RedOnion

[WIP] Autopilot

Autopilot (throttle and steering) for a ship (vehicle/vessel).

Types:

• PIDs: PIDs

Instance Properties:

• throttle: float - Throttle control (0..1). NaN for releasing the control.
• rawPitch: float - Raw pitch control (up-down, -1..+1). NaN for releasing the control.
• rawYaw: float - Raw yaw control (left-right, -1..+1). NaN for releasing the control.
• rawRoll: float - Raw roll control (rotation, -1..+1). NaN for releasing the control.
• direction: Vector - Target direction vector. NaN/vector.none for releasing the control.
• heading: double - Target heading [0..360]. NaN for releasing the control.
• pitch: double - Target pitch/elevation [-180..+180]. Values outside -90..+90 flip heading. NaN for releasing the control.
• roll: double - Target roll/bank [-180..+180]. NaN for releasing the control.
• killRot: bool - Stop ship rotation. (A bit stronger alternative to stock SAS.)
• pylink: bool - Limit pitch/yaw by their ratio needed to achieve direction. This leads to better 2D/3D behaviour.
• sas: bool - SAS: Stability Assist System. This is stock (weaker) alternative to killRot.
• rcs: bool - RCS: Reaction Control System.
• userFactor: float - [WIP] General strength of user override/correction of controls. [0, 1] 0.8 by default.
• userPitchFactor: float - [WIP] Strength of user pitch-override/correction. [0, 1] or nan - userFactor used if nan (which is by default).
• userYawFactor: float - [WIP] Strength of user yaw-override/correction. [0, 1] or nan - userFactor used if nan (which is by default).
• userRollFactor: float - [WIP] Strength of user roll-override/correction. [0, 1] or nan - userFactor used if nan (which is by default).
• pids: PIDs - [WIP] Set of PID(R) controllers used by the autopilot.

Instance Methods:

• disable(): void - Disable the autopilot, setting all values to NaN.
• reset(): void - Reset the autopilot to default settings.
• resetSAS(): void - Reset stock SAS - resets its PIDs and quickly disables and re-enables it if it is currently enabled.