本文整理汇总了C#中FlightCtrlState类的典型用法代码示例。如果您正苦于以下问题：C# FlightCtrlState类的具体用法？C# FlightCtrlState怎么用？C# FlightCtrlState使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。
FlightCtrlState类属于命名空间，在下文中一共展示了FlightCtrlState类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C#代码示例。
示例1: Drive
public override AutopilotStep Drive(FlightCtrlState s)
{
if (!core.landing.PredictionReady)
return this;
Vector3d deltaV;
try
{
deltaV = core.landing.ComputeCourseCorrection(true);
}
catch(ArgumentException e)
{
status = e.Message;
return new DecelerationBurn(core);
}
if (core.landing.rcsAdjustment)
{
if (deltaV.magnitude > 3)
core.rcs.enabled = true;
else if (deltaV.magnitude < 0.01)
core.rcs.enabled = false;
if (core.rcs.enabled)
core.rcs.SetWorldVelocityError(deltaV);
}
return this;
}示例2: DriveAutoland
public void DriveAutoland(FlightCtrlState s)
{
if (!part.vessel.Landed)
{
Vector3d runwayStart = RunwayStart();
if (!loweredGear && (vesselState.CoM - runwayStart).magnitude < 1000.0)
{
vessel.ActionGroups.SetGroup(KSPActionGroup.Gear, true);
loweredGear = true;
}
Vector3d vectorToWaypoint = ILSAimDirection();
double headingToWaypoint = vesselState.HeadingFromDirection(vectorToWaypoint);
Vector3d vectorToRunway = runwayStart - vesselState.CoM;
double verticalDistanceToRunway = Vector3d.Dot(vectorToRunway, vesselState.up) + (vesselState.altitudeTrue - vesselState.altitudeBottom);
double horizontalDistanceToRunway = Math.Sqrt(vectorToRunway.sqrMagnitude - verticalDistanceToRunway * verticalDistanceToRunway);
double flightPathAngleToRunway = 180 / Math.PI * Math.Atan2(verticalDistanceToRunway, horizontalDistanceToRunway);
double desiredFPA = Mathf.Clamp((float)(flightPathAngleToRunway + 3 * (flightPathAngleToRunway + glideslope)), -20.0F, 0.0F);
AimVelocityVector(desiredFPA, headingToWaypoint);
}
else
{
//keep the plane aligned with the runway:
Vector3d runwayDir = runway.End(vesselState.CoM) - runway.Start(vesselState.CoM);
if (Vector3d.Dot(runwayDir, vesselState.forward) < 0) runwayDir *= -1;
double runwayHeading = 180 / Math.PI * Math.Atan2(Vector3d.Dot(runwayDir, vesselState.east), Vector3d.Dot(runwayDir, vesselState.north));
core.attitude.attitudeTo(runwayHeading, 0, 0, this);
}
}示例3: _Drive
protected override void _Drive(FlightCtrlState s)
{
Vessel vessel = base.Autopilot.vessel;
AttitudeController attitudeController = base.Autopilot.AutopilotController.AttitudeController;
if (vessel.altitude < 10000) {
attitudeController.Attitude = Attitude.Up;
base.Autopilot.AutopilotController.AutoStagingController.Enable ();
s.mainThrottle = 1.0f;
} else if (vessel.altitude < 80000) {
attitudeController.Pitch = 90;
attitudeController.Yaw = 45;
attitudeController.Attitude = Attitude.UserDefined;
s.mainThrottle = Mathf.Clamp01 (100000.0f - (float)vessel.orbit.ApA);
} else {
double ut = Planetarium.GetUniversalTime () + vessel.orbit.timeToAp;
double deltaV = Math.Sqrt (vessel.mainBody.gravParameter / (100000 + vessel.mainBody.Radius)) - vessel.orbit.getOrbitalVelocityAtUT (ut).magnitude;
Vector3d nodeDV = new Vector3d (0, 0, deltaV);
base.Autopilot.ManeuverNode = vessel.patchedConicSolver.AddManeuverNode (ut);
base.Autopilot.ManeuverNode.OnGizmoUpdated (nodeDV, ut);
base.Autopilot.AutopilotController.Disable ();
base.Autopilot.AutopilotController.AutoStagingController.Disable ();
attitudeController.Attitude = Attitude.None;
}
}示例4: OnFlyByWire
public void OnFlyByWire(FlightCtrlState c)
{
foreach (LockableControl control in controls)
{
control.OnFlyByWire(ref c);
}
}示例5: onFlyByWire
/// <summary>
/// If the mission is on a client controlled mission, we disable every incoming input
/// </summary>
/// <param name="s">S.</param>
private void onFlyByWire(FlightCtrlState s)
{
Status status = calculateStatus(currentMission, false, activeVessel);
if(status.isClientControlled) {
s.fastThrottle = 0;
s.gearDown = false;
s.gearUp = false;
s.headlight = false;
s.killRot = false;
s.mainThrottle = 0;
s.pitch = 0;
s.pitchTrim = 0;
s.roll = 0;
s.rollTrim = 0;
s.X = 0;
s.Y = 0;
s.yaw = 0;
s.yawTrim = 0;
s.Z = 0;
s.wheelSteer = 0;
s.wheelSteerTrim = 0;
s.wheelThrottle = 0;
s.wheelThrottleTrim = 0;
s.NeutralizeAll ();
}
}示例6: Execute
public override bool Execute(FlightComputer f, FlightCtrlState fcs)
{
if (mAbort)
{
fcs.mainThrottle = 0.0f;
return true;
}
if (Duration > 0)
{
fcs.mainThrottle = Throttle;
Duration -= TimeWarp.deltaTime;
}
else if (DeltaV > 0)
{
fcs.mainThrottle = Throttle;
DeltaV -= (Throttle * FlightCore.GetTotalThrust(f.Vessel) / f.Vessel.GetTotalMass()) * TimeWarp.deltaTime;
}
else
{
fcs.mainThrottle = 0.0f;
return true;
}
return false;
}示例7: postAutoPilotUpdate
public void postAutoPilotUpdate(FlightCtrlState state)
{
if (vesselRef.HoldPhysics)
return;
vesselSSAS.SurfaceSAS(state);
vesselAsst.vesselController(state);
}示例8: drive
public override void drive(FlightCtrlState s)
{
if (autoLand)
{
if (!part.vessel.Landed)
{
if (!loweredGear && (vesselState.CoM - runwayStart).magnitude < 1000.0)
{
part.vessel.rootPart.SendEvent("LowerLandingGear");
loweredGear = true;
}
Vector3d vectorToWaypoint = waypoint.transform.position - vesselState.CoM;
double headingToWaypoint = 180 / Math.PI * Math.Atan2(Vector3d.Dot(vectorToWaypoint, vesselState.east), Vector3d.Dot(vectorToWaypoint, vesselState.north));
double desiredFPA = Mathf.Clamp((float)(flightPathAngleToRunway + 3 * (flightPathAngleToRunway + glideslope)), -20.0F, 0.0F);
aimVelocityVector(desiredFPA, headingToWaypoint);
}
else
{
//keep the plane aligned with the runway:
Vector3d target = runwayEnd;
if (Vector3d.Dot(target - vesselState.CoM, vesselState.forward) < 0) target = runwayStart;
core.attitudeTo((target- vesselState.CoM).normalized, MechJebCore.AttitudeReference.INERTIAL, this);
}
}
else if (holdHeadingAndAlt)
{
double targetClimbRate = (targetAltitude - vesselState.altitudeASL) / 30.0;
double targetFlightPathAngle = 180 / Math.PI * Math.Asin(Mathf.Clamp((float)(targetClimbRate / vesselState.speedSurface), (float)Math.Sin(-Math.PI / 9), (float)Math.Sin(Math.PI / 9)));
aimVelocityVector(targetFlightPathAngle, targetHeading);
}
}示例9: OnFlyByWire
public void OnFlyByWire(FlightCtrlState c)
{
foreach (var control in controls)
{
control.OnFlyByWire(ref c);
}
}示例10: ButtonPressedCallback
public void ButtonPressedCallback(IController controller, int button, FlightCtrlState state)
{
if(!HighLogic.LoadedSceneIsFlight)
{
return;
}
var config = m_Configuration.GetConfigurationByIController(controller);
Bitset mask = controller.GetButtonsMask();
if (config.evaluatedDiscreteActionMasks.Contains(mask))
{
return;
}
List<DiscreteAction> actions = config.GetCurrentPreset().GetDiscreteBinding(mask);
if(actions != null)
{
foreach (DiscreteAction action in actions)
{
m_FlightManager.EvaluateDiscreteAction(config, action, state);
config.evaluatedDiscreteActionMasks.Add(mask);
}
}
}示例11: SetAcceleration
void SetAcceleration(float accel, FlightCtrlState s)
{
float gravAccel = GravAccel();
float requestEngineAccel = accel - gravAccel;
possibleAccel = gravAccel;
float dragAccel = 0;
float engineAccel = MaxEngineAccel(requestEngineAccel, out dragAccel);
if(engineAccel == 0)
{
s.mainThrottle = 0;
return;
}
requestEngineAccel = Mathf.Clamp(requestEngineAccel, -engineAccel, engineAccel);
float requestThrottle = (requestEngineAccel - dragAccel) / engineAccel;
s.mainThrottle = Mathf.Clamp01(requestThrottle);
//use brakes if overspeeding too much
if(requestThrottle < -0.5f)
{
vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
}
else
{
vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, false);
}
}示例12: Drive
public override void Drive(FlightCtrlState s)
{
if (controlHeading)
{
if (heading != headingLast)
{
headingPID.Reset();
headingLast = heading;
}
double instantaneousHeading = vesselState.rotationVesselSurface.eulerAngles.y;
headingErr = MuUtils.ClampDegrees180(instantaneousHeading - heading);
if (s.wheelSteer == s.wheelSteerTrim)
{
double act = headingPID.Compute(headingErr);
s.wheelSteer = Mathf.Clamp((float)act, -1, 1);
}
}
if (controlSpeed)
{
if (speed != speedLast)
{
speedPID.Reset();
speedLast = speed;
}
speedErr = speed - Vector3d.Dot(vesselState.velocityVesselSurface, vesselState.forward);
if (s.wheelThrottle == s.wheelThrottleTrim)
{
double act = speedPID.Compute(speedErr);
s.wheelThrottle = Mathf.Clamp((float)act, -1, 1);
}
}
}示例13: HoldOrientation
public void HoldOrientation(FlightCtrlState s, Vessel v, Quaternion orientation, bool roll)
{
mVesselState.Update(v);
// Used in the killRot activation calculation and drive_limit calculation
double precision = Math.Max(0.5, Math.Min(10.0, (Math.Min(mVesselState.torqueAvailable.x, mVesselState.torqueAvailable.z) + mVesselState.torqueThrustPYAvailable * s.mainThrottle) * 20.0 / mVesselState.MoI.magnitude));
// Reset the PID controller during roll to keep pitch and yaw errors
// from accumulating on the wrong axis.
double rollDelta = Mathf.Abs((float)(mVesselState.vesselRoll - lastResetRoll));
if (rollDelta > 180)
rollDelta = 360 - rollDelta;
if (rollDelta > 5) {
mPid.Reset();
lastResetRoll = mVesselState.vesselRoll;
}
// Direction we want to be facing
Quaternion delta = Quaternion.Inverse(Quaternion.Euler(90, 0, 0) * Quaternion.Inverse(v.ReferenceTransform.rotation) * orientation);
Vector3d deltaEuler = new Vector3d(
(delta.eulerAngles.x > 180) ? (delta.eulerAngles.x - 360.0F) : delta.eulerAngles.x,
-((delta.eulerAngles.y > 180) ? (delta.eulerAngles.y - 360.0F) : delta.eulerAngles.y),
(delta.eulerAngles.z > 180) ? (delta.eulerAngles.z - 360.0F) : delta.eulerAngles.z
);
Vector3d torque = new Vector3d(
mVesselState.torqueAvailable.x + mVesselState.torqueThrustPYAvailable * s.mainThrottle,
mVesselState.torqueAvailable.y,
mVesselState.torqueAvailable.z + mVesselState.torqueThrustPYAvailable * s.mainThrottle
);
Vector3d inertia = Vector3d.Scale(
mVesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(mVesselState.angularMomentum, mVesselState.angularMomentum),
Vector3d.Scale(torque, mVesselState.MoI).Invert()
)
);
Vector3d err = deltaEuler * Math.PI / 180.0F;
err += inertia.Reorder(132);
err.Scale(Vector3d.Scale(mVesselState.MoI, torque.Invert()).Reorder(132));
Vector3d act = mPid.Compute(err);
float drive_limit = Mathf.Clamp01((float)(err.magnitude * drive_factor / precision));
act.x = Mathf.Clamp((float)act.x, drive_limit * -1, drive_limit);
act.y = Mathf.Clamp((float)act.y, drive_limit * -1, drive_limit);
act.z = Mathf.Clamp((float)act.z, drive_limit * -1, drive_limit);
act = lastAct + (act - lastAct) * (TimeWarp.fixedDeltaTime / Tf);
SetFlightCtrlState(act, deltaEuler, s, v, precision, drive_limit);
act = new Vector3d(s.pitch, s.yaw, s.roll);
lastAct = act;
stress = Math.Abs(act.x) + Math.Abs(act.y) + Math.Abs(act.z);
}示例14: Drive
public override AutopilotStep Drive(FlightCtrlState s)
{
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.ParachutesDeployable())
{
core.landing.ControlParachutes();
}
}
double currentError = Vector3d.Distance(core.target.GetPositionTargetPosition(), core.landing.LandingSite);
if (currentError < 150)
{
core.thrust.targetThrottle = 0;
core.rcs.enabled = core.landing.rcsAdjustment;
return new CoastToDeceleration(core);
}
// 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;
return new CoastToDeceleration(core);
}
// We are not in .90 anymore. Turning while under drag is a bad idea
if (vesselState.drag > 0.1)
{
return new CoastToDeceleration(core);
}
Vector3d deltaV = core.landing.ComputeCourseCorrection(true);
status = "Performing course correction of about " + deltaV.magnitude.ToString("F1") + " m/s";
core.attitude.attitudeTo(deltaV.normalized, AttitudeReference.INERTIAL, core.landing);
if (core.attitude.attitudeAngleFromTarget() < 2)
courseCorrectionBurning = true;
else if (core.attitude.attitudeAngleFromTarget() > 30)
courseCorrectionBurning = false;
if (courseCorrectionBurning)
{
const double timeConstant = 2.0;
core.thrust.ThrustForDV(deltaV.magnitude, timeConstant);
}
else
{
core.thrust.targetThrottle = 0;
}
return this;
}示例15: Drive
public override void Drive(FlightCtrlState s)
{
setPIDParameters();
// Removed the gravity since it also affect the target and we don't know the target pos here.
// Since the difference is negligable for docking it's removed
// TODO : add it back once we use the RCS Controler for other use than docking
Vector3d worldVelocityDelta = vessel.obt_velocity - targetVelocity;
//worldVelocityDelta += TimeWarp.fixedDeltaTime * vesselState.gravityForce; //account for one frame's worth of gravity
//worldVelocityDelta -= TimeWarp.fixedDeltaTime * gravityForce = FlightGlobals.getGeeForceAtPosition( Here be the target position ); ; //account for one frame's worth of gravity
// We work in local vessel coordinate
Vector3d velocityDelta = Quaternion.Inverse(vessel.GetTransform().rotation) * worldVelocityDelta;
if (!conserveFuel || (velocityDelta.magnitude > conserveThreshold))
{
if (!vessel.ActionGroups[KSPActionGroup.RCS])
{
vessel.ActionGroups.SetGroup(KSPActionGroup.RCS, true);
}
Vector3d rcs = new Vector3d();
foreach (Vector6.Direction dir in Enum.GetValues(typeof(Vector6.Direction)))
{
double dirDv = Vector3d.Dot(velocityDelta, Vector6.directions[dir]);
double dirAvail = vesselState.rcsThrustAvailable[dir];
if (dirAvail > 0 && Math.Abs(dirDv) > 0.001)
{
double dirAction = dirDv / (dirAvail * TimeWarp.fixedDeltaTime / vesselState.mass);
if (dirAction > 0)
{
rcs += Vector6.directions[dir] * dirAction;
}
}
}
Vector3d omega = Quaternion.Inverse(vessel.GetTransform().rotation) * (vessel.acceleration - vesselState.gravityForce);
rcs = pid.Compute(rcs, omega);
// Disabled the low pass filter for now. Was doing more harm than good
//rcs = lastAct + (rcs - lastAct) * (1 / ((Tf / TimeWarp.fixedDeltaTime) + 1));
lastAct = rcs;
s.X = Mathf.Clamp((float)rcs.x, -1, 1);
s.Y = Mathf.Clamp((float)rcs.z, -1, 1); //note that z and
s.Z = Mathf.Clamp((float)rcs.y, -1, 1); //y must be swapped
}
else if (conserveFuel)
{
if (vessel.ActionGroups[KSPActionGroup.RCS])
{
vessel.ActionGroups.SetGroup(KSPActionGroup.RCS, false);
}
}
base.Drive(s);
}