Move RCS logic to separate file.
This commit is contained in:
Casper V. Kristensen
parent
706daf5228
commit
780aee5e7c
GPG key ID:
289CA03790535054
3 changed files with 84 additions and 111 deletions
80
dock.ks
80
dock.ks
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@ -1,51 +1,10 @@
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@LAZYGLOBAL off.
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run once "lib/rendezvous".
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run once "lib/rocket".
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run once "lib/rcs".
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run once "lib/target".
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run once "lib/vectors".
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function translate {
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//
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// Translate the ship's position by the given vector using RCS thrusters.
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//
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parameter translation_vector_delegate.
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parameter max_speed.
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local lock translation_vector to translation_vector_delegate().
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// Find available RCS acceleration by Newton's second law: (F=mg). Note that the acceleration is conservatively divided
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// by 6 since thrusters might not be aligned with thrust vector (but assumed evenly distributed on the 6 axes).
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// Furthermore, acceleration is limited to 0.05m/s^2 since small ships with low mass are uncontrollable if allowed to accelerate wildly.
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local acceleration is min(0.05, (rcs_maxthrust() / SHIP:MASS) / 6).
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// Time t to travel distance d under constant acceleration a is t = sqrt(2d/a) (https://en.wikipedia.org/wiki/Equations_for_a_falling_body).
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// Multiply this by the available acceleration to get speed (s * m/s^2 = m/s) required to decelerate to 0 by the time d=0.
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local lock desired_speed to min(max_speed, sqrt(2*translation_vector:mag / acceleration) * acceleration).
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local lock desired_velocity to translation_vector:normalized * desired_speed.
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// The proportional gain factor is set to the square root of the ship's mass. Why? It was empirically shown to work.
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// The idea is that small ships are more sensitive to adjustments, and so small error corrections will do more harm than good.
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local pid_x is PIDLOOP(sqrt(SHIP:MASS), 0.01, 0.001, -1, 1). // kp, ki, kd, minoutput, maxoutput
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local pid_y is PIDLOOP(sqrt(SHIP:MASS), 0.01, 0.001, -1, 1).
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local pid_z is PIDLOOP(sqrt(SHIP:MASS), 0.01, 0.001, -1, 1).
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//vdraw(SHIP:controlpart:position, translation_vector@, WHITE).
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//vdraw(SHIP:controlpart:position, relative_velocity@, GREEN).
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RCS on.
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until translation_vector:mag < 0.05 and relative_velocity():mag < 0.01 {
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set pid_x:setpoint to desired_velocity:x.
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set pid_y:setpoint to desired_velocity:y.
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set pid_z:setpoint to desired_velocity:z.
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local x is pid_x:update(TIME:seconds, relative_velocity():x).
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local y is pid_y:update(TIME:seconds, relative_velocity():y).
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local z is pid_z:update(TIME:seconds, relative_velocity():z).
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set SHIP:CONTROL:TRANSLATION to ship_raw_to_ship_control(V(x,y,z)).
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}
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}
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function dock {
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//
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// Dock the ship with another vessel.
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@ -77,8 +36,8 @@ function dock {
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wait until vang(SHIP:facing:vector, alignment_direction:vector) <= 1.
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print "==> Translating".
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// TODO: Translate "around" the target vessel on different axes first so we dont fail if behind the target docking port.
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translate({return (target_port + target_port_facing) - (local_port + local_port_facing).}, max_translation_speed).
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// TODO: Translate "around" the target vessel on different axes first so we dont crash if behind the target docking port.
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rcs_translate({return (target_port + target_port_facing) - (local_port + local_port_facing).}, max_translation_speed).
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print "==> Docking".
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// TARGET will be unset the moment we dock, causing many of the calculations and local locks to cause errors.
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@ -91,34 +50,3 @@ function dock {
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wait until not HASTARGET.
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print "==> DOCKING COMPLETE".
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}
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dock().
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// TODO: Make GUI with dropdown of target:dockingports and SHIP:dockingports so user can't fuck it up.
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//if not HASTARGET {
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// print "Please select a target".
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// return.
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//}
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//function find_docking_port {
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// parameter target. // SHIP or TARGET.
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// parameter target_name is target:name.
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//
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// if target:istype("DockingPort") {
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// return target.
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// }
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//
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// local target_ports is target:dockingports.
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// if target_ports:empty {
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// print "No docking ports on " + target_name.
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// return.
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// }
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// if target_ports:length <> 1 {
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// print "Multiple docking ports on " + target_name + ", please select one and try again".
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// return.
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// }
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// return target_ports[0]
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//}
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80
lib/rcs.ks
Normal file
80
lib/rcs.ks
Normal file
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@ -0,0 +1,80 @@
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@LAZYGLOBAL off.
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run once "lib/target".
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run once "lib/vectors".
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function rcs_isp_sum {
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//
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// Return the sum of ISP for RCS thrusters.
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//
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local sum is 0.
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for thruster in SHIP:modulesnamed("ModuleRCSFX") {
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set sum to sum + thruster:getfield("rcs isp").
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}
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return sum.
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}
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function rcs_maxthrust {
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// There's no way to get thrust of RCS dynamically in kOS; gonna have to hard-code it :/
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// Source: https://wiki.kerbalspaceprogram.com/wiki/Reaction_Control_System#Thrusters
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local rcs_thrusts is LEXICON( // in kN
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"RCSBlock", 1.0, // RV-105 RCS Thruster Block
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"linearRcs", 2.0, // Place-Anywhere 7 Linear RCS Port
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"vernierEngine", 12.0 // Vernor Engine
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).
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local thrust_sum is 0.
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for module in SHIP:modulesnamed("ModuleRCSFX") {
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local part_name is module:part:name.
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if rcs_thrusts:haskey(part_name) {
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set thrust_sum to thrust_sum + rcs_thrusts[part_name].
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} else { // if non-stock part
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print "WARNING: Unknown RCS Thruster '" + part_name + "'; using default thrust of 1.0 kN".
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set thrust_sum to thrust_sum + 1.0.
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}
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}
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return thrust_sum.
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}
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function rcs_translate {
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//
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// Translate the ship's position by the given vector using RCS thrusters.
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//
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parameter translation_vector_delegate.
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parameter max_speed.
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local lock translation_vector to translation_vector_delegate().
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// Find available RCS acceleration by Newton's second law: (F=mg). Note that the acceleration is conservatively divided
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// by 6 since thrusters might not be aligned with thrust vector (but assumed evenly distributed on the 6 axes).
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// Furthermore, acceleration is limited to 0.05m/s^2 since small ships with low mass are uncontrollable if allowed to accelerate wildly.
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local acceleration is min(0.05, (rcs_maxthrust() / SHIP:MASS) / 6).
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// Time t to travel distance d under constant acceleration a is t = sqrt(2d/a) (https://en.wikipedia.org/wiki/Equations_for_a_falling_body).
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// Multiply this by the available acceleration to get speed (s * m/s^2 = m/s) required to decelerate to 0 by the time d=0.
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local lock desired_speed to min(max_speed, sqrt(2*translation_vector:mag / acceleration) * acceleration).
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local lock desired_velocity to translation_vector:normalized * desired_speed.
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// The proportional gain factor is set to the square root of the ship's mass. Why? It was empirically shown to work.
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// The idea is that small ships are more sensitive to adjustments, and so small error corrections will do more harm than good.
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local pid_x is PIDLOOP(sqrt(SHIP:MASS), 0.01, 0.001, -1, 1). // kp, ki, kd, minoutput, maxoutput
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local pid_y is PIDLOOP(sqrt(SHIP:MASS), 0.01, 0.001, -1, 1).
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local pid_z is PIDLOOP(sqrt(SHIP:MASS), 0.01, 0.001, -1, 1).
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//vdraw(SHIP:controlpart:position, translation_vector@, WHITE).
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//vdraw(SHIP:controlpart:position, relative_velocity@, GREEN).
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RCS on.
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until translation_vector:mag < 0.05 and relative_velocity():mag < 0.01 {
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set pid_x:setpoint to desired_velocity:x.
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set pid_y:setpoint to desired_velocity:y.
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set pid_z:setpoint to desired_velocity:z.
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local x is pid_x:update(TIME:seconds, relative_velocity():x).
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local y is pid_y:update(TIME:seconds, relative_velocity():y).
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local z is pid_z:update(TIME:seconds, relative_velocity():z).
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set SHIP:CONTROL:TRANSLATION to ship_raw_to_ship_control(V(x,y,z)).
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}
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}
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@ -51,41 +51,6 @@ function isp_sum {
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}
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function rcs_isp_sum {
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//
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// Return the sum of ISP for RCS thrusters.
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//
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local sum is 0.
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for thruster in SHIP:modulesnamed("ModuleRCSFX") {
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set sum to sum + thruster:getfield("rcs isp").
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}
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return sum.
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}
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function rcs_maxthrust {
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// There's no way to get thrust of RCS dynamically in kOS; gonna have to hard-code it :/
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// Source: https://wiki.kerbalspaceprogram.com/wiki/Reaction_Control_System#Thrusters
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local rcs_thrusts is LEXICON( // in kN
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"RCSBlock", 1.0, // RV-105 RCS Thruster Block
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"linearRcs", 2.0, // Place-Anywhere 7 Linear RCS Port
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"vernierEngine", 12.0 // Vernor Engine
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).
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local thrust_sum is 0.
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for module in SHIP:modulesnamed("ModuleRCSFX") {
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local part_name is module:part:name.
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if rcs_thrusts:haskey(part_name) {
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set thrust_sum to thrust_sum + rcs_thrusts[part_name].
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} else { // if non-stock part
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print "WARNING: Unknown RCS Thruster '" + part_name + "'; using default thrust of 1.0 kN".
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set thrust_sum to thrust_sum + 1.0.
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}
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}
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return thrust_sum.
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}
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function deploy_fairings {
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print "Deploying fairings".
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for module in SHIP:modulesnamed("ModuleProceduralFairing") {
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