtils.PhysicsRunning())
Core.warp.MinimumWarp();
Core.Warp.MinimumWarp();
return this;
}

Vector3d desiredThrustVector = -VesselState.surfaceVelocity.normalized;

Vector3d courseCorrection = Core.landing.ComputeCourseCorrection(false);
Vector3d courseCorrection = Core.Landing.ComputeCourseCorrection(false);
double correctionAngle = courseCorrection.magnitude / (2.0 * VesselState.limitedMaxThrustAccel);
correctionAngle = Math.Min(0.1, correctionAngle);
desiredThrustVector = (desiredThrustVector + correctionAngle * courseCorrection.normalized).normalized;

if (Vector3d.Dot(VesselState.surfaceVelocity, VesselState.up) > 0
|| Vector3d.Dot(VesselState.forward, desiredThrustVector) < 0.75)
{
Core.thrust.targetThrottle = 0;
Core.Thrust.targetThrottle = 0;
Status = Localizer.Format("#MechJeb_LandingGuidance_Status5"); //"Braking"
}
else
{
double controlledSpeed =
VesselState.speedSurface *
Math.Sign(Vector3d.Dot(VesselState.surfaceVelocity, VesselState.up)); //positive if we are ascending, negative if descending
double desiredSpeed = -Core.landing.MaxAllowedSpeed();
double desiredSpeedAfterDt = -Core.landing.MaxAllowedSpeedAfterDt(VesselState.deltaT);
double desiredSpeed = -Core.Landing.MaxAllowedSpeed();
double desiredSpeedAfterDt = -Core.Landing.MaxAllowedSpeedAfterDt(VesselState.deltaT);
double minAccel = -VesselState.localg * Math.Abs(Vector3d.Dot(VesselState.surfaceVelocity.normalized, VesselState.up));
double maxAccel = VesselState.maxThrustAccel * Vector3d.Dot(VesselState.forward, -VesselState.surfaceVelocity.normalized) -
VesselState.localg * Math.Abs(Vector3d.Dot(VesselState.surfaceVelocity.normalized, VesselState.up));
const double SPEED_CORRECTION_TIME_CONSTANT = 0.3;
double speedError = desiredSpeed - controlledSpeed;
double desiredAccel = speedError / SPEED_CORRECTION_TIME_CONSTANT + (desiredSpeedAfterDt - desiredSpeed) / VesselState.deltaT;
if (maxAccel - minAccel > 0)
Core.thrust.targetThrottle = Mathf.Clamp((float)((desiredAccel - minAccel) / (maxAccel - minAccel)), 0.0F, 1.0F);
else Core.thrust.targetThrottle = 0;
Core.Thrust.targetThrottle = Mathf.Clamp((float)((desiredAccel - minAccel) / (maxAccel - minAccel)), 0.0F, 1.0F);
else Core.Thrust.targetThrottle = 0;
Status = Localizer.Format("#MechJeb_LandingGuidance_Status6",
desiredSpeed >= double.MaxValue ? "∞" : Math.Abs(desiredSpeed).ToString("F1")); //"Braking: target speed = " + + " m/s"
}

Core.attitude.attitudeTo(desiredThrustVector, AttitudeReference.INERTIAL, Core.landing);
Core.Attitude.attitudeTo(desiredThrustVector, AttitudeReference.INERTIAL, Core.Landing);

return this;
}
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